CN114833858A - Automatic circulation oral cavity instrument taking and placing device and control method - Google Patents

Abstract

The present invention relates to an automatic circulation oral device picking and placing device and a control method. The device of the present invention comprises a frame, an instrument tray dividing mechanism, a three-coordinate travel mechanism and a manipulator which are arranged on the frame, and the frame is sequentially provided with an instrument tray stacking area, a dividing tray placing area and a material receiving area; Through the instrument tray dividing mechanism, the three-coordinate travel mechanism and the manipulator, the automatic division of the instrument tray is realized, and the process of automatically grasping the oral instruments by the manipulator avoids the leakage and misplacement of the devices caused by manual placement, and ensures that the packaging is safe. Device accuracy is required.

Description

Automatic circulation oral device pick and place device and control method

technical field

The invention relates to an oral appliance packaging device, in particular to an automatic circulation oral appliance picking and placing device and a control method.

Background technique

During the packaging process of the current oral device box, oral devices such as mouth mirrors, tweezers, and probes need to be put into the same packaging bag for packaging. Since the oral device box involves the manufacture of products in multiple fields, the production and manufacturing of the oral device and the final combined packaging are carried out separately. This means that in the case of combined packaging, different types of equipment products need to be sorted and then packed into trays and packaging bags one by one, which makes it difficult for the packaging equipment to meet the requirements at the same time For sorting, picking and placing of different items. At the same time, due to the complex shape of the oral device, it is difficult to automatically pick, place and package the oral device with the existing mechanical equipment for packaging products. Therefore, the currently commonly used method is to manually separate the instruments one by one, and then put them into the packaging tray for packaging and sealing, which is not only inefficient, but also prone to problems such as leakage and misplacement.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the defects existing in the prior art, and to provide an automatic circulating oral device picking and placing device and a control method which can automatically grab and place the oral device and improve the packaging efficiency of the oral device box.

The present invention is realized as follows: an automatic circulation oral device picking and placing device includes a frame, an instrument tray dividing mechanism, a three-coordinate travel mechanism and a manipulator arranged on the frame, wherein the frame is sequentially provided with instruments Disk stacking area, sub-disc placing area and receiving area;

The instrument tray dividing mechanism is located in the instrument tray stacking area; the instrument tray dividing mechanism includes a material bearing rack assembly and an intermediate lifting rack assembly; the material bearing rack assembly includes a front and rear side edge for holding the instrument tray The first material rack and the second material rack are provided, one side of the first material rack is provided with a first advance and retreat cylinder, and a first lifting cylinder is arranged below the first material rack; A second advance and retreat cylinder is arranged on the side, and a second lift cylinder is arranged below the second material rack;

The intermediate rack-lifting assembly includes a material-lifting rack, a third lifting cylinder, and a material-pushing cylinder, the material-lifting rack is located just below the instrument tray, and the third lifting cylinder is located below the material-lifting rack and is connected with the material-lifting rack. The bottoms of the lifting racks are connected; the pushing cylinder is located on one side of the lifting rack, and a pushing plate is arranged on the pushing cylinder, and the pushing cylinder drives the pushing plate to lift the lifting The instrument tray on the material rack is pushed to the sub-disc placement area;

A single-disk placing rack is arranged in the sub-disk placing area, and the single-disk placing rack is located on the other side of the material lifting rack for placing the instrument disk from the material lifting rack;

The three-coordinate travel mechanism includes an X-axis moving mechanism that can drive the manipulator to move back and forth between the top of the sub-disc placement area and the material receiving area, and a Y-axis moving mechanism that can drive the manipulator to move back and forth. , and a Z-axis moving mechanism capable of driving the manipulator to move up and down.

The X-axis moving mechanism includes an X-axis electric cylinder, the Y-axis moving mechanism includes a Y-axis electric cylinder, and the Z-axis moving mechanism includes a Z-axis electric cylinder; the X-axis electric cylinder is located in the Above the plate placement area and the material receiving area, the Y-axis electric cylinder is connected to the output end of the X-axis electric cylinder, and the output end of the Y-axis electric cylinder is connected to the Z-axis electric cylinder. The output end of the Z-axis electric cylinder is connected with the manipulator; the X-axis electric cylinder drives the Y-axis electric cylinder, the Z-axis electric cylinder and the manipulator above the sub-pan placement area The Y-axis electric cylinder drives the Z-axis electric cylinder and the manipulator to move back and forth in the front-rear direction, and the Z-axis electric cylinder drives the manipulator to move up and down.

