Stacking equipment

Abstract

The utility model discloses a stacking device which comprises a machine frame, two lifting mechanisms installed in the machine frame and a transferring mechanism installed in cooperation with the two lifting mechanisms. The lifting mechanism comprises a platform plate capable of being driven to do lifting motion; one lifting mechanism drives the platform plate to ascend so that the Tray on the platform plate can reach the material taking position, and the other lifting mechanism bears the Tray at the material placing position and drives the corresponding platform plate to descend so that the Tray can be stacked. And the transferring mechanism is used for transferring the tray at the material taking position to the material placing position. According to the stacking equipment disclosed by the utility model, through the matched operation of the two lifting mechanisms and the transfer mechanism, the transfer and stacking of the tray can be efficiently completed, so that the circulation efficiency of PCBs (Printed Circuit Board) can be effectively improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of palletizing equipment, and specifically relates to a palletizing equipment. Background Art

[0002] Tray trays are widely used in the automated production of electronic products. Tray trays are generally injection-molded from hard plastics, and a number of grooves are provided thereon for carrying electronic components. In industrial production, after PCB processing is completed, it needs to be placed in a Tray tray to complete the transfer of the PCB, thereby improving production efficiency.

[0003] For the above-mentioned PCB transfer process, it usually goes through steps such as placing the PCB and the Tray tray at the initial position, then placing the PCBs one by one into the Tray tray, and palletizing the Tray trays containing the PCBs. Usually, a number of stations for placing PCBs are provided on one Tray tray. If the above steps are completed by relevant personnel, not only are the steps complicated and repetitive with a large workload, but also the transfer efficiency of the PCB is relatively low.

[0004] Therefore, in view of the above technical problems, it is necessary to provide a palletizing equipment. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a palletizing equipment, which can solve the problem that the transfer steps of the PCB are complicated and repetitive with a large workload, resulting in relatively low transfer efficiency of the PCB.

[0006] In order to achieve the above purpose, the technical solution provided by a specific embodiment of the utility model is as follows:

[0007] A palletizing equipment includes a frame, two lifting mechanisms installed inside the frame, and a transfer mechanism cooperatively installed with the two lifting mechanisms;

[0008] The lifting mechanism includes a platform plate that can be driven to move up and down; one of the lifting mechanisms drives the platform plate to rise so that the Tray tray located on the platform plate reaches the material-taking position, and the other lifting mechanism receives the Tray tray at the material-releasing position and drives the corresponding platform plate to descend to palletize the Tray tray;

[0009] The transfer mechanism is used to transfer the Tray tray at the material-taking position to the material-releasing position.

[0010] In one or more embodiments of the utility model, the palletizing equipment further includes a limiting mechanism and a feeding mechanism. The limiting mechanism is installed on the frame to limit the Tray tray at the material-releasing position; the feeding mechanism is used to obtain the PCB and place the PCB into the Tray tray at the material-releasing position.

[0011] In one or more embodiments of the present utility model, the limiting mechanism includes a first driving member and a receiving plate mounted on the frame, and the first driving member drives the receiving plate to approach or move away from the material feeding position;

[0012] When the receiving plate approaches the material feeding position, the transfer mechanism moves the Tray tray at the material picking position to the material feeding position, and the loading mechanism cooperates to place the PCB in the Tray tray;

[0013] When the receiving plate moves away from the material feeding position, the Tray tray is palletized on the platform plate.

[0014] In one or more embodiments of the present utility model, the limiting mechanism further includes a second driving member and an abutting strip mounted on the frame, and the second driving member drives the abutting strip to abut against or move away from the Tray tray located at the material feeding position.

[0015] In one or more embodiments of the present utility model, the transfer mechanism includes a mounting plate slidably connected to the frame, a suction attachment mounted on the mounting plate, and a transfer driving member for driving the mounting plate to slide; the transfer driving member can drive the suction attachment to switch between the material picking position and the material feeding position.

[0016] In one or more embodiments of the present utility model, a plurality of positioning baffles are installed inside the frame, and the positioning baffles are used to abut against the peripheral side of the Tray tray so that the Tray tray moves along the lifting direction of the platform plate.

[0017] In one or more embodiments of the present utility model, the loading mechanism includes a four-axis manipulator and a suction cup assembly mounted on the output end of the four-axis manipulator, and the four-axis manipulator can drive the suction cup assembly to move to the material feeding position.

