Automatic plate placing device

Abstract

The utility model relates to the technical field of automation equipment design, and particularly discloses an automatic plate arranging device which is used for being arranged on a horizontal linear driving module, the horizontal linear driving module is used for driving the automatic plate arranging device to linearly move in the horizontal direction, and the automatic plate arranging device comprises a supporting frame, a mechanical arm, a lifting mechanism and an angle adjusting mechanism; the number of the mechanical arms is multiple, the multiple mechanical arms are linearly arranged in the horizontal direction, and the lifting mechanism is arranged on the supporting frame and used for driving the multiple mechanical arms to synchronously and vertically move up and down. The angle adjusting mechanism is arranged on the lifting mechanism and used for driving the multiple mechanical arms to rotate independently. The device has the effects that the operation difficulty and the labor cost are reduced, and automatic, accurate and efficient tray placing operation is achieved.

Description

Technical Field

[0001] This application relates to the technical field of automated equipment design, and particularly to an automatic tray loading device. Background Art

[0002] During the production process of Qianneng cylinder heads, appearance inspection is an essential step. After appearance inspection, the qualified Qianneng cylinder heads need to be accurately placed into the trays with concave positions for subsequent transfer or processing.

[0003] However, the existing tray loading process mainly relies on manual operation, which is not only inefficient but also difficult to ensure the accuracy of tray loading. Since the size of each concave position is fixed, even a slight mistake may cause the Qianneng cylinder head to fail to be smoothly placed, requiring manual adjustment of the angle and position, which undoubtedly increases the operation difficulty and cost. This problem urgently needs to be solved. Utility Model Content

[0004] In order to reduce the operation difficulty and labor cost and achieve automatic, accurate, and efficient tray loading operation, this application provides an automatic tray loading device.

[0005] An automatic tray loading device provided by this application adopts the following technical solutions:

[0006] An automatic tray loading device is used to be arranged on a horizontal linear driving module, and the horizontal linear driving module is used to drive the automatic tray loading device to move linearly in the horizontal direction. The automatic tray loading device includes:

[0007] A support frame;

[0008] A manipulator, and the number of the manipulators is set to be several, and the several manipulators are arranged in a straight line in the horizontal direction;

[0009] A lifting mechanism, which is arranged on the support frame and used to drive the several manipulators to move vertically up and down synchronously;

[0010] An angle adjustment mechanism, which is arranged on the lifting mechanism and used to drive the several manipulators to rotate separately.

[0011] By adopting the above technical solution, the automatic palletizing device is connected to the horizontal linear driving module, and the horizontal linear driving module drives the automatic palletizing device to perform linear movement in the horizontal direction. The support frame supports the manipulator, the lifting mechanism and the angle adjustment mechanism. The lifting mechanism drives a plurality of manipulators to synchronously move vertically up and down. Through the horizontal linear driving of the automatic palletizing device by the horizontal linear driving module and the vertical linear driving of the manipulator by the lifting mechanism, the manipulator can grasp the Qianneng cylinder head and move it for the palletizing action. When the palletizing angle of the Qianneng cylinder head is incorrect, the angle adjustment mechanism rotates the manipulator to adjust the orientation of the grasped Qianneng cylinder head, so that the Qianneng cylinder head can be accurately palletized. The palletizing process does not require manual operation, with a high degree of automation, reducing the operation difficulty and labor cost, and realizing automatic, precise and efficient palletizing operation.

[0012] Preferably, the lifting mechanism includes a first lifting component and a second lifting component. The first lifting component is arranged on the support frame and is used to drive the second lifting component to move vertically up and down. The second lifting component is connected to the first lifting component and is used to drive a plurality of the manipulators to synchronously move vertically up and down.

[0013] By adopting the above technical solution, the first lifting component performs the lifting operation on the second lifting component, and the second lifting component performs the lifting operation on the manipulator. Through the two lifting operations, it is beneficial to increase the lifting distance of the manipulator.

