Large-diameter tray sorting mechanism

Abstract

The utility model provides a large-diameter tray sorting mechanism, including mounting rack, drawer drive mechanism, carrying mechanism and lift platform, drawer drive mechanism includes first X-axis drive component, link arm and magnetic component, first X-axis drive component is fixed on the mounting rack, link arm front end is fixed on the power output end of first X-axis drive component, and the magnetic component is fixed on the mounting rack. The magnetic attraction assembly is fixed to the rear end of the connecting arm, the carrying mechanism comprises a first Z-axis driving assembly, a rotating driving assembly, a rotating long arm, a rotating short arm, a material taking claw and a code scanning assembly, one end of the rotating short arm is fixed to the rotating output end of the rotating long arm, and the material taking claw is fixed to the other end of the rotating short arm; the automatic material taking device has the advantages that a material disc is clamped in an inner supporting mode, the size of a material taking claw is greatly reduced, a rigid clamping claw structure is adopted, reliable clamping force can be provided, and the automatic material taking device is suitable for grabbing heavy or large-diameter material discs.

Description

Technical Field

[0001] This utility model relates to the field of warehousing equipment, and in particular to a large-diameter tray sorting mechanism. Background Technology

[0002] With the continuous development of production technology, manual material handling has been gradually replaced by automated equipment to improve the efficiency and accuracy of material handling. For SMT trays, as a storage medium, they are generally neatly arranged in drawers of a material rack. A tray sorting mechanism is used to retrieve trays from specific sections within a specific drawer. The material rack is equipped with a drive unit that moves the sorting mechanism horizontally and vertically. After the drive unit moves the sorting mechanism to a specific drawer, the sorting mechanism pulls out the drawer and stores the tray from the specific section on the drawer. The sorting mechanism is generally equipped with… The material gripper is used to grasp the material tray. There are two common types of material grippers. One type uses rigid jaws to clamp the outer contour of the tray, providing a large clamping force and firmly grasping the tray. However, this type of gripper has a complex structure, occupies a large space, and is not flexible in use, especially when the tray diameter is large, the gripper becomes even more bulky. The other type uses suction cups to adsorb the upper surface of the material. Although this type of gripper has a simple structure and small size, its gripping force relies on air pressure. When gripping heavier or larger diameter materials, the gripping force is insufficient, making it difficult to handle heavy objects. Therefore, it is necessary to develop a large-diameter tray sorting mechanism to solve the aforementioned problems. Utility Model Content

[0003] The purpose of this invention is to provide a large-diameter tray sorting mechanism to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A large-diameter tray sorting mechanism includes a mounting frame, a drawer drive mechanism, a conveying mechanism, and a lifting platform. The drawer drive mechanism includes a first X-axis drive assembly, a connecting arm, and a magnetic suction assembly. The first X-axis drive assembly is fixed to the mounting frame. The front end of the connecting arm is fixed to the power output end of the first X-axis drive assembly, and the magnetic suction assembly is fixed to the rear end of the connecting arm. The conveying mechanism includes a first Z-axis drive assembly, a rotary drive assembly, a long rotary arm, a short rotary arm, a picking claw, and a barcode scanning assembly. The first Z-axis drive assembly is fixed to the middle of the mounting frame. The rotary drive assembly is fixed to the power output end of the first Z-axis drive assembly. One end of the long rotary arm is fixed to the power output end of the rotary drive assembly, and the other end of the long rotary arm is a rotary output end. One end of the short rotary arm is fixed to the rotary output end of the long rotary arm, and the picking claw is fixed to the other end of the short rotary arm. The lifting platform... Fixed to the front end of the mounting frame, the barcode scanning component is fixed on the first Z-axis drive component and corresponds to the top of the lifting platform; the picking claw includes a mounting cylinder, an upper cover plate, a lower cover plate, a lifting buffer component, a lifting seat, a clamping cylinder, and a gripper assembly. The mounting cylinder has a mounting cavity, the upper cover plate is fixed to the upper end of the mounting cylinder, the lower cover plate is fixed to the lower end of the mounting cylinder, the lifting seat is set in the mounting cavity, the lower end of the lifting buffer component is fixed to the lifting seat and the elastic telescopic end is installed on the upper cover plate, the upper end of the clamping cylinder is fixed to the lower end of the lifting seat, the lower end of the clamping cylinder is provided with at least three sets of power output ends, the multiple sets of power output ends are evenly distributed along the ring, the power output ends of the clamping cylinder move radially along the mounting cylinder, the gripper assembly is provided with multiple sets and is fixed one-to-one on the multiple sets of power output ends of the clamping cylinder, and the inner side of the gripper assembly is provided with downward protruding clamping blocks.

