Soft porcelain stacking device

Abstract

The utility model relates to the technical field of soft porcelain production, in particular to a soft porcelain stacking device which comprises a machine frame, a feeding and discharging mechanical arm, a conveying and bearing mechanism and a jacking platform, the feeding and discharging mechanical arm is installed on the machine frame, a plurality of buffering structures are arranged on the feeding and discharging mechanical arm, each buffering structure is connected with a corresponding adsorption mechanism, and the jacking platform is connected with the conveying and bearing mechanism. The adsorption mechanism can swing relative to the buffer structure; the conveying and bearing mechanism is installed on the corresponding area, located below the feeding and discharging mechanical arm, of the rack. The jacking platform is installed at the outward end of the conveying and bearing mechanism, and the jacking platform can jack up materials on the conveying and bearing mechanism or enable the materials to be placed on the conveying and bearing mechanism in a descending mode. The soft porcelain stacking device can adapt to the stacking work of soft porcelain, and is beneficial to being matched with carrying equipment to carry out carrying work.

Description

TECHNICAL FIELD

[0001] The utility model relates to soft porcelain production technical field, concretely relates to a soft porcelain stacking device. BACKGROUND

[0002] In the soft porcelain production, the whole production line of the soft porcelain has gradually realized semi-automation and automation, for example, the patent CN207711411U - a soft porcelain product production line of embossing type or CN112403767A - a soft porcelain production line, the above-mentioned patents all disclose how the soft porcelain forms the finished product from the raw material. The above-mentioned patents all only produce the most basic soft porcelain, that is, the prototype basis of the soft porcelain, and the conventional soft porcelain still needs to be pasted with a net on the back, trimmed, coated with a reinforcing coating on the surface and the like, especially pasting the back net on the soft porcelain, which still needs to be sent into the drying equipment for secondary drying after pasting the back net. In this process, manual feeding and discharging are generally adopted, and this way has high labor intensity and low feeding and discharging position efficiency.

[0003] In view of such a situation, a mechanical hand is generally adopted for feeding and discharging. In the discharging process, the conventional mechanical hand is difficult to have the soft porcelain stacking function, and the soft porcelain has high overall flexibility and large weight, so that the mechanical hand adopting the conventional suction cup mode for grabbing the soft porcelain is difficult to perform such stacking work. For example, the patent with the publication number CN105397872B discloses a woodworking gantry type plate feeding and discharging mechanical hand, which also feeds and discharges the sheet-shaped material, but the suction cup and the mounting frame are fixedly connected in the technical solution, and such design causes hard contact between the suction cup and the sheet-shaped plate when they are in contact. In the technical solution, the plane of the plate is basically a flat surface, so such structure can be adopted for adsorption, but the surface of the soft porcelain generally has a concave-convex decorative surface, so the above-mentioned mechanical hand is obviously not suitable for the carrying and stacking work of the soft porcelain. At the same time, the technology only discloses the structure for grabbing, and does not disclose the structure matched with the whole stacking, which is not conducive to the transfer work of the later carrying equipment. UTILITY MODEL CONTENTS

[0004] In order to overcome one of the deficiencies of the prior art, the purpose of the utility model is to provide a soft porcelain stacking device, which can adapt to the stacking work of the soft porcelain and be conducive to cooperating with the carrying equipment for carrying work.

[0005] To solve the above problems, the technical scheme adopted by the utility model is as follows:

[0006] The application discloses a soft porcelain stacking device which comprises a rack, a feeding and discharging manipulator, a conveying bearing mechanism and a jacking platform.

[0007] Further, the feeding and discharging manipulator comprises a space sliding mechanism and a negative pressure mechanism, the space sliding mechanism is installed on the rack, and the negative pressure mechanism is installed on the space sliding mechanism.

[0008] Further, each of the adsorption mechanisms comprises a base and a buffer pad, two ends of the top surface of the base are hinged to one end of the buffer structure, the other end of the buffer structure is connected to the action end of the space sliding mechanism, a plurality of adsorption holes are arranged on the bottom surface of the base, all the adsorption holes are communicated with the negative pressure mechanism, the buffer pad is arranged on the bottom surface of the base, and through holes are arranged on the corresponding regions of the adsorption holes.