[0018] In one or more embodiments of the present utility model, the suction cup assembly includes an adapter frame fixedly connected to the output end of the four-axis manipulator, a suction frame detachably mounted on the adapter frame, and a plurality of suction cups mounted at different positions on the suction frame.

[0019] In one or more embodiments of the present utility model, the palletizing device further includes two trolleys movably accommodated inside the frame, and the trolleys correspond to the lifting mechanisms one by one; a bearing plate for carrying the Tray tray is mounted on the trolley, and an avoidance groove for allowing the platform plate to pass through is formed in the bearing plate.

[0020] In one or more embodiments of the present utility model, an induction bolt is mounted on the trolley, and an anti-misalignment sensor is cooperatively mounted at the corresponding position of the frame or the lifting mechanism;

[0021] And / or, a limiting member for fixing the cart is cooperatively installed on the rack or the lifting mechanism.

[0022] Compared with the prior art, when the palletizing device of the present utility model is operating, one of the lifting mechanisms drives the platform plate to rise, so that the Tray tray located on the platform plate reaches the material taking position. Then, the transfer mechanism moves the Tray tray at the material taking position to the material placing position. At this time, the platform plate of the other lifting mechanism descends correspondingly after obtaining the Tray tray. Therefore, by repeating the above steps, the palletizing of the Tray tray can be completed. The palletizing device of the present utility model can efficiently complete the transfer and palletizing of the Tray tray through the cooperative operation of the two lifting mechanisms and the transfer mechanism, and thus can effectively improve the transfer efficiency of the PCB. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Structural schematic diagram of the palletizing device in an embodiment of the present utility model;

[0025] Figure 2 Structural schematic diagram of the lifting mechanism in an embodiment of the present utility model;

[0026] Figure 3 Structural schematic diagram of the cart and the bearing plate in an embodiment of the present utility model;

[0027] Figure 4 Structural schematic diagram of the transfer mechanism in an embodiment of the present utility model;

[0028] Figure 5 Structural schematic diagram of the limiting mechanism in an embodiment of the present utility model;

[0029] Figure 6 For Figure 5 Enlarged schematic diagram at A in

[0030] Figure 7 Structural schematic diagram of the second driving member and the abutting strip in an embodiment of the present utility model;

[0031] Figure 8 Structural schematic diagram of the feeding mechanism in an embodiment of the present utility model;

[0032] Figure 9 Structural schematic of the suction cup assembly in an embodiment of the present utility model.

[0033] Description of Main Reference Numerals:

[0034] 1. Frame; 2. Lifting mechanism; 21. Platform plate; 22. Side plate; 23. Lifting driving member; 24. Transmission member; 3. Transfer mechanism; 31. Mounting plate; 32. Sucking member; 33. Transfer driving member; 4. Limiting mechanism; 41. First driving member; 42. Receiving plate; 43. Second driving member; 44. Abutting strip; 5. Loading mechanism; 51. Four-axis manipulator; 52. Suction cup assembly; 521. Adapter frame; 522. Sucking frame; 523. Suction cup; 524. Moving driving member; 53. Robot quick-change disk; 6. Trolley; 7. Loading plate; 71. Avoidance groove; 81. Inductive bolt; 82. Anti-misalignment sensor; 9. Limiting member; 10. Positioning baffle. Detailed Embodiment

[0035] In order to enable those skilled in the art of the present technology to better understand the technical solutions in the present utility model, the following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0036] Refer to Figure 1 and Figure 2 In a palletizing device according to an embodiment of the present utility model, it includes a frame 1, two lifting mechanisms 2 installed in the frame 1, and a transfer mechanism 3 cooperatively installed with the two lifting mechanisms 2; the lifting mechanism 2 includes a platform plate 21 that can be driven to move up and down; one of the lifting mechanisms 2 drives the platform plate 21 to rise so that the Tray tray located on the platform plate 21 reaches the material-taking position, and the other lifting mechanism 2 receives the Tray tray at the material-releasing position and drives the corresponding platform plate 21 to descend to palletize the Tray tray; the transfer mechanism 3 is used to transfer the Tray tray at the material-taking position to the material-releasing position. For the detailed structure of the transfer mechanism 3, see Figure 4 In this embodiment, the transfer mechanism 3 is located above the lifting mechanism 2.