[0006] Further description of the present invention: The gripper assembly includes a guide plate and a clamping block. The guide plate is arranged radially and its inner end is fixed to the power output end of the clamping cylinder. The clamping block is fixed to the lower side of the inner end of the guide plate. The lower cover plate includes multiple sets of arc-shaped plates. The arc-shaped plates are fixed below the mounting cylinder and correspond to the space between two adjacent sets of guide plates. A guide groove is formed between two adjacent sets of arc-shaped plates, and the guide plate corresponds to the space within the guide groove.

[0007] Further description of this utility model: three sets of guide plates, clamping blocks and arc plates are provided.

[0008] Further description of this utility model: The lifting and buffering assembly includes an adjusting screw, a buffer spring, and an elastic washer. The lower end of the upper cover plate is provided with a first limiting groove, and the upper end of the upper cover plate is provided with a T-shaped groove. The lower end of the T-shaped groove communicates with the first limiting groove. The upper end of the lifting seat is provided with a second limiting groove, and the lower end of the lifting seat is provided with a threaded hole. The upper end of the threaded hole communicates with the second limiting groove. The upper end of the adjusting screw is provided with a convex ring. The lower end of the adjusting screw passes through the T-shaped groove, the first limiting groove, and the second limiting groove in sequence and is threadedly connected to the threaded hole. The buffer spring is sleeved on the adjusting screw, and the upper and lower ends of the buffer spring correspond to the first limiting groove and the second limiting groove, respectively. The elastic washer is sleeved on the adjusting screw and corresponds between the convex ring and the T-shaped groove.

[0009] Further description of the present invention: The magnetic suction assembly includes a mounting base, an electromagnet, positioning posts, and a top rod. The mounting base is fixed to the rear end of the connecting arm. The electromagnet is fixed to the front and rear sides of the outside of the mounting base. The positioning posts are fixed on the mounting base. Two sets of positioning posts are provided and correspond to the two sets of electromagnets. One end of the top rod is telescopically mounted on the mounting frame, and the other end faces the outside of the mounting frame. The top rod corresponds to the two sets of positioning posts.

[0010] Further description of the present invention: The barcode scanning assembly includes a mounting column, a second X-axis drive assembly, a connecting plate, and a barcode scanner. The lower end of the mounting column is fixed on the first Z-axis drive assembly, the second X-axis drive assembly is fixed on the upper end of the mounting column, the middle part of the connecting plate is fixed to the power output end of the second X-axis drive assembly, and two sets of barcode scanners are provided and fixed on the front and rear sides of the connecting plate respectively. The barcode scanners correspond to the area above the lifting platform.

[0011] Further description of the present invention: The lifting platform includes a second Z-axis drive assembly and a material tray platform. The second Z-axis drive assembly is fixed to the front side of the mounting frame, and the material tray platform is fixed to the power output end of the second Z-axis drive assembly and corresponds to the lower part of the barcode scanning assembly.

[0012] The beneficial effects of this invention are as follows: When the gripper grasps the material tray, it moves above the tray and gradually descends. Once the gripper assembly contacts the upper surface of the tray, the lifting and buffering assembly is compressed as the mounting cylinder continues to descend, thus providing a buffer and preventing damage to the tray. After descending to the correct position, the clamping blocks align with the holes in the tray. Then, the clamping cylinder drives multiple sets of clamping blocks to move outwards simultaneously, expanding and clamping the tray, thereby completing the gripping of the tray. The advantage of this design lies in using an internal support method to clamp the tray, greatly reducing the volume of the gripper. Furthermore, the rigid gripper structure provides reliable clamping force, making it suitable for gripping heavier or larger diameter trays. Attached Figure Description

[0013] Figure 1 This is an overall structural diagram of the present invention;

[0014] Figure 2 This is a structural diagram of the magnetic attraction component in this utility model;

[0015] Figure 3 This is a structural diagram (top view) of the material-grabbing claw in this utility model.

