CN106081623B - Shift the device of rack automatically for product - Google Patents
Shift the device of rack automatically for product Download PDFInfo
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- CN106081623B CN106081623B CN201610613391.3A CN201610613391A CN106081623B CN 106081623 B CN106081623 B CN 106081623B CN 201610613391 A CN201610613391 A CN 201610613391A CN 106081623 B CN106081623 B CN 106081623B
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- Prior art keywords
- frame
- charging tray
- lifting shaft
- rack
- manipulator
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Classifications
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- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
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- Specific Conveyance Elements (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The present invention provides a kind of device shifting rack automatically for product, including automatic hoisting mechanism and automatic insert rack mechanism, further include the first manipulator being arranged on automatic hoisting mechanism, overlay the charging tray in automatic hoisting mechanism, and be independently arranged at orientating and conveying mechanisms, the second manipulator and rack in automatic insert rack mechanism, the device further include respectively with automatic hoisting mechanism, automatic insert rack mechanism, the first manipulator, orientating and conveying mechanisms, the second manipulator, electric connection task driven mechanism；Under the driving of task driven mechanism, automatic hoisting mechanism is set to jack the charging tray equipped with product to the first designated position, first manipulator puts the shifting of the product of charging tray to orientating and conveying mechanisms front end at this position, it is delivered to rear end by orientating and conveying mechanisms again, finally product is inserted into rack by the second manipulator.The present invention can realize the automatic transfer of product different directions between charging tray and rack, play a part of to improve production efficiency, reduce manual operation risk.
Description
Technical field
The present invention relates to mechanical device field, specifically a kind of device for shifting rack automatically for product.
Background technology
In touch screen panel processing technology, to be processed or machined completion is placed commonly using charging tray and rack
Product.Wherein, the vacancy in charging tray is generally horizontal accommodating space, makes touch screen panel that can be horizontally arranged wherein；Rack
Vacancy is generally vertical accommodating space, makes touch screen panel that can vertically place wherein.When touch screen panel need charging tray with
When being shifted between rack, manually-operated mode is typically used, i.e.,：By the way that manually the touch screen panel in charging tray is taken
It is inserted into rack after going out.
But in large-scale industrial production, the touch screen panel quantity of batch production is very big, and this requires artificial
Touch screen panel taking-up and insertion operation are constantly, repeatedly carried out, to realize touch screen panel between charging tray and rack
Transfer.However, there are time-consuming, laborious drawbacks for this manually-operated mode, and due to manually-operated action stability
It is low, be also easy to produce fatigue, the scuffing of touch screen panel may be caused in operation, influence product quality.
Invention content
The present invention shifts the device of rack by a kind of automatic hoisting mechanism of offer and for product automatically, to replace utilizing
Manual operation realizes the mode that product is shifted between different racks, solves time-consuming, laborious, product existing for manual operation
The problems such as easily scratching.
Specifically, the present invention provide it is a kind of shifting the device of rack automatically for product, including automatic hoisting mechanism and from
Dynamic insert rack mechanism, described to shift the device of rack automatically for product further include first be arranged on the automatic hoisting mechanism
Manipulator overlays charging tray in the automatic hoisting mechanism, and is respectively and independently arranged in the automatic insert rack mechanism
Orientating and conveying mechanisms, the second manipulator and rack, it is described for product shift automatically rack device further include respectively with it is described
Automatic hoisting mechanism, the automatic insert rack mechanism, first manipulator, the orientating and conveying mechanisms, second manipulator,
The task driven mechanism of electric connection, wherein：
The automatic hoisting mechanism is for pressing the charging tray equipped with product under the driving of the task driven mechanism
First desired guiding trajectory is jacked to the first designated position；First manipulator is used under the driving of the task driven mechanism will
Product in the charging tray of first specified location is put by the shifting of the second desired guiding trajectory to the orientating and conveying mechanisms
Front end；It is fixed that the orientating and conveying mechanisms are used under the driving of the task driven mechanism product being delivered to the conveying
Position mechanism rear end；Second manipulator under the driving of the task driven mechanism for that will be located at the orientating and conveying mechanisms
The product of rear end is inserted by third desired guiding trajectory in the rack.
Further, the product in the charging tray of first specified location is put by all shiftings to the conveying
Behind the front end of detent mechanism, the charging tray becomes the empty charging tray, and the automatic hoisting mechanism is additionally operable to drive in the work
The empty charging tray is put by the shifting of the 4th desired guiding trajectory to the second designated position under the driving of motivation structure.
Further, the automatic hoisting mechanism includes frame, fixed lifting shaft on said frame and sets respectively
Feeding material component on the lifting shaft and charging tray clamp assemblies, the task driven mechanism respectively with the feeding material component, institute
The electric connection of charging tray clamp assemblies is stated, so that the feeding material component, the charging tray clamp assemblies is respectively relative to the lifting shaft and moves
It is dynamic.
Further, the frame is enclosed by several sheths, along level side in the middle part of the trailing flank of the frame
To first level frame has been extended to form forward, the first level frame corresponds to first designated position, from the frame
The trailing flank top of frame has extended to form forward the second horizontal frame in the horizontal direction, and second horizontal frame corresponds to described
Second designated position.
Further, the lifting shaft includes independently fixed the first lifting shaft on said frame, the second lifting
Axis and third lifting shaft, wherein the short transverse along the frame is seen, under first lifting shaft is located in the frame
Portion, second lifting shaft and the third lifting shaft are respectively positioned on the middle and upper part of the frame；Along the length direction of the frame
It sees, first lifting shaft is located at the centre of the frame, and second lifting shaft and the third lifting shaft are located at institute
State the left and right side of frame.
