A blade aligner

Abstract

This utility model discloses a blade aligning machine, belonging to the field of blade aligning. The blade aligning machine includes a frame, a tray storage bin mounted on the frame, a first tray transfer assembly, a material transfer assembly, a tray conveyor line, and a tray circulation mechanism. The tray storage bin contains several trays, and the tray conveyor line holds several material trays. The first tray transfer assembly is located between the tray conveyor line and the tray storage bin, and is used to transfer the trays between the tray storage bin and the tray circulation mechanism. There are two material transfer assemblies, respectively located on the left and right sides of the frame. The left-side material transfer assembly places the blades from the material trays onto the trays, and the right-side material transfer assembly places the blades from the material trays onto the material trays. This utility model utilizes the linkage of the tray storage bin, the first tray transfer assembly, and the tray circulation mechanism to achieve full automation of the entire process of tray storage, loading, and recycling, and combined with the tray circulation process, achieves efficient tray circulation.

Description

Technical Field

[0001] This utility model belongs to the field of blade alignment, and in particular relates to a blade alignment machine. Background Technology

[0002] In the field of blade manufacturing, a complete production chain covers core stages such as loading, processing, and unloading. The blade alignment machine undertakes the critical tasks of aligning the blades before loading and after unloading. Among these, the carrier tray, as the carrier of the blades throughout the entire process, plays a decisive role in the continuity and stability of production. During alignment, the blades to be processed are transferred from the feed tray to the carrier tray for placement before loading. The blades then enter the processing equipment to sequentially complete precision processing steps such as cutting and grinding. After processing, the robotic arm removes the finished blades, and the empty carrier tray must be promptly returned to the loading end for reuse to ensure a smooth production flow.

[0003] Currently, the empty pallet handling process is generally carried out manually. After the unloading process is completed, operators need to manually remove the empty pallets from the processing equipment and move them to the temporary storage area outside the machine; during loading, the empty pallets need to be retrieved from the temporary storage area and accurately placed at the loading station. This manual handling method has many drawbacks: on the one hand, the operators are physically demanding, and during the operation, the empty pallets may have residual processing debris, and the pallet temperature is high due to residual heat from processing, posing safety risks such as scratches and burns; on the other hand, from the perspective of production efficiency, the manual pallet retrieval, handling, and placement process is time-consuming. In scenarios where the equipment is operating continuously, the production line is often idle due to the untimely supply of empty pallets, resulting in reduced equipment utilization, insufficient capacity release, and seriously restricting the company's production efficiency and market competitiveness. Utility Model Content

[0004] The purpose of this invention is to provide a blade aligning machine to overcome at least one of the aforementioned defects in the prior art.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] This utility model provides a blade aligning machine, including a frame, a tray storage bin disposed on the frame, a first tray transfer assembly, a material transfer assembly, a tray conveyor line, and a tray transfer mechanism. The tray storage bin contains a plurality of trays, and the tray conveyor line contains a plurality of trays. The first tray transfer assembly is disposed between the tray conveyor line and the tray storage bin, and is used to transfer the trays between the tray storage bin and the tray transfer mechanism. There are two material transfer assemblies, which are respectively disposed on the left and right sides of the frame. The material transfer assembly on the left side is used to place the blades from the trays onto the trays, and the material transfer assembly on the right side is used to place the blades from the trays onto the trays.

[0007] Preferably, the tray storage compartment includes a first linear module, a fixed frame, and several tray racks. The first linear module is fixed to the frame, and the moving end of the first linear module is fixed to the fixed frame. The fixed frame is equipped with several tray racks spaced apart along the height direction, and the tray racks hold trays.

[0008] Preferably, the storage rack includes a base plate and side plates, with upwardly protruding side plates on both opposite sides of the base plate, and a clearance space in the middle of the base plate.

[0009] Preferably, the first transfer assembly includes a second linear module, a first slide cylinder, a first extension arm, and a first push block. The second linear module is fixed to the frame, the first slide cylinder is fixed to the moving end of the second linear module, the bottom end of the first slide cylinder is fixed with the first extension arm, and the bottom of the rear side of the first extension arm is fixed with the first push block.

[0010] Preferably, the tray transfer mechanism includes a third linear module, a clamping component, a loading storage bin, a unloading storage bin, a second tray transfer assembly, a fourth linear module, and a transfer table. The third linear module, the loading storage bin, the unloading storage bin, the second tray transfer assembly, and the fourth linear module are all fixed to the frame. The third linear module has two moving ends, and each moving end of the third linear module is fixed with a clamping component. The loading storage bin and the unloading storage bin are both located on the rear side of the third linear module, with the loading storage bin located between the tray storage bin and the unloading storage bin. The fourth linear module is located on the front side of the third linear module. The fourth linear module has one moving end, and the moving end of the fourth linear module is fixed with a transfer table. The front side of both the loading storage bin and the unloading storage bin has a second tray transfer assembly, which is located above the clamping component and the transfer table.

[0011] Preferably, the second transfer assembly includes a fifth linear module, a second slide cylinder, a third slide cylinder, a second extension arm, a second push block, a mounting plate, a swing cylinder, and a third push block. The fifth linear module is fixed to the frame. The moving end of the fifth linear module is fixed with the second slide cylinder and the third slide cylinder. The swing cylinder is fixed to the sliding end of the second slide cylinder. The second extension arm is fixed to the swing end of the swing cylinder. The bottom of the rear side of the second extension arm is fixed with the second push block. The sliding end of the third slide cylinder is fixed with the mounting plate. The bottom of the mounting plate is fixed with the third push block. The third push block is located in front of the second push block.

