CN115783394A - An integrated device for wobbling and palletizing - Google Patents

Abstract

The invention discloses a balance and stacking integrated device, which comprises a device body, wherein the device body comprises: the arranging plate assembly is used for sequentially arranging the punch-formed products in the extraction plate to form a full-load extraction plate; a stacking assembly: used for stacking a plurality of layers of fully-packed extraction trays and integrally discharging; the swing disc assembly is provided with a turnover type extraction disc transferring mechanism which is used for transferring full loading extraction discs to the stacking assembly and reversely conveying empty extraction discs to the swing disc assembly; the stacking assembly comprises an extraction disc cover buckling mechanism, and the extraction disc cover buckling mechanism is used for stacking products fully loaded on the extraction disc in a whole disc type stacking mode. Through set up a plurality of charging trays on multistation carousel mechanism, eliminated need artifical transport and pile up neatly, realized that full-automatic balance, branch cave sign indicating number pile up neatly one-machine are accomplished, the cost is reduced by a wide margin, has reduced production processes, and at balance discharge position in situ buckle closure, furthest has reduced the possibility of loosing the dish, has improved production stability.

Description

An integrated device for wobbling and palletizing

technical field

The invention relates to the technical field of injection molding equipment, in particular to an integrated device for wobbling and palletizing.

Background technique

The injection molding industry is highly competitive, and the injection molding cycle is one of the most important parameters for cost control and production capacity control. If you can effectively reduce costs, you can win a competitive advantage. Extraction trays are used to load products for easy transportation. Multiple extraction trays are often stacked, and then the extraction trays are manually transported to the loading area. After the loading is completed, the trays are manually closed. The production efficiency is low and the cost is high. The placement of injection molded parts is the most common process. The requirements for injection molded parts in the 3C industry such as mobile phones are very precise. For products that come out more than once, they must be arranged in different holes. After placing the plates, palletizing is required for packaging. The current common processing methods in the industry are equipment placing and manual palletizing. Manual palletizing has problems such as scratches and high costs. In the fiercely competitive injection molding industry, it is an urgent problem that needs to be solved.

For example, a kind of "automatic plate swinging equipment for injection molding workshop" disclosed in Chinese patent literature, its announcement number "CN113120304A", includes a tray lifting device, a tray positioning device, a tray lateral pushing device, a product carrier device, The plate swing manipulator and the tray unloading device, the product carrier device includes the carrier mounting bracket, the transmission drive mechanism on the carrier mounting bracket, and several product carrier components on the transmission drive mechanism, the product carrier The assembly includes a carrier and several product positioning heads arranged on the carrier; the transmission driving mechanism includes a transmission driving servo motor, an active transmission assembly connected to the transmission driving servo motor, and a driven transmission assembly connected to the active transmission assembly.

Although the above solution realizes the automatic feeding of glass turntable detection, but in this solution, the operator needs to frequently transfer the material tray on the lifting plate up and down, which is labor intensive and low in efficiency.

Contents of the invention

Aiming at the problems of low efficiency and potential safety hazards in the prior art, the present invention provides an integrated device for stacking pallets, which eliminates the need for manual handling and stacking by setting a number of trays on the multi-station turntable mechanism. Palletizing, realizes fully automatic panning and sub-cavity palletizing in one machine, which greatly reduces the cost and production process, and buckles the cover at the discharge position of the panning plate in situ, minimizing the possibility of scattered plates. Improved production stability.

The second invention objective of the present invention is to solve the problem of easily scattered plates in the process of automatic plate placement by using the creative method of buckling the cover in place.