Further, first lifting shaft is equipped with the first sliding rail, makes the feeding material component by first sliding rail
It is arranged on first lifting shaft；It is respectively equipped with the second sliding rail and third on second lifting shaft and the third lifting shaft
Sliding rail makes the charging tray clamp assemblies be arranged in second lifting shaft and institute by second sliding rail and the third sliding rail
It states on third lifting shaft.
Further, the feeding material component includes support portion and material conveying platform, and one end of the support portion passes through described
One sliding rail is movably connected on first lifting shaft, so that the support portion is moved up and down along the axial direction of first lifting shaft, institute
The other end for stating support portion is free end；The material conveying platform is horizontal panel, and the material conveying platform be vertically located in it is described
On support portion, it is equipped with vertically through the blow vent of the material conveying platform, from the material conveying platform on the material conveying platform
Edge, which raises up, has extended to form limited block.
Further, the charging tray clamp assemblies include interconnecting piece and clamping limb, and the interconnecting piece is string configuration, institute
It states interconnecting piece and institute is movably connected on by second sliding rail, the third sliding rail respectively along the both ends that length direction extends
The second lifting shaft, the third lifting shaft are stated, makes the interconnecting piece along the axis of second lifting shaft and the third lifting shaft
It moves up and down；The clamping limb is installed in the interconnecting piece along the both ends that length direction extends respectively, and from described
Interconnecting piece forward extends out in the horizontal direction along the both ends that length direction extends.
Optionally, the medial surface of the first level frame, the charging tray clamp assemblies interconnecting piece medial surface difference
Equipped with locating part, when the charging tray clamp assemblies, which are dropped to, is generally in the same horizontal position with the first level frame,
Locating part on the medial surface of the first level frame and the locating part on the interconnecting piece medial surface of the charging tray clamp assemblies
It sets relatively, the first limit space is collectively formed in the locating part, and first limit space is used in the first level frame
The horizontal position of frame limits the spatial position of the charging tray.
Optionally, the trailing flank region close to the frame on second horizontal frame is installed with across fixing piece,
It is described across fixing piece along the second horizontal frame length direction across two frames being arranged in second horizontal frame
It is described to be respectively equipped with locating part, and described second across the medial surface of fixing piece, the medial surface of second horizontal frame on item
Locating part on the medial surface of horizontal frame is opposite with the locating part on the medial surface across fixing piece and sets, the limit
The second limit space is collectively formed in part, and second limit space is used to limit in the horizontal position of second horizontal frame
The spatial position of the charging tray.
Preferably, the locating part is arc-shaped limit part or right angle locating part.
Further, unidirectional supporting parts, the unidirectional supporting parts packet are equipped on the clamping limb of the charging tray clamp assemblies
The support block for including supporting parts ontology and being flexibly connected relative to the supporting parts ontology, the supporting parts ontology is towards therein
Recess be formed with size and the matched storage tank of the support block, keep the support block protruding from the storage tank or
It is housed in the storage tank；When the support block is protruding from the storage tank, the support of the support block faces upward,
When the support block is housed in the storage tank, the outer surface of the support block is in same with the supporting parts body outer surface
One plane.
Further, connecting shaft is equipped in the storage tank, the support block passes through the connecting shaft and the supporting parts
Ontology is flexibly connected.
Preferably, the surface of the storage tank, the support block inner surface in be embedded with magnet, and be embedded in described
The opposite magnetic pole of both the magnet on the surface of storage tank and the magnet that is embedded in the support block inner surface is magnetic identical.
It is understood that according to the principle that same magnetic mutually repulsion, different magnetic phase attract in electromagnetism it is found that not to described
When support block applies pressure, due to same magnetic mutually repulsion, the support block and the storage tank are mutually exclusive, make the support block
It is protruding from the storage tank；When applying pressure to the support block, it is more than the support block and institute by applying pressure
The repulsive force between storage tank is stated, the support block is made to be accommodated in the storage tank.
Preferably, the bullet of deformation can be restored by being equipped between the surface of the storage tank and the inner surface of the support block
Spring makes elastic connection between the storage tank and the support block.
It is understood that due to being elastic connection between the surface and the inner surface of the support block of the storage tank,
When therefore not applying pressure to the support block, the support block is protruding from the storage tank, is applied to the support block
When plus-pressure, spring contraction, the support block is accommodated in the storage tank.
Preferably, on second horizontal frame, described the unidirectional supporting parts also are provided on fixing piece.
Further, on the frame towards being installed with horizontal stand, the first manipulator setting outside the frame
In on the horizontal stand, first manipulator includes the first mechanical arm being arranged in a mutually vertical manner and second mechanical arm and sets
Set the first crawl section in the second mechanical arm；Wherein, the first mechanical arm is fixed on the horizontal stand,
The second mechanical arm is flexibly connected relative to the first mechanical arm, and first crawl section is living relative to second machinery
Dynamic connection.
Further, the first mechanical arm is equipped with the first slide unit, and the second mechanical arm passes through first slide unit
It is slidably connected with the first mechanical arm, the second mechanical arm is made to move back and forth along the length direction of the first mechanical arm；
The second mechanical arm is equipped with the second slide unit, and first crawl section is slided by second slide unit and the second mechanical arm
Dynamic connection, makes first crawl section move back and forth along the length direction of the second mechanical arm.
In the present invention, since second mechanical arm and the first crawl section can respectively be realized in orthogonal both direction
Linear movement, therefore enable to the first crawl section that can grab any point on horizontal plane, therefore realize to all positions
The crawl of product in charging tray.