[0012] Preferably, the loading and unloading storage bins have the same structure, both including a sixth linear module, a bin frame, and a first placement plate. The sixth linear module is fixed to the frame, and the moving end of the sixth linear module is fixed with the bin frame. Several first placement plates are fixed at intervals from top to bottom inside the bin frame.

[0013] Preferably, the transfer table includes a fourth slide cylinder and a second placement plate. The fourth slide cylinder is fixed to the moving end of the fourth linear module, and the sliding end of the fourth slide cylinder is fixed with the second placement plate.

[0014] Preferably, the clamping component includes a fifth slide cylinder, a third placement plate, a limiting strip, a telescopic cylinder, a vertical plate, and a limiting plate. The third placement plate is fixed to the sliding end of the fifth slide cylinder. A limiting strip is provided on one side of the top of the third placement plate. A telescopic cylinder is fixed on the other side of the bottom of the placement plate. A vertical plate is fixed to one end of the telescopic cylinder. A limiting plate is provided on the top of the vertical plate. The limiting plate and the limiting strip are arranged opposite to each other.

[0015] Preferably, the material tray conveying line includes a seventh linear module, a first storage and transfer area, and a second storage and transfer area. The seventh linear module is fixed to the frame and has two moving ends. The two moving ends of the seventh linear module slide in the first storage and transfer area and the second storage and transfer area, respectively. The first storage and transfer area and the second storage and transfer area each include a first tray frame, a second tray frame, a support frame, and a transfer tray frame. The first tray frame, the second tray frame, and the support frame are all disposed on the frame. The first tray frame and the second tray frame are spaced apart along the conveying direction of the material tray conveying line. A support frame is disposed at both the first tray frame and the second tray frame. The transfer tray frame is fixed to the moving end of the seventh linear module.

[0016] Preferably, the material transfer assembly includes an eighth linear module, a mounting frame, a ninth linear module, and a quick-change robot. The eighth linear module is fixed to the frame, the mounting frame is fixed to the moving end of the eighth linear module, the mounting frame is fixed with at least one ninth linear module, and the moving end of the ninth linear module is fixed with the quick-change robot.

[0017] Preferably, the quick-change robot includes a servo motor, a base, a rotary joint, an angular contact bearing housing, a rotating shaft, a mounting base, a quick-change base, and a pneumatic clamp. The servo motor, rotary joint, and angular contact bearing housing are all fixed to the base. The servo motor is connected to the rotating shaft through the rotary joint. The bottom end of the rotating shaft passes through the angular contact bearing housing and is fixed to the mounting base. The quick-change base is detachably connected to the mounting base, and the pneumatic clamp is detachably connected to the quick-change base.

[0018] Preferably, it also includes supplementary lighting components disposed on opposite sides of the pneumatic clamp and a visual inspection camera disposed above the clamping component. The supplementary lighting components are located above the clamping component and include a first support clamp, a first guide shaft, a second support clamp, a second guide shaft, and a light source. The first support clamp is fixed to the frame, the first guide shaft is mounted on the first support clamp, the first guide shaft is connected to the second guide shaft through the second support clamp, and the light source is fixed to the second guide shaft. The light source is tilted downward.

[0019] The beneficial effects of this utility model are as follows:

[0020] 1. By leveraging the linkage of the tray storage bin, the first tray transfer assembly, and the tray transfer mechanism, the entire process of tray storage, loading, and recycling is automated. Combined with the tray circulation process, efficient tray transfer is achieved.

[0021] 2. Before the blades to be processed are placed on the tray, the empty tray is placed in the tray storage bin. During tray placement, the first tray transfer component automatically feeds the blades. During recycling, the tray transfer mechanism works with the first tray transfer component to complete the recycling. The entire process does not require manual intervention in the loading and unloading of the tray, which greatly reduces manpower input and labor costs, while also avoiding efficiency fluctuations and error risks caused by manual operation.

[0022] 3. By setting the side plates, a gap is formed when the storage racks are stacked one on top of the other. Combined with the setting of the clearance space, the first transfer assembly can extend and make way for the first transfer assembly to transfer empty trays between multiple stacked storage racks.

[0023] 4. The coordinated operation of the second linear module, the first slide cylinder, the first extension arm, and the first push block enables automated loading and unloading of the empty pallet. Its compact structure and precise movements allow for rapid transfer of the empty pallet between the pallet storage compartment and the clamping device on the left, greatly improving the efficiency of the blade pallet loading mechanism.

[0024] 5. Since there is no need for manual handling of the carrier tray between the clamping parts outside and inside the machine, the problem of the clamping parts being located inside the machine and the limited operating space in the traditional method is solved. Operators no longer need to perform cumbersome operations in a narrow space, reducing labor intensity and improving the convenience and safety of operation.

[0025] 6. By coordinating the operation of the transfer station and the third linear module of the dual-station system, empty pallets are simultaneously recovered during the loading and unloading stages. The third linear module of the dual-station system can handle loading and unloading tasks at the same time to shorten the idle time of the equipment. The synchronous operation of the transfer station and the second pallet transfer component reduces the time consumed in a single cycle. At the same time, it eliminates the risk of frequent manual entry and exit from the equipment working area and reduces the incidence of work-related accidents. The automated cycle can also avoid equipment failures caused by human operation errors and improve the stability of the production line operation.

[0026] 7. By setting up the swing cylinder, the second extension arm and the second push block can swing upward to adapt to situations where only the action of transferring the tray of the clamping part and the transfer table needs to be realized.

[0027] 8. Achieve efficient storage and transfer of material trays. In the feeding section, there is no need to manually remove empty material trays. In the blade placement section after processing, there is no need to manually place empty material trays in the waiting area, which improves work efficiency and reduces the possibility of loss or damage of empty material trays. Not only does it achieve efficient storage and transfer of material trays in the feeding section, but it also achieves unified storage and efficient transfer of material trays in the blade placement section after processing.