[0037] Refer to Figure 2, the lifting mechanism 2 further includes a side plate 22 slidably connected to the platform plate 21, a lifting driving member 23 for driving the sliding of the platform plate 21, and a transmission member 24 for drivingly connecting the lifting driving member 23 and the platform plate 21. The transmission member 24 includes a mounting seat fixedly connected to the platform plate 21 and a lead screw threadedly connected to the mounting seat. The lifting driving member 23 is provided as a rotary motor, and the lead screw is fixedly connected to the rotating shaft of the rotary motor. When the lifting driving member 23 drives the lead screw to rotate clockwise or counterclockwise, the platform plate 21 can be driven to move up and down.

[0038] Referring to Figure 1 and Figure 5 , the palletizing device in this embodiment further includes a limiting mechanism 4 and a feeding mechanism 5. The limiting mechanism 4 is installed on the frame 1 to limit the Tray tray at the feeding position; the feeding mechanism 5 is used to obtain the PCB and place the PCB in the Tray tray at the feeding position.

[0039] When the palletizing device of the present utility model is in operation, a lifting mechanism 2 drives the Tray tray to the picking position. After the transfer mechanism 3 obtains the PCB at the picking position and transfers it to the feeding position, then the limiting mechanism 4 restricts the Tray tray at the feeding position. The feeding mechanism 5 cooperates to place the obtained PCB in the Tray tray at the feeding position. Then, the limiting mechanism 4 releases the Tray tray, and another lifting mechanism 2 receives the Tray tray and drives the platform plate 21 to descend to palletize the Tray tray.

[0040] Among them, it should be noted that the platform plate 21 of the lifting mechanism 2 for driving the Tray tray to the picking position is fully loaded with Tray trays during the initial operation, and the platform plate 21 of the lifting mechanism 2 for receiving and palletizing the Tray trays is empty during the initial operation.

[0041] Specifically, the operating principle of the lifting mechanism 2 is that a lifting mechanism 2 drives the platform plate 21 to rise by one station, so that the Tray tray farthest from the platform plate 21 reaches the picking position. After the platform plate 21 of another lifting mechanism 2 obtains the Tray tray, it correspondingly descends by one station to palletize the Tray trays one by one. After the Tray tray is placed at the feeding position, the feeding mechanism 5 places the obtained PCB in the Tray tray at the feeding position.

[0042] Referring to Figure 1 and Figure 3 , the palletizing device in this embodiment further includes two trolleys 6 movably accommodated in the frame 1. The trolleys 6 correspond to the lifting mechanisms 2 one by one; a carrier plate 7 for carrying the Tray tray is installed on the trolley 6, and the carrier plate 7 is provided with an avoidance groove 71 for allowing the platform plate 21 to pass through.

[0043] Before the palletizing equipment runs, there are Tray trays for placing PCBs stacked on the carrier plate 7 of a trolley 6, and the carrier plate 7 of the other trolley 6 is empty. After the trolley 6 is pushed into the frame 1, the platform plate 21 of the corresponding lifting mechanism 2 rises to transfer the Tray tray on the trolley 6 to the platform plate 21. Similarly, when the platform plate 21 of the corresponding lifting mechanism 2 descends, the Tray tray can be transferred to this trolley 6. After palletizing is completed, the trolley 6 that was originally empty is palletized with Tray trays containing PCBs, and the trolley 6 that was originally stacked with Tray trays becomes empty, thus improving the transfer efficiency of PCBs.

[0044] In an optional embodiment, the trolley 6 is installed with an induction bolt 81 (see Figure 3 ), and an anti-misalignment sensor 82 (see Figure 2 ) is installed at the corresponding position of the frame 1 or the lifting mechanism 2. When the anti-misalignment sensor 82 detects the induction bolt 81, it indicates that the trolley 6 has entered the correct position inside the frame 1. Therefore, by installing the induction bolts 81 of different trolleys 6 and the corresponding anti-misalignment sensors 82 at different positions, the possibility that the trolley 6 is not placed in the correct position inside the frame 1 can be reduced.

[0045] In an optional embodiment, a limiting member 9 for fixing the trolley 6 is installed in cooperation with the frame 1 or the lifting mechanism 2 (see Figure 2 ). When the trolley 6 enters the frame 1, the further movement of the trolley 6 can be restricted by the limiting member 9, so as to ensure the smooth operation of the equipment. Specifically, the limiting member 9 can be a rotary clamping cylinder.

