Drawer type manipulator feeding equipment

Abstract

The utility model discloses a drawer type mechanical arm feeding device which comprises a stock bin, a material tray capable of moving up and down in the vertical direction is arranged in the stock bin, materials are placed on the material tray, and a through hole is formed in the material tray. The conveying device located on the material taking side of the stock bin comprises a push-pull assembly which is horizontally arranged and can do reciprocating motion in the moving direction of the material disc. The telescopic assembly is connected with the push-pull assembly and can stretch out and draw back in the vertical direction, and the telescopic assembly is provided with a telescopic column used for being matched with the through hole; wherein the push-pull assembly is used for driving the telescopic assembly to enter the stock bin and located below the material disc, a telescopic column of the telescopic assembly is used for extending upwards to be inserted into the through hole, and then the push-pull assembly is used for driving the telescopic assembly to pull the material disc out of the stock bin; the mechanical arm is arranged on the side, away from the stock bin, of the conveying device and conveys the materials on the material disc to the machining table. According to the utility model, the plurality of cylinders are matched with the vertical transmission assembly to realize the automation of feeding of the manipulator.

Description

Technical Field

[0001] The utility model relates to the field of feeding equipment. More specifically, the utility model relates to a drawer-type manipulator feeding equipment. Background Art

[0002] In production activities, the traditional feeding method that relies on manual labor to fill the material tray and then manually transfer it to the feeding area has many deficiencies. During the manual feeding process, after the staff fills the material tray, they need to carry and transfer it frequently, which not only consumes a great deal of physical strength of the staff, but also may lead to a decline in work efficiency and potential safety hazards caused by fatigue operations. Manual operation is also limited by personal physical strength and skill level, making it difficult to achieve fast and continuous feeding operations, and it also has certain selectivity for the staff. The traditional feeding method cannot match a highly automated production line and does not meet the requirements of automated production.

[0003] The patent with the publication number CN118183001A discloses an automatic feeding equipment for a material tray. Through the set feeding propulsion mechanism, the reciprocating pushing and feeding process of the stacked material trays can be well realized, and the pushed material tray can be sent to the driving roller for continuous conveying processing. However, the structural design of the feeding propulsion mechanism of this equipment is relatively complex and requires a variety of components and complex manufacturing processes, including multiple components such as a propulsion rod, a connecting rod, a guide wheel, and a spring. Summary of the Utility Model

[0004] The utility model provides a drawer-type manipulator feeding equipment, which can not only reduce the difficulty of manual feeding but also improve the feeding efficiency of the manipulator.

[0005] To achieve these and other advantages in accordance with the present utility model, there is provided a drawer-type manipulator feeding equipment, comprising:

[0006] A storage bin, inside which a material tray is arranged. The material tray is arranged in the storage bin in a manner that it can move up and down along the vertical direction. Materials are placed on the material tray. Wherein, a through hole is arranged at the end of the material tray;

[0007] A conveying device, which is located on the material-taking side of the storage bin. The conveying device includes: a pushing and pulling assembly, which is horizontally arranged and can move reciprocally along the moving direction of the material tray; a telescopic assembly, which is connected to the pushing and pulling assembly and is arranged in a manner that it can telescopically move along the vertical direction. The telescopic assembly is provided with a telescopic column for cooperating with the through hole. Wherein, the pushing and pulling assembly is used to drive the telescopic assembly into the storage bin and be located below the material tray. The telescopic column of the telescopic assembly is used to extend upward and insert into the through hole of the material tray. The pushing and pulling assembly is used to drive the telescopic assembly to pull the material tray out of the storage bin;

[0008] A manipulator, which is arranged on one side of the conveying device to send the material on the material tray to the processing table.

[0009] Preferably, it further includes a limiting frame, which includes a first limiting frame and a second limiting frame. The cross-sections of the first limiting frame and the second limiting frame are both L-shaped, and they are symmetrically arranged on both sides of the conveying device. When the pushing and pulling assembly drives the telescopic assembly to pull out the material tray from the silo, the material tray is located between the vertical surfaces of the L-shaped first limiting frame and the L-shaped second limiting frame, and the two end portions of the material tray slide on the horizontal surfaces of the L-shaped first limiting frame and the L-shaped second limiting frame respectively.

[0010] Preferably, the pushing and pulling assembly includes a first fixing plate, and a first rodless cylinder and a second rodless cylinder arranged in parallel; one end of the first fixing plate is slidably arranged on the first rodless cylinder, and the other end of the first fixing plate is fixedly connected to the piston of the second rodless cylinder;

[0011] The telescopic assembly includes two first driving cylinders. Each first driving cylinder includes a cylinder seat and a telescopic column. The cylinder seats of the two first driving cylinders are respectively fixedly connected to both ends of the first fixing plate through a ninth fixing plate and a tenth fixing plate, and the telescopic columns of the first driving cylinders extend and contract in the vertical direction;

[0012] Wherein, there are two through holes, which are respectively located on the left and right sides of the end of the material tray, and the distance between the two through holes is equal to the distance between the telescopic columns of the two first driving cylinders.