Preferably, first crawl section is vacuum slot.
Further, the charging tray includes the network of hollow out and the frame for enclosing the network, described
Frame protrudes out downwards equipped with supporting block, and shape between the frame of neighbouring two stacked the charging tray is made by the supporting block
At gap, the support block of the unidirectional supporting parts of the automatic hoisting mechanism is made to be inserted into the gap.
Preferably, the frame is round rectangle frame, rectangular shaped rim, square frame, round frame, oval frame
Or one kind in hexagon frame.
Further, the charging tray overlays on the material conveying platform of the automatic hoisting mechanism or the second limit space
In.
Further, the automatic insert rack mechanism includes mechanism body, is upwardly extended from the mechanism body posterior region
The holder of formation and the third slide unit being installed in the mechanism body, the orientating and conveying mechanisms are arranged in the mechanism
Main body is close to the side of the automatic hoisting mechanism, and on the bracket, the rack activity is logical for the second manipulator setting
It crosses the third slide unit and is movably connected on the mechanism body.
Further, second manipulator includes that orthogonal third mechanical arm, the 4th mechanical arm and setting exist
Second crawl section of the 4th mechanical arm bottom, the third mechanical arm are installed on the holder of the automatic insert rack mechanism,
4th mechanical arm is flexibly connected relative to the third mechanical arm, and second crawl section is relative to the 4th mechanical arm
Flexible connection.
Further, the third mechanical arm is equipped with the 4th slide unit, and the 4th mechanical arm passes through the 4th slide unit
It is slidably connected with the third mechanical arm, the 4th mechanical arm is enable to be moved along the length direction of the third mechanical arm.
Preferably, second manipulator further includes the fibre optical sensor being arranged on the 4th mechanical arm.
Preferably, second crawl section is vacuum slot.
Further, the rack is enclosed by several sheet frames, and described automatic slotting equipped with being parallel in the rack
Several positioning strips of the third slide unit length direction of frame mechanism, the positioning strip both ends are connected to two institutes that are opposite and setting
It states between sheet frame.
Preferably, the positioning strip includes the first positioning strip being mutually parallel, the second positioning strip, third positioning strip, the 4th
Positioning strip, the 5th positioning strip and the 6th positioning strip, and six positioning strips are that serrate positioning strip is set in a side.
Preferably, first positioning strip and second positioning strip are located in the top area of the rack, and are spaced
Distance setting, the sawtooth of first positioning strip, the sawtooth of second positioning strip are opposite and set and towards in the rack
Portion, the sawtooth of first positioning strip and the sawtooth size of second positioning strip, shape, position are mutually corresponding；Described
Three positioning strips are located in the bottom section of the rack, and the projection of the third positioning strip in the horizontal plane is located at described first
The sawtooth of the centre of positioning strip and second positioning strip, the third positioning strip opens up upward vertically.
Preferably, the 4th positioning strip and the 5th positioning strip are located in the top area of the rack, and are spaced
Distance setting, the sawtooth of the 4th positioning strip, the sawtooth of the 5th positioning strip are opposite and set and towards in the rack
Portion, the sawtooth of the 4th positioning strip and the sawtooth size of the 5th positioning strip, shape, position are mutually corresponding；Described
Six positioning strips are located in the bottom section of the rack, and the projection of the 6th positioning strip in the horizontal plane is located at the described 4th
The sawtooth of the centre of positioning strip and the 5th positioning strip, the 6th positioning strip opens up upward vertically.
Further, the sheet frame of the positioning strip is connected with along own edges towards the rack internal bend horizontal extension
It is formed with apart from adjustable plate, is equipped with several trepannings in described be spaced apart on adjustable plate, the position of the trepanning corresponds to respectively
In the positioning strip.
Preferably, the trepanning is strip trepanning or one kind in round hole or two kinds of combination.
Preferably, it is spirally connected between the trepanning and the positioning strip.
Further, inside the sheet frame reinforcing strip is respectively equipped at the sheet frame lower edge.
Compared with prior art, beneficial effects of the present invention are as follows：
First, automatic hoisting mechanism of the invention can automatically jack the charging tray equipped with product to the first designated position,
Thus carry out cooperative mechanical hand to pipette product in charging tray.After product is all pipetted, when charging tray becomes empty charging tray, from
Dynamic elevating mechanism can also in time recycle empty charging tray, therefore not influence the first manipulator for next material equipped with product
Disk carries out product and pipettes operation, and thus repetitive cycling operates, and realizes that efficient product pipettes work and charging tray recovery operation, removes from
A large amount of manual operation, it is time saving and energy saving, improve working efficiency.
Secondly, the present invention is by developing a kind of part of unidirectional supporting parts, by itself and other knots in automatic hoisting mechanism
Structure is coordinated, finally can effectively support be located at the charging tray above unidirectional supporting parts, so that charging tray is smoothly recycled.
Finally, the device for shifting rack automatically for product that the present invention is developed is positioned by the first manipulator, conveying
Cooperation between mechanism, the second manipulator will can automatically be lain in a horizontal plane in the transferred product to rack in charging tray and complete
At the vertical insertion operation of product, the automation of this transferred product rack process will save a large amount of handling time, both
Production efficiency can be effectively improved, and is avoided that and is asked because manually-operated unstability causes product to be scratched or occurred other quality
The phenomenon that topic.