[0014] Preferably, the first lifting component includes a first lifting cylinder and a first lifting plate. The first lifting cylinder is vertically and fixedly connected to the support frame. The first lifting plate is slidably connected to the side wall of the support frame. The upper end of the first lifting plate is fixedly connected to the piston rod of the first lifting cylinder. The second lifting component is connected to the first lifting plate.

[0015] By adopting the above technical solution, the second lifting component is connected to the first lifting plate. The first lifting cylinder is vertically and fixedly connected to the support frame. The upper end of the first lifting plate is fixedly connected to the piston rod of the first lifting cylinder. The stretching or contraction of the piston rod of the first lifting cylinder can drive the first lifting plate to move vertically up and down. The vertical up and down movement of the first lifting plate drives the second lifting component to move vertically up and down, thus realizing the first-stage lifting operation.

[0016] Preferably, the second lifting assembly includes a second lifting cylinder, a second lifting plate and a mounting seat, the second lifting cylinder is vertically fixedly connected to the first lifting plate, the second lifting plate is slidably connected to the side wall of the first lifting plate, the upper end of the second lifting plate is fixedly connected to the piston rod of the second lifting cylinder, the number of the mounting seats corresponds to the number of the manipulators, a number of the mounting seats are fixedly connected to the second lifting plate, and a number of the manipulators are respectively connected to a number of the mounting seats.

[0017] By adopting the above technical solution, the mounting base supports the manipulator, and the manipulator is connected to the second lifting plate through the mounting base, the second lifting cylinder is vertically fixedly connected to the first lifting plate, the upper end of the second lifting plate is fixedly connected to the piston rod of the second lifting cylinder, the stretching or contraction of the piston rod of the second lifting cylinder can drive the second lifting plate to move vertically up and down, and the vertical up and down movement of the second lifting plate drives the manipulator to move vertically up and down, thereby realizing the lifting operation of the second section.

[0018] Preferably, the angle adjustment mechanism includes several angle adjustment motors, the number of the angle adjustment motors corresponds to the number of the manipulators, and the several angle adjustment motors are vertically installed on several mounting seats respectively, and the angle adjustment motor on each mounting seat is used to drive the manipulator on the mounting seat to rotate.

[0019] By adopting the above technical solution, when the orientation of the pendulum plate of the dry energy cylinder cover grasped by the manipulator on a mounting seat is incorrect, the angle adjustment motor located on this mounting seat drives the manipulator on the mounting seat to rotate so that the dry energy cylinder cover is adjusted to the correct pendulum plate angle. Several angle adjustment motors adjust the angle of each dry energy cylinder cover grasped by the manipulator respectively, which has strong flexibility.

[0020] Preferably, a first guide rail is vertically fixedly provided on the side wall of the support frame, a first slider is vertically fixedly provided on the first lifting plate toward the side wall of the support frame, and the first slider is sleeved and slidably mounted on the first guide rail.

[0021] By adopting the above technical solution, when the first lifting cylinder drives the first lifting plate to move vertically up and down, the first slider moves vertically up and down along the length direction of the first guide rail to guide the movement of the first lifting plate, which is beneficial to improve the stability of the first lifting plate when moving vertically up and down.

[0022] Preferably, a second guide rail is vertically fixedly provided on the side wall of the first lifting plate, a second slider is vertically fixedly provided on the second lifting plate toward the side wall of the first lifting plate, and the second slider is sleeved and slidably mounted on the second guide rail.

[0023] By adopting the above technical solution, when the second lifting cylinder drives the second lifting plate to move vertically up and down, the second slider moves vertically up and down along the length direction of the second guide rail to guide the movement of the second lifting plate, which is beneficial to improving the stability of the second lifting plate when moving vertically up and down.

[0024] Preferably, an upper buffer is provided at the upper end of the first lifting plate. The upper buffer is located directly above the second lifting plate. A lower buffer is provided at the lower end of the first lifting plate. The lower buffer is located directly below the second lifting plate.