In order to achieve the above object, the present invention adopts the following technical solutions:

An integrated device for wobbling and palletizing, including a device body, the device body includes: a wobbling plate assembly, used to sequentially place stamped and formed products in the extraction pan to form a full-filled extraction pan; the palletizing assembly: It is used to stack multi-layer full-filled extraction trays and discharge them as a whole;

Wherein, the swing plate assembly is provided with a revolving extraction plate transfer mechanism, which is used to transfer the full extraction plate to the palletizing assembly, and transport the empty extraction plate to the swing plate assembly; wherein, the stacking The stacking assembly includes an extracting tray buckle cover mechanism, which is used for stacking and stacking the products on the full extraction tray. The wobbling assembly and the palletizing assembly work together. The wobbling assembly needs to automatically place the products output by the stamping mechanism in separate holes to ensure that the empty extraction trays are automatically filled with products, and then use the turnover type extraction tray transfer mechanism Transfer the full extraction tray to the palletizing assembly, use the extraction tray button cover mechanism to arrange the full extraction tray and cover it, and stack it for subsequent overall transportation. This application uses the extraction tray transfer mechanism to transfer the full extraction tray After the cover is buckled, the remaining empty extraction trays are transported back to the swing plate assembly to continue to divide the plates into holes, which significantly improves the smoothness of the automatic stacking and palletizing work, avoids various hidden dangers of manual palletizing, and improves production efficiency.

As a preference, the revolving extraction tray transfer mechanism includes a large tray, on which several extraction tray placement slots are arranged, and the swing tray assembly includes a material receiving mechanism, and the material receiving mechanism clamps and loads the product The large tray can be moved back and forth between the swing plate assembly and the palletizing assembly. The large tray is used to centrally place the extraction trays, which is convenient for overall transfer and improves production efficiency. The material receiving mechanism delivers the stamped and formed products to the extraction tray one by one by rotating the jaws for arranging the trays.

Preferably, the swinging plate assembly includes an empty plate area, the palletizing assembly includes a full plate area, and the epicyclic extraction plate transfer mechanism drives the large tray to reciprocate between the empty plate area and the full plate area. The revolving type extraction disc transfer mechanism includes a disc transfer slide rail and a disc transfer cylinder arranged on the transfer disc slide rail, and the large tray can be moved repeatedly and reused under the drive of the revolving type extraction disc transfer mechanism, which reduces labor costs. In the handling process, the simple and convenient reciprocating movement can significantly improve the transfer efficiency.

Further, the empty disk area includes a first positioning mechanism, the first positioning mechanism includes a swing plate X-axis track and a swing plate Y-axis track, the first positioning mechanism drives the first suction cup to move and obtain the product. The first positioning mechanism is used to control the first suction cup to move the product on the material receiving mechanism into the extraction tray. The X-axis track of the swing plate and the Y-axis track of the swing plate are a coordinate guide rail group, which can ensure that the swing plate works accurately and orderly conduct.

As a preference, the extraction pan includes an upper cover and a lower cover, and the palletizing assembly also includes a dust-proof board silo and an extraction pan silo, and the extraction tray silo includes a silo stand and is arranged on the silo stand The slide rail on the rack is slidably provided with a bin supporting plate for supporting the extraction tray. The product storage cavity is formed by the fastening of the upper cover and the lower cover of the extraction tray, so as to ensure that the products placed in the lower cover of the extraction tray are stored stably, and there will be no problems of shaking, dislocation or even falling out during frequent transfers. The extraction tray silo is used to store empty extraction trays, and the empty extraction trays are transported to the large pallet by using the slide rail and the bin pallet for product placement.

Preferably, the swing plate assembly includes a material receiving mechanism and a first detection mechanism, the first detection mechanism includes an upper CCD camera and a lower CCD camera, a first suction cup is arranged on the side of the upper CCD camera, and the first A suction cup absorbs the product provided by the feeding mechanism and places it in the extraction pan.

Preferably, the palletizing assembly includes a second positioning mechanism, the second positioning mechanism includes a stacking X-axis rail and a stacking Y-axis rail, and the stacking X-axis rail is provided with a first suction clip dual-purpose Gripper, the second dual-purpose gripper with suction clip is provided on the stacking Y-axis rail, and the first dual-purpose gripper with suction clip moves between the dust-proof plate bin and the extraction pan bin; the second The dual-purpose gripper of the two suction clips moves between the extraction tray silo and the empty panel area.