[0028] 9. Placing the rotary joint between the servo motor and the rotating shaft can efficiently transmit power, isolate servo motor vibration to ensure high precision and stability of rotational motion, and work with the angular contact bearing housing to build a stable rotational support system, bearing radial and axial loads, reducing shaft wobble, improving the smoothness of rotating shaft operation, reducing equipment noise and wear, extending equipment service life, and preventing pipeline entanglement. In addition, the quick-change seat and mounting seat can be detached and matched, allowing for quick replacement of pneumatic clamps without tools, improving tooling and fixture replacement efficiency, and enhancing equipment versatility and flexibility.

[0029] 10. By arranging a multi-component supplementary lighting structure on both sides of the pneumatic clamp and above the clamping parts, the light source is set at an angle downward to provide targeted supplementary lighting to the key positions of the tray, eliminating shadow interference, significantly improving the recognition accuracy of the visual inspection camera for the position and angle of the tray and the blade edge, thereby improving the accuracy of the tray movement, reducing tray error, and ensuring the regularity of the blade arrangement and the stability of quality.

[0030] 11. The light source is flexibly adjustable in the front-to-back direction and tilt angle, allowing operators to quickly adjust it to the optimal supplementary lighting state according to actual inspection needs and work scenarios. This ensures that the visual inspection camera maintains optimal performance, enhances the device's adaptability to different lighting environments and tray placement conditions, and improves the equipment's inspection reliability and work efficiency. Attached Figure Description

[0031] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0032] Figure 2 This is a three-dimensional structural diagram of the tray storage compartment of this utility model.

[0033] Figure 3 This is a three-dimensional structural diagram of the storage tray rack of this utility model.

[0034] Figure 4 This is a three-dimensional structural diagram of the first transfer plate assembly of this utility model.

[0035] Figure 5 This is a three-dimensional structural diagram of the frame, tray storage compartment, first tray transfer assembly, and first tray transfer assembly of this utility model.

[0036] Figure 6 This is a three-dimensional structural diagram of the second transfer disk assembly of this utility model.

[0037] Figure 7 This is a three-dimensional structural diagram of the material unloading and storage bin of this utility model.

[0038] Figure 8 This is a three-dimensional structural diagram of the transfer platform of this utility model.

[0039] Figure 9This is a three-dimensional structural diagram of the clamping component of this utility model.

[0040] Figure 10 This is a schematic diagram of the main structure of the material tray conveyor line of this utility model.

[0041] Figure 11 This is a three-dimensional structural diagram of the material transfer component and the visual inspection camera of this utility model.

[0042] Figure 12 This is a three-dimensional structural diagram of the mounting bracket, the ninth linear module, and the quick-change robotic arm of this utility model.

[0043] Figure 13 This is a three-dimensional structural diagram of the supplementary lighting component of this utility model.

[0044] The labels in the attached diagram are as follows: 1-Frame, 2-Pattern storage bin, 3-First tray transfer assembly, 4-Transfer assembly, 5-Pattern conveyor line, 6-Pattern transfer mechanism, 7-Pattern, 8-Pattern, 21-First linear module, 22-Fixed frame, 23-Pattern storage rack, 231-Base plate, 232-Side plate, 233-Leaning space, 31-Second linear module, 32-First slide cylinder, 33-First extension arm, 34-First push block, 61-Third linear module Line module, 62-clamping component, 63-loading storage bin, 64-unloading storage bin, 65-second transfer assembly, 66-fourth linear module, 67-transfer table, 651-fifth linear module, 652-second slide cylinder, 653-third slide cylinder, 654-second extension arm, 655-second push block, 656-mounting plate, 657-swing cylinder, 658-third push block, 68-sixth linear module, 69-shelf, 610-first Placement plate, 671-Fourth slide cylinder, 672-Second placement plate, 621-Fifth slide cylinder, 622-Third placement plate, 623-Limiting strip, 624-Telescopic cylinder, 625-Vertical plate, 626-Limiting plate, 51-Seventh linear module, 52-First storage and transfer area, 53-Second storage and transfer area, 54-First tray rack, 55-Second tray rack, 56-Support frame, 57-Transfer tray rack, 41-Eighth linear module, 42- Mounting bracket, 43-Ninth linear module, 44-Quick-change robot arm, 441-Servo motor, 442-Base, 443-Rotary joint, 444-Angular contact bearing housing, 445-Rotating shaft, 446-Mounting base, 447-Quick-change base, 448-Pneumatic clamp, 9-Finishing light component, 10-Vision inspection camera, 91-First support clamp, 92-First guide shaft, 93-Second support clamp, 94-Second guide shaft, 95-Light source. Detailed Implementation

[0045] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0046] Contents not described in detail in this specification are existing technologies known to those skilled in the art. In the description of this utility model, it should be understood that terms such as "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this utility model. Furthermore, terms such as "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] like Figures 1 to 13 As shown, the blade aligning machine provided in this embodiment includes a frame 1, a tray storage bin 2 disposed on the frame 1, a first tray transfer assembly 3, a material transfer assembly 4, a tray conveyor line 5, and a tray transfer mechanism 6. The tray storage bin 2 contains a plurality of trays 7, and the tray conveyor line 5 contains a plurality of trays 8. The first tray transfer assembly 3 is disposed between the tray conveyor line 5 and the tray storage bin 2. The first tray transfer assembly 3 is used to transfer the trays 7 between the tray storage bin 7 and the tray transfer mechanism 6. There are two material transfer assemblies 4, which are respectively disposed on the left and right sides of the frame 1. The left material transfer assembly 4 is used to place the blades of the tray 8 onto the tray 7, and the right material transfer assembly 4 is used to place the blades of the tray 7 onto the tray 8.

