A material collecting mechanism

Abstract

The application relates to a material collecting mechanism, which comprises a conveying assembly used for conveying workpieces, a material taking assembly used for transferring the workpieces, and a material stacking assembly comprising a material carrying module used for temporarily storing a workpiece stack, a pressing module and a limiting module, wherein the material stacking assembly is provided with a discharging station, the pressing module corresponds to the discharging station, the pressing module pushes the workpiece on the material taking assembly to separate from the material taking assembly, and the workpiece is pressed to the workpiece stack of the material carrying module; the limiting module comprises a linear unit, a stop unit and a driving unit, the driving unit is matched with the stop unit, under the driving of the driving unit, the stop unit contacts or separates from the workpiece stack, and the linear unit drives the stop unit and the driving unit to move along the stacking direction of the workpiece stack. The stop unit contacts the workpiece stack under the driving of the driving unit to apply a supporting force to the workpiece stack, and cooperates with the pressing module, so that the workpieces can be closely stacked.

Description

Technical Field

[0001] This application relates to the field of automation technology, specifically to a receiving mechanism. Background Technology

[0002] Curved surface printing technology is used to print patterns on the outer surface of cups, bowls, buckets, tubes and bottle caps made of plastic or metal paper used in daily life, in order to improve the appearance and add identification. The entire automatic printing process includes: feeding, inspection, corona treatment, printing, curing, defective product detection and finished product delivery.

[0003] Currently, barrel printing production lines mainly use manual barrel collection or stacking barrels by their own weight. The existing collection methods result in insufficient collection efficiency and stability of curved surface offset printing machines, as well as various problems such as limited collection height, which affect the overall production efficiency of the equipment.

[0004] Specifically, when workpieces are stacked, a hollow cavity is formed between adjacent workpieces. As adjacent workpieces gradually approach each other, the volume of the cavity gradually decreases, creating negative pressure within the cavity, which makes direct stacking difficult. Manual material handling is time-consuming, labor-intensive, and involves repetitive work, resulting in high labor costs. Utilizing the weight of barrel-shaped workpieces for stacking requires a vertical stacking mechanism, where the workpieces fall freely and stack. Firstly, the negative pressure between workpieces can easily cause them to rotate, leading to poor storage accuracy (since some barrel-shaped workpieces have handles, rotation can cause the handles to shift). Secondly, the stacked workpieces are limited by height; when too many workpieces are stacked, the stack is prone to tipping over, requiring more frequent relocation (i.e., the stack needs to be removed when it reaches a certain height). Therefore, the current barrel printing production line has low material handling efficiency. Utility Model Content

[0005] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0006] This application provides a receiving mechanism, comprising:

[0007] The transmission component is used to transport the workpiece;

[0008] The material handling assembly is used to transfer workpieces;

[0009] The stacking assembly includes a loading module, a pressing module, and a limiting module for temporarily storing workpiece stacks. The stacking assembly has a unloading station, and the pressing module corresponds to the unloading station. The pressing module pushes the workpieces on the picking assembly to detach from the picking assembly and presses the workpieces onto the workpiece stack of the loading module.

[0010] The limiting module includes a linear unit, a stop unit, and a drive unit. The drive unit cooperates with the stop unit. Under the drive of the drive unit, the stop unit contacts or separates from the workpiece stack. The linear unit drives the stop unit and the drive unit to move along the stacking direction of the workpiece stack.

[0011] In one embodiment, the loading module is provided with two parallel bosses for supporting stacks of workpieces.

[0012] Driven by the drive unit, the stop unit extends out of the boss or retracts into the gap between the two bosses;

[0013] When the stop unit extends from the boss, the stop unit contacts the workpiece stack;

[0014] When the stop unit retracts into the gap, the stop unit separates from the workpiece stack.

[0015] In one embodiment, the stacking assembly further includes a guide module, which includes a guide rod and forms a channel for temporarily storing the workpiece stack between the guide rod and the boss.

