Stock bin type feeding and receiving machine

Abstract

The utility model relates to the technical field of feeding of automatic processing systems, in particular to a stock bin type feeding and receiving machine, which at least solves the problem of automatic material preparation in automatic implementation of valve core grinding. The raw material station comprises two stock bins, each stock bin is provided with a supporting plane, and a positioning device is arranged on each supporting plane; the material disc is used for containing workpieces, and the material disc can be placed in the positioning device; the transfer station comprises a first vertical driving shaft and a first horizontal driving shaft, a movable part of the first horizontal driving shaft is provided with a first gripping apparatus, and the first gripping apparatus can grip the material disc; the material preparation station comprises a supporting table, and at least one positioning tool used for placing workpieces is arranged on the supporting table; and the workpiece taking station comprises a movable working device, the movable working device is used for arranging a second grabbing tool and driving the second grabbing tool to move back and forth between the material disc grabbed by the first grabbing tool and the material preparing station, and the second grabbing tool can grab workpieces.

Description

Technical Field

[0001] The utility model relates to the technical field of feeding in an automated processing system, in particular to a bin type material feeding and receiving machine. Background Art

[0002] The valve core is one of the important components of a valve. The machining dimensional accuracy of the valve core is high, and the surface roughness requirement is high. When machining the valve core, the circumferential side wall of the valve core needs to be ground to ensure the machining requirements; the valve core can be ground by a grinding machine.

[0003] However, most of the current grinding machines for grinding valve cores are still in the stage of manual loading and unloading. To improve the grinding efficiency of valve cores and enhance the degree of automation in the production process, this equipment is specially developed to solve the material preparation and feeding link in the automation implementation of valve core grinding. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a bin type material feeding and receiving machine, which solves at least the problem of automated material preparation in the automation implementation of valve core grinding.

[0005] To achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A bin type material feeding and receiving machine includes: a raw material station, which includes two bins arranged side by side. The bin is provided with a support plane, and a positioning device is arranged on the support plane; a tray for holding workpieces, the tray can be positioned and placed in the positioning device, and a plurality of the trays can be stacked vertically in the positioning device; a transfer station, arranged on one side of the raw material station, includes a first vertical drive shaft, a first horizontal drive shaft is arranged on the movable part of the first vertical drive shaft, the length direction of the first horizontal drive shaft is parallel to the arrangement direction of the two bins, a first gripper is arranged on the movable part of the first horizontal drive shaft, and the first gripper can grab the tray; a material preparation station, which includes a support table, and at least one positioning tooling for placing the workpiece is arranged on the support table; a workpiece taking station, which includes a moving working device, the moving working device is used to arrange a second gripper and drive the second gripper to move back and forth between the tray grabbed by the first gripper and the material preparation station, and the second gripper can grab the workpiece.

[0007] Based on the above solution and as a preferred solution of the above solution: The workpiece is in the shape of a long axis; the tray has a receiving cavity with an open top, and two parallel first support blocks are arranged in the receiving cavity. The first support blocks are arranged along the length direction of the receiving cavity, and a plurality of card slots with openings facing upwards are arranged along the length direction on the first support blocks. The workpiece can be arranged along the length direction of the first support blocks in the receiving cavity, and the length direction of the workpiece is perpendicular to the length direction of the first support blocks to support the workpiece through the card slots; the positioning tooling includes two second support blocks, and the second support blocks are provided with V-shaped grooves with openings facing upwards. The V-shaped grooves of the two second support blocks face each other in parallel, and the two V-shaped grooves are used to jointly support one workpiece.

[0008] Based on the above solution and as a preferred solution of the above solution: The positioning tooling further includes two movable first positioning blocks, and the first positioning blocks are arranged on one side of the second support block away from the other second support block, and the first positioning blocks can move towards or away from the V-shaped grooves.

[0009] Based on the above solution and as a preferred solution of the above solution: The raw material station further includes a fixed limiting device; the silo includes a support seat, and support casters are arranged at the bottom of the support seat, and a support plane is arranged on the upper side; the positioning device includes a placing groove extending vertically upwards on the support plane, and the two side surfaces of the placing groove in the arrangement direction of the two silos are hollow structures with open upper sides, and the tray can be embedded in the placing groove; the limiting device is used for limiting and connecting the support seat.

[0010] Based on the above solution and as a preferred solution to the above solution: The limiting device includes a base, the base is provided with two U-shaped accommodating areas, a first limiting block is provided on the bottom side of the accommodating area, a horizontal support plate and a first reciprocating driver are respectively provided on both sides of the accommodating area, the support plates are parallel to each other, the moving part of the first reciprocating driver moves in the width direction of the accommodating area, the moving part of the first reciprocating driver is provided with an L-shaped limiting part, one end of the limiting part faces the bottom side direction of the accommodating area, and the other end faces the direction of the other first reciprocating driver; the support seat is arranged in the accommodating area, so that three sides of the base surround the support seat, and two support rollers and an acting block are respectively provided on two sides of the support seat adjacent to the opening side of the accommodating area, the support rollers are supported on the support plate, the first limiting block abuts against one side of the support seat close to the bottom side of the accommodating area, the first reciprocating driver extends out, so that one end of the limiting part abuts against the acting block, abuts against the side of the acting block opposite to the first reciprocating driver, and the other end is on the side of the acting block away from the first limiting block; when the first reciprocating driver retracts, the limiting part moves away from the acting block, and the support seat can be moved out of the accommodating area, so that the silo moves away from the limiting device.