[0025] By adopting the above technical solution, when the second lifting plate moves vertically upward, the upper buffer is located directly above the second lifting plate to limit and buffer the second lifting plate. When the second lifting plate moves vertically downward, the lower buffer is located directly below the second lifting plate to limit and buffer the second lifting plate, which is beneficial to improving the safety during the lifting process of the manipulator.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] 1. By providing a support frame, a manipulator, a lifting mechanism, and an angle adjustment mechanism, the automatic tray arranging device is connected to the horizontal linear drive module. The horizontal linear drive module drives the automatic tray arranging device to move linearly in the horizontal direction. The support frame supports the manipulator, the lifting mechanism, and the angle adjustment mechanism. The lifting mechanism drives a plurality of manipulators to move synchronously vertically up and down. Through the horizontal linear drive of the automatic tray arranging device by the horizontal linear drive module and the vertical linear drive of the manipulator by the lifting mechanism, the manipulator can grab the Qianneng cylinder head and move it for the tray arranging action. When the tray arranging angle of the Qianneng cylinder head is incorrect, the angle adjustment mechanism rotates the manipulator to adjust the orientation of the grabbed Qianneng cylinder head, so that the Qianneng cylinder head can be accurately tray arranged. The tray arranging process does not require manual operation, with a high degree of automation, reducing the operation difficulty and labor cost, and realizing automatic, precise, and efficient tray arranging operation.

[0028] 2. By providing a first lifting component and a second lifting component, the first lifting component performs a lifting operation on the second lifting component, and the second lifting component performs a lifting operation on the manipulator. Through two lifting operations, it is beneficial to increase the lifting distance of the manipulator.

[0029] 3. By providing an upper buffer and a lower buffer, when the second lifting plate moves vertically upward, the upper buffer is located directly above the second lifting plate to limit and buffer the second lifting plate. When the second lifting plate moves vertically downward, the lower buffer is located directly below the second lifting plate to limit and buffer the second lifting plate, which is beneficial to improving the safety during the lifting process of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the automatic tray arranging device in the embodiment of the present application.

[0031] Figure 2 It is a front view schematic diagram of the automatic tray arranging device in the embodiment of the present application.

[0032] Figure 3 is Figure 1 an enlarged view of part A in

[0033] Figure 4 is Figure 1 an enlarged view of part B in

[0034] Explanation of reference numerals:

[0035] 1, support frame; 2, manipulator; 3, lifting mechanism; 31, first lifting component; 311, first lifting cylinder; 312, first lifting plate; 32, second lifting component; 321, second lifting cylinder; 322, second lifting plate; 323, mounting seat; 4, angle adjustment motor; 5, first guide rail; 6, first slider; 7, second guide rail; 8, second slider; 9, upper buffer; 91, upper support block; 92, upper elastic column; 10, lower buffer; 101, lower support block; 102, lower elastic column; 11, connection hole. Detailed implementation manners

[0036] The following Figures 1-4 further elaborates on the present application in detail with reference to the accompanying drawings.

[0037] The embodiment of the present application discloses an automatic tray arranging device, which is used to be arranged on a horizontal linear driving module (not shown in the figure), and the horizontal linear driving module is used to drive the automatic tray arranging device to perform linear movement in the horizontal direction. Referring to Figure 1 and Figure 2 , the automatic tray arranging device includes a support frame 1, a manipulator 2, a lifting mechanism 3 and an angle adjustment mechanism. The support frame 1 supports the manipulator 2, the lifting mechanism 3 and the angle adjustment mechanism. In this embodiment, a connection hole 11 is opened at one end of the support frame 1, and the support frame 1 is connected to the horizontal linear driving module through the connection hole 11 to realize the linear movement of the automatic tray arranging device in the horizontal direction.