[0013] Preferably, the pushing and pulling assembly further includes a guide rail assembly. One end of the first fixing plate is slidably arranged on the first rodless cylinder through the guide rail assembly. The first rodless cylinder is fixedly arranged on a support base. The guide rail assembly includes:

[0014] A second fixing plate, which includes a first horizontal plate, a second horizontal plate, and an L-shaped plate arranged between the first horizontal plate and the second horizontal plate. The free end of the vertical plate of the L-shaped plate is fixedly connected to one side of the first horizontal plate, and the free end of the horizontal plate of the L-shaped plate is fixedly connected to one side of the second horizontal plate. Wherein, the first horizontal plate is arranged above the first rodless cylinder and fixedly connected to the piston of the first rodless cylinder, and the second rodless cylinder is fixedly arranged above the second horizontal plate;

[0015] A first guide rail, which is horizontally arranged and fixedly arranged above the first horizontal plate. The first fixing plate is arranged above the first guide rail, and one end of the first fixing plate is connected to the slider of the first guide rail;

[0016] A second guide rail, which is arranged parallel to the first guide rail and fixedly arranged on the support base, the second horizontal plate is arranged above the second guide rail and fixedly connected to the slider of the second guide rail;

[0017] Wherein, driven by the first rodless cylinder, the first horizontal plate slides forward to drive the L-shaped plate, the second horizontal plate and the second rodless cylinder to slide forward, and the second guide rail guides the second horizontal plate; driven by the second rodless cylinder, the first fixed plate slides forward, and the first guide rail guides the other end of the first fixed plate.

[0018] Preferably, the first limiting frame is fixedly arranged on the support base, and a set of horizontally arranged third guide rails are also arranged on the support base. Two ends of the second limiting frame are respectively fixedly connected to the sliders of the two third guide rails. A second driving cylinder is also arranged between the two third guide rails. The piston rod of the second driving cylinder is horizontally arranged and fixedly connected to the outside of the second limiting frame. Wherein, the telescopic direction of the piston rod of the second driving cylinder and the sliding direction of the sliders of the two third guide rails are both perpendicular to the longitudinal axis of the second limiting frame. After the pushing and pulling assembly drives the telescopic assembly to pull the material tray out of the bin, the piston rod of the second driving cylinder pushes the second limiting frame to move inwards to clamp the material tray.

[0019] Preferably, it further includes a third limiting frame, and there are two of them. The two third limiting frames are fixedly arranged on the support base and are respectively located at the ends of the first limiting frame and the second limiting frame away from the bin, and limit the material tray after the pushing and pulling assembly drives the telescopic assembly to pull the material tray out of the bin.

[0020] Preferably, the material tray is arranged in the bin in a manner that it can move up and down in the vertical direction. The specific arrangement method is as follows:

[0021] The bin includes: a fixed frame, which is a vertically arranged rectangular frame;

[0022] Vertical transmission components, and there are two groups of them, which are respectively arranged on the left cross beam and the right cross beam of the fixed frame;

[0023] The fourth guide rails are provided in two groups and are vertically arranged on the left vertical support column and the right vertical support column of the fixed frame respectively. The two fourth guide rails on each side are symmetrically arranged relative to each other. A strip-shaped slide plate adapted to the fourth guide rail is arranged on each fourth guide rail, and the strip-shaped slide plate is vertically arranged. Wherein, a cross bar is further arranged on each side, the cross bar is horizontally arranged, one end of the cross bar is fixedly connected to the strip-shaped slide plate, and the other end is fixedly connected to one side of the vertical conveying assembly.

[0024] The L-shaped fixing plates are provided in two groups symmetrically. Each group of L-shaped fixing plates includes a plurality of L-shaped fixing plates. Each L-shaped fixing plate is horizontally arranged, and both ends thereof are respectively fixed on the two strip-shaped slide plates on each side. Wherein, the plurality of L-shaped fixing plates are arranged at equal intervals from top to bottom on the strip-shaped slide plate, and the material tray is arranged between the left L-shaped fixing plate and the right L-shaped fixing plate at the same height.

[0025] Preferably, a safety device is further provided. The safety device includes a safety light curtain. The safety light curtain is vertically arranged on the side of the bin away from the conveying device. When the material tray vertically moves up and down in the bin, if an object passes through the safety light curtain and enters the bin, the material tray will stop vertically moving up and down.

[0026] Preferably, the conveying device is arranged above the box body. A first base is arranged on one side of the box body, and the manipulator is located on the first base.

[0027] The utility model has at least the following beneficial effects:

[0028] First, for the drawer-type feeding device provided by the utility model, the material trays are stacked layer by layer in the vertical direction in the bin to form a multi-layer structure. When the material tray in the bin moves to the operating height of the telescopic assembly, the pushing and pulling assembly drives the telescopic assembly to move below the material tray. The telescopic column of the telescopic assembly extends upward and inserts into the through hole of the material tray. Then the pushing and pulling assembly drives the telescopic assembly to pull the material tray out of the bin. After the manipulator sends all the materials on the material tray to the processing table, the pushing and pulling assembly drives the telescopic assembly to send the material tray back into the bin again. The telescopic column contracts, and the pushing and pulling assembly drives the telescopic assembly to return. The material tray continues to move down in the bin, waiting for the next layer of the material tray to move to the operating height of the telescopic assembly, and repeating the above operation process. By operating in such a cycle, the automation of the feeding device is realized, and the difficulty of manual feeding is reduced.

[0029] Second, the drawer-type feeding device provided by the utility model is safe and reliable. A safety light curtain is provided. When the material tray vertically moves up and down in the bin, if an object (person, tool or other obstacles, etc.) passes through the safety light curtain and enters the bin, the material tray will stop vertically moving up and down, preventing personnel or equipment from being injured or damaged.

