Framework magazine unloading machine

Abstract

The utility model belongs to the technical field of skeleton collecting disc, especially a skeleton material disc collecting machine, including the frame, the top of frame is equipped with frame guard shield, the mounting plate top of frame still is provided with material disc lifting stacking mechanism, material disc feeding and discharging mechanism, material disc transfer switching mechanism, skeleton collecting disc mechanism, skeleton auxiliary switching mechanism and skeleton feeding mechanism respectively. This skeleton material disc collecting machine, through skeleton feeding, auxiliary switching, collecting disc, transfer and feeding and other multi -mechanism cooperation, has realized from skeleton grabbing, angle conversion, clamping and disc stacking of full -process automation. Single time can handle multiple skeleton and material disc simultaneously, has improved material processing capacity of unit time significantly, has shortened production cycle greatly. Each mechanism widely adopts servo module, rodless cylinder, precision guide and cylinder drive, cooperates multiple photoelectric sensor detection, ensures the accuracy of skeleton grabbing, movement, angle conversion and material disc positioning.

Description

Technical Field

[0001] This utility model relates to the field of skeleton tray collecting technology, and in particular to a skeleton tray collecting machine. Background Technology

[0002] After the injection molding and stamping processes of skeleton-type parts, they need to be neatly stored in dedicated trays for easy transfer, storage, and subsequent use. Traditional production methods primarily rely on manual tray storage, where operators manually remove semi-finished skeletons from the processing equipment and visually inspect and manually adjust them to place them at specific angles into designated slots on the trays. Once a single tray is full, manual replacement, handling, and stacking of trays are also required. This manual-dominated work mode has many drawbacks: Inefficient and costly: Manual gripping, alignment, and placement are cumbersome and slow, becoming a bottleneck for production line efficiency and failing to meet the demands of large-scale mass production, while labor costs continue to rise. Manual operation makes it difficult to ensure that each skeleton is positioned and angled perfectly in the tray, easily leading to placement deviations, tilting, or even errors. This not only affects product aesthetics but may also cause interference or material handling failures in subsequent automated processes, resulting in downtime or product scrap. Repetitive mechanical labor easily leads to worker fatigue, further exacerbating the decline in precision and efficiency. Simultaneously, the direct contact between manual labor and metal skeletons and mechanical equipment poses safety risks such as scratches and pinching. Therefore, a skeleton tray rewinding machine is needed. Utility Model Content

[0003] Based on the existing technical problems, this utility model proposes a skeleton material tray collecting machine.

[0004] The present invention proposes a skeleton material tray collecting machine, including a frame, a frame cover installed on the top of the frame, and a material tray lifting and stacking mechanism, a material tray loading and unloading mechanism, a material tray transfer and switching mechanism, a skeleton collecting mechanism, a skeleton auxiliary switching mechanism and a skeleton loading mechanism respectively provided on the top of the mounting plate of the frame. The skeleton feeding mechanism realizes the action of clamping and feeding the processed skeleton; The skeleton auxiliary switching mechanism realizes the action of changing the angle of the skeleton fed by the skeleton feeding mechanism; The skeleton tray-collecting mechanism enables the skeleton auxiliary switching mechanism to rotate and switch the angle of the skeleton clamping and tray placement action. The material tray transfer and switching mechanism realizes the action of switching the transfer after the material tray is full of skeletons; The material tray loading and unloading mechanism realizes the action of unloading a full material tray to the material tray lifting and stacking mechanism for stacking, and also realizes the action of loading an empty material tray. The material tray lifting and stacking mechanism is configured as two, and the two material tray lifting and stacking mechanisms are respectively located on both sides of the material tray transfer and switching mechanism. The material tray lifting and stacking mechanism on the left realizes the action of lowering and stacking the material tray filled with the skeleton for collection, and the material tray lifting and stacking mechanism on the right realizes the action of lifting and unloading the empty material tray.

[0005] Preferably, the skeleton feeding mechanism includes skeleton feeding guide rods mounted above the top mounting plate of the frame. A skeleton feeding top rod is fixedly mounted at the top of each of the two skeleton feeding guide rods. The two skeleton feeding top rods are arranged in parallel. A skeleton feeding slide rail is fixedly mounted on the surface of each skeleton feeding top rod. A skeleton feeding slider is slidably inserted into the surface of each skeleton feeding slide rail. A skeleton feeding seat is fixedly mounted on the surface of each of the two skeleton feeding sliders. A skeleton feeding plate is fixedly mounted at both ends of each of the two skeleton feeding top rods. A skeleton feeding rodless cylinder is mounted on the opposite surface of each of the two skeleton feeding plates. The drive end of the skeleton feeding rodless cylinder is mounted on the surface of the skeleton feeding seat. A vertical slide rail for loading the skeleton is mounted on the surface of the material base. A vertical slider for loading the skeleton is slidably inserted into the surface of the vertical slide rail. A skeleton loading drive plate is mounted on the surface of the vertical slider for loading the skeleton. A skeleton loading drive cylinder is mounted on the top of the skeleton loading base. The telescopic bottom end of the skeleton loading drive cylinder is mounted to the top of the skeleton loading drive plate. A skeleton loading mounting seat is mounted on one end surface of the skeleton loading drive plate via angle iron. Skeleton loading clamping cylinders are linearly arranged at the bottom of the skeleton loading mounting seat. A skeleton loading pneumatic gripper is mounted on the telescopic end of the skeleton loading clamping cylinder. The clamping ends of the three skeleton loading pneumatic grippers clamp the processed skeleton to perform the loading action.