[0009] Further, the buffer structure comprises a sliding column, a mounting sleeve, a hinge joint arranged on one end of the sliding column and a damping spring, the mounting sleeve is installed on the action end of the space sliding mechanism, the sliding column is movably inserted into the mounting sleeve, the damping spring is movably sleeved on the region of the sliding column between the mounting sleeve and the hinge joint, the two ends of the damping spring are respectively abutted with the mounting sleeve and the hinge joint, one end of the sliding column penetrating out of the mounting sleeve is screwed by a nut, and the hinge joint is hinged to the top surface of the base.

[0010] Further, the top surface of the base is provided with a hinge seat which is hinged to the hinge joint.

[0011] Further, the space sliding mechanism comprises a sliding rail, a sliding table slidably installed on the sliding rail and a lifting frame arranged on the sliding table, the sliding rail is arranged on the rack, a driver for driving the sliding table to slide on the sliding rail is arranged on the rack, all the buffer structures are installed on the lifting frame, and the negative pressure mechanism is installed on the sliding table.

[0012] Further, the negative pressure mechanism comprises negative pressure fans, a main connecting pipe, a distribution pipe and a plurality of communication pipes which are sequentially communicated, the negative pressure fans are installed on the sliding table, each of the communication pipes is communicated with a corresponding suction hole on the base, and the distribution pipe is installed on the lifting frame.

[0013] Further, the conveying and bearing mechanism comprises a transmission motor, a plurality of transmission shafts and sprockets arranged on both ends of each transmission shaft, all the transmission shafts are rotatably installed on a rack, a chain is wound between the sprockets on the transmission shafts at both ends of the rack, the chain can cooperate with the sprockets on all the remaining transmission shafts, and the transmission motor is installed on the rack and connected with one end of any transmission shaft.

[0014] Further, the lifting platform comprises a lifting table and lifting guide columns arranged on the back of the lifting table, the lifting guide columns are movably inserted into mounting plates on the rack, the mounting plates are arranged on the area of the rack at the outward end of the conveying and bearing mechanism, the back of the lifting table is rotatably installed with a screw rod, the mounting plates are rotatably arranged with a screw nut matched with the screw rod, the screw nut is connected with a lifting motor through a belt, the lifting motor is installed on the mounting plate, and the lifting motor can drive the lifting table to descend below the conveying plane of the conveying and bearing mechanism.

[0015] Further, a plurality of insertion slots are arranged on the lifting table.

[0016] Compared with the prior art, the soft porcelain stacking device has the beneficial effects that:

[0017] The soft porcelain stacking device comprises a feeding and discharging manipulator, a conveying and bearing mechanism, a lifting platform and a negative pressure mechanism.

[0018] The soft porcelain stacking device will be further described in detail below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0019] The soft porcelain stacking device comprises a feeding and discharging manipulator, a conveying and bearing mechanism, a lifting platform and a negative pressure mechanism.Figure 1 is a structural schematic view of the embodiment of the utility model;

[0020] Figure 2 is a structural schematic view of the feeding and discharging manipulator in the embodiment of the utility model;

[0021] Figure 3 is a sectional view of the buffer structure in the embodiment of the utility model;

[0022] Figure 4 is a sectional view of the adsorption mechanism in the embodiment of the utility model;

[0023] Figure 5 is a structural schematic view of the conveying bearing mechanism in the embodiment of the utility model.

[0024] Explanation of reference numerals:

[0025] Rack 100, feeding and discharging manipulator 200, buffer structure 210, sliding column 211, mounting sleeve 212, articulated joint 213, shock absorbing spring 214, adsorption mechanism 220, base 221, buffer pad 222, adsorption hole 223, through hole 224, articulated seat 225, space sliding mechanism 230, sliding rail 231, sliding table 232, lifting frame 233, driver 234, stand column part 235, mounting crossbeam 236, lifter 237, negative pressure mechanism 240, negative pressure fan 241, main connecting pipe 242, distribution pipe 243, communication pipe 244, conveying bearing mechanism 300, transmission motor 310, transmission shaft 320, sprocket 330, chain 340, jacking platform 400, lifting table 410, lifting guide column 420, screw 430, lifting motor 440, screw nut 450, slot 460. Specific implementation

[0026] In order to make the purpose, technical scheme and advantages of the utility model more clear and obvious, the following combines the drawings and examples, and further specifically describes the utility model. It should be understood that the specific examples described here are only used to explain the utility model, and are not used to limit the utility model.