[0030] Thirdly, the drawer-type feeding device provided by the present utility model uses a cylinder as a driving device to drive the material tray to the feeding area. Multiple limiting frames position the material tray to ensure that the material tray can reach the specified position accurately and quickly, provide materials for the manipulator, and improve the feeding efficiency of the manipulator.

[0031] Other advantages, objectives and features of the present utility model will be partially reflected by the following description, and partially will also be understood by those skilled in the art through the research and practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of the feeding area in a technical solution of the present utility model;

[0033] Figure 2 It is a schematic structure of the drawer-type manipulator feeding device in another technical solution of the present utility model Figure 1 ;

[0034] Figure 3 It is a schematic structure of the drawer-type manipulator feeding device in another technical solution of the present utility model Figure 1 。 DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The following further detailed description of the present utility model is provided in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description in the specification.

[0036] It should be understood that the terms such as "having", "including" and "comprising" used herein do not exclude the presence or addition of one or more other elements or their combinations.

[0037] It should be noted that, unless otherwise specified, the experimental methods described in the following implementation schemes are all conventional methods, and the reagents and materials, unless otherwise specified, can all be obtained from commercial channels; in the description of the present utility model, it should be noted that, unless otherwise clearly defined 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 utility model can be understood according to specific situations. The orientation or positional relationship indicated by the terms "horizontal", "vertical", "upper", "lower", "front", "back", "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 utility model and simplifying the description, rather than indicating or implying 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 utility model.

[0038] As Figures 1 to 3 shown, the present utility model provides a drawer-type manipulator feeding device, including: a material bin 104, inside which a material tray 105 is arranged, and the material tray 105 is arranged in the material bin 104 in a manner that can move up and down along the vertical direction. Materials are placed on the material tray 105. Among them, through holes are provided at the ends of the material tray 105; a conveying device, which is located on the material-taking side of the material bin 104, and the conveying device includes: a pushing and pulling assembly, which is horizontally arranged and can move reciprocally along the moving direction of the material tray; a telescopic assembly, which is connected to the pushing and pulling assembly and is arranged in a manner that can be telescopic along the vertical direction. The telescopic assembly is provided with a telescopic column for cooperating with the through hole; among them, the pushing and pulling assembly is used to drive the telescopic assembly into the material bin 104 and be located below the material tray, the telescopic column of the telescopic assembly is used to extend upward and insert into the through hole of the material tray, and the pushing and pulling assembly is used to drive the telescopic assembly to pull the material tray out of the material bin 104; a manipulator 100, which is arranged on one side of the conveying device to send the materials on the material tray 105 to the processing table.

[0039] In the above technical solution, the silo 104, the conveying device, and the manipulator 100 are arranged in sequence along the horizontal direction. The area between the silo 104 and the manipulator 100 is the loading area, and the area where the conveying device is located is the loading area. The gripper of the manipulator 100 can be set according to the shape and structure of the material. The moving direction of the material tray 105 is the horizontal direction. Driven by the pushing and pulling assembly, the telescopic assembly can also reciprocate along the horizontal direction. When the pushing and pulling assembly drives the telescopic assembly to pull out the material tray 105 from the silo 104 and send it to the loading area, then the gripper of the manipulator 100 grabs the material on the material tray 105 and sends it to the processing table.

[0040] In the above technical solution, the material tray 105 is arranged in the silo 104 in a manner that it can move up and down along the vertical direction. When the material tray moves to the operating height of the telescopic assembly, the pushing and pulling assembly drives the telescopic assembly to move below the material tray, and the telescopic column extends upward and inserts into the through hole of the material tray. Then, the pushing and pulling assembly drives the telescopic assembly to pull out the material tray from the silo 104. After that, the manipulator 100 sends the material on the material tray 105 to the processing table. After the manipulator 100 completely sends the material to the processing table, the pushing and pulling assembly drives the telescopic assembly to send the material tray back into the silo. The telescopic column contracts, and the pushing and pulling assembly drives the telescopic assembly to return. The material tray continues to move down in the silo and waits for the next layer of the material tray to move to the operating height of the telescopic assembly. The cooperation of the pushing and pulling assembly and the telescopic assembly can quickly and accurately pull out the material tray 105 from the silo 104, realizing the automation of loading, reducing manual intervention, improving production efficiency, and reducing the difficulty of manual loading.

[0041] In another technical solution, it further includes a limiting frame, which includes a first limiting frame 25 and a second limiting frame 17. The cross-sections of the first limiting frame 25 and the second limiting frame 17 are both L-shaped and are symmetrically arranged on both sides of the conveying device. When the pushing and pulling assembly drives the telescopic assembly to pull out the material tray 105 from the silo 104, the material tray 105 is located between the vertical surfaces of the L-shaped first limiting frame 25 and the L-shaped second limiting frame 17, and the two end portions of the material tray 105 slide on the horizontal surfaces of the L-shaped first limiting frame 25 and the L-shaped second limiting frame 17 respectively.