A lifting mechanism is provided below or on one side of the single-disk placing rack.

The first lifting cylinder is fixed on the frame through a first base plate, the second lifting cylinder is fixed on the frame through a second base plate, and the third lifting cylinder is fixed on the frame through a third base plate on the rack.

One side of the instrument tray is provided with a positioning plate fixed on the frame.

The single-disk placing rack is provided with an infrared sensor connected to the intermediate lifting rack assembly for detecting whether there is an instrument disk on the single-disk placing rack.

The material receiving area is provided with a material bracket for placing the packaging box; the manipulator grabs the material from the instrument tray on the single-disc placing rack and then moves it to the top of the material bracket and grabs the material. Place in the box on the material carrier.

A control method of the above-mentioned automatic circulation oral device pick and place device, comprising the following steps:

S1. Initially, the instrument tray containing the oral instruments is vertically stacked on the first and second material racks; the material lifting rack is flush with the single-disc placing rack;

S2. Start the middle lifting frame assembly to divide the tray: the third lifting cylinder drives the lifting frame to rise, and lifts the instrument tray upward to make the instrument tray separate from the first material rack and the second material rack; the first advance and retreat cylinder and the second advance and retreat The air cylinder drives the first material rack and the second material rack to move forward and backward at the same time, leaving the instrument tray; the third lifting cylinder drives the material lifting rack to descend to the second instrument tray from bottom to top. Within the horizontal support range of the rack and the second rack, the first advance and retreat cylinder and the second advance and retreat cylinder simultaneously drive the first rack and the second rack to move in the direction of the instrument tray, supporting the second instrument from bottom to top The two sides of the tray; the third lifting cylinder drives the lifting rack to continue to descend and reset until it is flush with the single tray placing rack. At this time, one instrument tray is located on the lifting rack and is away from the rest of the instrument trays above. The rest of the instrument trays are located on the first material rack and the second material rack;

S3, the pushing cylinder drives the pushing plate to push one instrument tray on the lifting rack to the single-disk placement rack in the sub-disk placement area, and the pushing cylinder resets;

S4. The X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator to the preset target coordinate position of the instrument tray above the single-disk placing rack, and the Z-axis moving mechanism drives the manipulator to move downward, and the manipulator grips the instrument tray. Oral instruments, the Z-axis moving mechanism drives the manipulator to move upward, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator to the preset target coordinate position above the receiving area, and the Z-axis moving mechanism drives the manipulator to move down and loosen. Open and place oral instruments; Z-axis moving mechanism drives the manipulator to rise and reset;

S5. Step S4 is repeated until all the oral instruments in the instrument tray above the single tray placement rack are taken out, and the empty instrument tray is removed; and the process proceeds to step S1.

After step S1 and before step S2, it also includes step S1.1: detecting whether there is an instrument tray on the single tray placing rack, if there is, the middle lifting rack assembly remains stationary, if not, step S2 is entered.

In step S1.1, whether there is an instrument tray in the single tray placement rack is detected by an infrared sensor.

The beneficial effects of the present invention are: through the instrument tray dividing mechanism, the three-coordinate travel mechanism and the manipulator, the instrument tray is automatically divided, and the manipulator automatically grasps the process of the oral instruments, avoiding the leakage of the devices caused by manual placement. and misplacement to ensure the accuracy of the components required for packaging. The instrument tray can be added directly without stopping the production process, which improves the efficiency.

Description of drawings

FIG. 1 is a schematic view of the gaze direction structure of the present invention.

FIG. 2 is a schematic top view of the structure of the present invention.

3 is a schematic diagram of the positional relationship of the side surfaces of the single-disk placing racks in the disk-dividing placing area of the present invention.

FIG. 4 is a schematic structural view of the side surface of the instrument tray dividing mechanism of the present invention.

Among them: 1. Rack; 2. Instrument tray stacking area; 3. Disk placement area; 4. Material receiving area; 5. Instrument tray; 6. The first material rack; 7. The second material rack; 8. The first material rack 1. Advance and retreat cylinder; 9. First lift cylinder; 10, Second advance and retreat cylinder; 11, Second lift cylinder; 12, First base plate; 13, Second base plate; 14, Positioning plate; 15, Material lifting frame; 16, The third lift cylinder; 17, push material cylinder; 18, single-disc placing rack; 19, lift mechanism; 20, X-axis electric cylinder; 21, Y-axis electric cylinder; 22, Z-axis electric cylinder; 23, manipulator ; 24, the third bottom plate; 25, the material bracket; 26, the packing box; 27, the push plate.