[0011] Based on the above solution and as a preferred solution to the above solution: Support parts with downward-facing support surfaces are provided on both sides of the tray in the arrangement direction of the two silos; the first gripper includes a first connecting plate connected to the moving part of the first horizontal driving shaft, two picking arms are slidably arranged on the first connecting plate, the picking arms can slide in the length direction of the first horizontal driving shaft, and a second reciprocating driver is arranged on the first connecting plate to drive the picking arms to slide, the picking arms extend towards the side where the silo is located, and a convex part protruding towards the other picking arm is provided at one end of the picking arm away from the first connecting plate.

[0012] Based on the above solution and as a preferred solution to the above solution: A third reciprocating driver is provided at the end of one end of the picking arm away from the first connecting plate, a blocking block protruding towards the other picking arm is provided on the moving part of the third reciprocating driver, the blocking block can move towards or away from the first connecting plate, a fourth reciprocating driver is also provided on the first connecting plate, a pushing plate facing the direction of the blocking block is provided on the fourth reciprocating driver, and the pushing plate can move towards or away from the blocking block.

[0013] On the basis of the above solution and as a preferred solution of the above solution: The stock preparation station further includes a third horizontal drive shaft. One end of the third horizontal drive shaft is arranged below one end of the picking station in the direction away from the raw material station, and the other end extends in the direction away from the picking station. The support table is arranged on the movable part of the third horizontal drive shaft.

[0014] On the basis of the above solution and as a preferred solution of the above solution: The mobile working device includes a second horizontal drive shaft. The second horizontal drive shaft extends from above the transfer station to above the stock preparation station. A second vertical drive shaft is arranged on the movable part of the second horizontal drive shaft, and a second gripper is arranged on the movable part of the second vertical drive shaft.

[0015] On the basis of the above solution and as a preferred solution of the above solution: The second gripper includes a rotary drive connected to the mobile working device. The movable part of the rotary drive faces downward. A two-finger jaw device extending downward is arranged on the movable part of the rotary drive. Groove structures with opposite opening directions are arranged at the lower ends of the jaw fingers of the two-finger jaw device.

[0016] In order to solve the problem of automatic stock preparation in the realization of valve core grinding automation, the utility model has the following beneficial effects:

[0017] The magazine type feeding and receiving machine of the utility model can be applied to the automation system of valve core grinding, and is used to realize the automatic stock preparation, feeding and recovery of the processed workpiece (valve core) therein.

[0018] Among them, the raw material station prepares stock for workpieces. The raw material station is provided with two positioning devices capable of placing trays. One of them can be used to place workpieces to be processed, and the other is used to place the workpieces recovered after processing.

[0019] Among them, the stock preparation station can position and place workpieces through a positioning tooling. After the workpieces to be processed are placed, it serves for workpiece stock preparation and feeding, and is used for the next process working device in the realization of valve core grinding automation to position and pick up; the processed workpieces can also be placed back into the positioning tooling.

[0020] Specifically, when in use:

[0021] First, we need to place the workpieces well in the trays, and then place the trays with the workpieces in one of the positioning devices.

[0022] Then, through the cooperation of the first vertical drive shaft and the first horizontal drive shaft, the transfer station drives the first gripper to pick up a tray from the positioning device where the workpiece to be processed is placed, and drives the tray to move to a preset position (this preset position is within the stroke range of the moving working device at the picking station). Among them, multiple trays can be neatly stacked upward in each positioning device, and the first gripper picks up the topmost tray; the first vertical drive shaft and the first horizontal drive shaft are used to support the first gripper to move within a vertical plane parallel to the arrangement direction of the two bins.

[0023] Then, the moving working device at the picking station can drive the second gripper to pick up the workpiece to be processed from the tray at the pre-inspection position in the transfer station, and after picking up, transfer and place the workpiece to be processed into the positioning tooling for discharging, so as to be picked up by the working device of the next process for the next grinding process.

[0024] The feeding is completed.

[0025] Then, the bin-type feeding and receiving machine of the present invention can also realize the recycling of the processed workpieces. First, the processed workpieces can be placed back into the positioning tooling; then, the picking station drives the second gripper to pick up the processed workpieces from the stock preparation station and transfer them to the tray at the preset position (when there are multiple workpieces in the tray, after putting them back, the picking station can continue to pick up the workpieces to be processed from this tray and transfer them to the stock preparation station for processing, and then put the processed workpieces back into the tray after processing, and so on until each workpiece in this tray is processed); then, after all the workpieces in the tray are processed, the transfer station controls the first gripper to drive the tray to place the tray at the preset position into another bin adjacent to the bin for placing the workpieces to be processed in the raw material station, and also place it in the positioning device of the bin.