[0042] In the above technical solution, the horizontal plane of the first limiting frame 25 and the second limiting frame 17 is on the same horizontal plane. Preferably, the inner side of the second limiting frame 17 is L-shaped, the outer side of the second limiting frame 17 is concave-shaped, the inner side of the second limiting frame 17 is the side of the second limiting frame 17 close to the material tray 105, and the outer side of the second limiting frame 17 is the side of the second limiting frame 17 away from the material tray 105. When the pushing and pulling assembly drives the telescopic assembly to pull the material tray 105 out of the bin 104, the horizontal planes of the L-shaped first limiting frame 25 and the L-shaped second limiting frame 17 also play a supporting role for the material tray 105, ensuring that the material tray can be smoothly pulled out of the bin 104.

[0043] In another technical solution, the pushing and pulling assembly includes a first fixing plate 22, and a first rodless cylinder 1 and a second rodless cylinder 2 arranged in parallel; one end of the first fixing plate 22 is slidably arranged on the first rodless cylinder 1, and the other end of the first fixing plate 22 is fixedly connected to the piston of the second rodless cylinder 2; the telescopic assembly includes two first driving cylinders 3, each of the first driving cylinders 3 includes a cylinder seat and a telescopic column, the cylinder seats of the two first driving cylinders are respectively fixedly connected to both ends of the first fixing plate 22 through a ninth fixing plate 20 and a tenth fixing plate 21, and the telescopic columns of the first driving cylinders 3 telescopically move in the vertical direction; wherein, there are two through holes, which are respectively located on the left and right sides of the end of the material tray 105, and the distance between the two through holes is equal to the distance between the telescopic columns of the two first driving cylinders 3.

[0044] In the above technical solution, the length of the second rodless cylinder 2 can be set according to the conveying displacement of the telescopic column moving from the feeding area to below the through hole of the material tray 105; the cylinder seat ends are respectively connected to one ends of the ninth fixing plate 20 and the tenth fixing plate 21, the other ends of the ninth fixing plate 20 and the tenth fixing plate 21 are respectively connected to the lower surfaces of both ends of the first fixing plate 22, and the telescopic columns respectively pass through the ninth fixing plate 20 and the tenth fixing plate 21 from bottom to top; the through holes are respectively arranged on the left and right sides of the material tray 105 close to the feeding area. When the telescopic columns move to the positions of the through holes, the two telescopic columns extend upward and are respectively inserted into the through holes. The pushing and pulling assembly drives the telescopic assembly and drives the material tray 105 to reciprocate in the horizontal direction. Preferably, the through holes are rounded rectangles to facilitate the telescopic columns to quickly pass through the through holes.

[0045] In another technical solution, the push-pull assembly further includes a guide rail assembly. One end of the first fixed plate 22 is slidably arranged on the first rodless cylinder 1 through the guide rail assembly. The first rodless cylinder 1 is fixedly arranged on the support base. The guide rail assembly includes: a second fixed plate 14, which includes a first horizontal plate, a second horizontal plate, and an L-shaped plate arranged between the first horizontal plate and the second horizontal plate. The free end of the vertical plate of the L-shaped plate is fixedly connected to one side edge of the first horizontal plate, and the free end of the horizontal plate of the L-shaped plate is fixedly connected to one side edge of the second horizontal plate. Wherein, the first horizontal plate is arranged above the first rodless cylinder 1 and fixedly connected to the piston of the first rodless cylinder 1. The second rodless cylinder 2 is fixedly arranged above the second horizontal plate; a first guide rail 11, which is horizontally arranged and fixedly arranged above the first horizontal plate. The first fixed plate 22 is arranged above the first guide rail 11, and one end of the first fixed plate 22 is connected to the slider of the first guide rail 11; a second guide rail 10, which is arranged in parallel with the first guide rail 11 and fixedly arranged on the support base. The second horizontal plate is arranged above the second guide rail 10 and fixedly connected to the slider of the second guide rail 10. Wherein, driven by the first rodless cylinder 1, the first horizontal plate slides forward to drive the L-shaped plate, the second horizontal plate, and the second rodless cylinder 2 to slide forward, and the second guide rail 10 guides the second horizontal plate; driven by the second rodless cylinder 2, the first fixed plate 22 slides forward, and the first guide rail 11 guides the other end of the first fixed plate 22.

[0046] In the above technical solution, the push-pull assembly reciprocates in the horizontal direction to form a two-stage conveying structure in the horizontal direction. Wherein, the first rodless cylinder 1 drives the first horizontal plate and drives the L-shaped plate, the second horizontal plate, and the second rodless cylinder 2 to reciprocate in the horizontal direction to complete the first-stage conveying in the horizontal direction. The second rodless cylinder 2 drives the first fixed plate 22 and drives the telescopic assembly to continue to reciprocate in the horizontal direction to complete the second-stage conveying in the horizontal direction. Setting the two-stage conveying structure in the horizontal direction can reduce the length of the loading area and make the structure of the drawer-type robotic arm loading device more compact.

[0047] In another technical solution, the first limiting frame 25 is fixedly arranged on the support base. A set of horizontally arranged third guide rails 12 are also arranged on the support base. Two ends of the second limiting frame 17 are respectively fixedly connected to sliders of the two third guide rails 12. A second driving cylinder 5 is further arranged between the two third guide rails 12. A piston rod of the second driving cylinder 5 is horizontally arranged and is fixedly connected to the outer side of the second limiting frame 17. Wherein, the extending and retracting direction of the piston rod of the second driving cylinder 5 and the sliding direction of the sliders of the two third guide rails 12 are both perpendicular to the longitudinal axis of the second limiting frame 17. After the pushing and pulling assembly drives the telescopic assembly to pull the material tray 105 out of the material bin 104, the piston rod of the second driving cylinder 5 pushes the second limiting frame 17 to move inwards to clamp the material tray 105.