[0006] Preferably, the skeleton auxiliary switching mechanism includes a skeleton auxiliary base mounted on the top mounting plate of the frame. A skeleton auxiliary servo moving module is mounted on the top of each of the two skeleton auxiliary bases. A skeleton auxiliary mounting plate is mounted on the drive end of each skeleton auxiliary servo moving module. Skeleton auxiliary support seats are mounted on both sides of the top of each skeleton auxiliary mounting plate. A skeleton auxiliary rotary cylinder is mounted on the surface of one skeleton auxiliary support seat, and a skeleton auxiliary placement plate is rotatably connected to the surface of the other skeleton auxiliary support seat via bearings. One end of the skeleton auxiliary placement plate is installed corresponding to the rotating end of the skeleton auxiliary rotary cylinder. The loaded skeleton is placed inside the groove of the skeleton auxiliary placement plate. A skeleton auxiliary detection bracket is also mounted above the mounting plate on the top of the frame. A skeleton auxiliary photoelectric sensor is mounted on the top of each of the two skeleton auxiliary detection brackets, and the two skeleton auxiliary photoelectric sensors are arranged opposite each other.

[0007] Preferably, the skeleton collecting mechanism includes skeleton collecting bases mounted on the top mounting plate of the frame. A skeleton collecting servo moving module is mounted on one side of the top of each of the two skeleton collecting bases. A skeleton collecting plate is mounted on the drive end of each skeleton collecting servo moving module. A skeleton collecting guide rail and a skeleton collecting cylinder are respectively mounted on the surface of the skeleton collecting plate. A skeleton collecting slider is slidably inserted into the surface of the skeleton collecting guide rail. A skeleton collecting clamping plate is mounted on the surface of the skeleton collecting slider. The telescopic end of the skeleton collecting cylinder is mounted to the top of the skeleton collecting clamping plate. A skeleton collecting clamping cylinder is mounted on the surface of the skeleton collecting clamping plate. A skeleton collecting pneumatic gripper is mounted on the drive end of the skeleton collecting clamping cylinder. The skeleton collecting pneumatic gripper performs clamping operations on the skeleton placement end of the skeleton auxiliary placement plate.

[0008] Preferably, the tray transfer switching mechanism includes a tray transfer fixing seat installed above the mounting plate on the top of the frame. A tray transfer servo moving module is installed on the top of each of the two tray transfer fixing seats. A tray transfer support plate is installed on the top of the drive end of the tray transfer servo moving module. Tray transfer limiting plates are installed on three sides of the top of the tray transfer support plate. A tray transfer pushing cylinder is installed on the other side of the top of the tray transfer support plate. A tray transfer push plate is installed on the telescopic end of the tray transfer pushing cylinder. An empty tray is placed above the tray transfer support plate, and the tray transfer pushing cylinder drives the tray transfer push plate to squeeze the empty tray, causing it to be limited by the three tray transfer limiting plates on the three sides.

[0009] Preferably, the material tray loading and unloading mechanism includes a material tray base mounted on the top mounting plate of the frame. The three material tray bases are arranged linearly in a horizontal direction. A material tray transverse profile is mounted on the surface of each of the three material tray bases. Two of the material tray transverse profiles are arranged in parallel. A material tray transverse slide rail is mounted on the surface of the material tray transverse slide rail. A material tray transverse slider is slidably inserted into the surface of the material tray transverse slide rail. A material tray connecting plate is mounted on the surface of each of the two material tray transverse sliders. A material tray positive and negative thread connecting rod is threaded between the two material tray connecting plates. A material tray rodless cylinder is also mounted on the surface of each of the two material tray bases. The material tray rodless cylinder is located between the two material tray transverse profiles. The drive end of the material tray rodless cylinder is mounted on the back of the material tray connecting plate on the right end. The surface of the tray connecting plate is equipped with a tray fixing slider. A tray drive slide rail is slidably inserted into the surface of each of the two tray fixing sliders. An L-shaped tray profile is mounted on the surface of the tray drive slide rail. A tray connecting seat is mounted on the side of the L-shaped tray. A tray vertical cylinder is also mounted on the surface of the tray connecting plate. The telescopic end of the tray vertical cylinder is installed at the bottom of the tray connecting seat. Tray clamping cylinders are mounted on both the top and bottom sides of the L-shaped tray. The drive ends of the two tray clamping cylinders are arranged in a repulsive manner. A tray clamping plate is mounted on the telescopic end of the tray clamping cylinder. The clamping surface of the tray clamping plate is slidably inserted into the bottom surface of the tray.

[0010] Preferably, the tray lifting and stacking mechanism includes a stacking support base and stacking limiting profiles mounted on the top mounting plate of the frame. A stacking lifting servo moving module is mounted on one side of the stacking support base. The stacking lifting servo moving module is driven by a built-in servo motor to achieve vertical reciprocating motion. A stacking support base plate is mounted on the drive end of the stacking lifting servo moving module. Multiple trays are stacked vertically on top of the stacking support base plate, and four stacking limiting profiles are located at the four corners of the trays to limit the trays in the lateral and longitudinal directions. Stacking mounting profiles are also mounted on the opposite surfaces of two stacking limiting profiles. A stacking limiting cylinder is mounted on the top of the stacking mounting profile. A stacking limiting baffle plate is mounted on the telescopic end of the stacking limiting cylinder. The bottom of the stacking limiting baffle plate slides in contact with the surface of the top of the tray.

[0011] The beneficial effects of this utility model are as follows: Through the coordinated operation of multiple mechanisms, including skeleton loading, auxiliary switching, tray collection, transfer, and loading / unloading, the entire process from skeleton gripping, angle conversion, tray clamping and placement to tray stacking is fully automated. Multiple skeletons and trays can be processed simultaneously, significantly increasing material throughput per unit time and drastically shortening the production cycle. Each mechanism extensively utilizes servo modules, rodless hydraulic cylinders, precision guide rails, and pneumatic cylinder drives, coupled with multiple photoelectric sensors, ensuring the accuracy of skeleton gripping, movement, angle conversion, and tray positioning. Multi-dimensional limit switches and a rigid structural design effectively prevent material deviation and swaying during operation, ensuring seamless integration between processes and product quality.