[0026] The receiving is completed.

[0027] In addition to the purposes, features and advantages described above, the present invention has other purposes, features and advantages. The following will refer to the drawings for a further detailed description of the present invention. Description of the Drawings

[0028] Figure 1 Schematic diagram of the bin-type feeding and receiving machine of the present invention Figure 1 ;

[0029] Figure 2 Schematic diagram of the bin-type feeding and receiving machine of the present invention Figure 2 ;

[0030] Figure 3 Schematic diagram of the bin-type feeding and receiving machine of the present invention Figure 3 (Bin not provided);

[0031] Figure 4 Schematic diagram of the transfer station structure of the present utility model;

[0032] Figure 5 Schematic diagram of the cooperation between the support base and the limiting device of the present utility model;

[0033] Figure 6 Partial schematic diagram of the support base of the present utility model;

[0034] Figure 7 Schematic diagram of the structure of the limiting part of the present utility model;

[0035] Figure 8 Schematic diagram of the first gripper of the present utility model;

[0036] Figure 9 Schematic diagram of the application of the first gripper of the present utility model;

[0037] Figure 10 Schematic diagram of the structure of the workpiece picking station of the present utility model;

[0038] Figure 11 Schematic diagram of the structure of the second gripper of the present utility model;

[0039] Figure 12 Schematic diagram of the structure of the stock preparation station of the present utility model;

[0040] Figure 13 Schematic diagram of the setting of the positioning tooling of the present utility model;

[0041] Figure 14 Schematic diagram of the bin - type feeding and receiving machine of the present utility model Figure 4 ;

[0042] Figure 15 Schematic diagram of the bin - type feeding and receiving machine of the present utility model Figure 5 . Detailed implementation manners

[0043] Next, in conjunction with the accompanying drawings, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0044] Refer to Figures 1-15 , a bin - type feeding and receiving machine is disclosed. The bin - type feeding and receiving machine of the present utility model can be applied to an automated system for valve core grinding, and is used to realize the automatic stock preparation, feeding and recycling of the processed workpiece 600 (valve core).

[0045] In the present disclosure embodiment, as Figures 1-2As shown in the figure, this bin - type feeding and receiving machine includes a raw material station 100, a tray 200, a transfer station 300, a stock - preparation station 400, and a picking station 500.

[0046] Among them, the raw material station 100 includes two bins 101 arranged side by side. The bin 101 is provided with a support plane 103, and a positioning device 106 is arranged on the support plane 103; the tray 200 is used for holding the workpiece 600. The tray 200 can be horizontally positioned and placed in the positioning device 106, and multiple trays 200 can be stacked vertically in the positioning device 106; the transfer station 300 is arranged on one side of the raw material station 100, including a first vertical drive shaft 301 arranged on one side of the raw material station 100. A first horizontal drive shaft 302 is arranged on the movable part of the first vertical drive shaft 301. The length direction of the first horizontal drive shaft 302 is parallel to the arrangement direction of the two bins 101. A first gripper 303 is arranged on the movable part of the first horizontal drive shaft 302, and the first gripper 303 can grab the tray 200; the stock - preparation station 400 includes a support table 402, and at least one positioning tooling 403 for placing the workpiece 600 is arranged on the support table 402; the picking station 500 includes a moving working device 501. The moving working device 501 is used for arranging a second gripper 504 and driving the second gripper 504 to move back and forth between the tray 200 grabbed by the first gripper 303 and the stock - preparation station 400, and the second gripper 504 can grab the workpiece 600.

[0047] Among them, the raw material station 100 is used for preparing the workpiece 600. The raw material station 100 is provided with two positioning devices 106 capable of placing the tray 200. One of them can be used for placing the workpiece 600 to be processed, and the other is used for placing the workpiece 600 that is retrieved after processing. The stock - preparation station 400 can position and place the workpiece 600 through the positioning tooling 403. After the workpiece 600 to be processed is placed, it can provide the workpiece 600 for stock - preparation and feeding, and be used for the next - process working device to position and pick up in the realization of valve core grinding automation; the processed workpiece 600 can also be placed back into the positioning tooling 403.

[0048] This bin - type feeding and receiving machine can form a storage bin 101 for feeding or receiving the workpiece 600 through the cooperation of the support plane 103 and the positioning device 106, constituting the so - called bin 101 - type structure of the present utility model.

[0049] This bin - type feeding and receiving machine can realize feeding and receiving integrally, and can also be only used for feeding or receiving.

[0050] Feeding method:

[0051] First, we need to place the workpiece 600 well in the tray 200, and then place the tray 200 with the workpiece 600 in one of the positioning devices 106.