Description of the drawings
Fig. 1 is the structural schematic diagram for the device that embodiment two shifts rack for product automatically；
Fig. 2 is the front view for the device for shifting rack in Fig. 1 automatically for product；
Fig. 3 is the vertical view for the device for shifting rack in Fig. 1 automatically for product；
Fig. 4 is the right view for the device for shifting rack in Fig. 1 automatically for product；
Fig. 5 (a) is the structural schematic diagram of automatic hoisting mechanism in embodiment two；
Fig. 5 (b) is that the structural schematic diagram of automatic hoisting mechanism in embodiment two (omits the second horizontal frame and across fixation
Part)；
Fig. 6 is the front view of automatic hoisting mechanism in Fig. 5 (a)；
Fig. 7 is the vertical view of automatic hoisting mechanism in Fig. 5 (a)；
Fig. 8 is the left view of automatic hoisting mechanism in Fig. 5 (a)；
Fig. 9 is the structural schematic diagram of unidirectional supporting parts in embodiment two；
Figure 10 is the front view of unidirectional supporting parts in Fig. 9；
Figure 11 (a) is the right view of unidirectional supporting parts in Fig. 9 (support block is stretched out from storage tank)；
Figure 11 (b) is the right view of unidirectional supporting parts in Fig. 9 (support block is housed in storage tank)；
Figure 12 is the structural schematic diagram of the first manipulator in embodiment two；
Figure 13 is the vertical view of the first manipulator in Figure 12；
Figure 14 is the right view of the first manipulator in Figure 12；
Figure 15 is the structural schematic diagram of charging tray in embodiment two；
Figure 16 is the structure after automatic insert rack mechanism in embodiment two, orientating and conveying mechanisms, the second manipulator, rack combination
Schematic diagram；
Figure 17 is the vertical view of structure in Figure 16；
Figure 18 is the structural schematic diagram of the second manipulator in embodiment two；
Figure 19 is the structural schematic diagram of rack in embodiment two；
Figure 20 is the vertical view of rack in Figure 19.
Specific implementation mode
In the present invention, term "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on ... shown in the drawings or
Position relationship, the relative position relation being merely to illustrate between each component or component part are not particularly limited each component or group
At the specific installation position of part.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term "upper" also are likely used for indicating certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " shall be understood in a broad sense.For example, it may be solid
Fixed connection, is detachably connected or monolithic construction；Can be mechanical connection, or electrical connection；It can be directly connected, either
Indirectly connected through an intermediary, or it is two connections internal between device, element or component.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In addition, term " first ", " second " etc. are mainly used for distinguishing different component or component part, it is not intended to table
Relative importance and quantity bright or that imply indicated component or component part.Unless otherwise indicated, the meaning of " multiple " is two
It is a or more than two.
Technical scheme of the present invention is further described with reference to embodiment and attached drawing.
Embodiment one
The present embodiment provides a kind of devices shifting rack automatically for product, including automatic hoisting mechanism and automatic insert rack
Mechanism, the device for shifting rack automatically for product further include the first machinery being arranged on the automatic hoisting mechanism
Hand overlays charging tray in the automatic hoisting mechanism, and the conveying being respectively and independently arranged in the automatic insert rack mechanism
Detent mechanism, the second manipulator and rack, the device for shifting rack automatically for product further include respectively with it is described automatic
The work that elevating mechanism, first manipulator, the orientating and conveying mechanisms, second manipulator, the rack are electrically connected
Make driving mechanism, wherein：
The automatic hoisting mechanism is for pressing the charging tray equipped with product under the driving of the task driven mechanism
First desired guiding trajectory is jacked to the first designated position；First manipulator is used under the driving of the task driven mechanism will
Product in the charging tray of first specified location is put by the shifting of the second desired guiding trajectory to the orientating and conveying mechanisms
Front end；It is fixed that the orientating and conveying mechanisms are used under the driving of the task driven mechanism product being delivered to the conveying
Position mechanism rear end；Second manipulator under the driving of the task driven mechanism for that will be located at the orientating and conveying mechanisms
The product of rear end is inserted by third desired guiding trajectory in the rack.
Embodiment two
The present embodiment provides a kind of devices shifting rack automatically for product, and in conjunction with shown in Fig. 1 to Fig. 4, this is used to produce
The device that product shift rack automatically includes automatic hoisting mechanism 1 and the automatic insert rack mechanism positioned at 1 right side of automatic hoisting mechanism
2.It is respectively equipped with the first manipulator 3 and charging tray 4 in automatic hoisting mechanism 1, is independently equipped in automatic insert rack mechanism 2 defeated
Send detent mechanism 5, the second manipulator 6 and rack 7.The device for shifting rack automatically for product further includes being risen respectively with automatic
The task driven that descending mechanism 1, automatic insert rack mechanism 2, the first manipulator 3, orientating and conveying mechanisms 5, the second manipulator 6 are electrically connected
Mechanism (not shown).
Wherein, automatic hoisting mechanism 1 is used under the driving of task driven mechanism the charging tray 4 equipped with product is pre- by first
If track is jacked to the first designated position；First manipulator 3 under the driving of task driven mechanism positioned at first for that will specify
The product in charging tray 4 at position is put by the shifting of the second desired guiding trajectory to 5 front end of orientating and conveying mechanisms；Orientating and conveying mechanisms 5 are used for
Product is delivered to 5 rear end of orientating and conveying mechanisms under the driving of task driven mechanism；Second manipulator 6 is used in task driven
It will be inserted into rack 7 by third desired guiding trajectory positioned at the product of 5 rear end of orientating and conveying mechanisms under the driving of mechanism, automatic insert rack
Mechanism 2 is used to drive rack 7 to move under the driving of task driven mechanism.In addition, when the charging tray 4 positioned at the first specified location
In product put to the front end of orientating and conveying mechanisms 5 by all shiftings, charging tray 4 becomes empty charging tray 4, and automatic hoisting mechanism 1 is also
For empty charging tray 4 to be put by the shifting of the 4th desired guiding trajectory to the second designated position under the driving of task driven mechanism.