[0048] This embodiment also provides a blade alignment method, which uses the above-mentioned blade alignment machine for alignment, and includes the following steps:

[0049] S1: Before plating, store multiple empty trays 7 in the tray storage compartment 2;

[0050] During tray placement, the empty tray 7 is moved forward from the tray storage 2 to the tray transfer mechanism 6 via the first tray transfer assembly 3.

[0051] S2: The tray 8, which is full of blades to be processed, is conveyed to the waiting area by the tray conveyor line 5. The transfer component 4 on the left takes away the blades to be processed from the waiting area and places them on the empty tray 7 of the tray transfer mechanism 6.

[0052] S3: After the blades to be processed are filled, the blades to be processed are loaded and the processed blades are unloaded through the tray transfer mechanism 6.

[0053] S4: After the processed blade is unloaded, the carrier plate 7 along with the processed blade is transferred to the bottom of the transfer assembly 4 on the right side by the carrier plate transfer mechanism 6.

[0054] S4: The material tray conveyor line 5 transports the empty material tray 8 to the waiting area, and the material transfer component 4 on the right side removes the processed blade from the carrier tray 7 and places it in the empty material tray 8 in the waiting area.

[0055] S5: After all the processed blades are removed, the empty tray 7 is reused through the tray transfer mechanism 6 for placing the blades to be processed.

[0056] S6: Finally, the empty pallets 7 are transferred one by one to the front of the pallet storage 2 by the pallet transfer mechanism 6, and the empty pallets 7 are pushed backward into the pallet storage 2 by the first pallet transfer assembly 3.

[0057] By leveraging the linkage of the tray storage bin 2, the first tray transfer assembly 3, and the tray transfer mechanism 6, the entire process of tray 7 from storage, loading, and recycling is fully automated. Combined with the tray 7's circulation process, efficient circulation of tray 7 is achieved. Before the blades to be processed are placed on the tray, the empty tray 7 is placed in the tray storage bin 2. During tray loading, the first tray transfer assembly 3 automatically loads the blades. During recycling, the tray transfer mechanism 6 works in conjunction with the first tray transfer assembly 3 to complete the recycling. The entire process requires no manual intervention in the loading and unloading of tray 7, greatly reducing labor input and labor costs, while also avoiding efficiency fluctuations and error risks caused by manual operation.

[0058] The tray storage compartment 2 includes a first linear module 21, a fixed frame 22, and several tray racks 23. The first linear module 21 is fixed to the frame 1, and the moving end of the first linear module 21 is fixed to the fixed frame 22. The fixed frame 22 is equipped with several tray racks 23 spaced apart along the height direction, and tray racks 23 hold trays 7. The first linear module 21 drives the fixed frame 22 to move up and down to adjust its position, thereby adjusting the up and down position of the tray racks 23 so that they are on the same horizontal plane as the bearing surface of the clamping member 62 on the left, facilitating the transfer of empty trays 7 between the tray racks 23 and the clamping member 62.

[0059] The storage rack 23 includes a base plate 231 and side plates 232. The base plate 231 has upwardly protruding side plates 232 on both opposite sides, and a clearance space 233 in the middle of the base plate 231. The side plates 232 create a gap when the storage racks 23 are stacked, and the clearance space 233 allows the first transfer assembly 3 to extend into the rack, ensuring that the first transfer assembly 3 can transfer empty trays 7 between the stacked storage racks 23.

[0060] The first pallet transfer assembly 3 includes a second linear module 31, a first slide cylinder 32, a first extension arm 33, and a first push block 34. The second linear module 31 is fixed to the frame 1, the first slide cylinder 32 is fixed to the moving end of the second linear module 31, the first extension arm 33 is fixed to the bottom end of the first slide cylinder 32, and the first push block 34 is fixed to the bottom of the rear side of the first extension arm 33. When an empty pallet 7 needs to be removed from the pallet storage compartment 2, the second linear module 31 drives the first slide cylinder 32 and its upper structure to move backward until the first extension arm 33 extends into the pallet rack 23 and the first push block 34 is located directly above the center hole of the pallet 7. Then, the first slide cylinder 32 extends, driving the first extension arm 33 to move downward, so that the first push block 34 extends into the center hole of the pallet 7. The second linear module 31 moves forward, causing the first pusher block 34 to push the empty tray 7 forward onto the bearing surface of the left-side clamping member 62. Then, the first slide cylinder 32 retracts and resets, causing the first pusher block 34 to move upward away from the empty tray 7. When it is necessary to store the empty tray 7 into the tray storage compartment 2 from the left-side clamping member 62, the first slide cylinder 32 extends, causing the first extension arm 33 to move downward, causing the first pusher block 34 to extend into the center hole of the tray 7. The second linear module 31 drives the first pusher block 34 to move backward, causing the first pusher block 34 to push the empty tray 7 backward onto the upper surface of the base plate 231. Then, the first slide cylinder 32 retracts and resets, causing the first pusher block 34 to move upward away from the empty tray 7. Finally, the second linear module 31 drives the first slide cylinder 32 and its upper structure to move forward and reset. The coordinated operation of the second linear module 31, the first slide cylinder 32, the first extension arm 33, and the first pusher block 34 realizes the automated loading and unloading of the empty tray 7. Its compact structure and precise operation enable it to quickly transfer the empty disk 7 between the disk storage chamber 2 and the clamping member 62 on the left, greatly improving the efficiency of blade disk placement.