[0012] The machine boasts a rational layout and clearly defined functions. The dual-sided material tray lifting and stacking mechanism enables efficient circulation of empty and full trays; the linearly arranged grippers and adjustable stroke design allow the equipment to flexibly adapt to different batch sizes and specifications, improving its versatility and production line smoothness. It completely replaces manual labor in repetitive clamping, handling, and stacking operations, reducing labor intensity and costs while minimizing material damage and operational safety hazards associated with manual work, laying the foundation for a fully automated workshop. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of a skeleton tray collecting machine; Figure 2 A three-dimensional view of the frame structure of a skeleton tray collecting machine; Figure 3 A three-dimensional view of the skeleton feeding mechanism of a skeleton material tray collecting machine; Figure 4 A perspective view of the skeleton tray collecting mechanism of a skeleton tray collecting machine; Figure 5 A three-dimensional view of the skeleton auxiliary switching mechanism of a skeleton material tray receiving machine; Figure 6 A three-dimensional view of the tray lifting and stacking mechanism of a skeleton tray receiving machine; Figure 7 A three-dimensional view of the loading and unloading mechanism of a skeleton tray receiving machine; Figure 8 A three-dimensional view of the skeleton tray receiving servo moving module structure of a skeleton tray receiving machine; Figure 9 This is a three-dimensional view of the L-shaped material tray structure of a skeleton material tray receiving machine.

[0014] In the diagram: 1. Frame; 2. Frame cover; 3. Tray lifting and stacking mechanism; 31. Stacking support base; 32. Stacking limiting profile; 33. Stacking lifting servo moving module; 34. Stacking support base plate; 35. Stacking mounting profile; 36. Stacking limiting cylinder; 37. Stacking limiting barrier plate; 4. Tray loading and unloading mechanism; 41. Tray base; 42. Tray transverse profile; 43. Tray transverse slide rail; 44. Tray transverse slider; 45. Tray connecting plate; 46. Tray positive and negative thread connecting rod; 47. Tray rodless hydraulic cylinder 48. Tray fixing slider; 49. Tray drive slide rail; 410. Tray L-shaped profile; 411. Tray connecting seat; 412. Tray vertical cylinder; 413. Tray clamping cylinder; 414. Tray clamping plate; 5. Tray transfer switching mechanism; 51. Tray transfer fixing seat; 52. Tray transfer servo moving module; 53. Tray transfer support base plate; 54. Tray transfer limit plate; 55. Tray transfer push cylinder; 56. Tray transfer push plate; 6. Frame tray collecting mechanism; 61. Frame tray collecting base; 62. Frame tray... 63. Skeleton closing servo moving module; 64. Skeleton closing plate; 65. Skeleton closing guide rail; 66. Skeleton closing cylinder; 67. Skeleton closing slider; 68. Skeleton closing clamping plate; 69. Skeleton closing clamping cylinder; 70. Skeleton closing pneumatic gripper; 71. Skeleton auxiliary switching mechanism; 72. Skeleton auxiliary base; 73. Skeleton auxiliary servo moving module; 74. Skeleton auxiliary mounting plate; 75. Skeleton auxiliary support base; 76. Skeleton auxiliary rotary cylinder; 77. Skeleton auxiliary placement plate; 78. Skeleton auxiliary detection bracket; 8. Skeleton auxiliary photoelectric sensor; 8. Skeleton feeding mechanism; 81. Skeleton feeding guide rod; 82. Skeleton feeding top rod; 83. Skeleton feeding slide rail; 84. Skeleton feeding slider; 85. Skeleton feeding seat; 86. Skeleton feeding plate; 87. Skeleton feeding rodless cylinder; 88. Skeleton feeding vertical slide rail; 89. Skeleton feeding vertical slider; 810. Skeleton feeding drive plate; 811. Skeleton feeding drive cylinder; 812. Skeleton feeding mounting seat; 813. Skeleton feeding clamping cylinder; 814. Skeleton feeding pneumatic gripper. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0016] Reference Figures 1-9 A skeleton material tray collecting machine includes a frame 1, a frame cover 2 installed on the top of the frame 1, and a material tray lifting and stacking mechanism 3, a material tray loading and unloading mechanism 4, a material tray transfer and switching mechanism 5, a skeleton collecting mechanism 6, a skeleton auxiliary switching mechanism 7, and a skeleton loading mechanism 8 respectively provided on the top of the mounting plate of the frame 1.

[0017] The skeleton feeding mechanism 8 realizes the clamping and feeding action of the processed skeleton; the skeleton feeding mechanism 8 includes skeleton feeding guide rods 81 installed above the mounting plate on the top of the frame 1, and skeleton feeding top rods 82 are fixedly installed at the top of each of the two skeleton feeding guide rods 81. The two skeleton feeding top rods 82 are arranged in parallel. A skeleton feeding slide rail 83 is fixedly installed on the surface of the skeleton feeding top rod 82. A skeleton feeding slider 84 is slidably inserted into the surface of the skeleton feeding slide rail 83. A skeleton feeding seat 85 is fixedly installed on the surface of each of the two skeleton feeding sliders 84. A skeleton feeding plate 86 is fixedly installed at both ends of each of the two skeleton feeding top rods 82. A skeleton feeding rodless cylinder 87 is installed on the opposite surface of each of the two skeleton feeding plates 86. The drive end of the skeleton feeding rodless cylinder 87 is installed on the surface of the skeleton feeding seat 85. A vertical slide rail 88 for loading the skeleton is mounted on the surface of the loading seat 85. A vertical slider 89 for loading the skeleton is slidably inserted into the surface of the vertical slide rail 88. A drive plate 810 for loading the skeleton is mounted on the surface of the vertical slider 89. A drive cylinder 811 for loading the skeleton is mounted on the top of the loading seat 85. The telescopic bottom end of the drive cylinder 811 is mounted to the top of the drive plate 810. A mounting seat 812 for loading the skeleton is mounted on one end of the drive plate 810 via angle iron. A clamping cylinder 813 for loading the skeleton is linearly arranged at the bottom of the mounting seat 812. A pneumatic gripper 814 for loading the skeleton is mounted on the telescopic end of the clamping cylinder 813. The clamping ends of the three pneumatic grippers 814 for loading the skeleton are clamped.