[0052] Then, the transfer station 300, through the cooperation of the first vertical drive shaft 301 and the first horizontal drive shaft 302, drives the first gripper 303 to pick up a tray 200 from the positioning device 106 where the workpiece 600 to be processed is placed, and drives the tray 200 to move to a preset position (this preset position is within the stroke range of the moving working device 501 of the picking station 500). Among them, multiple trays 200 can be neatly stacked upward in each positioning device 106, and the first gripper 303 picks up the uppermost tray 200; the first vertical drive shaft 301 and the first horizontal drive shaft 302 are used to support the first gripper 303 to move in a vertical plane parallel to the arrangement direction of the two bins 101.

[0053] Then, the moving working device 501 of the picking station 500 can drive the second gripper 504 to pick up the workpiece 600 to be processed from the tray 200 at the pre-inspection position in the transfer station 300. After picking up, the workpiece 600 to be processed is transferred and placed in the positioning tooling 403 in a good arrangement, so that the working device of the next process can pick it up for the next grinding process.

[0054] The feeding is completed.

[0055] Receiving method:

[0056] First, the processed workpiece 600 can be placed back in the positioning tooling 403; then, the picking station 500 drives the second gripper 504 to pick up the processed workpiece 600 from the feeding station 400 and transfer it to the tray 200 at the preset position; then, after all the workpieces 600 in the tray 200 are processed or filled, the transfer station 300 controls the first gripper 303 to drive the tray 200 to place the tray 200 at the preset position into another bin 101 adjacent to the bin 101 where the workpiece 600 to be processed is placed in the raw material station 100, and it is also placed in the positioning device 106 of the bin 101.

[0057] The receiving is completed.

[0058] The bin 101 of the present utility model has a large storage capacity. The overall automation degree of this bin-type feeding and receiving machine is high, and the positioning is reliable. In addition to being applied to the above-mentioned valve core grinding feeding and receiving, it can also be applied to other application scenarios with the same function. When used for integrated feeding and receiving, one bin 101 is used for feeding preparation, and one bin 101 is used for receiving. Correspondingly, when this feeding and receiving machine is used for only feeding or only receiving, the two bins 101 are correspondingly used for feeding or receiving.

[0059] In the embodiment of the present disclosure, as Figure 9 shown, the workpiece 600 is in the shape of a long shaft (including but not limited to the valve core, such as Figure 13As shown in the figure; the tray 200 has a receiving cavity with an open top. Two parallel first support blocks 202 are arranged in the receiving cavity. The first support blocks 202 are arranged along the length direction of the receiving cavity. A plurality of upwardly open card slots 203 are arranged along the length direction on the first support blocks 202. The workpieces 600 can be arranged in the receiving cavity along the length direction of the first support blocks 202. The length direction of the workpieces 600 is perpendicular to the length direction of the first support blocks 202 to support the workpieces 600 through the card slots 203; as Figure 13 As shown in the figure, the positioning tooling 403 includes two second support blocks 404. The second support blocks 404 are provided with upwardly open V-shaped grooves 405. The V-shaped grooves 405 of the two second support blocks 404 are parallel and opposite to each other. The two V-shaped grooves 405 are used to jointly support a workpiece 600.

[0060] Each tray 200 can accommodate a large number of workpieces 600, and the positioning and support of the workpieces 600 are realized through the V-shaped grooves 405.

[0061] In some embodiments, as Figure 9 shown, the tray 200 is rectangular. Two cells 201 are arranged in each receiving cavity. Two first support blocks 202 are arranged in each cell 201. The two first support blocks 202 support a row of workpieces 600, and a workpiece 600 is supported by two oppositely facing card slots 203.

[0062] In the embodiments of the present disclosure, as Figure 13 shown, the positioning tooling 403 further includes two movable first positioning blocks 407. The first positioning blocks 407 are arranged on one side of the second support blocks 404 away from the other second support block 404. The first positioning blocks 407 can move toward or away from the V-shaped grooves 405. The support of the second support blocks 404 solves the radial positioning and support of the workpieces 600 (in this case, the axial positioning of the workpieces 600 also depends on the placement accuracy in the tray 200 and also relies on the accuracy control requirements during the movement process). Then, after the workpiece 600 is placed in the V-shaped grooves 405, the end of the workpiece 600 is pushed by the movable first positioning blocks 407 to further realize the high-precision axial positioning of the workpiece 600.

[0063] With the participation of this link, the accuracy requirements for the workpieces 600 before entering the positioning tooling 403 are reduced, the design difficulty and processing cost can be reduced, and at the same time, the high-standard positioning ability of the workpieces 600 is simply ensured.

[0064] In some embodiments, as Figure 13 shown, a fifth reciprocating driver 406 (preferably a three-axis cylinder) is arranged on one side of each second support block 404 away from the other second support block 404. The movable part of the fifth reciprocating driver 406 is provided with the first positioning block 407.

[0065] In some embodiments, such as Figures 12-13 shown, two positioning jigs 403 are provided on the support table 402, and the two positioning jigs 403 are arranged side by side in parallel. In an environment for integrated feeding and discharging, one positioning jig 403 is used to place the workpiece 600 to be processed, and one is used to place the processed workpiece 600. The two positions do not interfere with each other, and there is no need to ensure that there is no workpiece 600 in the positioning jig 403 when placing the processed workpiece 600, which can reduce the programming difficulty and correspondingly improve the production rhythm.