[0016] In one embodiment, the guide module further includes a column frame and an adjustment unit. The adjustment unit is mounted on the column frame and cooperates with the guide rod to adjust the distance between the guide rod and the boss.

[0017] In one embodiment, the stop unit includes a swing rod, which is pivotally connected to the power telescopic end, and a connecting rod connects the swing rod to the fixed seat of the drive unit.

[0018] In one embodiment, the stop unit further includes a body connected to a swing rod, and elastic buffer blocks are attached to opposite sides of the body for contacting the stacked workpieces.

[0019] In one embodiment, the transfer component has a material handling station;

[0020] The material handling assembly includes a robotic arm and a gripping module, with the gripping module mounted on the robotic arm;

[0021] Driven by the robotic arm, the gripping module moves between the material handling station and the unloading station.

[0022] In one embodiment, the robotic arm can be a six-axis robot, a four-axis robot, or a servo gripping platform.

[0023] In one embodiment, the gripping module includes a cylinder, a cantilever, and grippers, with at least three cantilever and grippers. The two ends of the cantilever are respectively connected to the power output end of the cylinder and the grippers.

[0024] In one embodiment, the transmission component also has a detection station;

[0025] The receiving mechanism also includes a detection component, which is set up with a corresponding detection station.

[0026] This application has at least the following beneficial effects:

[0027] In this application, on the one hand, the drive stop unit of the drive unit contacts the workpiece stack. Simultaneously, the linear unit drives the stop unit and the drive unit to move along the stacking direction of the workpiece stack. As the length of the stack increases, the linear unit drives the stop unit to increase with the length of the stack. The stop unit is always in contact with the stack, applying a supporting force to the stack. This, combined with the pressing module, allows the workpieces between the stacks to be tightly stacked, improving the workpiece storage capacity. On the other hand, the drive stop unit of the drive unit separates from the stack, causing the stop unit to move relative to the stack. The stop unit is transferred to the unloading station, where it contacts the workpiece at the front of the stack. The linear unit then drives the stop unit to push the stack unloaded. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of a receiving mechanism provided in an embodiment of this application.

[0029] Figure 2 This is a three-dimensional structural diagram of a detection component and a transmission component provided in an embodiment of this application.

[0030] Figure 3 This is a three-dimensional structural diagram of a material handling component provided in an embodiment of this application.

[0031] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle.

[0032] Figure 5 This is a three-dimensional structural diagram of a material stacking assembly provided in an embodiment of this application.

[0033] Figure 6 This is a partial structural schematic diagram of a material stacking assembly provided in one embodiment of this application.

[0034] Figure 7 for Figure 6 A magnified view of a portion of point B in the middle.

[0035] Figure label:

[0036] 1. Detection components;

[0037] 11. Lifting module; 12. Detector; 13. Bracket;

[0038] 2. Transmission components;

[0039] 21. Inspection station; 22. Material handling station;

[0040] 3. Material handling assembly;

[0041] 31. Gantry crane; 32. Robotic arm; 33. Gripping module;

[0042] 331. Cylinder; 332. Cantilever; 333. Gripper;

[0043] 4. Material stacking assembly;

[0044] 41. Loading module; 42. Pressing module; 43. Guiding module; 44. Limiting module; 45. Adjusting module; 46. Unloading station;

[0045] 411. Boss; 412. Workbench;

[0046] 421. First pressing unit; 422. Second pressing unit;

[0047] 431. Column frame; 432. Adjustment unit; 433. Guide rod;

[0048] 441. Linear unit; 442. Stop unit; 443. Drive unit; 444. Linkage rod;

[0049] 4421. Main body; 4422. Buffer block; 4423. Swing rod;

[0050] 50. Workpiece. Detailed Implementation

[0051] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0052] Where the terms "first," "second," and "third" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," and "third" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0054] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] The embodiments of this application are described in detail below with reference to the accompanying drawings.