In the present embodiment, after all over products in the charging tray equipped with product is moved out of, empty charging tray can be automatic
Recycling, the new charging tray meeting automatic lifting equipped with product is to the first manipulator position, it is thus achieved that the cycle of product is moved
The automatic recycling with charging tray is taken, then passes through the cooperation of the components such as orientating and conveying mechanisms, the second manipulator, such circulating repetition work
Make, the final purpose realized product and be automatically transferred to rack from charging tray.
Specifically, in conjunction with shown in Fig. 5 (a) to Fig. 8, automatic hoisting mechanism 1 includes frame 11, lifting shaft 12, feeding material component
13 and charging tray clamp assemblies 14.Wherein, frame 11 is enclosed by several sheths, is used to support entire automatic hoisting mechanism
And integrate the other components of fixed setting on the frame 11.Before being respectively facing from the middle part of the trailing flank of frame 11 111 and top
Side's (i.e. towards the right side in Fig. 8) horizontal extension forms first level frame 112 and the second horizontal frame 113, first level frame 112
The first specified location is corresponded roughly to, the second horizontal frame 113 corresponds roughly to the second specified location.
Wherein, lifting shaft 12 is installed on the trailing flank 111 of frame 11, lifting shaft 12 respectively include the first lifting shaft 121,
Second lifting shaft 122 and third lifting shaft 123.Short transverse (i.e. upper and lower directions in Fig. 6) from trailing flank 111, first
Lifting shaft 121 is fixed at the middle and lower part of trailing flank 111, and the second lifting shaft 122 and third lifting shaft 123 are fixed at
The middle and upper part of trailing flank 111.Length direction (i.e. left and right directions in Fig. 6) from trailing flank 111, the first lifting shaft 121 are solid
It is located at the centre of trailing flank 111, the second lifting shaft 122 and third lifting shaft 123 are installed in the left and right two of trailing flank 111 respectively
Side.It is correspondingly provided with the first sliding rail, the second cunning respectively on the first lifting shaft 121, the second lifting shaft 122, third lifting shaft 123
Rail, third sliding rail.
Wherein, feeding material component 13 is slidably arranged on the first lifting shaft 121, and feeding material component 13 includes support portion 131 and send
Expect platform 132.One end of support portion 131 is slidably connected by the first sliding rail and the first lifting shaft 121, thus drives entire feeding
The other end of lifting moving of the component 13 relative to the first lifting shaft 121, support portion 131 is free end.Material conveying platform 132 is water
Surface plate is fixed on support portion 131, for bearing the charging tray that product is housed.In order on material conveying platform simultaneously
It stacks multiple charging trays equipped with product, and ensures that the position of charging tray and product in charging tray will not be in the lifting process of feeding material component
In arbitrarily move or fall, being respectively equipped with several raise up in the edge of material conveying platform 132 extends to form as limited block
1321, the charging tray equipped with product is fixed on material conveying platform 132 by limited block 1321.In addition, in the present embodiment, feeding
It is additionally provided in platform 132 and vertically runs through the blow vent 1322 of itself, these blow vents had both included that the larger circle of opening area is opened
Mouth also includes the smaller circular aperture of opening area.
In conjunction with shown in Fig. 5 (b), charging tray clamp assemblies 14 are slidably arranged in the second lifting shaft 122 and third lifting shaft 123
On, charging tray clamp assemblies 14 include interconnecting piece 141 and clamping limb 142.Interconnecting piece 141 is string configuration, and interconnecting piece 141 is along certainly
It is slided respectively by the second sliding rail, third sliding rail and the second lifting shaft 122, third lifting shaft 123 at the both ends that body length direction extends
Thus dynamic connection drives lifting moving of the charging tray clamp assemblies 14 relative to the second lifting shaft 122, third lifting shaft 123.From even
The length direction both ends of socket part 141 respectively form a clamping limb 142 towards front horizontal extension, and in every clamping limb 142
On be all provided with towards the direction inside automatic hoisting mechanism 1 there are two unidirectional supporting parts 15.
In the present embodiment, unidirectional supporting parts are used for the charging tray that support is positioned above.In conjunction with shown in Fig. 9 to Figure 11 (b),
Unidirectional supporting parts 15 include supporting parts ontology 151 and support block 152 in the present embodiment.The middle part direction of supporting parts ontology 151
Therein is recessed to form a storage tank 153, and the lower part of storage tank 153 is along length direction (i.e. left and right directions in Figure 10)
Equipped with a connecting shaft 154, support block 152 is flexibly connected by the connecting shaft 154 with supporting parts ontology 151.In storage tank 153
Surface, support block 152 inner surface in be embedded with magnet 155, and be embedded in storage tank 153 surface magnet be embedded in
The opposite magnetic pole of both the magnet of inner surface of support block 152 is magnetic identical.Since same polarity is mutually repelled, such as Figure 11 (a)
It is shown, keep support block 152 protruding from storage tank 153, the support face 1521 of support block 152 is upward at this time, being capable of support
The charging tray being positioned above.When extraneous application pressure is more than the repulsive force between support block 152 and storage tank 153, such as Figure 11
(b) shown in, support block 153 is accommodated into storage tank 153, at this time the outer surface 1522 of support block 152 and supporting parts ontology 151
Outer surface 1511 is in same plane.