[0027] Refer to Figures 1 to 5The soft porcelain stacking device shown comprises a rack 100, an upper and lower material mechanical arm 200, a conveying bearing mechanism 300 and a jacking platform 400, the upper and lower material mechanical arm 200 is installed on the rack 100, a plurality of buffer structures 210 are arranged on the upper and lower material mechanical arm 200, each buffer structure 210 is connected with a corresponding adsorption mechanism 220, the adsorption mechanism 220 can oscillate relative to the buffer structure 210, the conveying bearing mechanism 300 is installed on the corresponding area of the rack 100 below the upper and lower material mechanical arm 200, and the jacking platform 400 is installed on one end of the conveying bearing mechanism 300 outward, and the jacking platform 400 can jack up the material on the conveying bearing mechanism 300 or place the material on the conveying bearing mechanism 300.

[0028] In the above embodiment, the upper and lower material mechanical arm 200 generally does not adopt a flexible mechanical arm with multiple degrees of freedom, and a gantry type mechanical arm is adopted, so that the carrying capacity of the whole upper and lower material mechanical arm 200 can be increased, and stability can be ensured.

[0029] Referring to Figures 1 to 4 In an embodiment of the present application, in order to realize the above-mentioned carrying work, the upper and lower material mechanical arm 200 comprises a space sliding mechanism 230 and a negative pressure mechanism 240, the space sliding mechanism 230 is installed on the rack 100, the negative pressure mechanism 240 is installed on the space sliding mechanism 230, and all the buffer structures 210 are installed on the action end of the space sliding mechanism 230.

[0030] In an embodiment of the present application, each adsorption mechanism 220 comprises a base 221 and a buffer pad 222, both ends of the top surface of the base 221 are hinged to one end of the buffer structure 210, the other end of the buffer structure 210 is connected with the action end of the space sliding mechanism 230, a plurality of adsorption holes 223 are arranged on the bottom surface of the base 221, all the adsorption holes 223 are communicated with the negative pressure mechanism 240, the buffer pad 222 is arranged on the bottom surface of the base 221, and through holes 224 are arranged on the corresponding area of the adsorption holes 223.

[0031] In the above embodiment, the base 221 and the buffer pad 222 constitute a kind of suction disc structure, but in the present application, in order to adapt to the surface and weight of soft porcelain, a conventional suction disc structure cannot perform the work. In addition, the space sliding mechanism 230 is designed according to the requirements in the present application, and a conventional multi-axis mechanical arm or a gantry type multi-axis mechanical arm can be adopted, and the purpose is to improve the space displacement. The main purpose of the buffer structure in the present application is to enable the base 221 to automatically adapt to the uneven surface of soft porcelain.

[0032] Wherein referring to Figure 2 The space sliding mechanism 230 comprises a sliding rail 231, a sliding table 232 slidingly installed on the sliding rail 231, and a lifting frame 233 arranged on the sliding table 232, the sliding rail 231 is arranged on the rack 100, the rack 100 is provided with a driver 234 for driving the sliding table 232 to slide on the sliding rail 231, all the buffer structures 210 are installed on the lifting frame 233, and the negative pressure mechanism 240 is installed on the sliding table 232. Wherein, the driver 234 can be a gear and rack structure, or a conventional sliding electric cylinder structure, and the lifting frame 233 is designed to adapt to the soft porcelain stacking height of different heights.

[0033] In the above improvement scheme, in order to facilitate the installation of the buffer structure, the lifting frame 233 comprises a column part 235 and a mounting beam 236, the column part 235 is installed on the sliding table 232 through a lifter 237, two mounting beams 236 are arranged on the two sides of the column part 235 respectively, and the buffer structure is installed on the mounting beam 236. Wherein, in the actual design, the two sides of the mounting beam 236 are provided with mounting plates, and one end of the buffer structure is installed on the mounting plate. Wherein, in this embodiment, the lifter 237 adopts a gear and rack design, that is, the motor-driven gear on the sliding table 232 can be lifted relative to the rack on the column part 235.