[0056] Reference Figure 1-4 As shown, some embodiments of this application provide a receiving mechanism, including: a detection component 1, a transmission component 2, a picking component 3, and a stacking component 4. The transmission component 2 has a detection station 21 and a picking station 22. Workpieces 50 flow on the transmission component 2, and can be transferred from the detection station 21 to the picking station 22. The detection component 1 corresponds to the detection station 21, so that when workpiece 50 is at the detection station 21, the detection component 1 detects the workpiece 50 at the detection station 21. In this solution, the workpiece 50 is a barrel-shaped part, specifically a part with a protruding feature on the barrel opening surface. The protruding feature can be understood as a feature that has a positioning function and / or causes interference between workpieces 50 when stacked. For example, the feature is a handle provided on the barrel opening surface, and the detection component 1 is used to locate the handle position of the barrel-shaped part.

[0057] The picking component 3 is used to pick up the workpiece 50 from the picking station 22 and transfer the workpiece 50 to the stacking component 4. Specifically, the stacking component 4 includes a loading module 41 and a pressing module 42. The loading module 41 temporarily stores the workpiece stack along a horizontal straight line, that is, the stacking direction of the workpiece 50 is the aforementioned horizontal straight line direction. The loading module 41 has a unloading station 46, and the picking component 3 places the workpiece 50 on the unloading station 46. The unloading station 46 is correspondingly provided with the pressing module 42, which presses a workpiece 50 along a horizontal straight line onto the workpiece stack of the loading module 41. The pressing module 42 includes a pressing claw, which abuts against the workpiece 50 at the unloading station 46. The pressing module 42 can perform the rotation and pressing action of the pressing claw. When pressing the workpiece 50, the pressing claw is on the feeding path of the picking component 3. That is, there is an interference problem between the pressing claw and the workpiece 50 on the picking component 3. In order to smoothly place the workpiece 50 on the unloading station 46, the pressing module 42 drives the pressing claw to rotate to ensure that the pressing claw is away from the feeding path of the picking component 3.

[0058] The material handling assembly 3 includes a gantry 31, a robotic arm 32, and a gripping module 33. The robotic arm 32 is mounted on the gantry 31, and the gripping module 33 is mounted on the robotic arm 32. Driven by the robotic arm 32, the gripping module 33 moves between the material handling station 22 and the unloading station 46. The workpiece 50 is placed vertically on the transmission assembly 2, and the material handling assembly 3 grips and flips the workpiece 50 to correspond to the workpiece stack temporarily stored on the loading module 41, that is, the workpiece 50 gripped by the material handling assembly 3 can be fitted onto the workpiece stack. Specifically, the material handling assembly 3 flips the workpiece 50 to a horizontal position to align with the workpiece stack on the loading module 41. The workpiece 50 is placed vertically with its axis perpendicular to the transmission assembly 2. The workpiece 50 is flipped to a horizontal position to align with the workpiece stack on the loading module 41 with its axis aligned with the axis of the workpiece stack on the loading module 41 (i.e., the aforementioned horizontal straight line direction). More specifically, the picking component 3 rotates the workpiece 50 while simultaneously flipping it. The flipping of the workpiece 50 aligns it with the workpiece stack on the loading module 41. The rotation of the workpiece 50 by the picking component 3 adjusts the position of the handle on the workpiece 50. After the detection component 1 detects the position of the handle on the workpiece 50, the picking component 3 rotates the workpiece 50 to adjust the position of the handle. In this solution, the robotic arm 32 can be a six-axis robot, a four-axis robot, a servo gripping platform, or other common mechanisms capable of picking up and placing the workpiece 50 and compensating for the handle angle. For example, the picking component 3 flips the workpiece 50 by 90°, adjusting the opening position of the workpiece 50 by 90°. Workpieces 50 are stacked together in a horizontal straight direction to form a workpiece stack, which is supported by the material loading module 41 in a horizontal straight direction. Compared with vertically stacked workpieces 50, the workpiece stack has poor stability and is prone to tipping over. After stacking to a certain height, the workpiece stack needs to be removed and re-stacked to prevent it from tipping over due to excessive height. In this solution, the workpiece stack supported by the material loading module 41 in a horizontal straight direction can support a larger workpiece stack length, that is, increase the upper limit of the number of stacked workpieces 50, thereby improving the efficiency of material collection (that is, under the premise of the same number of workpieces 50, the number of times the workpiece stack can be removed can be reduced).