[0048] In the above technical solution, the first limiting frame 25 is fixedly arranged on the support base by being connected to a plurality of limiting columns. The limiting columns are all vertically arranged. Their upper ends are jointly connected to the horizontal plane of the first limiting frame 25, and their lower ends are jointly connected to the support base. Preferably, the limiting frame structure is arranged as a cylinder, and the first limiting frame 25 is fixedly arranged on the support base by being connected to three of the limiting columns. The third guide rails 12 are respectively fixed on a fourth fixing plate 16 and a fifth fixing plate 19. The fourth fixing plate 16 and the fifth fixing plate 19 are the same in length, width and height, and the fourth fixing plate 16 and the fifth fixing plate 19 are connected to the support base. The piston rod of the second driving cylinder 5 passes through a seventh fixing plate 18 from outside to inside and is fixedly connected to the outer side of the second limiting frame 17. The seventh fixing plate 18 is fixedly arranged on the support base.

[0049] In the above technical solution, a fourth limiting frame 13 is further arranged between the second limiting frame 17 and the material bin 104. The fourth limiting frame 13 is fixedly arranged on the support base and is parallel to the second limiting frame 25. The cross section of the fourth limiting frame 13 is L-shaped. When the pushing and pulling assembly drives the telescopic assembly to pull the material tray 105 back to the feeding area, it ensures that the material tray 105 can smoothly move from the material bin 104 to the second limiting frame 25, playing a role of transition and support. Wherein, the horizontal plane of the fourth limiting frame 13 is connected to the upper ends of a plurality of the limiting columns, and the lower ends of the limiting columns are connected to the support base. Preferably, the horizontal plane of the fourth limiting frame 13 is connected to two of the limiting columns.

[0050] In another technical solution, it further includes two third limit frames which are fixedly arranged on the support base and are respectively located at the ends of the first limit frame 17 and the second limit frame 25 far away from the silo 104, and are used to limit the material tray 105 after the pushing and pulling assembly drives the telescopic assembly to pull the material tray 105 out of the silo 104.

[0051] In the above technical solution, the distance between the two third limit frames is not less than the length of the first fixing plate 22. The third limit frame includes a special-shaped fixing plate 23, a vertical fixing plate 24, and a horizontal fixing plate 26 which are connected in sequence. Among them, the horizontal fixing plate 26 is connected to the side of the upper end of the vertical fixing plate 24 close to the material tray 104, and the lower surface of the horizontal fixing plate 26 is lower than the upper surface of the material tray, so that the third limit frame can limit the side of the material tray 105 close to the manipulator.

[0052] In the above technical solution, driven by the first rodless cylinder 1, the first horizontal plate slides forward to drive the L-shaped plate, the second horizontal plate, and the second rodless cylinder 2 to slide towards the silo 104. When the limit switch detects that the piston of the first rodless cylinder 1 reaches the specified position, the second rodless cylinder 2 drives the first fixing plate 22 to slide towards the silo 104 and drives the telescopic assembly to continue sliding towards the silo 104 until it is below the material tray 105. The telescopic column is located below the through hole, and the telescopic column extends upward and inserts into the through hole of the material tray 105. Then, the second rodless cylinder 2 drives the first fixing plate 22 to slide away from the silo 104, driving the telescopic assembly to slide away from the silo 104 and pulling the material tray 105 out of the silo 104. When the limit switch detects that the piston of the second rodless cylinder 2 reaches the specified position, the first rodless cylinder 1 drives the first horizontal plate to slide away from the silo 104, driving the L-shaped plate, the second horizontal plate, and the second rodless cylinder 2 to slide away from the silo 104, and driving the material tray 105 to continue sliding away from the silo 104 to the loading area. Both end portions on both sides of the material tray 105 are respectively located on the horizontal plane of the first limit frame 25 and the horizontal plane of the second limit frame 17. Then, the piston rod of the second driving cylinder 5 pushes the second limit frame 17 to move inward to clamp the material tray 105. Under the combined action of the first limit frame 25, the second limit frame 17, and the third limit frame, the material tray 105 is positioned, and the manipulator 100 sends the material on the material tray 105 to the processing table; after the manipulator 100 finishes sending the material to the processing table, the piston rod of the second driving cylinder 5 pulls the second limit frame 17 to move outward to release the material tray 105. Driven by the first rodless cylinder 1, the first horizontal plate slides towards the silo 104, driving the L-shaped plate, the second horizontal plate, and the second rodless cylinder 2 to slide towards the silo 104, and driving the material tray 105 to slide towards the silo 104. When the limit switch detects that the piston of the first rodless cylinder 1 reaches the specified position, the second rodless cylinder 2 drives the first fixing plate 22 and the telescopic assembly to continue sliding towards the silo 104, and drives the material tray 105 to continue sliding towards the silo 104 to send the material tray 105 back into the silo 104. The telescopic column contracts and is located below the through hole. Driven by the first rodless cylinder 1 and the second rodless cylinder 2, the push-pull assembly drives the telescopic assembly to return to the loading area.

