CN109516226A - Four axis robot blanking code-disc equipment - Google Patents
Four axis robot blanking code-disc equipment Download PDFInfo
- Publication number
- CN109516226A CN109516226A CN201811446444.2A CN201811446444A CN109516226A CN 109516226 A CN109516226 A CN 109516226A CN 201811446444 A CN201811446444 A CN 201811446444A CN 109516226 A CN109516226 A CN 109516226A
- Authority
- CN
- China
- Prior art keywords
- charging tray
- feed bin
- code
- plate
- rack
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/06—De-stacking from the bottom of the stack
- B65G59/067—De-stacking from the bottom of the stack articles being separated substantially perpendicularly to the axis of the stack
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
Landscapes
- Specific Conveyance Elements (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
本发明涉及机加工下料设备技术领域，尤其涉及一种四轴机械手下料码盘设备，包括分板料仓机构、插板机构、顶升机构、传送带机构、码板料仓机构、若干个料盘、机架、四轴机械手及末端夹爪；机架由铝合金型材以及钣金外壳拼接而成，所述分板料仓机构与码板料仓机构结构相同，所述分板料仓机构设置在机架的一侧，四轴机械手及末端夹爪设置在机架的中部，码板料仓机构设置在机架的另一侧。通过本装置可以对料盘进行码放，替代了工人工作，降低了劳动强度，提高了工作效率。
The present invention involves the field of feeding equipment technology in machinery processing, especially a four -axis robotic code disk equipment, including the segmentation warehouse mechanism, the plug -in mechanism, the top upgrade mechanism, the conveyor belt, the codeboard warehouse mechanism, and several several. The material plate, rack, four -axis robotics and end clamps; the rack is spliced from aluminum alloy profile and sheet metal shell. The institution is set on one side of the rack, the four -axis robot and the end clamp are set in the middle of the rack, and the code panel warehouse mechanism is set on the other side of the rack. Through this device, the material can be released to replace the workers' work, reduce the labor intensity, and improve work efficiency.
Description
Technical field
The present invention relates to machining blanking equipment technical fields, more particularly to a kind of four axis robot blanking code-disc equipment.
Background technique
Currently, charging tray is transmitted generally by being manually transmitted, i.e., single charging tray is placed on manipulator by worker
Under, after manipulator places completion material, then material side is moved by worker and is piled up, such mode is time-consuming and laborious, labor intensity
Greatly.
Summary of the invention
The main object of the present invention provides a kind of four axis robot blanking code-disc equipment aiming at the above problem.
The present invention to achieve the above object, using following technical scheme: a kind of four axis robot blanking code-disc equipment, including
Scoreboard feed bin mechanism, flashboard mechanism, lifting body, conveyer mechanism, code plate storehouse mechanism, several charging trays, rack, four axis machines
Tool hand and end clamping jaw；Rack is spliced by aluminium alloy extrusions and sheet metal shell, scoreboard feed bin mechanism and code plate
Storehouse mechanism structure is identical, and the side of rack is arranged in scoreboard feed bin mechanism, and four axis robots and end clamping jaw are arranged in machine
The other side of rack is arranged in the middle part of frame, code plate storehouse mechanism, and scoreboard feed bin mechanism and code feed bin mechanism respectively include
Two feed bin bottom plates, guide post, two front aprons；The guide post is more, is separately fixed on two feed bin bottom plates, two
Front apron is fixed on the front of two feed bin bottom plates, and the region that guide post and front apron surround is for placing charging tray；It is described by expecting
Disc board and guide pin are composed, and each charging tray is milled with several material holes for accommodating material, and the back side of charging tray substrate is milled with
Slot and operator that flashboard mechanism maneuvering board fork can be accommodated pick and place the groove of charging tray, and the guide pin is fixed on charging tray
Around substrate, vehicle has boss above guide pin, and charging tray substrate back is drilled with the hole matched with boss；
Flashboard mechanism is respectively arranged on two feed bin bottom plates, the flashboard mechanism includes flashboard mechanism bottom plate, movement
Plate and plate cylinder；The flashboard mechanism bottom plate is fixed on the feed bin bottom plate, and the plate cylinder is fixed on flashboard mechanism
The middle part of bottom plate, the front of plate cylinder are connect with the rear side of the maneuvering board, and the front of the maneuvering board is set there are two plate,
For being inserted into the bottom of charging tray, the bottom of maneuvering board is slidably matched with the linear guide being arranged on flashboard mechanism bottom plate；