[0018] Specifically, this is implemented by using the rodless hydraulic cylinder 87 for skeleton feeding and the drive cylinder 811 for skeleton feeding to drive the pneumatic gripper 814 for skeleton feeding to automatically complete the entire process of skeleton gripping, moving, and placing. No manual clamping is required, and three skeletons can be gripped at a time, significantly increasing the feeding capacity per unit time.

[0019] Relying on the guiding effect of the skeleton feeding slide rail 83, the skeleton feeding slider 84 and the skeleton feeding vertical slide rail 88, and with the stable clamping of the skeleton feeding pneumatic gripper 814, the skeleton is ensured to be accurately positioned during movement and placement, avoiding the problem of offset due to manual clamping, and ensuring the accuracy of subsequent process docking.

[0020] The parallel design of the double guide rods and double top rods, combined with the feeding plates fixed at both ends, improves the overall rigidity of the mechanism and reduces shaking during operation; the three sets of linearly arranged frame feeding pneumatic grippers 814 can be adapted to feed multiple frames at the same time, adapting to different batch production needs.

[0021] It replaces repetitive manual grasping, handling, and clamping actions, avoids fatigue from prolonged work, and reduces direct contact between workers and the frame and equipment, thereby reducing frame damage and operational safety hazards.

[0022] The skeleton auxiliary switching mechanism 7 realizes the action of changing the angle of the skeleton fed by the skeleton feeding mechanism 8. The skeleton auxiliary switching mechanism 7 includes a skeleton auxiliary base 71 installed above the mounting plate on the top of the frame 1. A skeleton auxiliary servo moving module 72 is installed on the top of each of the two skeleton auxiliary bases 71. A skeleton auxiliary mounting plate 73 is installed on the drive end of the skeleton auxiliary servo moving module 72. Skeleton auxiliary support seats 74 are installed on both sides of the top of the skeleton auxiliary mounting plate 73. A skeleton auxiliary rotary cylinder 75 is installed on the surface of one skeleton auxiliary support seat 74. A skeleton auxiliary placement plate 76 is rotatably connected to the surface of the other skeleton auxiliary support seat 74 through a bearing. One end of the skeleton auxiliary placement plate 76 is installed corresponding to the rotating end of the skeleton auxiliary rotary cylinder 75. The fed skeleton is placed in the groove of the skeleton auxiliary placement plate 76. A skeleton auxiliary detection bracket 77 is also installed above the mounting plate on the top of the frame 1. A skeleton auxiliary photoelectric sensor 78 is installed on the top of each of the two skeleton auxiliary detection brackets 77. The two skeleton auxiliary photoelectric sensors 78 are arranged opposite each other.

[0023] Specifically, this is implemented by using a skeleton auxiliary rotating cylinder 75 to drive the skeleton auxiliary placement plate 76 to rotate, automatically completing the skeleton angle adjustment without manual flipping or alignment. This adapts to the specific requirements of the skeleton coiling mechanism 6 for the skeleton placement angle, connecting the feeding and coiling processes.

[0024] The skeleton-assisted servo moving module 72, in conjunction with the skeleton-assisted rotary cylinder 75, provides high motion precision and ensures uniform conversion angles for each skeleton. The groove design of the skeleton-assisted placement plate 76 fixes the skeleton position, preventing displacement during rotation and ensuring the accuracy of subsequent process connections.

[0025] The skeleton auxiliary photoelectric sensor 78 is set relative to the skeleton and can detect in real time whether the skeleton on the skeleton auxiliary placement plate 76 is in place or offset, and promptly report abnormalities, such as missing skeletons or positional deviations, to prevent unqualified states from entering the next process and reduce rework and material waste.

[0026] The dual support base, combined with bearings and servo modules, provides high overall rigidity and reduces swaying during rotation and movement. It is compatible with the batch feeding rhythm of the skeleton feeding mechanism 8 and can efficiently complete continuous angle conversion operations of multiple skeletons.

[0027] The skeleton tray receiving mechanism 6 realizes the skeleton clamping and tray placement action of the skeleton auxiliary switching mechanism 7 rotating to switch the angle. The skeleton tray receiving mechanism 6 includes a skeleton tray receiving base 61 installed above the top mounting plate of the frame 1. A skeleton tray receiving servo moving module 62 is installed on one side of the top of each of the two skeleton tray receiving bases 61. A skeleton tray receiving plate 63 is installed on the drive end of the skeleton tray receiving servo moving module 62. A skeleton tray receiving guide rail 64 and a skeleton tray receiving cylinder 65 are respectively installed on the surface of the skeleton tray receiving plate 63. A skeleton tray receiving slider 66 is slidably inserted into the surface of the skeleton tray receiving guide rail 64. A skeleton tray receiving clamping plate 67 is installed on the surface of the skeleton tray receiving slider 66. The telescopic end of the skeleton tray receiving cylinder 65 is installed with the top of the skeleton tray receiving clamping plate 67. A skeleton tray receiving clamping cylinder 68 is installed on the surface of the skeleton tray receiving clamping plate 67. A skeleton tray receiving pneumatic gripper 69 is installed on the drive end of the skeleton tray receiving clamping cylinder 68. The skeleton tray receiving pneumatic gripper 69 performs clamping operation at the skeleton placement end of the skeleton auxiliary placement plate 76.