[0038] Referring to Figure 1 and Figure 2, the number of the manipulators 2 is set to several. In this embodiment, the number of the manipulators 2 is set to seven. The seven manipulators 2 are arranged in a straight line in the horizontal direction and the manipulators 2 face downward. The lifting mechanism 3 is arranged on the support frame 1 and is used to drive the seven manipulators 2 to move synchronously up and down vertically. The angle adjustment mechanism is arranged on the lifting mechanism 3 and is used to drive the seven manipulators 2 to rotate separately, so as to perform separate azimuth adjustment on the Qianneng cylinder head clamped by the manipulators 2. The Qianneng cylinder head can perform the dish arranging operation accurately. The dish arranging process does not require manual operation, with high automation, reducing the operation difficulty and labor cost, and realizing automatic, precise and efficient dish arranging operation.

[0039] Refer to Figure 1 and Figure 2 , the lifting mechanism 3 includes a first lifting component 31 and a second lifting component 32. The first lifting component 31 is arranged on the support frame 1 and is used to drive the second lifting component 32 to move up and down vertically. The second lifting component 32 is connected to the first lifting component 31 and is used to drive the seven manipulators 2 to move synchronously up and down vertically. Through the cooperation of the first lifting component 31 and the second lifting component 32, the range of the vertical up and down movement of the manipulators 2 is increased.

[0040] Refer to Figure 1 and Figure 2 , the first lifting component 31 includes a first lifting cylinder 311 and a first lifting plate 312. The first lifting cylinder 311 is vertically and fixedly connected to the upper end of the support frame 1, and the piston rod of the first lifting cylinder 311 is arranged vertically downward. The first lifting plate 312 is arranged vertically, and the first lifting plate 312 is slidably connected to the side wall of the support frame 1. The upper end of the first lifting plate 312 is fixedly connected to the piston rod of the first lifting cylinder 311, and the second lifting component 32 is connected to the first lifting plate 312. In this embodiment, the number of the first lifting cylinders 311 is set to two. The two first lifting cylinders 311 are respectively arranged at both ends in the horizontal length direction of the first lifting plate 312, and the two first lifting cylinders 311 drive the first lifting plate 312 synchronously to improve the stability of the first lifting plate 312 when moving up and down vertically.

[0041] Refer to Figure 1 and Figure 3, a first guide rail 5 is vertically and fixedly arranged on the side wall of the support frame 1 facing the first lifting plate 312. At the same time, a first slider 6 is correspondingly and vertically fixedly arranged on the side wall of the first lifting plate 312 facing the support frame 1. The first slider 6 is sleeved and slidably arranged on the first guide rail 5. When the first lifting cylinder 311 drives the first lifting plate 312 to move vertically up and down, the first slider 6 slides along the length direction of the first guide rail 5 to further improve the stability of the first lifting plate 312 when moving vertically up and down. In this embodiment, the first guide rail 5 and the first slider 6 are arranged in two groups, and the two groups of first guide rails 5 and first sliders 6 are respectively arranged on both sides of the first lifting plate 312 in the horizontal length direction.

[0042] Referring to Figure 1 and Figure 2 , the second lifting assembly 32 includes a second lifting cylinder 321, a second lifting plate 322 and a mounting seat 323. The second lifting cylinder 321 is vertically and fixedly connected to the first lifting plate 312, and the piston rod of the second lifting cylinder 321 is arranged vertically downward. The second lifting plate 322 is also arranged vertically and is parallel to the first lifting plate 312. The second lifting plate 322 is slidably connected to the side wall of the first lifting plate 312. The upper end of the second lifting plate 322 is fixedly connected to the piston rod of the second lifting cylinder 321. The number of mounting seats 323 corresponds to the number of manipulators 2, which is seven. The seven mounting seats 323 are evenly spaced and fixedly connected to the side wall of the second lifting plate 322 facing away from the first lifting plate 312 in the horizontal direction. The seven manipulators 2 are respectively connected to the seven mounting seats 323. In this embodiment, the number of second lifting cylinders 321 is set to one, and the second lifting cylinder 321 is located at the middle position of the second lifting plate 322 in the horizontal direction.