[0053] In another technical solution, the material tray 105 is arranged in the silo 104 in a manner that can move up and down along the vertical direction. The specific arrangement method is as follows: The silo 104 includes: a fixed frame, which is a vertically arranged rectangular frame; a vertical transmission assembly, which is provided with two groups and is respectively arranged on the left crossbeam and the right crossbeam of the fixed frame; two groups of fourth guide rails, which are respectively vertically arranged on the left vertical support column and the right vertical support column of the fixed frame. The two fourth guide rails on each side are symmetrically arranged. A long strip-shaped slide plate adapted to the fourth guide rail is arranged on each fourth guide rail, and the long strip-shaped slide plate is vertically arranged; wherein, a cross bar is further arranged on each side, the cross bar is horizontally arranged, one end of the cross bar is fixedly connected to the long strip-shaped slide plate, and the other end is fixedly connected to one side of the vertical transmission assembly; two groups of L-shaped fixing plates are symmetrically arranged, each group of L-shaped fixing plates includes a plurality of L-shaped fixing plates, each L-shaped fixing plate is horizontally arranged, and its two ends are respectively fixed on the two long strip-shaped slide plates on each side. Among them, the plurality of L-shaped fixing plates are arranged at equal intervals from top to bottom on the long strip-shaped slide plate, and the material tray is arranged between the left L-shaped fixing plate and the right L-shaped fixing plate at the same height.

[0054] In the above technical solution, each group of the vertical transmission assemblies includes: a motor, a reducer, a synchronous belt, and a driving wheel and a driven wheel installed on the crossbeam of the silo 104. The motor is arranged at the bottom inside the silo 104. The driving wheels connected to the motor are respectively arranged on the crossbeams below the left side and the right side of the silo 104, and the driven wheels are respectively arranged on the crossbeams above the left side and the right side of the silo 104. And the axes of the driving wheel and the driven wheel on each side are arranged at the central position of the crossbeam of the silo 104. One end of the synchronous belt on each side bypasses the driving wheel, and the other end of the synchronous belt on each side bypasses the driven wheel, and then the two ends of the synchronous belt on the same side are connected. A synchronous belt clamping member is further arranged on one side of each group of synchronous belts to ensure better vertical transmission of the synchronous belt. The synchronous belt is provided with teeth, and the driving wheel, the driven wheel and the synchronous belt clamping member are all provided with tooth grooves adapted to the synchronous belt. The power output by the motor is transmitted to the synchronous belt on the same side through the driving wheel on each side, and the synchronous belt on the same side drives the driven wheel on the same side. The cooperation of the motor and the reducer ensures the stable and accurate operation of the transmission assembly during up and down transmission.

[0055] In the above technical solution, sliders adapted to the fourth guide rail are provided on the long strip-shaped slide plates, so that the long strip-shaped slide plates move up and down vertically in the silo 104. A plurality of cross bars can be provided on each side of the fixed frame. Preferably, two cross bars are provided on each side, respectively located at the upper and lower ends of the long strip-shaped slide plate. One end of the cross bar is fixedly connected to the side of the long strip-shaped slide plate away from the L-shaped fixing plate. The specific manner in which the other end of the cross bar is fixedly connected to one side of the vertical conveying assembly is: the other end of the cross bar is connected to the synchronous belt clamping member. Preferably, both ends of the cross bar are respectively fixed to two long strip-shaped slide plates on each side, and the position corresponding to the synchronous belt clamping member on the cross bar is fixedly connected to the synchronous belt clamping member; both ends of the vertical plane of the L-shaped fixing plate are respectively fixed to two long strip-shaped slide plates on each side. The horizontal planes of the left L-shaped fixing plate and the right L-shaped fixing plate at the same height jointly support the material tray. Driven by the motor, the synchronous belts on both sides drive up and down synchronously, driving the cross bars, the long strip-shaped slide plates and the L-shaped fixing plate on both sides to move up and down synchronously, so that the material tray 105 moves up and down vertically in the silo 104.

[0056] In the above technical solution, the distance between adjacent upper and lower L-shaped fixing plates is not less than the height of the telescopic assembly, so that the telescopic assembly can enter the silo 104 and be located below the material tray 105. The length of the L-shaped fixing plate is greater than the length of the material tray 105. In order to reduce the friction between the material tray 105 and the L-shaped fixing plate, protective plates are provided on the side of the L-shaped fixing plate close to the conveying device. The protective plates are rectangular, and the width and length of the protective plates are both smaller than the width and length of the horizontal plate of the L-shaped fixing plate. The height of the protective plate is the same as the height of the vertical plate of the L-shaped fixing plate. Small L-shaped fixing plates are also provided on the L-shaped fixing plates. The small L-shaped fixing plates are located on the side of the protective plate away from the conveying device. The right-angle sides of the L-shaped fixing plate and the small L-shaped fixing plate are mutually attached. And the side of the small L-shaped fixing plate away from the conveying device and the side of the L-shaped fixing plate away from the conveying device are in the same vertical plane. And a rectangular hole is formed in the cross section of the overall structure after the L-shaped fixing plate and the small L-shaped fixing plate are connected. The total length of the small L-shaped fixing plate and the protective plate does not exceed the length of the L-shaped fixing plate, the width of the small L-shaped fixing plate does not exceed the width of the protective plate, and the height of the small L-shaped fixing plate does not exceed the height of the L-shaped fixing plate.