Detailed ways

According to FIGS. 1 to 4 , an automatic circulating oral device picking and placing device of the present invention includes a frame 1 , an instrument tray separating mechanism, a three-coordinate travel mechanism and a manipulator arranged on the frame 1 . The frame 1 The top is provided with an instrument tray stacking area 2 , a dividing tray placing area 3 and a material receiving area 4 .

The instrument tray dividing mechanism is located in the instrument tray stacking area 2; the instrument tray dividing mechanism includes a material bearing rack assembly and an intermediate lifting rack assembly. The material-receiving rack assembly includes a first material rack 6 and a second material rack 7 for holding the front and rear edges of the instrument tray 5. One side of the first material rack 6 is provided with a first advance and retreat cylinder 8, and the A first lifting cylinder 9 is arranged below the first material rack 6 ; a second advancing and retracting cylinder 10 is arranged on one side of the second material rack 7 , and a second lifting cylinder 11 is arranged below the second material rack 7 . The first lifting cylinder 9 is fixed on the frame 1 through the first base plate 12 , and the second lifting cylinder 11 is fixed on the frame 1 through the second base plate 13 . One side of the instrument tray 5 is provided with a positioning plate 14 fixed on the rack 1. The positioning plate 14 is used for position reference positioning when stacking the instrument tray 5, so that the instrument tray 5 can be stacked neatly. The positioning plate 14 is preferably vertically arranged on the plate on the frame.

The intermediate rack-lifting assembly includes a material-lifting rack 15, a third lifting cylinder 16, and a material-pushing cylinder 17. The bottom of the material rack 15 is connected to the bottom of the material lifting rack 15; the material pushing cylinder 17 is located on one side of the material lifting rack 15, and a material pushing plate 27 is provided on the material pushing cylinder 17, and the pushing material The material cylinder 17 drives the material pushing plate 27 to push the instrument tray on the material lifting frame 15 to the sub tray placement area; the third lifting cylinder 16 is fixed on the frame through the third bottom plate 24 .

A single-disc placing rack 18 is arranged in the disk placing area 3 , and the single-disc placing rack 18 is located on the other side of the material lifting rack 15 for placing instrument disks from the material lifting rack 15 . A lifting mechanism 19 is provided below or on one side of the single-disk placing rack 18 , and the lifting mechanism 19 is preferably a lifting cylinder.

The single-disk placing rack is provided with an infrared sensor connected to the intermediate lifting rack assembly for detecting whether there is an instrument disk on the single-disk placing rack.

The three-coordinate travel mechanism includes an X-axis moving mechanism that can drive the manipulator to move back and forth between the top of the sub-disc placement area and the material receiving area, and a Y-axis moving mechanism that can drive the manipulator to move back and forth. , and a Z-axis moving mechanism capable of driving the manipulator to move up and down. Specifically, the X-axis moving mechanism includes an X-axis electric cylinder 20, the Y-axis moving mechanism includes a Y-axis electric cylinder 21, and the Z-axis moving mechanism includes a Z-axis electric cylinder 22; the The X-axis electric cylinder 20 is located above the sub-disc placing area 3 and the material receiving area 4 , the Y-axis electric cylinder 21 is connected to the output end of the X-axis electric cylinder 20 , and the Y-axis electric cylinder 21 is connected to the output end of the X-axis electric cylinder 20 . The output end of the cylinder 21 is connected with the Z-axis electric cylinder 22, and the output end of the Z-axis electric cylinder 22 is connected with the manipulator 23; the X-axis electric cylinder 20 drives the Y-axis electric cylinder 21. The Z-axis electric cylinder 22 and the manipulator 23 move back and forth between the top of the sub-disc placement area 3 and the top of the material receiving area 4; the Y-axis electric cylinder 21 drives the Z-axis electric cylinder 22 and the material receiving area 4. The manipulator 23 moves back and forth in the front-rear direction, and the Z-axis electric cylinder 22 drives the manipulator 23 to move up and down.

The material receiving area 4 is provided with a material bracket 25 for placing packaging boxes; the manipulator 23 grabs the material from the instrument tray on the single-disc placing rack 18 and moves it to the top of the material bracket 25 , The grabbed material is placed in the packaging box 26 on the material carrier 25 .

A control method of the above-mentioned automatic circulation oral device pick and place device, comprising the following steps:

S1. Initially, the instrument tray 5 containing the oral instruments is vertically stacked on the first material rack 6 and the second material rack 7; the material lifting rack 15 is flush with the single-disc placing rack 18.