[0034] In the above improved embodiment, in order to improve the adsorption effect, the negative pressure mechanism 240 comprises a negative pressure fan 241, a main connecting pipe 242, a distribution pipe 243 and a plurality of communication pipes 244 which are sequentially communicated, the negative pressure fan 241 is installed on the sliding table 232, each communication pipe 244 is communicated with the adsorption hole 223 on the corresponding base 221, and the distribution pipe 243 is installed on the mounting beam 26 of the lifting frame 233. Since the above-mentioned base 221 will be lifted with the mounting beam 236, in order to keep the communication between the communication pipe 244 and the base 221 stable, the distribution pipe 243 is designed to be fixed. Wherein, the main connecting pipe 242 and the communication pipe 244 can be deformed. It should be noted that the communication pipe 244 is an elastic pipe, which can be deformed itself, so that the base 221 and the buffer structure 210 have a certain self-recovery ability, which is beneficial to the automatic adaptation of the base 221 to the surface of the soft porcelain in the later period.

[0035] Referring to Figure 3 and Figure 4In an embodiment of the present application, in order to improve the overall buffering effect, the buffering structure 210 comprises a sliding column 211, a mounting sleeve 212, a hinge joint 213 arranged on one end of the sliding column 211, and a shock absorbing spring 214, the mounting sleeve 212 is mounted on the moving end of the space sliding mechanism 230, the sliding column 211 is movably inserted into the mounting sleeve 212, the shock absorbing spring 214 is movably sleeved on the region of the sliding column 211 between the mounting sleeve 212 and the hinge joint 213, the two ends of the shock absorbing spring 214 abut against the mounting sleeve 212 and the hinge joint 213 respectively, one end of the sliding column 211 passing through the mounting sleeve 212 is screwed by a nut, and the hinge joint 213 is hinged to the top surface of the base 221. Wherein, after the buffering pad 222 contacts the surface of the soft porcelain, the buffering pad 222 is deformed due to the adsorption force, at the same time, the base 221 automatically adapts to the surface of the soft porcelain and adjusts the spatial posture of itself, thereby improving the adsorption effect of the two. After the lifting frame 233 is lifted in the later stage, the base 221 automatically adjusts the posture to adapt to the soft porcelain being lifted due to the weight of the soft porcelain, and the overall adaptability is high, so that the base 221 always faces the surface of the soft porcelain. In addition, the design of the above-mentioned shock absorbing spring 214 can make the base 221 and the soft porcelain have a secondary shock absorbing capacity, so as to avoid that the buffering pad 222 is deformed too much due to the change of the force acting on the base 221 by the soft porcelain during the carrying process, and reduce the risk of the soft porcelain falling.

[0036] In the above-mentioned embodiment, in order to facilitate installation, the top surface of the base 221 is provided with a hinge seat 225, and the hinge seat 225 is hinged to the hinge joint 213. In an improved embodiment, the hinge joint 213 can rotate relative to the sliding column 211, and such a design facilitates installation and adaptation.

[0037] In an embodiment of the present application, the buffering pad 222 is made of sponge material, wherein, in the above-mentioned embodiment, the buffering structure and the base 221 are hinged, and such a design can automatically adapt to the inclination angle of the surface of the soft porcelain, so as to ensure that the buffering pad 222 can face the surface of the soft porcelain and improve the adsorption effect. Using the base 221 as the main body of the adsorption structure has high flexibility, and the design of the buffering pad 222 can adapt to the surface of the soft porcelain, so that when the negative pressure mechanism 240 provides negative pressure, the soft porcelain can be closely attached to the surface of the buffering pad 222, thereby improving the adsorption effect. When the negative pressure mechanism 240 works, after the buffering pad 222 contacts the surface of the soft porcelain, the soft porcelain gradually approaches the base 221 under the action of the negative pressure, at this time, the buffering pad 222 is compressed, and the cavities on the side of the buffering pad 222 are deformed and self-sealed, so that the buffering pad 222 can form a deformation structure that can adapt to the surface of the soft porcelain, and the deformation adaptation capacity is much higher than that of the solid structure without cavities.