[0046] Referring to Figure 1 and Figure 4 , the transfer mechanism 3 includes a mounting plate 31 slidably connected to the frame 1, a suction member 32 mounted on the mounting plate 31, and a transfer driving member 33 for driving the sliding of the mounting plate 31; the transfer driving member 33 can drive the suction member 32 to switch between the material taking position and the material placing position.

[0047] Referring to Figure 4 , in this embodiment, the suction member 32 is a magnetic suction chuck, and the transfer driving member 33 is a KK module. When the transfer driving member 33 drives the suction member 32 to switch between the material taking position and the material placing position, the Tray tray can be transferred from the material taking position to the material placing position.

[0048] Referring to Figure 4 , it can be understood that multiple suction members 32 can be provided in this embodiment, and the position of the suction member 32 mounted on the mounting plate 31 can be adjusted according to the shape and size of the Tray tray, so as to improve the adaptability of the palletizing equipment in this embodiment to different Tray trays.

[0049] Referring to Figure 5 andFigure 6 , the limiting mechanism 4 includes a first driving member 41 and a receiving plate 42 mounted on the frame 1. The first driving member 41 drives the receiving plate 42 to approach or move away from the feeding position. When the receiving plate 42 approaches the feeding position, the transfer mechanism 3 moves the Tray tray at the picking position to the feeding position, and the feeding mechanism 5 cooperates to place the PCB on the Tray tray. When the receiving plate 42 moves away from the feeding position, the Tray tray is palletized on the platform plate 21.

[0050] Further, referring to Figure 5 and Figure 7 , the limiting mechanism 4 further includes a second driving member 43 and an abutting strip 44 mounted on the frame 1. The second driving member 43 drives the abutting strip 44 to abut against or move away from the Tray tray located at the feeding position. In this embodiment, both the first driving member 41 and the second driving member 43 can be selected as air cylinders.

[0051] After the transfer mechanism 3 obtains the Tray tray from the feeding position, the first driving member 41 drives the receiving plate 42 to approach the feeding position. At this time, the transfer mechanism 3 places the Tray tray on the receiving plate 42, and then the second driving member 43 drives the abutting strip 44 to abut against the side of the Tray tray, thereby preventing the possible shaking or position deviation of the Tray tray. After the Tray tray is limited, the feeding mechanism 5 places the obtained PCB on the Tray tray. Finally, the second driving member 43 drives the abutting strip 44 to move away from the Tray tray, and the first driving member 41 drives the receiving plate 42 to move away from the feeding position, so that the Tray tray freely falls onto the corresponding platform plate 21 of the lifting mechanism 2. It can be understood that multiple groups of the first driving member 41 and the receiving plate 42 can be arranged in different orientations to effectively receive the Tray tray.

[0052] Referring to Figure 5 , a plurality of positioning baffles 10 are installed in the frame 1. The positioning baffles 10 are used to abut against the periphery of the Tray tray so that the Tray tray moves along the lifting direction of the platform plate 21. By providing a plurality of positioning baffles 10, when the lifting mechanism 2 drives the Tray tray to lift and move, the Tray tray will not generate displacement in other directions, thus facilitating the smooth progress of the PCB transfer process.

[0053] Referring to Figure 8 , the feeding mechanism 5 includes a four-axis manipulator 51 and a suction cup assembly 52 mounted on the output end of the four-axis manipulator 51. The four-axis manipulator 51 can drive the suction cup assembly 52 to move to the feeding position. Among them, the four-axis manipulator 51 is a common structure in the art and will not be described in detail here.

[0054] Referring to Figure 9, the suction cup assembly 52 includes an adapter bracket 521 fixedly connected to the output end of the four-axis manipulator 51, a suction bracket 522 detachably mounted on the adapter bracket 521, and a plurality of suction cups 523 mounted at different positions on the suction bracket 522. By arranging a plurality of suction cups 523 at different positions on the suction bracket 522, the shape of the PCB can be effectively adapted, so that the suction cup assembly 52 can adapt to and adsorb PCBs of different shapes. Figure 9 This is the state where the PCB is adsorbed by the suction cup 523. Among them, the suction cup 523 can be a vacuum suction cup 523.

[0055] Refer to Figure 9 , in an alternative embodiment, a robot quick-change disk 53 is connected between the output end of the four-axis manipulator 51 and the adapter bracket 521, which facilitates the quick replacement of different suction cup assemblies 52 and improves the compatibility with different PCBs.