[0028] Specifically, this process involves the servo module driving the gripper to move to the gripping position, the clamping cylinder controlling the pneumatic gripper to close and grip, and then moving it above the tray to complete the tray placement. The entire process requires no manual intervention, completely replacing the tedious manual picking, alignment, and placement operations of traditional methods, significantly shortening the single tray collection cycle. The horizontal servo movement and the vertical cylinder lifting create a two-dimensional adjustment space, allowing for flexible adjustment of the gripper's gripping height and tray placement position according to the skeleton size and tray specifications. This eliminates the need for large-scale modifications to the mechanism, improving the equipment's adaptability to different production needs. The mechanism precisely connects to the angle conversion output of the skeleton auxiliary switching mechanism 7, allowing the pneumatic gripper to directly grip on the skeleton auxiliary placement plate 76, achieving a seamless connection between "angle conversion and clamping." Simultaneously, its stable tray placement action ensures that the skeleton is arranged orderly in the tray, providing a standardized material form for the subsequent tray lifting and stacking mechanism 3, avoiding stacking failures caused by disordered skeleton placement, and improving the smoothness of the entire production line.

[0029] The material tray transfer switching mechanism 5 realizes the action of switching the transfer after the material tray is full of skeletons; the material tray transfer switching mechanism 5 includes a material tray transfer fixing seat 51 installed on the top mounting plate of the frame 1. The top of the two material tray transfer fixing seats 51 is equipped with a material tray transfer servo moving module 52. The top of the drive end of the material tray transfer servo moving module 52 is equipped with a material tray transfer support base plate 53. The top three sides of the material tray transfer support base plate 53 are equipped with material tray transfer limiting plates 54. The other side of the top of the material tray transfer support base plate 53 is equipped with a material tray transfer pushing cylinder 55. The telescopic end of the material tray transfer pushing cylinder 55 is equipped with a material tray transfer push plate 56. When an empty material tray is placed on the material tray transfer support base plate 53, the material tray transfer pushing cylinder 55 drives the material tray transfer push plate 56 to squeeze the empty material tray so that it is limited by the three material tray transfer limiting plates 54 on the three sides.

[0030] Specifically, this is implemented using a servo-driven material tray transfer module 52. Leveraging its high-precision transmission characteristics, this module precisely controls the movement trajectory and stopping position of the material tray transfer support plate 53. When the tray is filled with skeletons, it can quickly transfer the full tray to a designated area, while simultaneously and accurately deliver the empty tray to the placement station of the skeleton receiving mechanism 6. This ensures no deviation in the tray switching position and guarantees smooth transitions to subsequent receiving operations. The material tray transfer limiting plates 54 on three sides of the top of the material tray transfer support plate 53, along with the material tray transfer pushing cylinder 55 and the material tray transfer push plate 56 on one side, form a surrounding limiting structure. After an empty tray is placed, the material tray transfer pushing cylinder 55 drives the material tray transfer push plate 56 to press the tray, ensuring it fits tightly against the three-sided material tray transfer limiting plates 54, thus fixing the tray from four directions. This design effectively prevents displacement and shaking of the tray during transfer and skeleton placement, ensuring accurate skeleton placement and avoiding skeleton placement chaos caused by tray misalignment.

[0031] The tray loading and unloading mechanism 4 realizes the action of unloading a tray full of skeletons to stacking it above the tray lifting and stacking mechanism 3, and also realizes the action of loading an empty tray. The tray loading and unloading mechanism 4 includes a tray base 41 installed above the top mounting plate of the frame 1. The three tray bases 41 are all arranged linearly in the horizontal direction. The surface of each of the three tray bases 41 is equipped with a tray transverse profile 42. The two tray transverse profiles 42 are arranged in parallel. The surface of the tray transverse profile 42 is equipped with a tray. A transverse slide rail 43 is provided, and a transverse slide block 44 of the material tray is slidably inserted into the surface of the transverse slide rail 43. A material tray connecting plate 45 is installed on the surface of each of the two transverse slide blocks 44. A material tray positive and negative thread connecting rod 46 is threaded between the two material tray connecting plates 45. A material tray rodless cylinder 47 is also installed on the surface of the two material tray bases 41. The material tray rodless cylinder 47 is located between the two transverse profiles 42 of the material tray. The drive end of the material tray rodless cylinder 47 is installed on the back of the material tray connecting plate 45 on the right end. A tray fixing slider 48 is installed on the surface of the tray connecting plate 45. A tray driving slide rail 49 is slidably inserted into the surface of each of the two tray fixing sliders 48. A tray L-shaped profile 410 is installed on the surface of the tray driving slide rail 49. A tray connecting seat 411 is installed on the side of the tray L-shaped profile 410. A tray vertical cylinder 412 is also installed on the surface of the tray connecting plate 45. The telescopic end of the tray vertical cylinder 412 is installed at the bottom of the tray connecting seat 411. Tray clamping cylinders 413 are installed on both the top and bottom sides of the tray L-shaped profile 410. The driving ends of the two tray clamping cylinders 413 are arranged in a repulsive manner. A tray clamping plate 414 is installed on the telescopic end of the tray clamping cylinder 413. The clamping surface of the tray clamping plate 414 is slidably inserted into the bottom surface of the tray.

[0032] In this implementation, the mechanism can simultaneously perform two core actions: "unloading and stacking full pallets" and "feeding empty pallets," eliminating the need for separate unloading and feeding equipment and significantly simplifying the pallet handling process. Once the pallet transfer and switching mechanism 5 delivers a full pallet to the designated location, it can quickly grab and transfer it to the pallet lifting and stacking mechanism 3. Simultaneously, it can grab empty pallets from the empty pallet storage area and accurately deliver them to the support station of the pallet transfer and switching mechanism 5, achieving an efficient "empty-full" cycle of pallets and preventing production interruptions.