[0016] Figure 4 This is a structural diagram of the material-grabbing claw in this utility model (view from below);

[0017] Figure 5 This is a cross-sectional view of the material-grabbing claw in this utility model;

[0018] Explanation of reference numerals in the attached figures:

[0019] 1. Mounting bracket; 2. Drawer drive mechanism; 21. First X-axis drive assembly; 22. Connecting arm; 23. Magnetic suction assembly; 231. Mounting base; 232. Electromagnet; 233. Positioning post; 234. Push rod; 3. Transport mechanism; 31. First Z-axis drive assembly; 32. Rotary drive assembly; 33. Rotary long arm; 34. Rotary short arm; 35. Picking claw; 351. Mounting cylinder; 3511. Mounting cavity; 352. Upper cover plate; 3521. First limiting groove; 3522. T-slot; 353. Lower cover plate; 3531. Arc plate; 3532 354. Guide groove; 3541. Lifting buffer assembly; 3542. Adjusting screw; 3543. Convex ring; 3544. Buffer spring; 3545. Elastic pad; 355. Lifting seat; 3556. Second limit groove; 3557. Threaded hole; 358. Clamping cylinder; 359. Gripper assembly; 3001. Guide plate; 3502. Clamping block; 3003. Barcode scanning assembly; 361. Mounting column; 362. Second X-axis drive assembly; 363. Connecting plate; 364. Barcode scanner; 4003. Lifting platform; 41. Second Z-axis drive assembly; 42. Material tray platform. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings:

[0021] like Figures 1 to 5As shown, a large-diameter tray sorting mechanism includes a mounting frame 1, a drawer drive mechanism 2, a conveying mechanism 3, and a lifting platform 4. The drawer drive mechanism 2 includes a first X-axis drive assembly 21, a connecting arm 22, and a magnetic suction assembly 23. The first X-axis drive assembly 21 is fixed on the mounting frame 1, the front end of the connecting arm 22 is fixed to the power output end of the first X-axis drive assembly 21, and the magnetic suction assembly 23 is fixed to the rear end of the connecting arm 22. The conveying mechanism 3 includes a first Z-axis drive assembly 31, a rotary drive assembly 32, a long rotary arm 33, a short rotary arm 34, a picking claw 35, and a barcode scanner. Component 36: The first Z-axis drive component 31 is fixed in the middle of the mounting frame 1; the rotary drive component 32 is fixed at the power output end of the first Z-axis drive component 31; one end of the rotary long arm 33 is fixed at the power output end of the rotary drive component 32; the other end of the rotary long arm 33 is the rotary output end; one end of the rotary short arm 34 is fixed at the rotary output end of the rotary long arm 33; the picking claw 35 is fixed at the other end of the rotary short arm 34; the lifting platform 4 is fixed at the front end of the mounting frame 1; and the barcode scanning component 36 is fixed on the first Z-axis drive component 31 and corresponds to the top of the lifting platform 4.

[0022] The material handling claw 35 includes an installation cylinder 351, an upper cover plate 352, a lower cover plate 353, a lifting buffer assembly 354, a lifting seat 355, a clamping cylinder 356, and a claw assembly 357. The installation cylinder 351 has an installation cavity 3511. The upper cover plate 352 is fixed to the upper end of the installation cylinder 351, and the lower cover plate 353 is fixed to the lower end of the installation cylinder 351. The lifting seat 355 is disposed within the installation cavity 3511, and the lower end of the lifting buffer assembly 354 is fixed to the lifting seat 355 and is elastically extendable. The retracted end is installed on the upper cover plate 352. The upper end of the clamping cylinder 356 is fixed to the lower end of the lifting seat 355. The lower end of the clamping cylinder 356 is provided with at least three sets of power output ends. The multiple sets of power output ends are evenly distributed in a ring. The power output ends of the clamping cylinder 356 move radially along the mounting cylinder 351. The gripper assembly 357 is provided with multiple sets and is fixed one-to-one on the multiple sets of power output ends of the clamping cylinder 356. The inner side of the gripper assembly 357 is provided with a downwardly protruding clamping block 3572.