[0057] In the above technical solution, during the process that the vertical transmission assembly drives the material tray to move downward, when the horizontal plane of the L-shaped fixed plate reaches the same horizontal plane as the horizontal planes of the first limit frame and the second limit frame, the vertical transmission assembly stops driving. The push-pull assembly drives the telescopic assembly to move below the material tray 105, and the telescopic column extends upward and inserts into the through hole. Then, the push-pull assembly drives the telescopic assembly and pulls the material tray 105 back to the loading area. After the manipulator 100 sends all the materials on the material tray 105 to the processing table, the push-pull assembly drives the telescopic assembly and drives the material tray 105 back into the storage bin 104 and places it on the L-shaped fixed plate. The telescopic column contracts, the push-pull assembly drives the telescopic assembly back to the loading area, and the vertical transmission assembly drives the material tray to move downward along the vertical direction again, so that the next layer of the material tray reaches the designated position.

[0058] In another technical solution, a safety device is further provided. The safety device includes a safety light curtain, which is arranged vertically on the side of the storage bin 104 away from the conveying device. When the material tray moves vertically up and down in the storage bin 104, if an object passes through the safety light curtain and enters the storage bin 104, the vertical up and down movement of the material tray will stop.

[0059] In the above technical solution, when the vertical transmission assembly moves up and down, the material tray 105 moves vertically up and down in the storage bin 104, and the safety light curtain 106 starts to work. When the vertical transmission assembly stops working, the material tray 105 stops moving in the storage bin 104, and the safety light curtain 106 also stops working; when the material tray 105 moves vertically up and down in the storage bin 104 and the safety light curtain 106 is working, if an object (person, tool or other obstacle, etc.) passes through the safety light curtain 106 and enters the storage bin 104, the object (person, tool or other obstacle, etc.) will block the light beam emitted by the transmitter of the safety light curtain 106, and the receiver of the safety light curtain 106 cannot receive a complete optical signal. The safety light curtain 106 system will immediately detect this change internally, and the signal processing unit of the safety light curtain 106 will immediately generate a control signal. The control signal is quickly transmitted to the control system device connected to the motor, immediately triggering the emergency stop mechanism of the motor, and the motor will quickly stop running, causing the vertical transmission assembly to stop working, and further causing the material tray 105 to stop moving vertically up and down in the storage bin 104, preventing harm or damage to personnel or equipment.

[0060] In another technical solution, the conveying device is arranged above the box body 102. A first base 101 is arranged on one side of the box body 102, and the manipulator 100 is located on the first base 101.

[0061] In the above technical solution, the conveying device is fixedly connected to the support base. The support base is arranged above the box body 102. The support base is a planar support base, which is arranged above the box body 102. The height of the box body 102 is lower than the height of the silo 104. The first base 101, the box body 102 and the silo 104 are arranged on the second base in sequence along the horizontal direction. An induction device is also arranged in the feeding area. When the induction device senses that there is no material on the material tray 105, the pushing and pulling assembly and the telescopic assembly do not work, and the vertical transmission assembly continues to drive up and down, so that the horizontal plane of the L-shaped fixing plate supporting the material tray 105 on the next layer reaches the same horizontal plane as the horizontal planes of the first limit frame 25 and the second limit frame 17. A set of detachable support fixing plates 103 is also provided. The support fixing plate 103 includes a horizontal plate and a vertical plate. The vertical plate of the support fixing plate 103 has a rectangular convex structure, which is adapted to the rectangular hole. When the vertical transmission assembly does not drive up and down and the material tray 105 stops moving up and down, the operator inserts the support fixing plate 103 into the rectangular hole of this layer, and slides and takes out the material tray 105 on the support fixing plate 103.

[0062] The number of devices and the processing scale described here are used to simplify the description of the present invention. The application, modification and variation of the present invention are obvious to those skilled in the art.

[0063] Although the embodiments of the present invention have been disclosed as above, it is not limited to the applications listed in the specification 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 made. 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. Drawer-type manipulator loading equipment, characterized in that: include: A material bin, wherein a material tray is arranged inside the material bin, wherein the material tray is arranged inside the material bin in a manner that it can move up and down in a vertical direction, and materials are placed on the material tray, wherein a through hole is arranged at an end of the material tray; A conveying device, which is located on the material taking side of the silo, and the conveying device includes: a push-pull assembly, which is arranged horizontally and can reciprocate along the moving direction of the material tray; a telescopic assembly, which is connected to the push-pull assembly and is arranged in a telescopic manner in the vertical direction, and the telescopic assembly is provided with a telescopic column for cooperating with the through hole; wherein, the push-pull assembly is used to drive the telescopic assembly to enter the silo and be located below the material tray, and the telescopic column of the telescopic assembly is used to extend upward and insert into the through hole of the material tray, and the push-pull assembly is used to drive the telescopic assembly to pull the material tray out of the silo; A robot arm is arranged on one side of the conveying device to deliver the material on the material tray to the processing table.

2. The drawer-type manipulator loading equipment according to claim 1, characterized in that: It also includes a limiting frame, which includes a first limiting frame and a second limiting frame. The cross-sections of the first limiting frame and the second limiting frame are both L-shaped, and are symmetrically arranged on both sides of the conveying device, so that when the push-pull component drives the telescopic component to pull the material tray out of the silo, the material tray is located between the vertical surface of the L-shaped first limiting frame and the vertical surface of the L-shaped second limiting frame, and the two side ends of the material tray slide on the horizontal surface of the L-shaped first limiting frame and the horizontal surface of the L-shaped second limiting frame respectively.