[0038] Referring to Figure 1 and Figure 5 In one embodiment of the present application, the conveying bearing mechanism 300 comprises a transmission motor 310, a plurality of transmission shafts 320, and sprockets 330 arranged on both ends of each transmission shaft 320, all the transmission shafts 320 are rotatably mounted on the frame 100, and the sprockets 330 on the transmission shafts 320 at both ends of the frame 100 are wound with a chain 340, which can cooperate with the sprockets 330 on all the remaining transmission shafts 320, the transmission motor 310 is mounted on the frame 100, and the output end is connected with one end of any transmission shaft 320. In the above embodiment, only two transmission shafts 320 can be designed, and the chain 340 between the two transmission shafts 320 directly slides on the frame 100, of course, the present application does not adopt such a design. In some improved embodiments, a plurality of transmission rollers can be designed between the two transmission shafts 320, which are used to bear the soft porcelain stack, and the chain 340 is used as a conveying structure, and also as a structure for supporting the soft porcelain. In order to avoid scratching, a deformable rubber sleeve is sleeved on the outside of the chain 340, which can be beneficial to protect the soft porcelain. In the above improved embodiment, a plurality of support blocks can be arranged on the outside of the chain 340, which are not shown in the drawings, each support block can rotate with the chain 340 to support the soft porcelain, which can increase the support area of each chain 340 and reduce the influence on the bottom soft porcelain.

[0039] Referring to Figure 5In an embodiment of the present application, in order to realize the stable lifting of the soft porcelain stack, the lifting platform 400 comprises a lifting table 410 and lifting guide columns 420 arranged on the back of the lifting table 410, which can be movably inserted into the mounting plate on the rack 100, and the mounting plate is arranged on the area of the rack 100 at the outer end of the conveying bearing mechanism 300; the back of the lifting table 410 is rotatably mounted with a screw rod 430, and the mounting plate 110 is rotatably provided with a screw nut 450 matched with the screw rod 430, and the screw nut 450 is connected with a lifting motor 440 through a belt, and the lifting motor 440 is mounted on the mounting plate 110, and the lifting motor 440 can drive the lifting table 410 to descend below the conveying plane of the conveying bearing mechanism 300. Wherein, the lifting guide column 420 is provided with several roots, the main purpose of which is to avoid the overturning of the lifting table 410, and at the same time to facilitate the lifting of the screw rod 430. In the above embodiment, the screw nut 450 rotates to drive the screw rod 430 to lift, and such mounting structure can effectively solve the problem of installation space. In fact, in the normal use process, the lifting table 410 only needs to lift the soft porcelain stack away from the chain 340, and the purpose is to facilitate the forklift of external handling equipment.

[0040] Therefore, in an embodiment of the present application, the lifting table 410 is provided with several insertion slots 460, which is to facilitate the forklift of handling equipment, such as forklift.

[0041] The soft porcelain stacking device is designed with an up-down feeding manipulator 200, which can realize multi-degree-of-freedom action and adapt to the stacking work of soft porcelain; in addition, the up-down feeding manipulator 200 is provided with a buffer structure 210, which is used to buffer the impact vibration of the whole up-down feeding manipulator 200 by the adsorption mechanism 220, which is conducive to the adhesion of the adsorption mechanism 220 and the surface of soft porcelain. In addition, the design that the adsorption mechanism 220 can swing relative to the buffer structure 210 makes each adsorption mechanism 220 automatically adapt to the concave-convex surface of soft porcelain, ensures that the adsorption mechanism 220 can be opposite to the surface of soft porcelain, and improves the adsorption effect. The design of the conveying bearing mechanism 300 can facilitate the outward conveying or upward conveying of the stacked soft porcelain to the working area of the up-down feeding manipulator 200, and the lifting platform 400 can lift the material on the conveying bearing mechanism 300 or place the material on the conveying bearing mechanism 300, which is convenient for external equipment to carry the stacked soft porcelain stack outward or downward, and improves the convenience of use.

[0042] The above-mentioned embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and replacements made by those skilled in the art on the basis of the present application shall fall within the scope of protection of the present application.