[0023] The mounting bracket 1 is fixed to the material rack by a drive device. The drive device drives the mounting bracket 1 to move along the Y-axis and Z-axis. Multiple material trays are placed on the lifting platform 4. When it is necessary to place the material tray on the material rack, the barcode scanning component 36 on the conveying mechanism 3 scans and records the material. Then, under the combined action of the rotary drive component 32, the long rotary arm 33, and the short rotary arm 34, the picking claw 35 moves above the material tray. The first Z-axis drive component 31 drives the picking claw 35 to descend and grab the material tray. The first X-axis drive component 21 drives the magnetic suction component 23 to contact the drawer of the material rack. The magnetic suction component 23 magnetically attracts the drawer. Then, the first X-axis drive component 21 reverses its direction to pull out the drawer. The conveying mechanism 3 places the material tray in the corresponding position of the drawer.

[0024] When the picking claw 35 grips the material tray, it moves above the tray and gradually descends. Once the gripper assembly 357 contacts the upper surface of the tray, the lifting buffer assembly 354 is compressed as the mounting cylinder 351 continues to descend, thus providing cushioning and preventing damage to the tray. After descending to the correct position, the clamping block 3572 aligns with the hole in the tray. Then, the clamping cylinder 356 drives multiple sets of clamping blocks 3572 to move outwards simultaneously. These clamping blocks expand outwards and clamp the tray, completing the gripping process. The advantage of this design is that it uses an internal support method to clamp the tray, significantly reducing the size of the picking claw 35. Furthermore, the rigid gripper structure provides reliable clamping force, making it suitable for gripping heavier or larger diameter trays.

[0025] The gripper assembly 357 includes a guide plate 3571 and a clamping block 3572. The guide plate 3571 is arranged radially and its inner end is fixed to the power output end of the clamping cylinder 356. The clamping block 3572 is fixed to the lower side of the inner end of the guide plate 3571. The lower cover plate 353 includes multiple sets of arc-shaped plates 3531. The arc-shaped plates 3531 are fixed below the mounting cylinder 351 and correspond to the space between two adjacent sets of guide plates 3571. A guide groove 3532 is formed between two adjacent sets of arc-shaped plates 3531, and the guide plate 3571 corresponds to the space within the guide groove 3532.

[0026] When gripping materials, the clamping block 3572 corresponds to the material hole, and the clamping cylinder 356 drives the guide plate 3571 to move outward. The guide plate 3571 slides in the guide groove 3532, thereby making the movement of the clamping block 3572 smooth.

[0027] The guide plate 3571, clamping block 3572 and arc plate 3531 are all provided in three sets, which can not only stably clamp the material, but also save materials to the maximum extent.

[0028] The lifting and buffer assembly 354 includes an adjusting screw 3541, a buffer spring 3542, and an elastic washer 3543. The lower end of the upper cover plate 352 is provided with a first limiting groove 3521, and the upper end of the upper cover plate 352 is provided with a T-slot 3522, the lower end of which communicates with the first limiting groove 3521. The upper end of the lifting seat 355 is provided with a second limiting groove 3551, and the lower end of the lifting seat 355 is provided with a threaded hole 3552, the upper end of which communicates with the second limiting groove 3551. The adjusting screw 3541... The upper end of 41 is provided with a convex ring 35411. The lower end of the adjusting screw 3541 passes through the T-slot 3522, the first limiting groove 3521 and the second limiting groove 3551 in sequence and is threadedly connected to the threaded hole 3552. The buffer spring 3542 is sleeved on the adjusting screw 3541. The upper and lower ends of the buffer spring 3542 correspond to the first limiting groove 3521 and the second limiting groove 3551 respectively. The elastic washer 3543 is sleeved on the adjusting screw 3541 and corresponds between the convex ring 35411 and the T-slot 3522.