Further, the palletizing assembly includes a detection assembly arranged on the palletizing X-axis rail, and the detection assembly includes an upper shaft and a lower shaft provided with a CCD camera. The detection component includes an upper shaft and a lower shaft, both of which are equipped with CCD cameras. The camera on the upper shaft is used to photograph the upper cover of the tray during palletizing, while the camera on the lower shaft is used to photograph the entire tray and the lower cover of the tray. The two cameras Cooperate with the positioning inspection of the extraction plate after the plate is placed, to ensure that the extraction plate after the cover is buckled keeps the product position accurately at all times.

Further, the dual-purpose gripper of the first suction clip includes a second suction cup and jaws, the top of the second suction cup is provided with a dislocation lifting assembly, the jaws are arranged outside the second suction cup, and the first suction clip The dual-purpose gripper has the same structure as the second suction clip dual-purpose gripper.

The second positioning mechanism is used to assist the first dual-purpose gripper of the suction clip and the second dual-purpose gripper of the suction clip to perform stacking work, and the first dual-purpose gripper of the suction clip is used to sequentially grab the upper cover of the extraction tray, the extraction tray The whole body and the lower cover of the extraction tray after removing the upper cover of the extraction tray reach the detection component for photo image inspection; while the second suction clip dual-purpose gripper is used to remove the upper cover of the extraction tray or grab the lower cover of the extraction tray for stacking. The two dual-purpose grippers with suction clips work together to complete the palletizing work, and the steps are smooth and efficient.

As a preference, the dust-proof board silo includes a guide groove bottom plate and a plurality of guide grooves arranged on the guide groove bottom plate, the silo stand is set between the guide trough bottom plate and the silo supporting plate, and the silo stand A bin motor is arranged on the top. The extraction pan silo and the dust-proof plate silo share a guide groove. The guide groove prevents the misalignment of the extraction pan and the dust-proof plate. It has a limit function and can ensure the reliability of the gripper.

Therefore, the present invention has the following beneficial effects: (1) By arranging several trays on the multi-station turntable mechanism, the need for manual handling and stacking is eliminated, and the full-automatic tray placement and hole-by-cave stacking can be completed by one machine, greatly Reduce the cost, reduce the production process, and buckle the cover in place at the discharge position of the swing plate, which minimizes the possibility of scattered plates and improves production stability; (2) Large trays can be transferred on the rotary extraction tray Driven by the mechanism, it moves repeatedly and is reused, reducing the manual handling process, and using simple and convenient reciprocating movement to significantly improve the transfer efficiency; (3) Two suction clips and dual-purpose grippers cooperate to complete the palletizing work, and the steps are smooth and efficient .

Description of drawings

Fig. 1 is the general assembly drawing of the present invention.

Fig. 2 is a first isometric view of the present invention.

Fig. 3 is a second isometric view of the present invention.

Fig. 4 is a schematic structural diagram of the extraction tray in Fig. 1 .

Fig. 5 is a structural schematic diagram of the extraction tray after palletizing.

Fig. 6 is a schematic structural view of the extraction pan silo in Fig. 2 .

Fig. 7 is a schematic structural view of the dust-proof board silo in Fig. 2 .

FIG. 8 is a schematic structural view of the first suction clip dual-purpose gripper in FIG. 2 .

Fig. 9 is a schematic structural view of the large pallet in Fig. 2 .