[0066] In the embodiments of the present disclosure, such as Figures 1-5 shown, the raw material station 100 further includes a fixed limiting device 113; see Figure 6 , the magazine 101 includes a support base 102, the bottom of the support base 102 is provided with support casters 104 (preferably universal casters), and the upper side is provided with a support plane 103; the positioning device 106 includes a placement groove 107 extending vertically upward on the support plane 103, and the two sides of the placement groove 107 in the arrangement direction of the two magazines 101 are hollow structures 108 that are not closed at the upper side, and the tray 200 can be embedded in the placement groove 107; as Figure 5 shown, the limiting device 113 is used for limiting and connecting the support base 102.

[0067] The advantages are that each part of the magazine 101 can be moved independently when not restricted by the limiting device 113. One of the advantages is that it is beneficial to move the magazine 101 to a place far away from working devices such as the transfer station 300, which is convenient for manually placing the tray 200 loaded with the workpiece 600 to be processed into the magazine 101, and it is also convenient for manually removing the workpiece 600 loaded in the magazine 101 from the magazine 101; the second advantage is that when the inventory area for storing the workpiece 600 to be processed and the warehouse area for storing the finished workpiece 600 are both far from the processing station, the magazine 101 can be directly pushed to transfer the workpiece 600, which is convenient to operate and reduces the labor intensity.

[0068] In some embodiments, for the convenience of moving the magazine 101, a handrail 105 is provided on the support base 102.

[0069] In some embodiments, such as Figure 6 shown, in order to ensure reliable positioning and convenient operation of the tray 200, the positioning device 106 provided with the placement groove 107 includes two right-angle struts 109 and a straight-face strut 110 fixedly provided at the lower end on the support plane 103. One side of the two right-angle struts 109 is arranged opposite to each other in the same plane, and the straight-face strut 110 is arranged on the opposite side of the two right-angle struts 109, and a hollow structure 108 is formed between the straight-face strut 110 and the right-angle struts 109.

[0070] In the embodiments of the present disclosure, as Figure 4 and Figure 5 shown, the limiting device 113 includes a base 114. The base 114 is provided with two U-shaped accommodating regions 115. A first limiting block 116 is provided on the bottom side of the accommodating region 115 opposite to the opening side. A horizontal support plate 117 and a first reciprocating driver 118 are respectively provided on both sides of the accommodating region 115. The support plates 117 extend parallel to each other along the depth direction of the U-shaped structure of the accommodating region 115. The movable part of the first reciprocating driver 118 moves in the width direction of the accommodating region 115. An L-shaped limiting part 119 is provided on the movable part of the first reciprocating driver 118 (as Figure 7 ). One end of the limiting part 119 faces the bottom side direction of the accommodating region 115, and the other end faces the direction of the other first reciprocating driver 118; as Figure 5 shown, in order to realize the positioning and limiting of the bin 101 by the limiting device 113, the support base 102 is arranged in the accommodating region 115, so that the base 114 surrounds three sides of the support base 102. Two support rollers 111 and an acting block 112 are respectively provided on the two sides of the support base 102 adjacent to the opening side of the accommodating region 115 (the vertically arranged support body provided on the support base 102 as Figure 6 shown). The support rollers 111 are supported on the support plates 117. The first limiting block 116 abuts against one side of the support base 102 close to the bottom side of the accommodating region 115 opposite to the opening side. The first reciprocating driver 118 extends out, so that one end of the limiting part 119 abuts against the acting block 112, abuts against the side of the acting block 112 opposite to the first reciprocating driver 118, and the other end is on the side of the acting block 112 away from the first limiting block 116; when the first reciprocating driver 118 retracts, the limiting part 119 moves away from the acting block 112, and the support base 102 can be removed from the accommodating region 115, so that the bin 101 moves away from the limiting device 113.

[0071] In the embodiments of the present disclosure, as Figure 8 and Figure 9 shown, support parts 204 with the support surface facing downwards are provided on both sides of the tray 200 in the arrangement direction of the two bins 101 (the outwardly extending lugs 205 in Figure 9 ); the first gripper 303 includes a first connecting plate 304 connected to the movable part of the first horizontal driving shaft 302. Two picking arms 305 are slidably arranged on the first connecting plate 304. The picking arms 305 can slide in the length direction of the first horizontal driving shaft 302, and a second reciprocating driver 306 is arranged on the first connecting plate 304 to drive the picking arms 305 to slide. The picking arms 305 extend towards the side where the bin 101 is located. A convex part 307 protruding towards the other picking arm 305 is provided at one end of the picking arm 305 away from the first connecting plate 304, and the support surface of the convex part 307 faces upwards.

[0072] After the convex portions 307 of the two pick-up arms 305 approach each other, they are supported below the support portion 204, and the tray 200 can be lifted to achieve the positioning and picking-up of the tray 200. The first horizontal drive shaft 302 supports the movement and positioning of the first gripper 303 in the horizontal direction, and the first vertical drive shaft 301 supports the movement and positioning of the first gripper 303 in the vertical direction. The picked-up tray 200 is released by moving the pick-up arms 305 away from each other.