The lifting body is two, is located at the lower section of scoreboard feed bin mechanism and code plate storehouse mechanism, cooperates feed bin
In flashboard mechanism by charging tray carry out sorting and stacking, the lifting body include jacking bottom plate, lifting body fixed plate, charging tray
Pallet and double stroke cylinder；The both ends of the jacking bottom plate are fixed on two feed bin bottom plates by the lifting body fixed plate
Bottom, double stroke cylinder is fixed on the bottom of jacking bottom plate, and piston rod is connect with charging tray pallet lower part, the charging tray
Pallet cooperates with the tray bottom being located in scoreboard feed bin mechanism and code plate storehouse mechanism；
The lifting body is located in conveyer mechanism, what the conveyer mechanism main body was spliced by aluminium alloy extrusions
Pipeline frame of section bar, both ends are distributed two followers and two driving wheels, with two synchronous belts between driving wheel and follower
It is connected, and metal plate backing plate is housed below synchronous belt between follower and driving wheel, play support synchronous belt and reduces synchronous belt
The effect of frictional force.
Preferably, blocking mechanism is equipped among pipeline frame of section bar, blocking mechanism is made of barrier sheet and stop cylinder,
Charging tray moves to blocking mechanism from follower direction and expects level sensor midway through code, when code expects that level sensor has signal defeated
Out, stop cylinder stretches out stop to charging tray immediately.
Preferably, it is provided with that charging tray buys securities with all one's capital sensors in place and charging tray jacks sensing in place in the mechanism of code plate storehouse
Device, after charging tray buys securities with all one's capital sensors in place for charging tray to highest order after charging tray stacking, sensor has signal output prompt worker will
The charging tray completely expected is taken away；Charging tray is jacked in place after sensor flows to code-disc feed bin from pipeline for charging tray, sensor output letter
Number, lifting body is started to work.
The beneficial effects of the present invention are: (1) realizes automatic blanking, code material, the multiple functions of code-disc.
(2) code material is automated, manpower is saved.
(3) material is neatly put, and is easy transfer.
Detailed description of the invention
Fig. 1 is the perspective view of the present apparatus；
Fig. 2 is the perspective view of scoreboard feed bin mechanism and flashboard mechanism in the present apparatus；
Fig. 3 is the perspective view of lifting body in the present apparatus；
Fig. 4 is the perspective view of conveyer mechanism in the present apparatus；
Fig. 5 is the partial enlarged view of the present apparatus；
Fig. 6 is the structural schematic diagram of charging tray in the present apparatus；
Fig. 7 is the structural schematic diagram of four axis robots and end clamping jaw in the present apparatus.
Specific embodiment
With reference to the accompanying drawing and the preferred embodiment specific embodiment that the present invention will be described in detail.As shown in Figure 1, one kind four
Axis robot blanking code-disc equipment, including scoreboard feed bin mechanism 1, flashboard mechanism 2, lifting body 3 and conveyer mechanism 4；Code
Plate storehouse mechanism 5, several charging trays 6, rack 7, four axis robots and end clamping jaw 8；Rack is by aluminium alloy extrusions and metal plate
Shell is spliced, and scoreboard feed bin mechanism is identical as code plate storehouse mechanism structure, and scoreboard feed bin mechanism is arranged in machine
The middle part of rack is arranged in the side of frame, four axis robots and end clamping jaw, and the other side of rack is arranged in code plate storehouse mechanism；
As shown in Figure 1, scoreboard feed bin mechanism and code feed bin mechanism respectively include two feed bin bottom plates 11, guide posts
12, two front aprons 13；The guide post is more, is separately fixed on two feed bin bottom plates, two front aprons are fixed on two
The region that the front of a feed bin bottom plate, guide post and front apron surround is for placing charging tray；
Described to be composed of charging tray substrate 61 and guide pin 62, each charging tray is milled with several material holes 63 for content
Material, the back side of charging tray substrate is milled with the slot 64 that can accommodate flashboard mechanism maneuvering board fork and operator picks and places the recessed of charging tray
Slot 65, the guide pin are fixed on around charging tray substrate, and vehicle has a boss 66 above guide pin, and charging tray substrate back be drilled with
The hole that boss matches.When guaranteeing the mutual stacking of each charging tray can accurate positioning, guarantee that overall dimensions are consistent.