In the figure: 10 device body, 1001 stacking discharge level, 1002 AGV transport component, 1003 display, 1004 power supply box, 1005 upper material level, 1006 discharge bottom plate, 20 stamping machine, 30 waste material outlet, 301 waste material box, 100 swing plate Assembly, 101 Empty panel area, 102 Swing plate X-axis rail, 103 Swing plate Y-axis track, 104 Upper CCD camera, 105 Lower CCD camera, 106 First suction cup, 200 Palletizing assembly, 201 Full panel area, 202 Material Warehouse stand, 203 slide rails, 204 bin pallets, 205 stacking X-axis rails, 206 stacking Y-axis rails, 207 upper shafts, 208 lower shafts, 300 extraction trays, 301 upper covers, 302 lower covers, 400 turnover Type extraction tray transfer mechanism, 401 transfer tray slide rail, 402 transfer tray cylinder, 500 extraction tray buckle cover mechanism, 1 large tray, 11 extraction tray placement slot, 2 material receiving mechanism, 21 rotating material receiving plate, 3 dustproof sheets Bin, 31 guide groove bottom plate, 32 guide groove, 33 bin motor, 34 dustproof plate, 4 extractor tray bin, 5, first suction clip dual-purpose gripper, 51 second suction cup, 52 gripper jaw, 53 height measuring Motor, 54 height measuring sensor, 6, second suction clip dual-purpose gripper, 61 rotating motor, 7 dislocation lifting component, 71 dislocation cylinder, 72 dislocation guide rod, 73 dislocation top plate, 8 feeding position, 81 feeding displacement Shaft, 82 feeding rotary jaws.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Examples of the described embodiments are shown in the drawings, wherein like or similar reference numerals designate like or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

Example 1

As shown in Figures 1, 2, and 3, an integrated device for stacking and stacking plates includes a device body 10, and the device body includes: a plate assembly 100 for placing stamped and formed products on an extraction tray 300 in sequence. In the middle, a full-filled extraction tray is formed; the stacking assembly 200: used to stack multiple layers of full-filled extraction trays and discharge them as a whole; wherein, the swing-out tray assembly is provided with a revolving extraction tray transfer mechanism 400 for Transfer the full extraction tray to the palletizing assembly, and transport the empty extraction tray to the swing assembly; wherein, the palletizing assembly includes an extraction tray buckle cover mechanism, which is used for The products on the full extraction tray are stacked and stacked as a whole. The revolving extraction tray transfer mechanism includes a large tray 1, as shown in Figure 9, the large tray is provided with a number of extraction tray placement slots, the swing plate assembly includes a material receiving mechanism, and the material receiving mechanism clamps Take the product and put it into the extraction tray arranged in the extraction tray placement groove, and the large tray can reciprocate between the swing plate assembly and the palletizing assembly.

The wobbling assembly and the palletizing assembly work together, and the wobbling assembly needs to automatically place the products output by the punching machine 20 in separate holes to ensure that the empty extraction trays are automatically filled with products, and then use the turnover type extraction trays to transfer The mechanism transfers the full extraction tray to the palletizing assembly, and uses the extraction tray button cover mechanism to arrange and cover the full extraction tray and stack them for subsequent overall transportation. In this application, the extraction tray transfer mechanism is used to transfer the full extraction tray After the cover is buckled, the remaining empty extraction tray is transported back to the swing plate assembly to continue to divide the plate, which significantly improves the smoothness of the automatic stacking and palletizing work, avoids various hidden dangers of manual palletizing, and improves production efficiency. The large tray is used to centrally place the extraction trays, which is convenient for overall transfer and improves production efficiency. The material receiving mechanism delivers the stamped and formed products to the extraction tray one by one by rotating the jaws for arranging the trays.

The swing plate assembly includes an empty plate area 101 , the palletizing assembly includes a full plate area 201 , and the epicyclic extraction plate transfer mechanism drives the large tray to reciprocate between the empty plate area and the full plate area. The empty disk area includes a first positioning mechanism, the first positioning mechanism includes a swing plate X-axis rail 102 and a swing plate Y-axis rail 103, and the first positioning mechanism drives the first suction cup 106 to move and obtain the product.

The revolving type extraction disc transfer mechanism includes a disc transfer slide rail and a disc transfer cylinder arranged on the transfer disc slide rail, and the large tray can be moved repeatedly and reused under the drive of the revolving type extraction disc transfer mechanism, which reduces labor costs. In the handling process, the simple and convenient reciprocating movement can significantly improve the transfer efficiency. The first positioning mechanism is used to control the first suction cup to move the product on the material receiving mechanism into the extraction tray. The X-axis track of the swing plate and the Y-axis track of the swing plate are a coordinate guide rail group, which can ensure that the swing plate works accurately and orderly conduct.