[0073] In the embodiment of the present disclosure, in order to achieve precise positioning of the tray 200 in the transfer station 300, a third reciprocating driver 308 is provided at the end of the pick-up arm 305 away from the first connecting plate 304. A stopper 309 protruding toward the other pick-up arm 305 is provided on the movable part of the third reciprocating driver 308. The stopper 309 can move toward or away from the first connecting plate 304. A fourth reciprocating driver 310 is also provided on the first connecting plate 304. A push plate 311 facing the direction of the stopper 309 is provided on the fourth reciprocating driver 310. The push plate 311 can move toward or away from the stopper 309.

[0074] The left and right sides and the upper and lower sides of the tray 200 are limited by the two pick-up walls, and the front and rear sides of the tray 200 are limited by the push plate 311 and the stopper 309, so that positioning is comprehensively achieved. At the same time, it also prevents the tray 200 from deviating from the position during movement, thereby avoiding the problem of low repeat accuracy of the preset position due to the deviation of the tray 200 in the first gripper 303 when the first horizontal drive shaft 302 and the first vertical drive shaft 301 are accurately positioned.

[0075] In some embodiments, at least one of the pick-up arms 305 is provided with a tray 200 detection device. On both sides of the tray 200, outwardly protruding lugs 205 are provided to form a support portion 204 with a downward-facing support surface. On one side of the pick-up arm 305 away from the other pick-up arm 305, a first connecting body 313 is provided. One end of the first connecting body 313 is rotatably connected to one end of the pick-up arm 305 close to the first connecting plate 304, and the other end extends towards the stop block 309. A second limiting block 314 connected to the pick-up arm 305 is provided on the lower side of the first connecting body 313. A detection switch 315 is provided on the pick-up arm 305. When the first connecting body 313 is supported by the second limiting block 314, the detection switch 315 can detect the first connecting body 313. The second limiting block 314 supports the first connecting body 313 below to limit the downward swing range of the first connecting body 313. On one side of the pick-up arm 305 close to the other pick-up wall, a trigger rod 316 is provided. The trigger rod 316 is rigidly connected to the first connecting body 313 through a second connecting body 317. The lower end of the trigger rod 316 extends above the support surface of the convex portion 307, and an extension portion 318 protruding away from the first connecting body 313 is provided at the lower end of the trigger rod 316. An upwardly raised guiding slope 319 is provided on the lower side of the end of the extension portion 318 away from the first connecting body 313.

[0076] As Figure 9 shown, when the lugs 205 move closer to the pick-up wall, the trigger rod 316 can be lifted. At this time, the detection switch 315 cannot detect the first connecting body 313, and it can be determined that the tray 200 is in an effective pick-up state.

[0077] In the embodiments of the present disclosure, as Figures 1-3 shown in FIGS. 12 - 13 and 15, the stock preparation station 400 further includes a third horizontal drive shaft 401. One end of the third horizontal drive shaft 401 is provided below one end of the second horizontal drive shaft 502 away from the raw material station 100, and the other end extends away from the picking station 500. A support table 402 is provided on the movable part of the third horizontal drive shaft 401.

[0078] The third horizontal drive shaft 401 can drive the positioning tooling 403 to move, so that the position where the picking station 500 picks and places parts in the stock preparation station 400 is not in the same position as the position where the working device of the next process in the automated system of the application environment of this bin - type material feeding and receiving machine picks and places parts, greatly avoiding the possibility of interference between the picking station 500 and the working device of the next process, and further ensuring the application safety of the entire automated working system.

[0079] In the embodiments of the present disclosure, as Figure 10As shown, the mobile working device 501 includes a second horizontal drive shaft 502, which extends from above the transfer station 300 to above the material preparation station 400, and a second vertical drive shaft 503 is arranged on the movable part of the second horizontal drive shaft 502, and a second gripper 504 is arranged on the movable part of the second vertical drive shaft 503.

[0080] like Figure 2 As shown, one end of the second horizontal drive shaft 502 extends above the preset position of the transfer station 300, and the other end extends above one end of the third horizontal drive shaft 401, and the second gripper 504 reciprocates in the material tray 200 in the preset position and in the positioning fixture 403 on the third horizontal drive shaft 401. The second gripper 504 can pick up and release the workpiece 600.

[0081] In the embodiments of the present disclosure, Figure 11 As shown, the second gripper 504 includes a rotary driver 505 connected to the movable part of the second vertical drive shaft 503, the movable part of the rotary driver faces downward, and a two-finger clamping device 506 extending downward is provided on the movable part of the rotary driver 505, and the lower end of the claw 507 of the two-finger clamping device 506 is provided with a groove structure 508 with an opening direction opposite to each other (the groove structure 508 limits the workpiece 600 so that the workpiece 600 does not slip). The two-finger clamping device 506 can clamp the shaft-shaped workpiece 600. After the rotary driver 505 is provided, the adaptability of the second gripper 504 is improved, and the relative position accuracy requirements between the workpiece 600 in the preset position of the tray 200, the position of the positioning fixture 403 and the two-finger clamping device 506 can be reduced, which is convenient for debugging and also convenient for the adaptability adjustment of the entire equipment after changing the product model.