[0033] The lateral movement is driven by a rodless hydraulic cylinder 47, which, in conjunction with the guiding action of the lateral slide rail and slider, enables the smooth and rapid movement of the tray clamping assembly, ensuring precise positioning of the tray during lateral transfer. The vertical movement is driven by a vertical cylinder 412, which raises and lowers the L-shaped tray profile 410. The lifting stroke can be flexibly adjusted according to the tray stacking height and loading position to meet the height requirements of different workstations. This bidirectional drive ensures that the positioning error of the tray is kept to a minimum throughout the entire process of gripping, transferring, and placing, guaranteeing seamless integration with upstream and downstream mechanisms.

[0034] The entire material tray loading and unloading process is driven by a rodless hydraulic cylinder, a vertical cylinder, and a clamping cylinder in tandem, along with sensor detection. If an external material tray position sensor is connected, the entire process can be automated, eliminating the need for manual handling, alignment, or clamping of the material tray. This not only reduces labor intensity but also avoids problems such as material tray collisions and positioning deviations caused by manual operation, while simultaneously lowering labor costs and improving production safety.

[0035] Two tray lifting and stacking mechanisms 3 are configured, located on either side of the tray transfer and switching mechanism 5. The left tray lifting and stacking mechanism 3 lowers and stacks trays filled with skeletons for collection, while the right tray lifting and stacking mechanism 3 lifts empty trays for unloading. Each tray lifting and stacking mechanism 3 includes a stacking support base 31 and a stacking limiting profile 32 mounted on the top mounting plate of the frame 1. A stacking lifting servo moving module 33 is mounted on one side of the stacking support base 31. The stacking lifting servo moving module 33 is driven by a built-in servo motor to achieve vertical reciprocating motion. The drive end of the stacking lifting servo moving module 33 is equipped with a stacking support base plate 34. Multiple trays are stacked vertically on top of the stacking support base plate 34, and four stacking limiting profiles 32 are located at the four corners of the trays to limit the trays in the lateral and longitudinal directions. Stacking mounting profiles 35 are also installed on the opposite surfaces of two stacking limiting profiles 32. Stacking limiting cylinders 36 are installed on the top of the stacking mounting profiles 35. Stacking limiting baffles 37 are installed on the telescopic end of the stacking limiting cylinders 36. The bottom of the stacking limiting baffles 37 slides in contact with the surface of the top of the tray.

[0036] Specifically, this is implemented by having the left-side mechanism focus on collecting full pallets as they descend and stack, while the right-side mechanism handles the supply of empty pallets. This symmetrical layout with complementary functions eliminates the need for separate empty pallet storage racks and full pallet collection areas, creating a closed loop in the "empty pallet supply - pallet rack collection - full pallet collection" process. This design significantly shortens the transfer distance of pallets between processes, improves the overall production flow continuity, and avoids the pallet flow congestion problems caused by traditional single-sided mechanisms.

[0037] Four stacking limiting profiles 32 correspond to the four corners of the tray, forming rigid constraints in both the horizontal and vertical directions to prevent the tray from shifting or tipping over during lifting or stacking. The stacking limiting cylinder 36 drives the baffle plate to contact the top of the tray, forming a vertical auxiliary limit. This prevents deformation of the upper tray due to gravity and maintains the verticality of the stacked trays during lifting, ensuring uniform tray position during subsequent gripping or transfer. This multi-dimensional limiting design significantly improves the neatness of the stacked trays, facilitating subsequent manual handling or automated warehousing.

[0038] Through the coordinated operation of multiple mechanisms, including skeleton loading, auxiliary switching, tray collection, transfer, and loading / unloading, the entire process from skeleton gripping, angle conversion, tray clamping and placement to tray stacking is fully automated. Multiple skeletons and trays can be processed simultaneously, significantly increasing material throughput per unit time and drastically shortening the production cycle. Each mechanism extensively utilizes servo modules, rodless hydraulic cylinders, precision guide rails, and pneumatic cylinder drives, coupled with multiple photoelectric sensors, ensuring the accuracy of skeleton gripping, movement, angle conversion, and tray positioning. Multi-dimensional limit switches and a rigid structural design effectively prevent material deviation and swaying during operation, ensuring seamless integration between processes and product quality.

[0039] The machine boasts a rational layout and clearly defined functions. The dual-sided material tray lifting and stacking mechanism 3 enables efficient circulation of empty and full material trays. The linearly arranged grippers and adjustable stroke design allow the equipment to flexibly adapt to different batch sizes and specifications, improving its versatility and production line smoothness. It completely replaces manual labor in repetitive clamping, handling, and stacking operations, reducing labor intensity and costs while minimizing material damage and operational safety hazards associated with manual work, laying the foundation for a fully automated workshop.

[0040] Working principle: Step 1: The skeleton feeding mechanism 8 is activated. The rodless hydraulic cylinder 87 drives the skeleton feeding seat 85 to move horizontally to the skeleton waiting position. Then, the skeleton feeding drive cylinder 811 descends, causing the skeleton feeding pneumatic gripper 814 to grab the processed skeleton. After grabbing, the cylinder lifts up, and the rodless hydraulic cylinder drives it back, transporting the skeleton to the top of the skeleton auxiliary switching mechanism 7 for placement.

[0041] Step 2: The skeleton is placed into the groove of the skeleton auxiliary placement plate 76 of the skeleton auxiliary switching mechanism 7. After the skeleton auxiliary photoelectric sensor 78 detects that the skeleton is in place, the skeleton auxiliary rotary cylinder 75 operates according to a preset program, driving the skeleton auxiliary placement plate 76 to rotate precisely by a specific angle, such as 90° or 180°, adjusting the skeleton to the correct orientation required for coiling. At the same time, the skeleton auxiliary servo moving module 72 can perform fine-tuning positioning to ensure accurate gripping.