[0061] The tray transfer mechanism 6 includes a third linear module 61, a clamping component 62, a loading storage bin 63, a unloading storage bin 64, a second tray transfer assembly 65, a fourth linear module 66, and a transfer table 67. The third linear module 61, loading storage bin 63, unloading storage bin 64, second tray transfer assembly 65, and fourth linear module 66 are all fixed to the frame 1. The third linear module 61 has two moving ends, and each moving end of the third linear module 61 is fixed with a clamping component 62. Both the loading storage 63 and the unloading storage 64 are located behind the third linear module 61. The loading storage 63 is located between the tray storage 2 and the unloading storage 64. The front side of the third linear module 61 has a fourth linear module 66. The fourth linear module 66 has a moving end. The moving end of the fourth linear module 66 is fixed with a transfer platform 67. The front side of both the loading storage 63 and the unloading storage 64 has a second transfer assembly 65. The second transfer assembly 65 is located above the clamping member 62 and the transfer platform 67.

[0062] Since there is no need for manual handling of the carrier plate 7 between the clamping parts 62 inside and outside the machine, the problem of the clamping parts 62 being located inside the machine and the limited operating space in the traditional method is solved. Operators no longer need to perform cumbersome operations in a narrow space, reducing labor intensity and improving the convenience and safety of operation.

[0063] The carrier tray 7 is clamped in the clamping member 62. The blades to be processed are placed onto the carrier tray 7 on the left clamping member 62 by the transfer component 4. When the carrier tray 7 is full of blades to be processed, the third linear module 61 drives the left clamping member 62 to move to the right until it moves to the front of the loading storage bin 63. The left clamping member 62 releases its grip on the carrier tray 7, and then the second transfer component 65 on the front of the loading storage bin 63 pushes the carrier tray 7 full of blades to be processed on the left clamping member 62 to move backward, so that the carrier tray 7 full of blades to be processed on the left clamping member 62 is transferred to the loading storage bin 63. When it is necessary to remove the tray 7 filled with processed blades from the unloading storage hopper 64, the second tray transfer assembly 65 at the front of the unloading storage hopper 64 pushes the tray 7 filled with processed blades forward to the right-side clamping member 62, which clamps the tray 7. The third linear module 61 drives the right-side clamping member 62 to move to the right below the right-side transfer assembly 4, which removes the processed blades from the tray 7. After all the processed blades are removed, the empty tray 7 is reused. The third linear module 61 drives the right-side clamping member 62 to move to the left until it reaches the front of the unloading storage hopper 64, and removes the clamping from the empty tray 7. At this time, the transfer table 67 is located in front of the right-side clamping member 62. During the next material retrieval from the unloading hopper 64, the second transfer assembly 65 at the front of the unloading hopper 64 simultaneously pushes forward the tray 7 filled with processed blades inside the unloading hopper 64 and the empty tray 7 on the right-side clamping member 62. The empty tray 7 on the right-side clamping member 62 is transferred to the transfer table 67, and simultaneously the tray 7 filled with processed blades inside the unloading hopper 64 is transferred to the right-side clamping member 62. Then, the fourth linear module 66 drives the transfer table 67 to the left until it is located in front of the left-side clamping member 62. During the next material loading, the second transfer assembly 65 at the front of the loading hopper 63 simultaneously pushes backward the tray 7 filled with processed blades on the left-side clamping member 62 and the empty tray 7 on the transfer table 67. This causes the tray 7, which is full of blades to be processed, on the left clamping member 62 to be transferred to the loading storage bin 63, while the empty tray 7 on the transfer table 67 is transferred to the left clamping member 62. Then the third linear module 61 drives the empty tray 7 on the left clamping member 62 to move to the left to the tray placement station for the blades to be processed.

[0064] Thus, through the coordinated action of the transfer station 67 and the dual-station third linear module 61, the empty tray 7 is recovered synchronously during the loading and unloading stages, eliminating the need for manual handling of the empty tray 7. For example, when the second tray transfer component 65 in front of the unloading storage bin 64 picks up materials, it simultaneously pushes the empty tray 7 to the transfer station 67; during loading, the second tray transfer component 65 in front of the loading storage bin 63 synchronously transfers the empty tray 7 on the transfer station 67 to the left clamping component 62, forming a closed-loop cycle. The dual-station third linear module 61 can handle loading and unloading tasks simultaneously, shortening equipment downtime. The synchronous action design of the transfer station 67 and the second tray transfer component 65 allows the reuse of the empty tray 7 to run in parallel with the blade loading and unloading process, reducing the time consumed per cycle. It also eliminates the risk of frequent manual entry and exit from the equipment working area, reducing the incidence of workplace accidents. The automated cycle avoids equipment failures caused by human error (such as improper placement of the tray 7), improving the stability of the production line operation.

[0065] The second transfer assembly 65 includes a fifth linear module 651, a second slide cylinder 652, a third slide cylinder 653, a second extension arm 654, a second push block 655, a mounting plate 656, a swing cylinder 657, and a third push block 658. The fifth linear module 651 is fixed to the frame 1. The second slide cylinder 652 and the third slide cylinder 653 are fixed to the moving end of the fifth linear module 651. The swing cylinder 657 is fixed to the sliding end of the second slide cylinder 652. The second extension arm 654 is fixed to the swing end of the swing cylinder 657. The second push block 655 is fixed to the bottom of the rear side of the second extension arm 654. The mounting plate 656 is fixed to the sliding end of the third slide cylinder 653. The third push block 658 is fixed to the bottom of the mounting plate 656. The third push block 658 is located in front of the second push block 655. Taking simultaneous loading and transfer of empty pallet 7 as an example, the fifth linear module 651 drives the second pusher 655 to move to directly above the center hole of the pallet 7 on the left clamping member 62. At this time, the third pusher 658 is directly above the center hole of the pallet 7 on the transfer table 67. Then, the second slide cylinder 652 drives the second pusher 655 to move downward until it extends into the center hole of the pallet 7 on the left clamping member 62. The third slide cylinder 653 drives the third pusher 658 to move downward until it extends into the center hole of the pallet 7 on the transfer table 67. The fifth linear module 651 drives the second pusher 655 and the third pusher 658 to move backward simultaneously, pushing the pallet 7 on the left clamping member 62 backward to the loading storage bin 63, and simultaneously pushing the pallet 7 on the transfer table 67 backward to the left clamping member 62. By setting the swing cylinder 657, the second extension arm 654 and the second push block 655 can swing upward to accommodate situations where only the action of transferring the tray 7 of the clamping member 62 and the transfer table 67 needs to be realized.