As shown in Figure 4, the extraction tray includes an upper cover 301 and a lower cover 302, as shown in Figures 6 and 7, the palletizing assembly also includes a dustproof board hopper and an extraction tray hopper, the extraction tray The silo includes a silo stand 202 and a slide rail 203 arranged on the silo stand, on which a silo support plate 204 for supporting the extraction tray is slidably arranged. The swing plate assembly includes a material receiving mechanism and a first detection mechanism. The first detection mechanism includes an upper CCD camera 104 and a lower CCD camera 105. A first suction cup is arranged on the side of the upper CCD camera. The first The suction cup absorbs the product provided by the feeding mechanism and places it in the extraction pan. As shown in Figure 8, the stacking assembly includes a second positioning mechanism, the second positioning mechanism includes a stacking X-axis rail 205 and a stacking Y-axis rail 206, and the stacking X-axis rail is provided with a first A suction clip dual-purpose gripper 5, a second suction clip dual-purpose gripper 6 is provided on the stacking Y-axis rail, and the first suction clip dual-purpose gripper Move between; the dual-purpose gripper of the second suction clip moves between the extraction tray silo and the empty panel area. The product storage cavity is formed by the fastening of the upper cover and the lower cover of the extraction tray, so as to ensure that the products placed in the lower cover of the extraction tray are stored stably, and there will be no problems of shaking, dislocation or even falling out during frequent transfers. The extraction tray silo is used to store empty extraction trays, and the empty extraction trays are transported to the large pallet by using the slide rail and the bin pallet for product placement. The palletizing assembly includes a detection assembly arranged on the palletizing X-axis rail, and the detection assembly includes an upper shaft 207 and a lower shaft 208 provided with a CCD camera. The dual-purpose gripper of the first suction clip includes a second suction cup 51 and a jaw 52, the top of the second suction cup is provided with a dislocation lifting assembly 7, the jaws are arranged on the outside of the second suction cup, and the first suction clip The dual-purpose gripper has the same structure as the second suction clip dual-purpose gripper. The second positioning mechanism is used to assist the first dual-purpose gripper of the suction clip and the second dual-purpose gripper of the suction clip to perform stacking work, and the first dual-purpose gripper of the suction clip is used to sequentially grab the upper cover of the extraction tray, the extraction tray The whole body and the lower cover of the extraction tray after removing the upper cover of the extraction tray reach the detection component for photo image inspection; while the second suction clip dual-purpose gripper is used to remove the upper cover of the extraction tray or grab the lower cover of the extraction tray for stacking. The two dual-purpose grippers with suction clips work together to complete the palletizing work, and the steps are smooth and efficient.

As shown in Fig. 5, in this embodiment, it is necessary to set dust-proof plates on the bottom and top layers during palletizing, and stack full-packed extraction trays between the two dust-proof plates. The dual-purpose gripper of the first suction clip and the dual-purpose gripper of the second suction clip are provided with a rotating motor 61 for correcting the angle of the caught product after taking pictures to ensure correct placement. The dual-purpose gripper of the first suction clip is also provided with a height-measuring motor 53, and the top of the first suction cup is provided with a height-measuring sensor 54, which drives the height-measuring sensor to measure the height of the grabbed material to prevent unevenness. If the lower part of the lower cover of the extraction tray is cushioned with sundries or supported on the pins, it will alarm and stop and call for manual handling.