In addition, in conjunction with Fig. 5 (a) to Fig. 8, in the first specified location, in order to accurately define charging tray position, in first level
112 medial surface of frame, charging tray clamp assemblies the side opposite with first level frame 112 of interconnecting piece 141 on be respectively equipped with a left side
Right two arc-shaped limit parts 16, same level position is generally in when charging tray clamp assemblies 12 are dropped to first level frame 112
When setting, the first limit space that can match charging tray shape is collectively formed in this four arc-shaped limit parts 16.It is limited by four arcs
The charging tray jacked to the first designated position can be limited in first limit space by position part.Similarly, in the second horizontal frame
It is installed with across fixing piece 17 close to 111 region of trailing flank of frame on 113, it should be across fixing piece along the second horizontal frame 113
Length direction across being arranged on two sheths of the second horizontal frame 113,113 medial surface of the second horizontal frame, across
Also the two arc-shaped limit parts 16 in left and right, this four arcs are respectively equipped on the side opposite with the second horizontal frame 113 of fixing piece 17
The second limit space that can match charging tray shape is collectively formed in shape locating part 16.When charging tray is jacked to the second designated position,
Charging tray can be limited in second limit space by four arc-shaped limit parts.At the same time, in order to enable charging tray to stablize
Be accommodated in the second limit space, be also respectively equipped with unidirectionally in four arc-shaped limit part adjacent positions of the second limit space
Supporting parts, four unidirectional supporting parts collective effects by charging tray support above it.
In addition, in order to coordinate the first manipulator to pipette product, in the front side frame item of the first level frame 113 of frame 11
On towards the fixed horizontal stand 114 in the outside of frame 11, the first manipulator 1 is set on the horizontal stand 114.
Specifically, in conjunction with shown in Figure 12 to Figure 14, the first manipulator 3 includes 31 He of first mechanical arm being arranged in a mutually vertical manner
Second mechanical arm 32, and the first crawl section 33 for being arranged in second mechanical arm 32.Wherein, first mechanical arm 31 is fixedly installed
On the horizontal stand 114 of automatic hoisting mechanism 1, first mechanical arm 31 is equipped with the first slide unit 311, and second mechanical arm 32 passes through
First slide unit 311 is slidably connected with first mechanical arm 31, and second mechanical arm 32 (can be schemed along the length direction of first mechanical arm 31
Left and right directions in 1) move back and forth.Second mechanical arm 32 is equipped with the second slide unit 321, and the first crawl section 33 passes through the second slide unit
321 are slidably connected with second mechanical arm 32, and the first crawl section 33 can be along the length direction (i.e. in Fig. 1 of second mechanical arm 32
Upper and lower directions) move back and forth, so that the first crawl section can realize the crawl of any point position on horizontal plane.In the present embodiment
In, since the first manipulator finally needs product being transported on orientating and conveying mechanisms, first in the first manipulator grabs
Portion is taken to be arranged towards the direction of orientating and conveying mechanisms, to realize the function of the first manipulator.In addition, by the product to be pipetted
For touch screen panel, therefore the first crawl section uses vacuum slot, and the shifting of product is thus completed under the premise of not scratching product
It takes or transports.In fact, when the required product pipetted is other products, such as spherical product or the square products of Wear-resistant scratch-resistant flower
When, the first crawl section also can capture fixture with characteristic according to the shape of product using other common crawl structures, such as claw type
Deng.
In conjunction with shown in Fig. 1, Figure 15, charging tray 4 is arranged in automatic hoisting mechanism 1.Specifically, the charging tray 4 equipped with product is put
It is placed on the material conveying platform 132 of feeding material component 13, after the product in charging tray 4 is all pipetted by the first manipulator 3, makes charging tray 4
As empty charging tray 4, empty charging tray 4 is placed in the second limit space.Charging tray 4 in the present embodiment includes the grid knot of hollow out
Structure 41 and round rectangle frame 42 for enclosing the network, the charging tray for product (not shown) to be kept flat wherein,
It is pipetted for the first manipulator.Wherein, it is equipped with the supporting block 43 protruded out downwards at four fillets of round rectangle frame 42, leads to
Crossing these supporting blocks 43 can make to form certain gap between the round rectangle frame of neighbouring two stacked charging tray, to
Enable the effectively support charging tray 4 of unidirectional supporting parts 15 of automatic hoisting mechanism 1.Specifically, pass through in uphill process when charging tray
When unidirectional supporting parts, since the round rectangle frame of charging tray can cause to squeeze to the outwardly directed support block of unidirectional supporting parts, make
Support block is accommodated into the storage tank of unidirectional supporting parts.Unidirectional supporting parts are left when charging tray rises to lucky charging tray bottom, at this time
Unidirectional supporting parts are not affected by the influence of extraneous force, and support block is stretched out since same polarity is mutually repelled from storage tank, and is stretched out
Position is just in the gap between neighbouring two charging trays stacked, is achieved in holding to the charging tray above support block
Support acts on.
In the present embodiment, in conjunction with shown in Figure 16 to Figure 17, automatic insert rack mechanism 2 includes mechanism body 21, from mechanism master
The third slide unit 23 that 21 posterior region of body upwardly extends the holder 22 to be formed and is installed in mechanism body 21, conveying positioning
Mechanism 5 is arranged in mechanism body 21 close to the side of automatic hoisting mechanism, and the second manipulator 6 is arranged on holder 22, and rack 7 is logical
It crosses third slide unit 23 and is movably connected on mechanism body 21.