[0043] Referring to Figure 1 and Figure 3 , a second guide rail 7 is vertically and fixedly arranged on the side wall of the first lifting plate 312 facing the second lifting plate 322. A second slider 8 is correspondingly and vertically fixedly arranged on the side wall of the second lifting plate 322 facing the first lifting plate 312. The second slider 8 is sleeved and slidably arranged on the second guide rail 7. When the second lifting cylinder 321 drives the second lifting plate 322 to move vertically up and down, the second slider 8 slides along the length direction of the second guide rail 7 to improve the stability of the second lifting plate 322 when moving vertically up and down. In this embodiment, the second guide rail 7 and the second slider 8 are also arranged in two groups, and the two groups of second guide rails 7 and second sliders 8 are respectively arranged on both sides of the second lifting plate 322 in the horizontal length direction.

[0044] Referring to Figure 3, a upper buffer member 9 is provided at the upper end of the first lifting plate 312. The upper buffer member 9 is located directly above the second lifting plate 322 to buffer the upper limit position of the movement of the second lifting plate 322. At the same time, a lower buffer member 10 is provided at the lower end of the first lifting plate 312. The lower buffer member 10 is located directly below the second lifting plate 322 to buffer the lower limit of the movement of the second lifting plate 322, which is beneficial to improving the safety of the manipulator 2 during the lifting process.

[0045] Referring to Figure 3 , the upper buffer member 9 includes an upper support block 91 and an upper elastic column 92. The upper support block 91 is fixedly connected to the upper end of the first lifting plate 312, and the upper support block 91 extends horizontally towards the direction close to the second lifting plate 322. The upper elastic column 92 is vertically fixed on the upper support block 91, and the upper elastic column 92 is directly opposite to the upper end of the second lifting plate 322 in the vertical direction. When the second lifting plate 322 moves vertically upwards, the upper elastic column 92 buffers the second lifting plate 322; Referring to Figure 4 , the lower buffer member 10 includes a lower support block 101 and a lower elastic column 102. The lower support block 101 is fixedly connected to the lower end of the first lifting plate 312, and the lower support block 101 extends horizontally towards the direction close to the second lifting plate 322. The lower elastic column 102 is vertically fixed on the lower support block 101, and the lower elastic column 102 is directly opposite to the lower end of the second lifting plate 322 in the vertical direction. When the second lifting plate 322 moves vertically downwards, the lower elastic column 102 buffers the second lifting plate 322.

[0046] Referring to Figure 1 and Figure 2 , the angle adjustment mechanism includes a number of angle adjustment motors 4. The number of the angle adjustment motors 4 is correspondingly set to seven according to the number of the manipulators 2. The seven angle adjustment motors 4 are respectively vertically installed on seven mounting seats 323. The angle adjustment motor 4 on each mounting seat 323 is used to drive the manipulator 2 on the corresponding mounting seat 323 to rotate. Specifically, the manipulator 2 is fixedly connected to the output shaft of the angle adjustment motor 4, so that the rotation of the output shaft of the angle adjustment motor 4 drives the manipulator 2 to rotate, thereby driving the clamped Qianneng cylinder head to adjust the orientation. It should be noted that the seven angle adjustment motors 4 on the seven mounting seats 323 control the seven manipulators 2 individually, and only need to adjust the Qianneng cylinder head with incorrect orientation, which has strong flexibility.

[0047] The implementation principle of an automatic tray loading device in an embodiment of this application is as follows: The horizontal linear drive module drives the automatic tray loading device to move linearly in the horizontal direction. The first lifting component 31 and the second lifting component 32 together drive the manipulator 2 to move linearly in the vertical direction. The manipulator 2 performs the operations of picking up and placing the Qianneng cylinder head to achieve the transfer of the position of the Qianneng cylinder head. During the tray loading process of the Qianneng cylinder head, the angle adjustment motor 4 can drive the manipulator 2 to rotate to adjust the orientation of the Qianneng cylinder head, so that the Qianneng cylinder head can be accurately tray-loaded. The tray loading process does not require manual operation, with a high degree of automation, reducing the operation difficulty and labor cost, and realizing automatic, precise, and efficient tray loading operations.