[0042] Step 3: The skeleton collecting mechanism 6 begins operation. The skeleton collecting servo moving module 62 drives the skeleton collecting pneumatic gripper 69 to move directly above the skeleton, which has been adjusted to the correct angle. The skeleton collecting cylinder 65 descends, and the skeleton collecting clamping cylinder 68 drives the pneumatic gripper to close, gripping the skeleton. Subsequently, the cylinder rises, and the servo module drives it to move to the designated position above the empty tray on the tray transfer and switching mechanism 5, finally precisely placing the skeleton into the tray slot.

[0043] Step 4: The tray transfer switching mechanism 5 starts after the tray is full of skeletons. The tray transfer servo moving module 52 drives the tray transfer support plate 53, which supports the full tray, to move to the unloading station. At the same time, this mechanism supplies a new empty tray to the skeleton receiving station via the tray lifting and stacking mechanism 3 on the right. The tray transfer push cylinder 55 cooperates with the limit plate to ensure that the empty tray is accurately positioned and clamped on the support plate.

[0044] Step 5: Full Tray Unloading and Stacking: The tray clamping cylinder 413 drives the clamping plate to grab the full tray located at the unloading station. The tray vertical cylinder 412 lifts the tray away from the transfer station, and the tray rodless cylinder 47 then drives it to move laterally above the left tray lifting and stacking mechanism 3. Subsequently, the vertical cylinder descends, placing the full tray at the top of the tray stack on the stacking support plate 34. The stacking limit cylinder 36 and the baffle plate ensure stacking stability. The stacking lifting servo moving module 33 gradually descends as the stacking height increases. Empty Tray Loading: This mechanism moves to the right tray lifting and stacking mechanism 3, grabs an empty tray from the top of the stack, and then transfers and places it on the empty tray support station of the tray transfer switching mechanism 5, completing the loading.

[0045] Step 6: The above five steps are coordinated and controlled by the control system, repeating automatically and continuously to complete all processes of batch feeding, angle correction, tray collection, automatic tray switching, transfer, empty tray supply and full tray stacking collection of the skeleton until the production task is completed.

[0046] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A skeleton material tray collecting machine, comprising a frame (1), characterized in that: The top of the frame (1) is equipped with a frame cover (2), and the top of the mounting plate of the frame (1) is also provided with a material tray lifting and stacking mechanism (3), a material tray loading and unloading mechanism (4), a material tray transfer and switching mechanism (5), a skeleton collecting mechanism (6), a skeleton auxiliary switching mechanism (7) and a skeleton loading mechanism (8). The skeleton feeding mechanism (8) realizes the action of clamping and feeding the processed skeleton; The skeleton auxiliary switching mechanism (7) realizes the action of changing the angle of the skeleton fed by the skeleton feeding mechanism (8); The skeleton tray receiving mechanism (6) realizes the skeleton clamping and tray placement action of the skeleton auxiliary switching mechanism (7) rotating and switching angle; The material tray transfer switching mechanism (5) realizes the action of switching the transfer after the material tray is full of skeleton; The material tray loading and unloading mechanism (4) realizes the action of unloading a full material tray to the material tray lifting and stacking mechanism (3) and stacking it on top of the material tray. At the same time, it also loads an empty material tray. The material tray lifting and stacking mechanism (3) is configured as two, and the two material tray lifting and stacking mechanisms (3) are located on both sides of the material tray transfer and switching mechanism (5). The material tray lifting and stacking mechanism (3) on the left side realizes the action of lowering and stacking the material tray filled with the skeleton for collection, and the material tray lifting and stacking mechanism (3) on the right side realizes the action of lifting and unloading the empty material tray.

2. The skeleton material tray collecting machine according to claim 1, characterized in that: The skeleton feeding mechanism (8) includes skeleton feeding guide rods (81) installed above the top mounting plate of the frame (1). Skeleton feeding top rods (82) are fixedly installed at the top ends of both skeleton feeding guide rods (81). The two skeleton feeding top rods (82) are arranged in parallel. Skeleton feeding slide rails (83) are fixedly installed on the surface of each skeleton feeding top rod (82). Skeleton feeding sliders (84) are slidably inserted into the surface of each skeleton feeding slide rail (83). Skeleton feeding seats (85) are fixedly installed on the surfaces of both skeleton feeding sliders (84). Skeleton feeding plates (86) are fixedly installed at both ends of each of the two skeleton feeding top rods (82). Skeleton feeding rodless cylinders (87) are installed on the opposite surfaces of the two skeleton feeding plates (86). The driving end of each skeleton feeding rodless cylinder (87) is installed on the surface of the skeleton feeding seat (85). The skeleton feeding seat (85)... A vertical slide rail (88) for loading skeletons is mounted on the surface. A vertical slider (89) for loading skeletons is slidably inserted into the surface of the vertical slide rail (88). A skeleton loading drive plate (810) is mounted on the surface of the vertical slider (89). A skeleton loading drive cylinder (811) is mounted on the top of the skeleton loading seat (85). The telescopic bottom end of the skeleton loading drive cylinder (811) is mounted on the top of the skeleton loading drive plate (810). A skeleton loading mounting seat (812) is mounted on one end of the skeleton loading drive plate (810) by angle iron. A skeleton loading clamping cylinder (813) is linearly arranged on the bottom of the skeleton loading mounting seat (812). A skeleton loading pneumatic gripper (814) is mounted on the telescopic end of the skeleton loading clamping cylinder (813). The clamping ends of the three skeleton loading pneumatic grippers (814) clamp the processed skeletons to perform loading operations.