[0066] The loading and unloading storage bins 63 and 64 have identical structures, each including a sixth linear module 68, a rack 69, and first placement plates 610. The sixth linear module 68 is fixed to the frame 1, and the moving end of the sixth linear module 68 is fixed to the rack 69. Several first placement plates 610 are fixed at intervals from top to bottom within the rack 69. The sixth linear module 68 drives the rack 69 to move up and down, thereby driving the first placement plates 610 to move up and down, so that the first placement plates 610 of the required placement / retrieval layer are on the same horizontal plane as the third placement plate 622. In this embodiment, both the loading and unloading storage bins 63 and 64 have seven layers, i.e., seven first placement plates 610 arranged at intervals, with the bottom layer serving as a reserved layer. This multi-layer arrangement allows for the storage of multiple trays 7, facilitating efficient subsequent loading and unloading.

[0067] The transfer table 67 includes a fourth slide cylinder 671 and a second placement plate 672. The fourth slide cylinder 671 is fixed to the moving end of the fourth linear module 66, and the second placement plate 672 is fixed to the sliding end of the fourth slide cylinder 671. When transferring the empty pallet 7 between the clamping member 62 and the clamping member 62, the fourth slide cylinder 671 drives the second placement plate 672 to move closer to the third placement plate 622, facilitating the transfer of the empty pallet 7.

[0068] The clamping component 62 includes a fifth slide cylinder 621, a third placement plate 622, a limiting strip 623, a telescopic cylinder 624, a vertical plate 625, and a limiting plate 626. The third placement plate 622 is fixed to the sliding end of the fifth slide cylinder 621. A limiting strip 623 is provided on one side of the top of the third placement plate 622, and a telescopic cylinder 624 is fixed on the other side of the bottom of the placement plate. A vertical plate 625 is fixed to one end of the telescopic cylinder 624, and a limiting plate 626 is provided on the top of the vertical plate 625. The limiting plate 626 and the limiting strip 623 are arranged opposite to each other. During clamping, the telescopic cylinder 624 retracts, causing one side of the vertical limiting strip 623 to move closer, which in turn causes the limiting plate 626 to move closer to one side of the limiting strip 623. The limiting plate 626 and the limiting strip 623 fix the carrier plate 7 on the third placement plate 622, preventing the carrier plate 7 from shifting and ensuring the accurate placement of the blade. The position of the third placement plate 622 can be adjusted by the fifth slide cylinder 621. When picking up or placing an empty tray 7, the fifth slide cylinder 621 can move the third placement plate 622 closer to the tray storage 2, facilitating the picking up or placing of the empty tray 7. When loading or unloading, the fifth slide cylinder 621 can move the third placement plate 622 closer to the loading storage 63 / unloading storage 64, facilitating the transfer of the tray 7 filled with blades to be processed / blades after processing.

[0069] The material tray conveying line 5 includes a seventh linear module 51, a first storage and transfer area 52, and a second storage and transfer area 53. The seventh linear module 51 is fixed to the frame 1 and has two moving ends. The two moving ends of the seventh linear module 51 slide in the first storage and transfer area 52 and the second storage and transfer area 53, respectively. The first storage and transfer area 52 and the second storage and transfer area 53 each include a first tray frame 54, a second tray frame 55, a support frame 56, and a transfer frame 57. The first tray frame 54, the second tray frame 55, and the support frame 56 are all set on the frame 1. The first tray frame 54 and the second tray frame 55 are arranged at intervals along the conveying direction of the material tray conveying line 5. The support frame 56 is set at both the first tray frame 54 and the second tray frame 55. The transfer frame 57 is fixed to the moving end of the seventh linear module 51. In this embodiment, the first storage and transfer area 52 is used to stack and store trays 8 full of unprocessed blades (first tray frame 54), and to stack and store empty trays 8 after removing unprocessed blades (second tray frame 55). A seventh linear module 51, combined with a transfer frame 57 and a support frame 56, is used to transfer the trays 8 between the first tray frame 54 and the second tray frame 55. The seventh linear module 51 drives the transfer frame 57 in the first storage and transfer area 52 to the middle of the first tray frame 54 and the second tray frame 55, which is the waiting area, for the transfer component 4 on the left to remove unprocessed blades from the trays 8 in the waiting area. In this embodiment, the second storage and transfer area 53 is used to stack and store empty trays 8 (first tray frame 54), and to transfer the empty trays 8 to the second tray frame 55 through the seventh linear module 51 combined with the transfer frame 57 and the support frame 56, for placing processed blades. In this way, efficient storage and transfer of material trays 8 are achieved. In the feeding section, empty material trays 8 do not need to be manually removed, and in the blade placement section after processing, empty material trays 8 do not need to be manually placed in the placement area, improving work efficiency and reducing the possibility of loss or damage to empty material trays 8. This efficient storage and transfer of material trays 8 is not only achieved in the feeding section but also in the blade placement section after processing.