Specifically, in the present embodiment, orientating and conveying mechanisms 5 are set in mechanism body 21 region for leaning on left side edge, make
First crawl section 33 of the first manipulator 3 can capture product and move it on orientating and conveying mechanisms 5.In conjunction with Figure 16 to Figure 17
Shown, orientating and conveying mechanisms 5 include that angle 53 is leaned in transfer assembly 51, positioning cylinder 52 and positioning.Wherein, transfer assembly 51 includes solid
The fixed conveyer belt that the fixed pulley for leaning on left border region is arranged in mechanism body 21 and is combined with fixed pulley matching (is schemed not
Show), which is used to transmit the product placed on a moving belt, the length direction of transfer assembly 51 and the first manipulator
Second mechanical arm 32 in 3 is parallel, so that the crawl section 23 of the first manipulator 3 can smoothly pipette product to conveyer belt.
Positioning cylinder 52 and positioning are provided close to by angle 53 in the region on rear side of transfer assembly 51, wherein positioning cylinder 52 and transmission group
The fixed pulley of 51 rear side of part is connected, the control for carrying out start and stop to the movement of transfer assembly.Specifically in positioning cylinder 52
On be additionally provided with the sensor being electrically connected with positioning cylinder, positioning cylinder 52 is controlled the startup of transfer assembly and is stopped by sensor
Only, when the product on transfer assembly is transported to the tail end of transfer assembly, transfer assembly is automatically stopped work.53, angle is leaned in positioning
In the right side of transfer assembly 51, and positioning is controlled by angle 53 by actuating unit, enables positioning by angle along perpendicular to transmission group
Part length direction moves back and forth, for limiting and correcting the product space on transfer assembly.
In the present embodiment, holder 22 be upwardly extended from the rear vertical of mechanism body 21 to be formed across mechanism body
21 holder.In conjunction with shown in Figure 16 and Figure 18, the second manipulator 6 includes orthogonal third mechanical arm 61, the 4th mechanical arm
62 and it is arranged in the second crawl section 63 of 62 bottom of the 4th mechanical arm and fibre optical sensor 64.Wherein, 61 edge of third mechanical arm
Horizontal direction is installed on holder 22, and the 4th slide unit is equipped on third mechanical arm 61, and the 4th mechanical arm 62 passes through the 4th slide unit
It is slidably connected with third mechanical arm 61, the 4th mechanical arm 62 is enable to be moved horizontally along the length direction of third mechanical arm 61.This
Outside, the lifting interconnecting piece moved relative to the 4th mechanical arm is additionally provided on the 4th mechanical arm 62, wherein lifting interconnecting piece passes through
Actuating unit drive can carry out lifting moving, and the lower end for lifting interconnecting piece is connected by rotation axis and the rotation of the second crawl section 63
It connects, the lifting moving of the second crawl section 63 is driven from there through the lifting moving of lifting interconnecting piece.In addition, in the present embodiment
Two crawl sections 63 can carry out 90 ° of rotations around rotation axis, and the second crawl section 63 is enable to carry out pipetting the behaviour of product downwards
Make, also can face forward pipette the operation of product.The second crawl section 63 in the present embodiment include rotary cylinder and
The vacuum slot being connected with the rotary cylinder makes vacuum slot realize 90 ° of rotations by rotary cylinder.Fibre optical sensor 64 is solid
It is located on the 4th mechanical arm 62, the position for being vertically inserted into product for incuding the second crawl section 63.
In the present embodiment, product is primarily referred to as being used as the touch screen panel of smart mobile phone or tablet computer screen, rack 7
It is the rack for vertically plugging touch screen panel.In conjunction with shown in Figure 16, Figure 19 and Figure 20, in third slide unit 23 in the present embodiment
On set there are two the identical rack of structure, which is fixed in a rectangle rack frame.Any rack 7 is by the first sheet frame
71, the second sheet frame 72, third sheet frame 73 and the 4th sheet frame 74 are enclosed jointly, and close to sheet frame lower edge inside each sheet frame
Place is respectively equipped with reinforcing strip 76, the overall structure for reinforcing rack.The rack 7 further includes that length extends (i.e. along the longitudinal direction
Vertically extended in Figure 20) and both ends be connected to the first positioning strip 751 of the first sheet frame 71 and third sheet frame 73,
Two positioning strips 752, third positioning strip 754, the 4th positioning strip 754, the 5th positioning strip 755 and the 6th positioning strip 756, above-mentioned six
Positioning strip is serrate structure to be set in a side, and six positioning strips are mutually parallel.
Wherein, the first positioning strip 751 and the second positioning strip 752 are located in the top area of rack 7, and spaced apart
Setting.The sawtooth of first positioning strip 751, the sawtooth of the second positioning strip 752 are opposite and set and towards 7 inside (i.e. first of rack
The sawtooth of positioning strip 751 is towards the right side in Figure 20, and the sawtooth of the second positioning strip 752 is towards the left side in Figure 20), the first positioning
The sawtooth of item and the sawtooth size of the second positioning strip, shape, position are mutually corresponding, to make to be formed for fixing therebetween
The card slot of product is placed, it can product of the fixed placement in card slot in the lateral direction.Third positioning strip 753 is located at rack 7
It in bottom section, and sees (i.e. seen towards paper outwardly direction in Figure 20) from vertical direction, it is fixed that third positioning strip 753 is located at first
The centre of position item 751 and the second positioning strip 752.The sawtooth of third positioning strip 753 open up upward vertically (i.e. in Figure 20 towards paper to
Outside), formed for fixes placement product card slot, can on front-rear direction (i.e. in Figure 20 along the vertical direction) fixed placement in card
Product in slot.In conjunction with the effect of above-mentioned first positioning strip and the second positioning strip so that product is securely inserted into rack 7
In.Similarly, the structure of the 4th positioning strip 754, the 5th positioning strip 755 and the 6th positioning strip 756 and installation position also respectively with
First positioning strip 751, the second positioning strip 752, third positioning strip 753 are identical, therefore repeat no more.