3. The skeleton material tray collecting machine according to claim 1, characterized in that: The skeleton auxiliary switching mechanism (7) includes a skeleton auxiliary base (71) mounted on the top mounting plate of the frame (1). A skeleton auxiliary servo moving module (72) is mounted on the top of each of the two skeleton auxiliary bases (71). A skeleton auxiliary mounting plate (73) is mounted on the drive end of each skeleton auxiliary servo moving module (72). Skeleton auxiliary support seats (74) are mounted on both sides of the top of each skeleton auxiliary mounting plate (73). A skeleton auxiliary rotary cylinder (75) is mounted on the surface of one of the skeleton auxiliary support seats (74). The surface of the support base (74) is rotatably connected to the skeleton auxiliary placement plate (76) via a bearing. One end of the skeleton auxiliary placement plate (76) is installed corresponding to the rotating end of the skeleton auxiliary rotary cylinder (75). The skeleton after loading is placed inside the groove of the skeleton auxiliary placement plate (76). A skeleton auxiliary detection bracket (77) is also installed above the mounting plate on the top of the frame (1). A skeleton auxiliary photoelectric sensor (78) is installed on the top of each of the two skeleton auxiliary detection brackets (77). The two skeleton auxiliary photoelectric sensors (78) are arranged opposite each other.

4. The skeleton material tray collecting machine according to claim 3, characterized in that: The skeleton collecting mechanism (6) includes a skeleton collecting base (61) mounted on the top mounting plate of the frame (1). A skeleton collecting servo moving module (62) is mounted on one side of the top of each of the two skeleton collecting bases (61). A skeleton collecting plate (63) is mounted on the drive end of the skeleton collecting servo moving module (62). A skeleton collecting guide rail (64) and a skeleton collecting cylinder (65) are respectively mounted on the surface of the skeleton collecting plate (63). A skeleton collecting slide is slidably inserted into the surface of the skeleton collecting guide rail (64). The surface of the skeleton collecting slider (66) is equipped with a skeleton collecting clamping plate (67). The telescopic end of the skeleton collecting cylinder (65) is installed with the top of the skeleton collecting clamping plate (67). The surface of the skeleton collecting clamping plate (67) is equipped with a skeleton collecting clamping cylinder (68). The drive end of the skeleton collecting clamping cylinder (68) is equipped with a skeleton collecting pneumatic gripper (69). The skeleton collecting pneumatic gripper (69) performs clamping operation at the skeleton placement end of the skeleton auxiliary placement plate (76).

5. A skeleton material tray collecting machine according to claim 1, characterized in that: The material tray transfer switching mechanism (5) includes a material tray transfer fixing seat (51) installed above the top mounting plate of the frame (1). A material tray transfer servo moving module (52) is installed on the top of each of the two material tray transfer fixing seats (51). A material tray transfer support base plate (53) is installed on the top of the drive end of the material tray transfer servo moving module (52). A material tray transfer limiting plate (54) is installed on the three sides of the top of the material tray transfer support base plate (53). A material tray transfer pushing cylinder (55) is installed on the other side of the top of the material tray transfer support base plate (53). A material tray transfer push plate (56) is installed on the telescopic end of the material tray transfer pushing cylinder (55). An empty material tray is placed above the material tray transfer support base plate (53). The material tray transfer pushing cylinder (55) drives the material tray transfer push plate (56) to squeeze the empty material tray so that it is limited to the three material tray transfer limiting plates (54) on the three sides.

6. A skeleton material tray collecting machine according to claim 1, characterized in that: The material tray loading and unloading mechanism (4) includes a material tray base (41) mounted on the top mounting plate of the frame (1). The three material tray bases (41) are arranged linearly in the horizontal direction. A material tray transverse profile (42) is mounted on the surface of each of the three material tray bases (41). Two of the material tray transverse profiles (42) are arranged in parallel. A material tray transverse slide rail (43) is mounted on the surface of the material tray transverse profile (42). A material tray transverse slide rail (43) is slidably inserted into the surface of the material tray transverse slide rail (43). The slider (44) has a material tray connecting plate (45) installed on the surface of each of the two material tray transverse sliders (44). The two material tray connecting plates (45) are threaded together with a material tray positive and negative thread connecting rod (46). The two material tray bases (41) are also equipped with a material tray rodless cylinder (47). The material tray rodless cylinder (47) is located between the two material tray transverse profiles (42). The driving end of the material tray rodless cylinder (47) is installed on the back of the material tray connecting plate (45) on the right. The surface of the tray connecting plate (45) is equipped with tray fixing sliders (48), and tray driving slide rails (49) are slidably inserted into the surfaces of both tray fixing sliders (48). The surface of the tray driving slide rails (49) is equipped with tray L-shaped profiles (410), and a tray connecting seat (411) is installed on the side of the tray L-shaped profiles (410). The surface of the tray connecting plate (45) is also equipped with a tray vertical cylinder (412). The telescopic end of the straight cylinder (412) is installed at the bottom of the tray connecting seat (411). The tray clamping cylinders (413) are installed on both the top and bottom sides of the tray L-shaped profile (410). The driving ends of the two tray clamping cylinders (413) are arranged in opposite directions. The telescopic end of the tray clamping cylinder (413) is equipped with a tray clamping plate (414). The clamping surface of the tray clamping plate (414) is slidably inserted into the bottom surface of the tray.

7. A skeleton material tray collecting machine according to claim 1, characterized in that: The pallet lifting and stacking mechanism (3) includes a stacking support base (31) and a stacking limiting profile (32) mounted on the top mounting plate of the frame (1). A stacking lifting servo moving module (33) is mounted on one side of the stacking support base (31). The stacking lifting servo moving module (33) is driven by a built-in servo motor to achieve vertical reciprocating motion. A stacking support base plate (34) is mounted on the driving end of the stacking lifting servo moving module (33). Multiple pallets are stacked vertically on top of each other on the stacking support base plate. The top of the base plate (34) and the four stacking limiting profiles (32) are respectively located at the four corners of the tray to limit the tray in the lateral and longitudinal directions. The opposing surfaces of the two stacking limiting profiles (32) are also equipped with stacking mounting profiles (35). The top of the stacking mounting profiles (35) is equipped with a stacking limiting cylinder (36). The telescopic end of the stacking limiting cylinder (36) is equipped with a stacking limiting barrier plate (37). The bottom of the stacking limiting barrier plate (37) slides in contact with the surface of the top of the tray.

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