[0059] Furthermore, the gripping module 33 includes a cylinder 331, a cantilever 332, and a gripper 333. The cylinder 331 has at least three synchronously moving power output ends, and the cantilever 332 is installed on each of the corresponding power output ends. One end of the cantilever 332 is connected to the cylinder 331, and the gripper 333 is installed on the other end of the cantilever 332. By having the cylinder 331 drive the cantilever 332 to extend and retract, the gripper 333 is supported on the inner wall of the workpiece 50, thereby enabling the gripping module 33 to grip the workpiece 50. In this scheme, the detection component 1 can detect the center point of the workpiece 50. The robotic arm 32 drives the gripping module 33 so that the center point of the workpiece 50 is located on the axis of the cylinder 331. The cylinder 331 pushes the grippers 333 on at least three power output ends close to the inner wall of the workpiece 50, so that the grippers 333 press against the inner wall of the workpiece 50. The pressure of the grippers 333 on the inner wall of the workpiece 50 is used to achieve a relatively static structure between the gripping module 33 and the workpiece 50.

[0060] In some embodiments of this application, the stacking assembly 4 further includes a limiting module 44, which includes a linear unit 441 and a stop unit 442. The stop unit 442 is used to abut against the workpiece stack. The stop unit 442 is disposed on the linear unit 441, and under the drive of the linear unit 441, the stop unit 442 moves along a horizontal linear direction.

[0061] In this design, the stop unit 442 is located on the moving path of the workpiece stack. As the number of workpieces 50 in the stack increases, the length of the stack in the horizontal straight direction gradually increases. Simultaneously, the stop unit 442 gradually moves along the horizontal straight direction, ensuring that it always abuts against the workpiece 50 at the farthest end of the stack. The workpiece 50 at the farthest end of the stack is the first workpiece 50 on the other end face of the stack opposite the pressing module 42. By using the stop unit 442 to abut against the stack, it provides support to the stack as the pressing module 42 pushes the workpieces 50 onto it, causing the workpieces 50 to be pressed together, thus completing the stacking process.

[0062] Furthermore, the limiting module 44 also includes a drive unit 443, and a stop unit 442 is connected to the power telescopic end 4431 of the drive unit 443. Under the drive of the drive unit 443, the stop unit 442 abuts against or separates from the workpiece stack. Specifically, when the power telescopic end 4431 is in the extended state, the stop unit 442 abuts against the workpiece stack. When the power telescopic end 4431 is in the retracted state, the stop unit 442 separates from the workpiece stack.

[0063] The unloading station 46 is located at one end of the loading module 41 near the transmission component 2, and the other end of the loading module 41 away from the transmission component 2 is the transfer end. During the stacking of workpieces 50, the power telescopic end 4431 is in the extended state. With the drive of the linear unit 441, the stop unit 442 always abuts against the workpiece 50 at the farthest end of the workpiece stack. After the workpieces 50 are stacked to a certain length, for example, the workpiece 50 at the farthest end of the workpiece stack is located at the transfer end. At this time, the loading module 41 is fully loaded, and the power telescopic end 4431 is in the retracted state, so that the stop unit 442 separates from the workpiece 50 at the farthest end of the workpiece stack. Then, the linear unit 441 drives the stop unit 442 to move to the end of the loading module 41 near the transmission component 2. The power telescopic end 4431 extends, so that the stop unit 442 abuts against the workpiece 50 at the closest end of the workpiece stack. The linear unit 441 pushes the workpiece stack to move in a horizontal straight line, moving the workpiece stack out of the loading module 41. The workpiece 50 at the nearest end of the workpiece stack is the workpiece 50 that is in contact with the pressing module 42 on the workpiece stack.