Four axis robots and end clamping jaw 8 include a SCARA manipulator 81 and end connecting plate 82 and a three-jaw
Feeding clamping jaw 83, end connecting plate 82 and three-jaw clamping jaw interconnecting piece be milled with circular hole guarantee it is concentric with three-jaw clamping jaw.
As shown in Figure 1, being respectively arranged with flashboard mechanism on two feed bin bottom plates, the flashboard mechanism 2 includes board-plugging device
Structure bottom plate 21, maneuvering board 22 and plate cylinder 23；The flashboard mechanism bottom plate is fixed on the feed bin bottom plate, the plate gas
Cylinder is fixed on the middle part of flashboard mechanism bottom plate, and the front of plate cylinder is connect with the rear side of the maneuvering board, the maneuvering board
Front is set there are two plate 24, for being inserted into the bottom of charging tray, the bottom of maneuvering board be arranged in it is straight on flashboard mechanism bottom plate
Line guide rail 25 is slidably matched；Maneuvering board is driven to put in maneuvering board in the slot of charging tray and by lifting body by plate cylinder
Cooperation sorting charging tray.
As shown in Fig. 2, the lifting body is two, it is located under scoreboard feed bin mechanism and code plate storehouse mechanism
Side cooperates the flashboard mechanism in feed bin that charging tray is carried out sorting and stacking, and the lifting body 3 includes jacking bottom plate 31, jacking
Mechanism fixed plate 32, charging tray pallet 33 and double stroke cylinder 34；The both ends of the jacking bottom plate are solid by the lifting body
Fixed board is fixed on the bottom of two feed bin bottom plates, and double stroke cylinder is fixed on the bottom of jacking bottom plate, piston rod and the material
The connection of disk in pallet lower part, the charging tray pallet cooperate with the tray bottom being located in scoreboard feed bin mechanism and code plate storehouse mechanism；
As shown in figure 3, the lifting body is located in conveyer mechanism, 4 main body of conveyer mechanism is by aluminium alloy type
The pipeline frame of section bar 41 that material is spliced, both ends are distributed two followers 42 and two driving wheels 43, driving wheel with passively
It is connected between wheel with two synchronous belts 44, and metal plate backing plate 45 is housed below synchronous belt between follower and driving wheel, plays branch
It supports synchronous belt and reduces the effect of synchronous belt frictional force.Blocking mechanism is equipped among pipeline frame of section bar, blocking mechanism is by hindering
Baffle 46 and stop cylinder 47 form, and charging tray moves to blocking mechanism from follower direction and expects level sensor midway through code
48, when code expects that level sensor has signal output, stop cylinder is stretched out immediately stops charging tray.