[0070] The material transfer assembly 4 includes an eighth linear module 41, a mounting frame 42, a ninth linear module 43, and a quick-change robot 44. The eighth linear module 41 is fixed to the frame 1, the mounting frame 42 is fixed to the moving end of the eighth linear module 41, five ninth linear modules 43 are fixed to the mounting frame 42, and the quick-change robot 44 is fixed to the moving end of the ninth linear module 43. The quick-change robotic arm 44 includes a servo motor 441, a base 442, a rotary joint 443, an angular contact bearing housing 444, a rotating shaft 445, a mounting base 446, a quick-change base 447, and a pneumatic clamp 448. The servo motor 441, the rotary joint 443, and the angular contact bearing housing 444 are all fixed to the base 442. The servo motor 441 is connected to the rotating shaft 445 through the rotary joint 443. The bottom end of the rotating shaft 445 passes through the angular contact bearing housing 444 and is fixed to the mounting base 446. The quick-change base 447 is detachably connected to the mounting base 446, and the pneumatic clamp 448 is detachably connected to the quick-change base 447.

[0071] During material handling, the eighth linear module 41 drives the mounting frame 42 and its upper structure to move forward to above the transfer rack 57 in the first storage and transfer area 52. Then, the ninth linear module 43 drives the quick-change robot 44 to move downward to the center hole of the blade to be processed in the transfer rack 57. The pneumatic clamp 448 opens and clamps the blade to be processed. Then, the ninth linear module 43 drives the quick-change robot 44 to move upward, so that the blade moves upward and leaves the transfer rack 57. The servo motor 441 drives the pneumatic clamp 448 to rotate a certain angle according to the requirements, causing the blade to be processed to rotate a certain angle. The eighth linear module 41 drives the blade to be processed to move backward to above the carrier plate 7. Combined with the third linear module 61 driving the carrier plate 7 to move left and right until the empty blade edge of the carrier plate 7 is directly below the blade to be processed, the tilt angle of the empty blade edge of the carrier plate 7 is consistent with the tilt angle of the blade to be processed. The ninth linear module 43 drives the blade to be processed to move downward until it enters the empty blade edge of the carrier plate 7. The pneumatic clamp 448 resets, and the blade is placed in the empty blade edge of the carrier plate 7. The ninth linear module 43 moves upward to reset, thus completing the placement of one blade. The above actions are repeated until the carrier plate 7 is full of blades to be processed. In this embodiment, the pneumatic clamp 448 is a thumb cylinder. In other embodiments, it can also be a suction cup clamp or an expansion clamp.

[0072] The rotary joint 443 is placed between the servo motor 441 and the rotating shaft 445, effectively isolating the vibration of the servo motor 441 while efficiently transmitting power, ensuring high precision and stability of the rotational motion. Combined with the servo motor 441, it offers higher precision and stability compared to traditional stepper motors. The angular contact bearing housing 444 and the rotary joint 443 work together to construct a stable rotational support system. The angular contact bearing housing 444 can simultaneously withstand radial and axial loads, reasonably distributing the complex forces on the rotating shaft 445 during operation and reducing shaft sway. This dual protection, along with the rotary joint 443, significantly improves the smoothness of the rotating shaft 445's operation, effectively reducing equipment operating noise and wear, extending the overall service life of the equipment, and providing a solid and reliable rotational foundation for the pneumatic clamp 448, ensuring precision and stability during long-term continuous operation. Furthermore, the rotary joint 443 prevents pipelines from becoming entangled. With the detachable connection between the quick-change seat 447 and the mounting seat 446, the pneumatic clamp 448 can be quickly disassembled and replaced without the need for any tools, which significantly improves the efficiency of tooling fixture replacement, reduces equipment downtime, and allows for quick switching of the appropriate pneumatic clamp 448 according to different production tasks, greatly enhancing the versatility and flexibility of the equipment.

[0073] The system also includes supplementary lighting components 9 positioned on opposite sides of the pneumatic clamp 448 and a visual inspection camera 10 positioned above the clamping member 62. The supplementary lighting components 9, located above the clamping member 62, include a first support clamp 91, a first guide shaft 92, a second support clamp 93, a second guide shaft 94, and a light source 95. The first support clamp 91 is fixed to the frame 1, the first guide shaft 92 is mounted on the first support clamp 91, and the first guide shaft 92 is connected to the second guide shaft 94 via the second support clamp 93. The light source 95 is fixed to the second guide shaft 94 and is tilted downwards. By arranging a multi-component supplementary lighting structure on both sides of the pneumatic clamp 448 and above the clamping member 62, the downwardly tilted light source 95 can provide targeted supplementary lighting to key positions on the tray, effectively eliminating shadow interference. The visual inspection camera 10 significantly improves the recognition accuracy of the position and angle of the blade loading edge on the carrier plate 7 during the blade loading process / after processing, thereby significantly improving the accuracy of the loading action, reducing loading error, ensuring the regularity and quality stability of the blade arrangement, and greatly improving the recognition accuracy of the position and angle of the blade loading edge on the carrier plate 7.

[0074] Meanwhile, the light source 95 is flexibly adjustable in terms of front-to-back direction and tilt angle. Operators can quickly adjust it to the best supplementary lighting state according to actual detection needs and work scenarios, ensuring that the visual inspection camera 10 is always in the best detection performance. This enhances the adaptability of the device to different lighting environments and tray placement conditions, and improves the overall detection reliability and work efficiency of the equipment.

[0075] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A blade aligning machine, characterized in that: It includes a frame, a tray storage bin disposed on the frame, a first tray transfer assembly, a material transfer assembly, a tray conveyor line, and a tray transfer mechanism; The tray storage hopper contains several trays, and the tray conveyor line contains several trays. The first transfer assembly is disposed between the tray conveyor line and the tray storage bin, and the first transfer assembly is used to realize the transfer of the tray between the tray storage bin and the tray transfer mechanism; There are two material transfer components, which are respectively located on the left and right sides of the frame. The material transfer component on the left is used to place the blades of the material tray onto the carrier tray, and the material transfer component on the right is used to place the blades of the carrier tray onto the material tray.