In this embodiment, the device body includes a power supply box 1004 and a display 1003, a palletizing discharge level 1001 is provided on the side of the device body, and an AGV transport assembly 1001 is provided outside the palletizing discharge position. When the device body is working, first start the injection molding machine normally, fill the dust-proof plate silo and the empty extractor pan silo, and place the discharge bottom plate on the palletizing discharge level. Fill the bottom cover of the extraction pan with the large support plate of the swing plate Y-axis track belt, as shown in Figure 9. The manipulator matched with the injection molding machine places the injected product on the loading position 1005, as shown in Figure 2, the feeding rotating gripper 82 at the feeding position 8 grips the product and sends it to the bottom of the punching machine along the feeding shifting axis 81, and the system The stamping machine is controlled to complete the stamping, and the feeding rotary gripper grips the stamped waste material and moves it to the waste material outlet 30, and transports it to the waste material box 301, and then waits for the next injection molding product. The rotary material receiving plate 21 of the material receiving structure 2 catches the stamped product, and cooperates with the Y-axis rail of the swing plate and the first suction cup, and the product is taken away by the first suction cup. When the first sucker moved along the Y-axis rail of the swing plate with the product, the lower CCD camera 105 took pictures of the product on the first sucker, and the unqualified product was thrown into the waste box, and the qualified product was brought above the large pallet of the swing plate. The X-axis of the swing plate moves with the large support plate of the swing plate, and cooperates with the Y-axis rail of the swing plate. The upper CCD camera 104 takes pictures of the lower cover of the extraction plate on the large swing plate plate, and then the system controls the first sucker to separate the products. The acupoints are placed in the acupoints on the lower covers of different extraction trays. Repeat this way, and gradually fill the acupuncture points of each extraction tray with products.

While the product is placed on the plate, the camera on the upper axis takes pictures and positions each stacking position of the discharge bottom plate. The dust board silo grabs the dust board downwards, and then moves to the camera on the lower axis to take pictures and locate it. According to the two positioning, put the dust board on the correct position of the discharge bottom plate. After repeating this process, dust-proof plates are placed on all positions of the entire discharge bottom plate to prepare for the stacking of extraction trays.

In this embodiment, the working steps of the palletizing are as follows:

First place the layer 1 dust board:

(1) The upper CCD camera takes pictures of the stacking discharge bottom plate; (2) The first suction cup goes to the dust-proof plate silo to take the dust-proof plate; (3) The dust-proof plate moves from the dual-purpose gripper of the first suction clip to the lower CCD camera Take pictures; (4) The dust-proof plate is placed on the corresponding discharge bottom plate position;

Next, start the extraction tray placement work:

(1) The second suction cup of the dual-purpose gripper of the second suction clip goes to the extraction tray hopper to extract the upper cover of the extraction tray; (2) Shifts to the lower CCD camera to take pictures; (3) The camera on the upper axis is placed under the full extraction tray (4) The second suction cup carries the upper cover of the extraction tray to the lower cover of the corresponding extraction tray; (5) The dual-purpose grip of the second suction clip goes down to buckle the cover; (6) The dual-purpose grip of the second suction clip rises , the misplaced cylinder rises to expose the jaws; (7) the jaws go down to clamp the full material extraction tray; (8) the jaws go up; (9) the dual-purpose gripper of the second suction clip is shifted to the camera on the lower axis to take pictures; (10) The upper CCD camera is moved to the dust-proof plate on the first layer and takes pictures (the second and subsequent layers take pictures on the upper cover of the extraction tray); (11) The second suction clip dual-purpose gripper is shifted to the dust-proof plate (or the upper cover of the extraction tray); (12) the gripper goes down, and the extraction tray is put down; (13) the gripper goes up, and the misplaced cylinder is reset, exposing the second suction cup; (14) shifted until there is no upper cover (15) The gripper goes down, the suction cup grabs the lower cover of the extraction tray, and then rises; (16) The upper CCD camera moves to the corresponding position vacated by the large tray and takes a photo to position it; (17) The second The dual-purpose gripper of the suction clip moves the lower cover of the extraction tray to the photographing position of the previous step; (18) the gripper goes down and places the lower cover of the extraction tray on the large pallet; (19) the gripper moves up and grabs the next The extraction tray is covered, and so on, until all the extraction trays in the extraction tray placement grooves are stacked.

Finally put a layer of dust board:

(1) The dual-purpose gripper of the first suction clip is shifted to the dust-proof board warehouse, and the second suction cup is used to grab a dust-proof board when going down; (2) The dust-proof board is shifted to the camera on the lower axis to take pictures; (3) The camera on the upper axis moves to the top of the extraction tray corresponding to the palletizing discharge area, and takes a picture; (4) The gripper moves correctly above the lower cover of the extraction tray with the dustproof plate; (5) The gripper goes down, put down the anti (6) The gripper goes to the dust-proof board warehouse, and grabs the next dust-proof board, and so on.