[0082] The silo-type feeding and receiving machine of the utility model is mainly used for feeding and receiving shaft workpieces 600, wherein the structure of each driving shaft can select mature mobile slide products, linear motors 704, etc., or can be homemade. Taking the first vertical shaft as an example, the driving shaft includes a supporting body 701, and the supporting body 701 is provided with a slide rail 702, a rotatable screw rod 703, and a motor 704 connected to the screw rod 703 in transmission. The movable part is connected to the screw rod 703 through a nut 705, and is connected to the slide rail 702 through a slider 706, so that the movable part is driven to move by the rotation of the motor 704.

[0083] The first reciprocating drive 118 and other reciprocating drives may be made of telescopic cylinders or electric cylinders, preferably high-strength, high-precision and durable three-axis cylinders.

[0084] like Figure 14 , 15 As shown, in order to improve the convenience of using the silo-type material delivery and receiving machine of the present invention, the silo-type material delivery and receiving machine can be highly integrated.Figure 15 As shown, a cabinet body 707 is provided (for the open structure, refer to Figures 1 to 3 ). Among the four sides of the cabinet body 707, three sides are enclosed (one side is open, and the upper and lower sides are open). The limiting device 113 can be arranged on the bottom side inside the cabinet body 707. The material bin 101 can enter the cabinet body 707 from the side in the opening direction of the cabinet body 707 and be connected to the limiting device 113 for positioning. The transfer station 300 is arranged on the opposite side of the non-enclosed side inside the cabinet body 707, and the first gripper 303 faces the direction of the material bin 101. Among them, the picking station 500 is arranged on the top of the cabinet body 707, and the stock preparation station 400 is arranged outside the cabinet body 707. As shown in Figure 15 , it is arranged at the upper part of the opposite side of the non-enclosed side of the cabinet body 707. A fence 708 is arranged on the top of the cabinet body 707 to enclose the other three sides except the side close to the stock preparation station 400 of the transfer station 300. And guardrails 709 are arranged on the side of the cabinet body 707 to enclose both sides of the stock preparation station 400.

[0085] In this way, each part is integrated into one body through the cabinet body 707, which is convenient for transferring the bin-type material feeding and receiving machine as needed. For example, when changing the product model and directly replacing the equipment (bin-type material feeding and receiving machine) without changing this equipment to adapt to the model; for example, when the terminal processing equipment changes the product and does not require this equipment for material feeding and receiving. Among them, the enclosed side of the cabinet body 707 plus the fence 708 and the guardrails 709 isolate and protect each working part of this equipment in the production environment, ensuring production safety.

[0086] The above is only the preferred specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution and the inventive concept of the present utility model, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present utility model.

Claims

1. A silo-type feeding and receiving machine, characterized in that: include: A raw material station (100) comprises two silos (101) arranged side by side, wherein the silos (101) are provided with a support plane (103), and a positioning device (106) is provided on the support plane (103); A material tray (200) for holding a workpiece (600), wherein the material tray (200) can be positioned in the positioning device (106), and a plurality of the material trays (200) can be arranged in the positioning device (106) and stacked in a vertical direction; A transfer station (300) is arranged on one side of the raw material station (100), comprising a first vertical drive shaft (301), a first horizontal drive shaft (302) is arranged on the movable part of the first vertical drive shaft (301), a length direction of the first horizontal drive shaft (302) is parallel to the arrangement direction of the two silos (101), a first gripper (303) is arranged on the movable part of the first horizontal drive shaft (302), and the first gripper (303) can grip the material tray (200); A material preparation station (400) comprises a support platform (402), on which is disposed at least one positioning tool (403) for placing the workpiece (600); The picking station (500) includes a mobile working device (501), wherein the mobile working device (501) is used to set a second gripper (504) and drive the second gripper (504) to move back and forth between the material tray (200) gripped by the first gripper (303) and the material preparation station (400), and the second gripper (504) is capable of gripping the workpiece (600).

2. The silo-type material feeding and receiving machine according to claim 1, characterized in that: The workpiece (600) is in the shape of a long axis; The material tray (200) has a receiving cavity with an open top, and two mutually parallel first support blocks (202) are arranged in the receiving cavity. The first support blocks (202) are provided with a plurality of upwardly opening slots (203) arranged along the length direction, and the workpiece (600) can be arranged in the receiving cavity along the length direction of the first support blocks (202), and the length direction of the workpiece (600) is perpendicular to the length direction of the first support blocks (202) so as to support the workpiece (600) through the slots (203); The positioning tool (403) comprises two second support blocks (404), each of the second support blocks (404) being provided with a V-shaped groove (405) opening upward, the V-shaped grooves (405) of the two second support blocks (404) being parallel and opposite to each other, and the two V-shaped grooves (405) being used to jointly support one workpiece (600).