Claims

1. A soft porcelain palletizing device, characterized by, The utility model provides a kind of material loading and unloading robot, including Rack; Feeding and discharging manipulator, which is installed on the rack, a plurality of buffer structures are provided on the feeding and discharging manipulator, each buffer structure is connected with a corresponding adsorption mechanism, and the adsorption mechanism can oscillate relative to the buffer structure; Conveying bearing mechanism, which is installed on the corresponding area of the rack below the feeding and discharging manipulator; Jacking platform, which is installed on the outer end of the conveying bearing mechanism, can jack up the material on the conveying bearing mechanism or place the material on the conveying bearing mechanism.

2. A soft ceramic palletizing device according to claim 1, characterized in that: The feeding and discharging manipulator includes a space sliding mechanism and a negative pressure mechanism, the space sliding mechanism is installed on the rack, the negative pressure mechanism is installed on the space sliding mechanism, and all the buffer structures are installed on the action end of the space sliding mechanism.

3. A soft ceramic palletizing device according to claim 2, characterized in that: Each adsorption mechanism includes a base and a buffer pad, both ends of the top surface of the base are hinged to one end of the buffer structure, the other end of the buffer structure is connected to the action end of the space sliding mechanism, a plurality of adsorption holes are provided on the bottom surface of the base, all the adsorption holes are communicated with the negative pressure mechanism, the buffer pad is provided on the bottom surface of the base, and the buffer pad is provided with a through hole on the corresponding area of the adsorption hole.

4. A soft ceramic palletizing device according to claim 3, characterized in that: The buffer structure includes a sliding column, a mounting sleeve, a hinge joint provided on one end of the sliding column, and a shock absorbing spring, the mounting sleeve is installed on the action end of the space sliding mechanism, the sliding column is movably inserted into the mounting sleeve, the shock absorbing spring is movably sleeved on the area of the sliding column between the mounting sleeve and the hinge joint, both ends of the shock absorbing spring are respectively abutted with the mounting sleeve and the hinge joint, one end of the sliding column penetrating out of the mounting sleeve is screwed by a nut, and the hinge joint is hinged to the top surface of the base.

5. A soft-pottery palletizing device according to claim 4, characterized in that: The top surface of the base is provided with a hinge seat, and the hinge seat is hinged to the hinge joint.

6. A soft ceramic palletizing device according to any one of claims 3-5, characterized in that: The space sliding mechanism includes a sliding rail, a sliding table slidingly installed on the sliding rail, and a lifting frame provided on the sliding table, the sliding rail is provided on the rack, the rack is provided with a driver for driving the sliding table to slide on the sliding rail, all the buffer structures are installed on the lifting frame, and the negative pressure mechanism is installed on the sliding table.

7. A soft-palletizing device according to claim 6, characterized in that: The negative pressure mechanism includes a negative pressure fan, a main connecting pipe, a distribution pipe and a plurality of communication pipes communicated in sequence, the negative pressure fan is installed on the sliding table, each communication pipe is communicated with the adsorption hole on the corresponding base, and the distribution pipe is installed on the lifting frame.

8. A soft ceramic palletizing device according to any one of claims 1-5, characterized in that: The conveying bearing mechanism includes a transmission motor, a plurality of transmission shafts and a sprocket provided on both ends of each transmission shaft, all the transmission shafts are rotatably installed on the rack, a chain is wound between the sprockets on the transmission shafts at both ends of the rack, the chain can cooperate with the sprockets on all the remaining transmission shafts, the transmission motor is installed on the rack, and the output end is connected with one end of any transmission shaft.

9. A soft ceramic palletizing device according to any one of claims 1-5, characterized in that: The lifting platform comprises a lifting table and lifting guide columns arranged on the back of the lifting table, the lifting guide columns are movably inserted on a mounting plate arranged on the area of the rack at the outward end of the conveying bearing mechanism; a screw rod is rotatably arranged on the back of the lifting table, a screw nut matched with the screw rod is rotatably arranged on the mounting plate, the screw nut is connected with a lifting motor through a belt, the lifting motor is arranged on the mounting plate, and the lifting motor can drive the lifting table to descend below the conveying plane of the conveying bearing mechanism.

10. A soft-palletizing device according to claim 9, characterized in that: A plurality of insertion slots are arranged on the lifting table.

Images