[0029] When gripping materials, the mounting cylinder 351 descends and, after the guide plate 3571 contacts the upper surface of the material, the buffer spring 3542 is compressed, thus providing a buffering effect. After the gripper assembly 357 grips the material, the robot arm drives the mounting cylinder 351 to rise. Under the action of weight, the convex ring 35411 gradually enters the T-slot 3522. The elastic gasket 3543 can prevent the convex ring 35411 and the T-slot 3522 from colliding directly. The lower end of the adjusting screw 3541 is threadedly connected to the threaded hole 3552. By rotating the adjusting screw 3541, the height of the adjusting screw 3541 relative to the lifting seat 355 can be adjusted, thereby controlling the maximum distance of the gripper assembly 357 descending relative to the mounting cylinder 351, so as to flexibly adjust to different production scenarios.

[0030] The magnetic attraction assembly 23 includes a mounting base 231, an electromagnet 232, a positioning post 233, and a top rod 234. The mounting base 231 is fixed to the rear end of the connecting arm 22. The electromagnet 232 is fixed to the front and rear sides of the outside of the mounting base 231. The positioning post 233 is fixed on the mounting base 231. Two sets of positioning posts 233 are provided and correspond to the two sets of electromagnets 232. One end of the top rod 234 is telescopically mounted on the mounting frame 1, and the other end faces the outside of the mounting frame 1. The top rod 234 corresponds to the two sets of positioning posts 233.

[0031] When the electromagnet 232 attracts the drawer, the positioning pin 233 is inserted into the positioning hole on the drawer, thereby improving the positional accuracy during magnetic attraction. When the drawer is pushed back to the material rack, after the drawer is pushed back into place, the top rod 234 extends, thereby causing the electromagnet 232 to disengage from the drawer.

[0032] The barcode scanning assembly 36 includes a mounting column 361, a second X-axis drive assembly 362, a connecting plate 363, and a barcode scanner 364. The lower end of the mounting column 361 is fixed to the first Z-axis drive assembly 31, the second X-axis drive assembly 362 is fixed to the upper end of the mounting column 361, the middle part of the connecting plate 363 is fixed to the power output end of the second X-axis drive assembly 362, and two sets of barcode scanners 364 are provided and fixed on the front and rear sides of the connecting plate 363 respectively. The barcode scanners 364 correspond to the top of the lifting platform 4.

[0033] The second X-axis drive assembly 362 drives the barcode scanner 364 to move and scan the QR code on the material tray. By setting up two sets of barcode scanners 364, the scanning area can completely cover the upper surface of the large-diameter material tray, and the QR code on the upper surface of the material tray can be scanned no matter where it is.

[0034] The lifting platform 4 includes a second Z-axis drive assembly 41 and a material tray platform 42. The second Z-axis drive assembly 41 is fixed to the front side of the mounting frame 1, and the material tray platform 42 is fixed to the power output end of the second Z-axis drive assembly 41 and corresponds to the area below the barcode scanning assembly 36.

[0035] When multiple trays on the tray platform 42 are placed onto the material rack, as the trays are continuously removed, the second Z-axis drive assembly 41 drives the tray platform 42 to gradually rise. When trays on the material rack are placed onto the tray platform 42, as the number of trays on the tray platform 42 increases, the second Z-axis drive assembly 41 drives the tray platform 42 to gradually descend.

[0036] The above does not limit the technical scope of this utility model. Any modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this utility model shall still fall within the scope of the technical solution of this utility model.

Claims

1. A large-diameter tray sorting mechanism, characterized in that: The device includes a mounting frame, a drawer drive mechanism, a handling mechanism, and a lifting platform. The drawer drive mechanism includes a first X-axis drive assembly, a connecting arm, and a magnetic suction assembly. The first X-axis drive assembly is fixed to the mounting frame. The front end of the connecting arm is fixed to the power output end of the first X-axis drive assembly, and the magnetic suction assembly is fixed to the rear end of the connecting arm. The handling mechanism includes a first Z-axis drive assembly, a rotary drive assembly, a long rotary arm, a short rotary arm, a picking claw, and a barcode scanning assembly. The first Z-axis drive assembly is fixed to the middle of the mounting frame. The rotary drive assembly is fixed to the power output end of the first Z-axis drive assembly. One end of the long rotary arm is fixed to the power output end of the rotary drive assembly, and the other end of the long rotary arm is a rotary output end. One end of the short rotary arm is fixed to the rotary output end of the long rotary arm, and the picking claw is fixed to the other end of the short rotary arm. The lifting platform is fixed to the front end of the mounting frame, and the barcode scanning assembly is fixed to the first Z-axis drive assembly and corresponds to the area above the lifting platform. The material handling claw includes an installation cylinder, an upper cover plate, a lower cover plate, a lifting buffer assembly, a lifting seat, a clamping cylinder, and a gripper assembly. The installation cylinder has an installation cavity. The upper cover plate is fixed to the upper end of the installation cylinder, and the lower cover plate is fixed to the lower end of the installation cylinder. The lifting seat is disposed in the installation cavity. The lower end of the lifting buffer assembly is fixed to the lifting seat, and its elastic telescopic end is mounted on the upper cover plate. The upper end of the clamping cylinder is fixed to the lower end of the lifting seat. The lower end of the clamping cylinder is provided with at least three sets of power output ends, which are evenly distributed in a ring. The power output ends of the clamping cylinder move radially along the installation cylinder. The gripper assembly is provided with multiple sets, which are fixed one-to-one with the multiple sets of power output ends of the clamping cylinder. The inner side of the gripper assembly is provided with a downwardly protruding clamping block.