S2, start the middle lifting frame assembly to divide the tray: the third lifting cylinder 16 drives the lifting frame 15 to rise, and lifts the stacked instrument tray 5 upward to make the instrument tray detach from the first material rack 6 and the second material rack 7; The first advancing and retreating cylinder 8 and the second advancing and retreating cylinder 10 simultaneously drive the first material rack 6 and the second material rack 7 to move forward and backward, leaving the instrument tray 5; the third lifting cylinder 16 drives the material lifting rack 15 to descend to: from the bottom The two side edges of the upward second instrument tray are located within the horizontal support range of the first material rack 6 and the second material rack 7. The first advance and retreat cylinder 8 and the second advance and retreat cylinder 10 simultaneously drive the first material rack. 6 and the second material rack 7 move toward the instrument tray 5, supporting the two side edges of the second instrument tray from bottom to top; the third lifting cylinder 16 drives the material lifting rack 15 to continue to descend and reset until it is in line with the unit. The tray placing rack 18 is flush. At this time, one instrument tray is located on the material lifting rack 15 and is away from the other instrument trays above, and the other instrument trays are located on the first and second material racks 6 and 7 .

S3. The pushing cylinder 17 drives the pushing plate 27 to push an instrument tray on the lifting rack 15 to the single-disk placing rack 18 in the sub-disk placement area 3, and the pushing cylinder 17 drives the The ejector plate 27 is reset.

S4. The X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator 23 to the preset target coordinate position of the instrument tray above the single-disk placing rack 18, and the Z-axis moving mechanism drives the manipulator 23 to move downward, and the manipulator 23 clamps For the oral instruments in the instrument tray, the Z-axis moving mechanism drives the manipulator 23 to move upward, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator 23 to the preset target coordinate position above the receiving area 4, and the Z-axis moving mechanism Drive the manipulator 23 to move down and release the oral instruments; the Z-axis moving mechanism drives the manipulator 23 to rise and reset. The X-axis moving mechanism includes an X-axis electric cylinder 20 , the Y-axis moving mechanism includes a Y-axis electric cylinder 21 , and the Z-axis moving mechanism includes a Z-axis electric cylinder 22 .

S5. Step S4 is repeated until all the oral instruments in the instrument tray above the single tray placement rack 18 are taken out, and the empty instrument tray is removed; and the process proceeds to step S1.

Preferably, after step S1 and before step S2, it also includes step S1.1: detecting whether there is an instrument tray on the single tray placement rack 18 through an infrared sensor, if there is, the middle lifting rack assembly remains motionless, if it does not enter Step S2.

The invention realizes the automatic dividing of the instrument tray and the process of automatically grasping the oral instruments through the manipulator through the instrument tray dividing mechanism, the three-coordinate travel mechanism and the manipulator, so as to avoid the leakage and misplacement of the devices caused by manual placement, and ensure the The accuracy of the device required for packaging. The instrument tray can be added directly without stopping the production process, which improves the efficiency.

Claims (10)

1. The utility model provides an automatic circulation oral cavity apparatus is got and is put device which characterized in that: the automatic feeding device comprises a rack, an instrument disc distributing mechanism, a three-coordinate stroke mechanism and a mechanical arm, wherein the instrument disc distributing mechanism, the three-coordinate stroke mechanism and the mechanical arm are arranged on the rack respectively;

the instrument tray distributing mechanism is positioned in the instrument tray stacking area; the instrument tray distributing mechanism comprises a material bearing frame assembly and a middle lifting frame assembly; the device comprises a rack assembly, a rack and a control device, wherein the rack assembly comprises a first rack and a second rack which are used for supporting the front side edge and the rear side edge of an instrument tray, a first advancing and retreating cylinder is arranged on one side of the first rack, and a first lifting cylinder is arranged below the first rack; a second advancing and retreating cylinder is arranged on one side of the second material rack, and a second lifting cylinder is arranged below the second material rack;

the middle lifting frame assembly comprises a material lifting frame, a third lifting cylinder and a material pushing cylinder, the material lifting frame is positioned under the instrument disc, and the third lifting cylinder is positioned under the material lifting frame and connected with the bottom of the material lifting frame; the material pushing cylinder is positioned on one side of the material lifting frame, a material pushing plate is arranged on the material pushing cylinder, and the material pushing cylinder drives the material pushing plate to push the instrument plate on the material lifting frame to the sub-plate placing area;

a single-disc placing frame is arranged in the disc separating placing area, and is positioned on the other side of the material lifting frame and used for placing instrument discs from the material lifting frame;

the three-coordinate stroke mechanism comprises an X axial moving mechanism capable of driving the manipulator to move back and forth between the upper part of the sub-tray placing area and the upper part of the material receiving area, a Y axial moving mechanism capable of driving the manipulator to move back and forth, and a Z axial moving mechanism capable of driving the manipulator to move up and down.