In this embodiment, after the lower cover of the extraction tray on the large pallet of the swing plate is filled with products, the X-axis rail of the swing plate will bring the large pallet to the full plate area, and the full plate area will lift and position the large pallet, and the plate will be placed The X-axis rail then goes to the empty panel area, and the next large pallet that is filled with the lower cover of the extraction tray is taken out, and the next cycle of placing the tray is carried out. After the large tray is positioned in the full tray, the camera axis of the upper axis of the dustproof plate has been placed, and the CCD is shifted to the lower cover of the first extraction tray full of products, and the positioning is taken, and at the same time, whether the product is skewed is detected If there are foreign objects in the loose plate and suction cup, etc. and the cover cannot be buckled, if there is, the machine will stop and alarm, and it will be handled by manual intervention; The second suction cup grabs the upper cover of the first extraction tray, and then moves to the camera on the lower axis to take pictures and position it. According to the two positionings, it moves to the top of the first extraction tray full of products and moves down to place the extraction tray. After the upper cover is fastened, the dual-purpose gripper of the first suction clip rises, and the misalignment cylinder 71 drives the misalignment ejector rod to raise the misalignment top plate 73 along the misalignment guide rod 72, and lifts the second suction cup to a position higher than the jaws , to ensure that there is no interference when the jaws pick up the covered extraction tray. After adjusting the angle according to the photo taken by the CCD camera, the dual-purpose gripper of the first suction clip lowers, and uses the jaws to pick up the covered extraction tray, then rises and shifts to the camera on the lower axis, and then takes a photo to position, and the first Compare the photos of the two dust-proof boards, move the extraction tray to the right above the corresponding dust-proof board and place the extraction tray on the dust-proof board downwards. After the extraction tray is placed, the dual-purpose gripper of the second suction clip rises, the misplaced cylinder falls, the second suction cup resets, and then moves to the top of the lower cover of the extraction tray exposed after the upper cover has been removed, and the second suction cup grabs it when going down. The lower cover of the extraction tray goes up again, shifts to the camera on the lower axis to take pictures and positions, then the camera on the upper axis moves to the top of the large pallet where the extraction tray has been removed, and takes pictures of the position where the extraction tray was originally placed, and then the The dual-purpose grippers place the lower cover of the captured extraction tray in the corresponding correct position, thus completing a cycle. Repeat this way, gradually remove the buckle cover of the extraction tray filled with products on the large tray, and replace it with the lower cover of the empty extraction tray. After all the lower covers of the extraction trays have been replaced, the tray shifting cylinder pushes the shifting assembly of the large pallet to move forward along the slide rails, shifting from above the empty panel area to the top of the full panel area, and loosen the large tray on the full panel area, and the large tray The lifting cylinder of the plate shifting component goes down, the gripper cylinder drives the jaws to grab the large pallet, and the lifting cylinder resets and lifts. When the large pallet rises to the highest position, the plate shifting cylinder resets and returns to the empty plate with the large pallet. area, then lift the cylinder down, reset the claw cylinder and release it, place the large pallet in the empty panel area, and wait for the next cycle.

It is worth noting that after the first layer of extraction tray palletizing is completed, when the second layer of palletizing is performed, the object of the camera on the upper axis at the stacking output is changed from the dustproof plate to the upper cover of the first layer of extraction tray , the palletizing action is exactly the same. In this way, layer by layer is stacked to the required height. After the last layer is completed, a layer of dust-proof board is buckled on the upper cover of the last layer of extraction trays, thus completing the entire stacking process. At this time, the system controls the AGV trolley to take away the stacked products. During this period, if there is no material in the dust-proof plate silo and the empty extraction tray silo, the system will alarm and prompt to replenish the material.

Except for the above-mentioned embodiments, within the scope disclosed in the claims and description of the present invention, the technical features of the present invention can be re-selected and combined to form new embodiments, which are all without the need for creative work by those skilled in the art. Therefore, these embodiments that are not described in detail in the present invention should also be regarded as specific embodiments of the present invention and fall within the protection scope of the present invention.