[0064] In this design, the stop unit 442 further includes a body 4421, two buffer blocks 4422, and a swing rod 4423. The body 4421 and the swing rod 4423 are connected and integrally formed, with the swing rod 4423 pivotally connected to the power telescopic end 4431. Two elastic buffer blocks 4422 are attached to opposite sides of the body 4421. A connecting rod 444 connects the swing rod 4423 to the fixed seat of the drive unit 443. One buffer block 4422 contacts the workpiece 50 closest to the workpiece stack, while the other buffer block 4422 contacts the workpiece 50 furthest from the workpiece stack. The fixed seat of the drive unit 443 allows the power telescopic end 4431 to extend and retract relative to the fixed seat, and both ends of the connecting rod 444 are pivotally connected to the swing rod 4423 and the fixed seat, respectively. Under the traction of the connecting rod 444, the drive unit 443 drives the stop unit 442 to rotate, so that the stop unit 442 can rotate 90°, that is, the stop unit 442 is in a horizontal state or a vertical state. When the stop unit 442 is in a horizontal state, the stop unit 442 is parallel to the workpiece stack (that is, the stop unit 442 is separated from the workpiece 50). When the stop unit 442 is in a vertical state, the stop unit 442 is perpendicular to the workpiece stack (the stop unit 442 is in contact with the workpiece 50).

[0065] Furthermore, the loading module 41 includes two parallel bosses 411 and a worktable 412. The bosses 411 are mounted on the worktable 412 and extend in a horizontal straight line to support the workpiece stack. There are at least two pressing modules 42, each located outside the two bosses 411. Since the workpiece stack is tangentially positioned to the two bosses 411, the workpiece stack rests on the bosses 411 using its own weight, allowing the two bosses 411 to support the workpiece stack and ensure its stability. Additionally, a large portion of the workpiece stack is located between the two bosses 411, and the two pressing modules 42 are located outside the two bosses 411, reducing the risk of interference between the pressing modules 42 and the workpieces 50. Specifically, the workpiece stack is formed by stacking multiple workpieces 50 in a horizontal straight line; in fact, the edges of the multiple workpieces 50 are tangentially positioned to the bosses 411.

[0066] Specifically, the worktable 412 has a gap extending in a horizontal straight direction, with two protrusions 411 respectively disposed on both sides of the gap. A stop unit 442 corresponds to the gap between the two protrusions 411, meaning the stop unit 442 can pass through the gap. Driven by the drive unit 443, the stop unit 442 can extend out of the protrusion 411 through the gap, causing the stop unit 442 to contact the workpiece stack carried on the protrusion 411. Alternatively, the stop unit 442 can retract through the gap, separating the stop unit 442 from the workpiece stack carried on the protrusion 411.

[0067] In this solution, the stacking assembly 4 also includes a guide module 43, which includes a guide rod 433. The guide rod 433 and the boss 411 form a channel for temporarily storing the workpiece stack. More specifically, the guide module 43 also includes a column frame 431 and an adjustment unit 432. The adjustment unit 432 is mounted on the column frame 431 and cooperates with the guide rod 433 to adjust the distance between the guide rod 433 and the boss 411. In a specific embodiment, the guide rod 433 has an inclined section and a limiting section. The inclined section is connected to the limiting section, which extends in a horizontal straight line and is inclined relative to the inclined section. The inclined section is located at the unloading station 46. The inclined section is inclined outward near the transmission assembly 2, making the space formed at the end of the channel near the transmission assembly 2 larger, so that the workpiece 50 can be more easily loaded into the channel.