[0056] Refer to Figure 9 , in an alternative embodiment, the suction cup assembly 52 further includes a moving driving member 524 connecting the adapter bracket 521 and the suction bracket 522, and the moving driving member 524 drives the suction bracket 522 to move closer to or away from the adapter bracket 521. The moving driving member 524 can be a cylinder, and the driving of the moving driving member 524 for the suction member 32 to move facilitates the suction cup 523 to approach and suck the PCB.

[0057] Therefore, the two lifting mechanisms 2 and the transfer mechanism 3 of the palletizing device of the present utility model can cooperate to efficiently complete the transfer and palletizing of the Tray trays, and the cooperation of the limiting mechanism 4 and the feeding mechanism 5 can complete the process of installing the PCB on the Tray tray, thus effectively improving the transfer efficiency of the PCB.

[0058] For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present utility model, the present utility model can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present utility model is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed by the present utility model. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0059] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A palletizing device, characterized in that, It includes a frame (1), two lifting mechanisms (2) installed within the frame (1), and a transfer mechanism (3) cooperatively installed with the two lifting mechanisms (2); The lifting mechanism (2) includes a platform plate (21) that can be driven to move up and down; one of the lifting mechanisms (2) drives the platform plate (21) to rise so that the Tray tray located on the platform plate (21) reaches the picking position, and the other lifting mechanism (2) receives the Tray tray at the discharging position and drives the corresponding platform plate (21) to descend to stack the Tray trays; The transfer mechanism (3) is used to transfer the Tray tray at the picking position to the discharging position.

2. The palletizing device according to claim 1, characterized in that It also includes a limiting mechanism (4) and a feeding mechanism (5). The limiting mechanism (4) is installed on the frame (1) to limit the Tray tray at the discharging position; the feeding mechanism (5) is used to obtain PCBs and place the PCBs in the Tray trays at the discharging position.

3. The palletizing device according to claim 2, wherein, The limiting mechanism (4) includes a first driving member (41) and a receiving plate (42) installed on the frame (1). The first driving member (41) drives the receiving plate (42) to approach or move away from the discharging position; When the receiving plate (42) approaches the discharging position, the transfer mechanism (3) moves the Tray tray at the picking position to the discharging position, and the feeding mechanism (5) cooperates to place the PCBs in the Tray tray; When the receiving plate (42) moves away from the discharging position, the Tray trays are stacked on the platform plate (21).

4. The palletizing device according to claim 3, characterized in that, The limiting mechanism (4) further includes a second driving member (43) and an abutting strip (44) installed on the frame (1). The second driving member (43) drives the abutting strip (44) to abut against or move away from the Tray tray at the discharging position.

5. The palletizing device according to claim 1, characterized in that, The transfer mechanism (3) includes a mounting plate (31) slidably connected to the frame (1), a suction member (32) installed on the mounting plate (31), and a transfer driving member (33) for driving the mounting plate (31) to slide; the transfer driving member (33) can drive the suction member (32) to switch between the picking position and the discharging position.

6. The palletizing device according to claim 1, characterized in that A plurality of positioning baffles (10) are installed within the frame (1). The positioning baffles (10) are used to abut against the periphery of the Tray tray so that the Tray tray moves along the lifting direction of the platform plate (21).

7. The palletizing device according to claim 2, characterized in that, The feeding mechanism (5) includes a four-axis manipulator (51) and a suction cup assembly (52) installed at the output end of the four-axis manipulator (51). The four-axis manipulator (51) can drive the suction cup assembly (52) to move to the discharging position.

8. The palletizing device according to claim 7, characterized in that, The suction cup assembly (52) includes an adapter frame (521) fixedly connected to the output end of the four-axis manipulator (51), a suction frame (522) detachably installed on the adapter frame (521), and a plurality of suction cups (523) installed at different positions on the suction frame (522).

9. The palletizing device according to claim 1, characterized in that, It further includes two carts (6) movably accommodated in the frame (1), and the carts (6) correspond to the lifting mechanisms (2) one by one; a carrier plate (7) for carrying a Tray is installed on the cart (6), and an avoidance groove (71) for allowing the platform plate (21) to pass through is formed in the carrier plate (7).

10. The palletizing device according to claim 9, characterized in that, An induction bolt (81) is installed on the cart (6), and an anti-misalignment sensor (82) is cooperatively installed at a corresponding position of the frame (1) or the lifting mechanism (2); And / or, a limiting member (9) for fixing the cart (6) is cooperatively installed on the frame (1) or the lifting mechanism (2).

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