3. The drawer-type manipulator loading equipment according to claim 2, characterized in that: The push-pull assembly includes a first fixed plate, and a first rodless cylinder and a second rodless cylinder arranged in parallel; one end of the first fixed plate is slidably arranged on the first rodless cylinder, and the other end of the first fixed plate is fixedly connected to the piston of the second rodless cylinder; The telescopic assembly includes two first driving cylinders, each of which includes a cylinder seat and a telescopic column. The cylinder seats of the two first driving cylinders are fixedly connected to the two ends of the first fixing plate through a ninth fixing plate and a tenth fixing plate, respectively, and the telescopic column of the first driving cylinder is telescopic in the vertical direction. There are two through holes, which are respectively located on the left and right sides of the end of the material tray, and the distance between the two through holes is equal to the distance between the two telescopic columns of the first driving cylinder.

4. The drawer-type manipulator loading device according to claim 3, characterized in that: The push-pull assembly further includes a guide rail assembly, one end of the first fixed plate is slidably arranged on the first rodless cylinder through the guide rail assembly, and the first rodless cylinder is fixedly arranged on the support base, and the guide rail assembly includes: A second fixed plate, comprising a first horizontal plate, a second horizontal plate, and an L-shaped plate disposed between the first horizontal plate and the second horizontal plate, wherein the free end of the vertical plate of the L-shaped plate is fixedly connected to one side of the first horizontal plate, and the free end of the horizontal plate of the L-shaped plate is fixedly connected to one side of the second horizontal plate, wherein the first horizontal plate is disposed above the first rodless cylinder and fixedly connected to the piston of the first rodless cylinder, and the second rodless cylinder is fixedly disposed above the second horizontal plate; A first guide rail, which is horizontally arranged and fixedly arranged above the first horizontal plate, wherein the first fixed plate is arranged above the first guide rail, and one end of the first fixed plate is connected to a slider of the first guide rail; A second guide rail, which is arranged parallel to the first guide rail and fixedly arranged on the support base, and the second horizontal plate is arranged above the second guide rail and fixedly connected to the slider of the second guide rail; Among them, driven by the first rodless cylinder, the first horizontal plate slides forward to drive the L-shaped plate, the second horizontal plate and the second rodless cylinder to slide forward, and the second guide rail guides the second horizontal plate; driven by the second rodless cylinder, the first fixed plate slides forward, and the first guide rail guides the other end of the first fixed plate.

5. The drawer-type manipulator loading device according to claim 4, characterized in that: The first limit frame is fixedly arranged on the supporting base, and a group of horizontally arranged third guide rails are also arranged on the supporting base, and the two end heads of the second limit frame are respectively fixedly connected to the sliders of the two third guide rails, and a second driving cylinder is also arranged between the two third guide rails, and the piston rod of the second driving cylinder is horizontally arranged and fixedly connected to the outer side of the second limit frame, wherein the telescopic direction of the piston rod of the second driving cylinder and the sliding direction of the sliders of the two third guide rails are both perpendicular to the longitudinal axis of the second limit frame, and after the push-pull assembly drives the telescopic assembly to pull the material tray out of the silo, the piston rod of the second driving cylinder pushes the second limit frame to move inward to clamp the material tray.

6. The drawer-type manipulator loading device according to claim 5, characterized in that: It also includes two third limit frames, which are fixed on the support base and are respectively located at the ends of the first limit frame and the second limit frame away from the silo. When the push-pull component drives the telescopic component to pull the material tray out of the silo, the material tray is limited.

7. The drawer-type manipulator loading device according to claim 1, characterized in that: The material tray is arranged in the silo in a manner that it can move up and down in the vertical direction, and the specific arrangement method is as follows: The silo comprises: a fixed frame, which is a vertically arranged rectangular frame; A vertical transmission assembly, which is provided with two groups, which are respectively provided on the left crossbeam and the right crossbeam of the fixed frame; A fourth guide rail, which is provided with two groups, and is respectively vertically arranged on the left vertical support column and the right vertical support column of the fixed frame, the two fourth guide rails on each side are relatively symmetrically arranged, and each fourth guide rail is provided with a long strip slide adapted to the fourth guide rail, and the long strip slide is vertically arranged; wherein, a cross bar is also provided on each side, and the cross bar is horizontally arranged, one end of the cross bar is fixedly connected to the long strip slide, and the other end is fixedly connected to one side of the vertical transmission assembly; The L-shaped fixing plates are symmetrically arranged in two groups, each group of L-shaped fixing plates includes multiple L-shaped fixing plates, each L-shaped fixing plate is horizontally arranged, and its two ends are respectively fixed on the two long strip slides on each side, wherein the multiple L-shaped fixing plates are arranged on the long strip slides at equal intervals from top to bottom, and the material tray is arranged between the left L-shaped fixing plate and the right L-shaped fixing plate at the same height.

8. The drawer-type manipulator loading device according to claim 1, characterized in that: A safety device is also provided, which includes a safety grating, which is vertically arranged on a side of the silo away from the conveying device. When the material tray moves vertically up and down in the silo, an object passing through the safety grating and entering the silo will stop the material tray from moving vertically up and down.

9. The drawer-type manipulator loading device according to claim 1, characterized in that: The conveying device is arranged above the box body, a first base is arranged on one side of the box body, and the manipulator is located on the first base.

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