In use, manually putting several neatly packed empty trays in scoreboard feed bin into, flashboard mechanism maneuvering board is at this time
In the extended state, empty tray is fallen on maneuvering board, while being sorted sensors in place and being detected charging tray, when opening under automatic mode
Start button after, charging tray supporting plate in the lifting body in scoreboard feed bin rises two strokes and holds up whole empty tray, inserts
Plate mechanism retraction, charging tray supporting plate decline a stroke under double stroke cylinder effect, and at this moment the empty tray of lowest part drops to slotting
After below maneuvering board in trigger structure, maneuvering board stretching supports to layered material disk second from the bottom, and bottom charging tray is made to be detached from top
Charging tray is whole, and as jacking cylinder declines second stroke, bottom charging tray is fallen on pipeline synchronous belt, the same luck of synchronous belt
Dynamic that charging tray is driven to advance, when charging tray is after code expects level sensor, sensor has output signal, and barrier sheet stretches out, charging tray gear
Stop while pipeline stop motion, four axis robots and end clamping jaw start to grab materials and parts to empty tray code material, when 40 skies
After material position code is completely expected, barrier sheet retracts synchronous belt and starts running, and backgauge disk enters in yard plate storehouse, triggers charging tray sensors in place
Signal output, lifting body completely will jack a stroke by charging tray, and the flashboard mechanism in code plate storehouse retracts, jacking cylinder jacking
After second stroke, flashboard mechanism stretches out, and lifting body declines a stroke, and completely material charging tray is fallen on flashboard mechanism maneuvering board,
After jacking cylinder declines second stroke, scoreboard feed bin is started to work, and is circuited sequentially, is realized the sorting of empty tray, the code of material
Material, and completely expect the stacking of charging tray, after full material charging tray fills up yard plate storehouse, triggering charging tray is bought securities with all one's capital sensors in place, prompts work
People will completely take out charging tray.The present apparatus works instead of worker, reduces labor intensity, improves work efficiency.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of four axis robot blanking code-disc equipment, it is characterised in that: including scoreboard feed bin mechanism, flashboard mechanism, jack
Structure, conveyer mechanism, code plate storehouse mechanism, several charging trays, rack, four axis robots and end clamping jaw；Rack is by aluminium alloy
Profile and sheet metal shell are spliced, and scoreboard feed bin mechanism is identical as code plate storehouse mechanism structure, the scoreboard feed bin
The side of rack is arranged in mechanism, and the middle part of rack is arranged in four axis robots and end clamping jaw, and the setting of code plate storehouse mechanism exists
The other side of rack；
Scoreboard feed bin mechanism and code feed bin mechanism respectively include two feed bin bottom plates, guide post, two front aprons；It is described to lead
It Xiang Zhuwei more, is separately fixed on two feed bin bottom plates, two front aprons are fixed on the front of two feed bin bottom plates, guide post
The region surrounded with front apron is for placing charging tray；It is described to be composed of charging tray substrate and guide pin, if each charging tray is milled with
For accommodating material, the back side of charging tray substrate is milled with the slot that can accommodate flashboard mechanism maneuvering board fork and operation in dry material hole
Personnel pick and place the groove of charging tray, and the guide pin is fixed on around charging tray substrate, and vehicle has boss, and charging tray base above guide pin
Back is drilled with the hole matched with boss；
Be respectively arranged with flashboard mechanism on two feed bin bottom plates, the flashboard mechanism include flashboard mechanism bottom plate, maneuvering board and
Plate cylinder；The flashboard mechanism bottom plate is fixed on the feed bin bottom plate, and the plate cylinder is fixed on flashboard mechanism bottom plate
Middle part, the front of plate cylinder connect with the rear side of the maneuvering board, and the front of the maneuvering board sets that there are two plates, is used for
It is inserted into the bottom of charging tray, the bottom of maneuvering board is slidably matched with the linear guide being arranged on flashboard mechanism bottom plate；
The lifting body is two, is located at the lower section of scoreboard feed bin mechanism and code plate storehouse mechanism, is cooperated in feed bin
Charging tray is carried out sorting to flashboard mechanism and stacking, the lifting body include jacking bottom plate, lifting body fixed plate, charging tray pallet
And double stroke cylinder；The both ends of the jacking bottom plate are fixed on the bottom of two feed bin bottom plates by the lifting body fixed plate
Portion, double stroke cylinder are fixed on the bottom of jacking bottom plate, and piston rod is connect with charging tray pallet lower part, the charging tray pallet
Cooperate with the tray bottom being located in scoreboard feed bin mechanism and code plate storehouse mechanism；
The lifting body is located in conveyer mechanism, the conveying that the conveyer mechanism main body is spliced by aluminium alloy extrusions
Line section bar frame, both ends are distributed two followers and two driving wheels, are connected between driving wheel and follower with two synchronous belts,
And metal plate backing plate is housed below synchronous belt between follower and driving wheel, play support synchronous belt and reduces synchronous belt frictional force
Effect.
2. four axis robots blanking code-disc equipment according to claim 1, it is characterised in that: set among pipeline frame of section bar
There is blocking mechanism, blocking mechanism is made of barrier sheet and stop cylinder, and charging tray moves in blocking mechanism from follower direction
Level sensor is expected by way of code is crossed, and when code expects that level sensor has signal output, stop cylinder stretches out hinder charging tray immediately
Gear.