2. The blade alignment machine according to claim 1, characterized in that: The tray storage bin includes a first linear module, a fixed frame, and several tray racks; The first linear module is fixed to the frame; The moving end of the first linear module is fixed with a mounting frame; The fixed frame is equipped with several storage tray racks spaced apart along the height direction. The storage rack holds the carrier tray; The storage rack includes a base plate and side plates; The base plate has upwardly protruding side plates on both opposite sides; The base plate has a clearance space in the middle.

3. The blade alignment machine according to claim 1, characterized in that: The first transfer assembly includes a second linear module, a first slide cylinder, a first extension arm, and a first push block; The second linear module is fixed to the frame; The first slide cylinder is fixed to the moving end of the second linear module; The bottom end of the first slide cylinder is fixed with a first extension arm, and the bottom of the rear side of the first extension arm is fixed with a first push block.

4. The blade alignment machine according to claim 1, characterized in that: The tray transfer mechanism includes a third linear module, a clamping component, a loading storage bin, a unloading storage bin, a second tray transfer assembly, a fourth linear module, and a transfer table; The third linear module, the loading storage bin, the unloading storage bin, the second transfer assembly, and the fourth linear module are all fixed to the frame; The third linear module has two moving ends, and each moving end of the third linear module is fixed with the clamping member. Both the loading and unloading storage bins are located behind the third linear module, with the loading bin located between the tray storage bin and the unloading bin. The third linear module has a fourth linear module on its front side. The fourth linear module has a moving end, and a transfer platform is fixed to the moving end of the fourth linear module. The front side of both the loading and unloading storage bins is provided with a second transfer tray assembly; The second transfer assembly is located above the clamp and the transfer table.

5. The blade alignment machine according to claim 4, characterized in that: The second transfer assembly includes a fifth linear module, a second slide cylinder, a third slide cylinder, a second extension arm, a second push block, a mounting plate, a swing cylinder, and a third push block; The fifth linear module is fixed to the frame; The moving end of the fifth linear module is fixed with a second slide cylinder and a third slide cylinder; The swing cylinder is fixed to the sliding end of the second slide cylinder, the second extension arm is fixed to the swing end of the swing cylinder, and a second push block is fixed to the bottom of the rear side of the second extension arm. The sliding end of the third slide cylinder is fixed with a mounting plate, and the bottom of the mounting plate is fixed with a third push block. The third pusher is located in front of the second pusher.

6. The blade alignment machine according to claim 4, characterized in that: The loading and unloading storage bins have the same structure, both including a sixth linear module, a bin rack, and a first placement plate; The sixth linear module is fixed to the frame; The moving end of the sixth linear module is fixed with a rack. The rack is fixed with several first placement plates at intervals from top to bottom; The transfer platform includes a fourth slide cylinder and a second placement plate; The fourth slide cylinder is fixed to the moving end of the fourth linear module; The second placement plate is fixed to the sliding end of the fourth slide cylinder; The clamping components include a fifth slide cylinder, a third placement plate, a limiting strip, a telescopic cylinder, a vertical plate, and a limiting plate; The third placement plate is fixed to the sliding end of the fifth slide cylinder; A limit strip is provided on one side of the top of the third placement plate, and a telescopic cylinder is fixed on the other side of the bottom of the placement plate. A vertical plate is fixed to one end of the telescopic cylinder. A limiting plate is provided at the top of the vertical plate, and the limiting plate is disposed opposite to the limiting strip; The material tray conveyor line includes a seventh linear module, a first storage and transfer area, and a second storage and transfer area; The seventh linear module is fixed to the frame; The seventh linear module has two moving ends, which slide within the first storage and transfer area and the second storage and transfer area, respectively. Both the first storage and transfer area and the second storage and transfer area include a first tray rack, a second tray rack, a support frame, and a transfer rack; The first tray frame, the second tray frame, and the support frame are all disposed on the machine frame. The first tray frame and the second tray frame are disposed at intervals along the conveying direction of the material tray conveyor line. The first tray frame and the second tray frame are each provided with a support frame. The transfer frame is fixed to the moving end of the seventh linear module.

7. The blade alignment machine according to claim 4, characterized in that: The material transfer assembly includes an eighth linear module, a mounting bracket, a ninth linear module, and a quick-change robotic arm; The eighth linear module is fixed to the frame; The mounting bracket is fixed to the moving end of the eighth linear module; At least one ninth linear module is fixed to the mounting bracket; The moving end of the ninth linear module is fixed with a quick-change robotic arm.

8. The blade alignment machine according to claim 7, characterized in that: The quick-change robot includes a servo motor, a base, a rotary joint, an angular contact bearing housing, a rotating shaft, a mounting base, a quick-change base, and a pneumatic gripper; The servo motor, rotary joint, and angular contact bearing housing are all fixed to the base; The servo motor is connected to the rotating shaft via a rotary joint; The bottom end of the rotating shaft is fixed to a mounting base through the angular contact bearing seat; The quick-change seat is detachably connected to the mounting base; The pneumatic clamp is detachably connected to the quick-change seat.

9. The blade alignment machine according to claim 8, characterized in that: It also includes supplementary lighting components disposed on opposite sides of the pneumatic clamp, and a visual inspection camera disposed above the clamping component; The supplementary lighting element is located above the clamping element; The supplementary lighting component includes a first support bracket, a first guide shaft, a second support bracket, a second guide shaft, and a light source; The first support clamp is fixed to the frame, and the first guide shaft is mounted on the first support clamp; The first guide shaft is connected to the second guide shaft via the second support clamp; The light source is fixed to the second guide shaft and is tilted downwards.

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