2. The large-diameter tray sorting mechanism according to claim 1, characterized in that: The gripper assembly includes a guide plate and a clamping block. The guide plate is arranged radially and its inner end is fixed to the power output end of the clamping cylinder. The clamping block is fixed to the lower side of the inner end of the guide plate. The lower cover plate includes multiple sets of arc-shaped plates. The arc-shaped plates are fixed below the mounting cylinder and correspond to the space between two adjacent sets of guide plates. A guide groove is formed between two adjacent sets of arc-shaped plates, and the guide plate corresponds to the space within the guide groove.

3. The large-diameter tray sorting mechanism according to claim 2, characterized in that: The guide plate, the clamping block, and the arc-shaped plate are all provided in three sets.

4. The large-diameter tray sorting mechanism according to claim 1, characterized in that: The lifting and buffer assembly includes an adjusting screw, a buffer spring, and an elastic washer. The lower end of the upper cover plate is provided with a first limiting groove, and the upper end of the upper cover plate is provided with a T-slot. The lower end of the T-slot communicates with the first limiting groove. The upper end of the lifting seat is provided with a second limiting groove, and the lower end of the lifting seat is provided with a threaded hole. The upper end of the threaded hole communicates with the second limiting groove. The upper end of the adjusting screw is provided with a convex ring. The lower end of the adjusting screw passes through the T-slot, the first limiting groove, and the second limiting groove in sequence and is threadedly connected to the threaded hole. The buffer spring is sleeved on the adjusting screw, and the upper and lower ends of the buffer spring correspond to the first limiting groove and the second limiting groove, respectively. The elastic washer is sleeved on the adjusting screw and corresponds between the convex ring and the T-slot.

5. The large-diameter tray sorting mechanism according to claim 1, characterized in that: The magnetic attraction assembly includes a mounting base, an electromagnet, positioning posts, and a top rod. The mounting base is fixed to the rear end of the connecting arm. The electromagnet is fixed to the front and rear sides of the mounting base. The positioning posts are fixed to the mounting base. Two sets of positioning posts are provided and correspond to the two sets of electromagnets. One end of the top rod is telescopically mounted on the mounting frame, and the other end faces the outside of the mounting frame. The top rod corresponds to the two sets of positioning posts.

6. The large-diameter tray sorting mechanism according to claim 1, characterized in that: The barcode scanning assembly includes a mounting column, a second X-axis drive assembly, a connecting plate, and a barcode scanner. The lower end of the mounting column is fixed to the first Z-axis drive assembly, the second X-axis drive assembly is fixed to the upper end of the mounting column, the middle part of the connecting plate is fixed to the power output end of the second X-axis drive assembly, and two sets of barcode scanners are provided and fixed to the front and rear sides of the connecting plate respectively. The barcode scanners correspond to the area above the lifting platform.

7. The large-diameter tray sorting mechanism according to claim 1, characterized in that: The lifting platform includes a second Z-axis drive assembly and a material tray platform. The second Z-axis drive assembly is fixed to the front side of the mounting frame, and the material tray platform is fixed to the power output end of the second Z-axis drive assembly and corresponds to the area below the barcode scanning assembly.

Images