3. The silo-type material conveyor and receiver according to claim 2, characterized in that: The positioning tool (403) further comprises two movable first positioning blocks (407), wherein the first positioning block (407) is arranged on one side of the second supporting block (404) away from another second supporting block (404), and the first positioning block (407) can move towards or away from the V-shaped groove (405).

4. The silo-type material feeding and receiving machine according to claim 1, characterized in that: The raw material workstation (100) further comprises a fixedly arranged limiting device (113); The silo (101) comprises a support base (102), a support caster (104) is arranged at the bottom of the support base (102), and a support plane (103) is arranged on the upper side; The positioning device (106) comprises a storage groove (107) arranged on the supporting plane (103) and extending vertically upwards, and two side surfaces of the storage groove (107) in the arrangement direction of the two silos (101) are hollow structures (108) whose upper sides are not closed, and the material tray (200) can be embedded in the storage groove (107); The limiting device (113) is used for limiting the connection with the support seat (102).

5. The silo-type material conveyor and receiver according to claim 4, characterized in that: The limiting device (113) comprises a base (114), the base (114) is provided with two U-shaped accommodating areas (115), a first limiting block (116) is provided at the bottom of the accommodating area (115), a horizontal support plate (117) and a first reciprocating driver (118) are respectively provided on both sides of the accommodating area (115), the support plates (117) are parallel to each other, the movable part of the first reciprocating driver (118) moves in the width direction of the accommodating area (115), the movable part of the first reciprocating driver (118) is provided with an L-shaped limiting part (119), one end of the limiting part (119) is oriented toward the bottom side of the accommodating area (115), and the other end is oriented toward another first reciprocating driver (118); The support seat (102) is arranged in the accommodating area (115), so that the base (114) surrounds three sides of the support seat (102), and two support rollers (111) and an action block (112) are respectively arranged on two sides of the support seat (102) adjacent to the opening side of the accommodating area (115), the support rollers (111) are supported on the support plate (117), the first limit block (116) abuts against a side of the support seat (102) close to the bottom side of the accommodating area (115), and the first reciprocating driver (118) extends so that one end of the limit portion (119) abuts against the action block (112), abuts against a side of the action block (112) opposite to the first reciprocating driver (118), and the other end is located on a side of the action block (112) away from the first limit block (116); When the first reciprocating driver (118) is retracted, the limiting portion (119) is away from the action block (112), and the support seat (102) can be moved out of the accommodating area (115), so that the silo (101) is away from the limiting device (113).

6. The silo-type material conveyor and receiver according to claim 1, characterized in that: The material tray (200) is provided with support portions (204) with support surfaces facing downward on both sides in the arrangement direction of the two material bins (101); The first gripper (303) includes a first connecting plate (304) connected to the movable part of the first horizontal driving shaft (302), and two picking arms (305) are slidably arranged on the first connecting plate (304), and the picking arms (305) can slide in the length direction of the first horizontal driving shaft (302), and a second reciprocating drive (306) is arranged on the first connecting plate (304) to drive the picking arms (305) to slide, and the picking arms (305) extend toward the side where the silo (101) is located, and the end of the picking arm (305) away from the first connecting plate (304) is provided with a protrusion (307) protruding toward the other picking arm (305).

7. The silo-type material conveyor and receiver according to claim 6, characterized in that: A third reciprocating drive (308) is provided at the end of the picking arm (305) away from the first connecting plate (304), and a stopper (309) protruding toward the other picking arm (305) is provided on the movable part of the third reciprocating drive (308), and the stopper (309) can move toward or away from the first connecting plate (304). A fourth reciprocating drive (310) is also provided on the first connecting plate (304), and a push plate (311) is provided on the fourth reciprocating drive (310) toward the stopper (309), and the push plate (311) can move toward or away from the stopper (309).

8. The silo-type material conveyor and receiver according to claim 1, characterized in that: The material preparation station (400) also includes a third horizontal drive shaft (401), one end of the third horizontal drive shaft (401) is arranged on the side of the pickup station (500) away from the raw material station (100), and the other end extends in the direction away from the pickup station (500), and the support platform (402) is arranged on the movable part of the third horizontal drive shaft (401).

9. The silo-type material conveyor and receiver according to claim 1, characterized in that: The mobile working device (501) includes a second horizontal drive shaft (502), which extends from above the transfer station (300) to above the material preparation station (400), and a second vertical drive shaft (503) is arranged on the movable part of the second horizontal drive shaft (502), and the second gripper (504) is arranged on the movable part of the second vertical drive shaft (503).

10. The silo-type material conveyor and receiver according to claim 1, characterized in that: The second gripper (504) includes a rotating driver (505) connected to the mobile working device (501), the movable part of the rotating driver (505) faces downward, and a two-finger clamping device (506) extending downward is provided on the movable part of the rotating driver (505), and the lower end of the claw (507) of the two-finger clamping device (506) is provided with a groove structure (508) with opposite opening directions.

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