2. The automatic cycle oral device pick and place device of claim 1, wherein: the X-axis moving mechanism comprises an X-axis electric cylinder, the Y-axis moving mechanism comprises a Y-axis electric cylinder, and the Z-axis moving mechanism comprises a Z-axis electric cylinder; the X axial electric cylinder is located the top in district and material receiving area are placed to the subdistrict, Y axial electric cylinder with the output of X axial electric cylinder links to each other, the output of Y axial electric cylinder with Z axial electric cylinder links to each other, the output of Z axial electric cylinder with the manipulator links to each other.

3. The automatic cycle oral device pick and place device of claim 1, wherein: and a lifting mechanism is arranged below or on one side of the single-disc placing frame.

4. The automatic cycle oral device pick and place device of claim 1, wherein: the first lifting cylinder is fixed on the rack through a first bottom plate, the second lifting cylinder is fixed on the rack through a second bottom plate, and the third lifting cylinder is fixed on the rack through a third bottom plate.

5. The automatic cycle oral device pick and place device of claim 1, wherein: one side of the instrument plate is provided with a positioning plate fixed on the frame.

6. The automatic cycle oral device pick and place device of claim 1, wherein: and the single-disk placing frame is provided with an infrared sensor which is connected with the middle lifting frame assembly and is used for detecting whether the instrument disk exists on the single-disk placing frame.

7. The automatic cycle oral device pick and place device of claim 1, wherein: and a material bracket for placing a packing box is arranged in the material receiving area.

8. A method of controlling the automatic cycle oral device pick and place apparatus of any one of claims 1 to 7, wherein: the method comprises the following steps:

s1, initially, vertically stacking an instrument plate provided with oral instruments on the first material frame and the second material frame; the material lifting frame is flush with the single-disc placing frame;

s2, starting the middle lifting frame assembly to distribute: the third lifting cylinder drives the material lifting frame to ascend and jack up the instrument disc upwards so that the instrument disc is separated from the first material frame and the second material frame; the first feeding and withdrawing cylinder and the second feeding and withdrawing cylinder simultaneously drive the first material rack and the second material rack to move towards the front side and the back side and leave the instrument plate; the third lifting cylinder drives the material lifting frame to descend to the position where two side edges of a second instrument tray position from bottom to top are located in the horizontal bearing range of the first material frame and the second material frame, and the first feeding and withdrawing cylinder and the second feeding and withdrawing cylinder simultaneously drive the first material frame and the second material frame to move towards the instrument tray direction to support two side edges of the second instrument tray position from bottom to top; the third lifting cylinder drives the material lifting frame to continuously descend and reset until the material lifting frame is flush with the single-disk placing frame, at the moment, 1 instrument disk is positioned on the material lifting frame and leaves other instrument disks above the material lifting frame, and the other instrument disks are positioned on the first material frame and the second material frame;

s3, the material pushing cylinder drives the material pushing plate to push 1 instrument plate on the material lifting frame to a single-plate placing frame in a plate separating placing area, and the material pushing cylinder resets;

s4, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator to a preset target coordinate position of an instrument plate above the single-plate placing frame, the Z-axis moving mechanism drives the manipulator to move downwards, the manipulator clamps oral instruments in the instrument plate, the Z-axis moving mechanism drives the manipulator to move upwards, the X-axis moving mechanism and the Y-axis moving mechanism drive the manipulator to a preset target coordinate position above the material receiving area, and the Z-axis moving mechanism drives the manipulator to move downwards and release the oral instruments; the Z-axis moving mechanism drives the manipulator to ascend and reset;

s5, repeating the step S4 until the oral cavity instruments in the instrument tray above the single-tray placing rack are taken out, and removing the empty instrument tray; the process advances to step S1.

9. The method of claim 8, wherein the step of controlling the automatic cycle oral device pick-and-place device comprises: after step S1 and before step S2, the method further includes step S1.1: and detecting whether the instrument disk is arranged on the single-disk placing rack, if so, keeping the middle lifting rack assembly still, and if not, entering the step S2.

10. The method of controlling an automatic cycle oral device pick and place apparatus of claim 9, wherein: and S1.1, detecting whether the single-disk placing rack has an instrument disk or not through an infrared sensor.

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