[0048] The above are all the preferred embodiments of this application. The protection scope of this application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. An automatic plate-swinging device, used to be arranged on a horizontal linear driving module, the horizontal linear driving module is used to drive the automatic plate-swinging device to move linearly in the horizontal direction, characterized in that: The automatic plate placing device includes: Support frame (1); A manipulator (2), wherein the number of the manipulators (2) is set to be a plurality, and the plurality of manipulators (2) are arranged in a straight line in a horizontal direction; A lifting mechanism (3), the lifting mechanism (3) being arranged on the support frame (1) and used for driving a plurality of the manipulators (2) to move vertically up and down synchronously; An angle adjustment mechanism, wherein the angle adjustment mechanism is arranged on the lifting mechanism (3) and is used to drive a plurality of the manipulators (2) to rotate individually.

2. The automatic plate-staggering device according to claim 1, characterized in that: The lifting mechanism (3) comprises a first lifting component (31) and a second lifting component (32); the first lifting component (31) is arranged on the support frame (1) and is used to drive the second lifting component (32) to move vertically up and down; the second lifting component (32) is connected to the first lifting component (31) and is used to drive a plurality of the manipulators (2) to move vertically up and down synchronously.

3. The automatic plate arrangement device according to claim 2, characterized in that: The first lifting assembly (31) comprises a first lifting cylinder (311) and a first lifting plate (312); the first lifting cylinder (311) is vertically fixedly connected to the support frame (1); the first lifting plate (312) is slidably connected to the side wall of the support frame (1); the upper end of the first lifting plate (312) is fixedly connected to the piston rod of the first lifting cylinder (311); and the second lifting assembly (32) is connected to the first lifting plate (312).

4. The automatic plate-staggering device according to claim 3, characterized in that: The second lifting assembly (32) comprises a second lifting cylinder (321), a second lifting plate (322) and a mounting seat (323); the second lifting cylinder (321) is vertically fixedly connected to the first lifting plate (312); the second lifting plate (322) is slidably connected to the side wall of the first lifting plate (312); the upper end of the second lifting plate (322) is fixedly connected to the piston rod of the second lifting cylinder (321); the number of the mounting seats (323) corresponds to the number of the manipulators (2); a plurality of the mounting seats (323) are fixedly connected to the second lifting plate (322); and a plurality of the manipulators (2) are respectively connected to a plurality of the mounting seats (323).

5. The automatic plate-staggering device according to claim 4, characterized in that: The angle adjustment mechanism comprises a plurality of angle adjustment motors (4), the number of the angle adjustment motors (4) corresponds to the number of the manipulators (2), the plurality of angle adjustment motors (4) are respectively vertically mounted on a plurality of mounting seats (323), and the angle adjustment motor (4) on each mounting seat (323) is used to drive the manipulator (2) on the mounting seat (323) to rotate.

6. The automatic plate-staggering device according to claim 3, characterized in that: A first guide rail (5) is vertically fixedly provided on the side wall of the support frame (1), and a first sliding block (6) is vertically fixedly provided on the first lifting plate (312) toward the side wall of the support frame (1), and the first sliding block (6) is sleeved and slidably mounted on the first guide rail (5).

7. The automatic dish placement device according to claim 4, characterized in that: A second guide rail (7) is vertically fixedly provided on the side wall of the first lifting plate (312), and a second slider (8) is vertically fixedly provided on the second lifting plate (322) toward the side wall of the first lifting plate (312), and the second slider (8) is sleeved and slidably mounted on the second guide rail (7).

8. The automatic plate-staggering device according to claim 4, characterized in that: An upper buffer member (9) is provided at the upper end of the first lifting plate (312), and the upper buffer member (9) is located directly above the second lifting plate (322); a lower buffer member (10) is provided at the lower end of the first lifting plate (312), and the lower buffer member (10) is located directly below the second lifting plate (322).

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