[0068] In some embodiments of this application, the transmission component 2 also has a detection station 21. The receiving mechanism further includes a detection component 1, which is set corresponding to the detection station 21. In this solution, the detection component 1 includes a lifting module 11, a detector 12, and a bracket 13. The lifting module 11 is mounted on the bracket 13, and the detector 12 is mounted on the power output end of the lifting module 11. The lifting module 11 drives the detector 12 to adjust the distance between the detector 12 and the transmission component 2. The detector 12 can be a vision detector, which identifies the handle position of the workpiece 50 and locates the position of the workpiece 50 so that the subsequent material handling component 3 can accurately grasp the workpiece 50.

[0069] The above embodiments are used to further illustrate this application, but do not limit this application to these specific implementations. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be understood as falling within the protection scope of this application.

Claims

1. A material receiving mechanism, characterized in that, include: A transmission component (2) for transmitting a workpiece (50); Material handling assembly (3), which is used to transfer workpiece (50); The stacking assembly (4) includes a loading module (41) for temporarily storing workpiece stacks, a pressing module (42) and a limiting module (44). The stacking assembly (4) has a unloading station (46). The pressing module (42) corresponds to the unloading station (46). The pressing module (42) pushes the workpiece (50) on the picking assembly (3) to detach from the picking assembly (3) and presses the workpiece (50) onto the workpiece stack of the loading module (41). The limiting module (44) includes a linear unit (441), a stop unit (442), and a driving unit (443). The driving unit (443) cooperates with the stop unit (442). Under the drive of the driving unit (443), the stop unit (442) contacts or separates from the workpiece stack. The linear unit (441) drives the stop unit (442) and the driving unit (443) to move along the stacking direction of the workpiece stack.

2. The receiving mechanism according to claim 1, characterized in that, The material loading module (41) is provided with two parallel bosses (411) for supporting the stack of workpieces; Driven by the drive unit (443), the stop unit (442) extends out of the boss (411) or retracts into the gap between the two bosses (411); When the stop unit (442) extends out of the boss (411), the stop unit (442) contacts the workpiece stack; When the stop unit (442) retracts into the gap, the stop unit (442) separates from the workpiece stack.

3. The receiving mechanism according to claim 2, characterized in that, The stacking assembly (4) also includes a guide module (43), which includes a guide rod (433), and the guide rod (433) and the boss (411) form a channel for temporarily storing the workpiece stack.

4. The receiving mechanism according to claim 3, characterized in that, The guide module (43) also includes a column frame (431) and an adjustment unit (432). The adjustment unit (432) is installed on the column frame (431). The adjustment unit (432) cooperates with the guide rod (433) to adjust the distance between the guide rod (433) and the boss (411).

5. The receiving mechanism according to any one of claims 1-4, characterized in that, The stop unit (442) includes a swing rod (4423), which is pivotally connected to the power telescopic end (4431), and a connecting rod (444) connects the swing rod (4423) to the fixed seat of the drive unit (443).

6. The receiving mechanism according to claim 5, characterized in that, The stop unit (442) also includes a body (4421), which is connected to the swing rod (4423). Elastic buffer blocks (4422) are attached to opposite sides of the body (4421), and the buffer blocks (4422) are used to contact the stacked workpieces (50).

7. The receiving mechanism according to any one of claims 1-4, characterized in that, The transmission component (2) has a material picking station (22); The material handling component (3) includes a robotic arm (32) and a gripping module (33), wherein the gripping module (33) is mounted on the robotic arm (32); Driven by the robotic arm (32), the gripping module (33) moves between the material picking station (22) and the material unloading station (46).

8. The receiving mechanism according to claim 7, characterized in that, The robotic arm (32) can be a six-axis robot, a four-axis robot, or a servo gripping platform.

9. The receiving mechanism according to claim 8, characterized in that, The gripping module (33) includes a cylinder (331), a cantilever (332) and a gripper (333). The number of the cantilever (332) and the gripper (333) is at least three. The two ends of the cantilever (332) are respectively connected to the power output end of the cylinder (331) and the gripper (333).

10. The receiving mechanism according to claim 7, characterized in that, The transmission component (2) also has a detection station (21); The receiving mechanism also includes a detection component (1), which is set in accordance with the detection station (21).

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