3. four axis robots blanking code-disc equipment according to claim 1, it is characterised in that: in the mechanism of code plate storehouse
It is provided with that charging tray buys securities with all one's capital sensors in place and charging tray jacks sensor in place, charging tray buys securities with all one's capital sensors in place for after charging tray stacking
After charging tray to highest order, sensor has signal output prompt worker to take the charging tray of full material away；Charging tray jacks sensor use in place
After charging tray flows to code-disc feed bin from pipeline, sensor output signal, lifting body is started to work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446444.2A CN109516226B (en) | 2018-11-29 | 2018-11-29 | Four-axis manipulator unloading and coding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811446444.2A CN109516226B (en) | 2018-11-29 | 2018-11-29 | Four-axis manipulator unloading and coding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109516226A true CN109516226A (en) | 2019-03-26 |
| CN109516226B CN109516226B (en) | 2025-01-14 |
Family
ID=65793948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811446444.2A Active CN109516226B (en) | 2018-11-29 | 2018-11-29 | Four-axis manipulator unloading and coding equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN109516226B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109967384A (en) * | 2019-03-29 | 2019-07-05 | 宁波英特灵气动科技有限公司 | A sealing inspection device for automatic assembly line of throttle valve |
| CN110562696A (en) * | 2019-09-19 | 2019-12-13 | 上海恒浥智能科技股份有限公司 | automatic chip conveying machine, chip tray, automatic chip detection line and feeding method thereof |
| CN110817450A (en) * | 2019-11-13 | 2020-02-21 | 珠海格力智能装备有限公司 | Feeding equipment |
| CN110817392A (en) * | 2019-11-27 | 2020-02-21 | 苏州欧亦姆半导体设备科技有限公司 | A precision tray handling device |
| CN112061795A (en) * | 2020-08-20 | 2020-12-11 | 宝利根(成都)精密工业有限公司 | A dish device of dividing for autosegregation charging tray |
| CN113911723A (en) * | 2021-10-30 | 2022-01-11 | 汕头市灵迪机械设备有限公司 | Tray continuous conveying operation device |
| CN115848980A (en) * | 2022-12-13 | 2023-03-28 | 苏州乾鸣半导体设备有限公司 | Chip detects with going up blanking machine |
| CN118183292A (en) * | 2024-05-13 | 2024-06-14 | 无锡金田电子有限公司 | A Tray automatic sorting machine |
| CN118888497A (en) * | 2024-09-30 | 2024-11-01 | 苏州茂特斯自动化设备有限公司 | A compatible waffle box loading and unloading device and loading and unloading method thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109967384A (en) * | 2019-03-29 | 2019-07-05 | 宁波英特灵气动科技有限公司 | A sealing inspection device for automatic assembly line of throttle valve |
| CN110562696A (en) * | 2019-09-19 | 2019-12-13 | 上海恒浥智能科技股份有限公司 | automatic chip conveying machine, chip tray, automatic chip detection line and feeding method thereof |
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| CN110817392A (en) * | 2019-11-27 | 2020-02-21 | 苏州欧亦姆半导体设备科技有限公司 | A precision tray handling device |
| CN112061795A (en) * | 2020-08-20 | 2020-12-11 | 宝利根(成都)精密工业有限公司 | A dish device of dividing for autosegregation charging tray |
| CN113911723A (en) * | 2021-10-30 | 2022-01-11 | 汕头市灵迪机械设备有限公司 | Tray continuous conveying operation device |
| CN115848980A (en) * | 2022-12-13 | 2023-03-28 | 苏州乾鸣半导体设备有限公司 | Chip detects with going up blanking machine |
| CN118183292A (en) * | 2024-05-13 | 2024-06-14 | 无锡金田电子有限公司 | A Tray automatic sorting machine |
| CN118183292B (en) * | 2024-05-13 | 2024-11-05 | 无锡金田电子有限公司 | Tray dish automatic sorting machine |
| CN118888497A (en) * | 2024-09-30 | 2024-11-01 | 苏州茂特斯自动化设备有限公司 | A compatible waffle box loading and unloading device and loading and unloading method thereof |
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| Publication number | Publication date |
|---|---|
| CN109516226B (en) | 2025-01-14 |
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