Claims (10)

1. An integrated device for wobbling and palletizing, comprising a device body, characterized in that, the device body includes: Arrangement plate assembly, used to place the stamped and formed products in the extraction tray in turn to form a full-filled extraction tray; Palletizing assembly: used for stacking multi-layer full-filled extraction trays and discharging them as a whole; Wherein, the swing plate assembly is provided with a revolving extraction plate transfer mechanism, which is used to transfer the full extraction plate to the palletizing assembly, and reversely transport the empty extraction plate to the swing plate assembly; Wherein, the palletizing assembly includes an extracting tray buckle cover mechanism, which is used for stacking and stacking the products on the full extraction tray. 2. An integrated device for wobbling and palletizing according to claim 1, characterized in that, the revolving extraction tray transfer mechanism includes a large tray, and the large tray is provided with a number of extraction tray placement slots, the The swing plate assembly includes a material receiving mechanism, the material receiving mechanism clamps the product and puts it into the extraction tray set in the extraction tray placement tank, and the large tray can reciprocate between the swing plate assembly and the palletizing assembly move. 3. An integrated device for wobbling and palletizing according to claim 2, characterized in that the wobbling disk assembly includes an empty disk area, the palletizing assembly includes a full disk area, and the rotary extraction disk transfer mechanism Drive the large tray to reciprocate between empty and full disk areas. 4. An integrated device for palletizing and wobbling trays according to claim 3, characterized in that, the empty panel area includes a first positioning mechanism, and the first positioning mechanism includes the X-axis rail of the wobble disk and the Y-axis of the wobble disk. The first positioning mechanism drives the first suction cup to move and absorb the product provided by the material receiving structure and place it on the extraction tray. 5. An integrated device for swinging and palletizing according to any one of claims 1-4, characterized in that, the extraction tray includes an upper cover and a lower cover, and the palletizing assembly also includes a dust-proof sheet The bin and the extraction tray bin, the extraction tray bin includes a bin stand and a slide rail arranged on the bin stand, and a bin support plate for supporting the extraction tray is slidably arranged on the slide rail. 6. The integrated device for palletizing and wobbling according to claim 5, characterized in that, the palletizing assembly includes a second positioning mechanism, and the second positioning mechanism includes a palletizing X-axis rail and a palletizing Y Axis rail, the stacking X-axis rail is provided with a first suction clip dual-purpose gripper, and the stacking Y-axis rail is provided with a second suction clip dual-purpose gripper, and the first suction clip dual-purpose gripper The hand moves between the dust-proof plate silo and the extraction pan silo; the dual-purpose gripper of the second suction clip moves between the extraction pan silo and the empty panel area. 7. An integrated device for swinging and palletizing according to claim 5, characterized in that, the dust-proof board silo includes a guide groove bottom plate and a plurality of guide grooves arranged on the guide groove bottom plate, and the hopper vertically The frame is arranged between the bottom plate of the guide groove and the supporting plate of the silo, and a silo motor is arranged on the vertical frame of the silo. 8. The integrated device for wobble plate palletizing according to claim 3, characterized in that, the wobble plate assembly includes a first detection mechanism, and the first detection mechanism includes an upper CCD camera and a lower CCD camera, so A first suction cup is arranged on the side of the above-mentioned CCD camera, and the first suction cup absorbs the product provided by the receiving mechanism and places it in the extraction pan. 9. The integrated device for palletizing and wobbling trays according to claim 3, wherein the palletizing assembly includes a detection assembly arranged on the palletizing X-axis rail, and the detection assembly includes a CCD camera upper and lower axes. 10. The integrated device for wobble plate palletizing according to claim 6, characterized in that, the dual-purpose gripper of the first suction clip includes a second suction cup and jaws, and the top of the second suction cup is provided with a dislocation lift Assemblies, the jaws are arranged on the outside of the second suction cup, and the dual-purpose gripper of the first suction clip has the same structure as the dual-purpose gripper of the second suction clip.

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