In addition, in order to the distance between each positioning strip of flexible modulation, in the present embodiment, the upside of the first sheet frame 71
Towards 7 internal bend of rack, simultaneously horizontal extension is formed with apart from adjustable plate 711 at edge, is opened up being spaced on adjustable plate 711
There are four strip trepanning 712, the position of this four strip trepannings 712 corresponds respectively to the positioning of the first positioning strip 751, second
Article the 752, the 4th positioning strip 753 and the 5th positioning strip 754.Now illustrate the first positioning strip by taking the first positioning strip as an example and apart from adjusting
Structural relation between plate and regulative mode, other positioning strips and the structural relation between adjustable plate are also with regulative mode
Identical, so it will not be repeated.One end that first positioning strip 751 is connected with the first sheet frame 71 is set to apart from 711 lower section of adjustable plate,
The end of first positioning strip 751 is equipped with threaded hole, and the position of threaded hole exactly corresponds to 712 lower section of strip trepanning, spiral shell
Bolt (not shown) can be threadedly coupled after passing through strip trepanning with the threaded hole of the first positioning strip, to make the first positioning
Item is fixedly connected with the first sheet frame.It is understood that the upper edge in third sheet frame extends towards rack internal bend
It is formed with apart from adjustable plate, and is fixedly connected also by screw connection manner between the first positioning strip and third sheet frame.When needing to adjust
When spacing between the first positioning strip and other positioning strips, it need to only looser a bolt, bolt is taken out from threaded hole, you can adjust
The adjusting of spacing between different positioning strips is finally realized in the position of first positioning strip.
In addition, in the present embodiment, in addition to being equipped with strip trepanning on adjustable plate, it is additionally provided with several independent small circles
Shape trepanning, these round holes can be equally used for adjusting the spacing between different positioning strips.
The device for shifting rack automatically for product of the present embodiment, the course of work generally comprise two processes：It will production
Process that product take out from charging tray and the process that product is inserted into rack.
The process that product is taken out from charging tray is specific as follows：
First, several charging trays 4 equipped with product are placed in the feeding material component 13 of automatic hoisting mechanism 1, are driven in work
Under the driving of motivation structure, feeding material component 13 moves from the bottom to top, and the charging tray 4 until that will be located at 13 the top of feeding material component jacks extremely
First designated position (is substantially jacked to 112 location of first level frame), and charging tray is fixed in the first limit at this time
In space；Secondly, the second mechanical arm 32 of the first manipulator 3 is moved to product position, the first crawl according to movement locus
Product is sucked the vacuum slot in portion 33, and product is moved according still further to another movement locus in second mechanical arm 32 and the first crawl section 33
It send to orientating and conveying mechanisms 5, thus completes the process for taking out product from charging tray.
In addition, after all over products is transferred to orientating and conveying mechanisms 5 by the first manipulator 3, it is located at feeding material component 13 most
The charging tray 4 of top becomes empty charging tray 4, at this time can be into the process for being about to the empty recycling of charging tray 4.Specifically, in task driven machine
Under the driving of structure, the charging tray clamp assemblies 14 in the first elevating mechanism 1 drop to the first specified location, make to be located at charging tray clamping
The unidirectional supporting parts 15 of the inside of component 14 are located just at empty charging tray 4 and below in the gaps between charging tray, unidirectional to make
Support block in supporting parts 15 is stretched out because same polarity mutually repels from storage tank, and thus unidirectional supporting parts are by empty charging tray support
It rises.After charging tray lifts up, charging tray clamp assemblies 14 are ramped up from the first designated position, until jacking to the second designated position
Place makes empty charging tray 4 be located in the second limit space, and the charging tray 4 of sky is made to be located at the unidirectional supporting parts of second limit space
Top, to make unidirectional supporting parts support live empty charging tray, in the second limit space and corresponding unidirectional supporting parts collective effect
Under, so that empty charging tray is deposited in second limit space and above unidirectional supporting parts.
The process that product is inserted into rack is specific as follows：
After product is transferred on orientating and conveying mechanisms 5, first, under the driving of task driven mechanism, conveying positioning
Product is delivered to the tail end of transfer assembly by mechanism 5, and transfer assembly stops transmission work, and the second manipulator 6 is according to movement at this time
Track is moved to corresponding to product position, and the second crawl section 63 on the second manipulator 6 turns to lower section, makes the second crawl section
63 vacuum slot faces product, and lifting interconnecting piece 66 declines, the vacuum slot adsorption production of the second crawl section 63, after absorption,
Interconnecting piece 66 is lifted to rise；Then, the 4th mechanical arm 62 of the second manipulator 6 is moved to rack corresponding position according to movement locus
Place, the second crawl section 63 carry out 90 ° of rotations, make product face forward, lifting interconnecting piece 66 declines, according to the sense of fibre optical sensor
It answers position, the second crawl section 63 to be inserted into product in the rack of corresponding position, thus completes the process that product is inserted into rack.
Repeat the process and the process that product is inserted into rack that product takes out from charging tray, until all products from
It is transferred in rack in charging tray, realizes that product shifts the purpose of rack automatically.
Each parts in system are driven in addition, the prior art can be used in the task driven mechanism in the present embodiment
Dynamic control, this is no longer going to repeat them.
Embodiment three
The present embodiment is different from the structure for differing only in unidirectional supporting parts of embodiment two, specifically：In support block
No longer embedded magnet in the surface of inner surface and storage tank, but be arranged between the inner surface of support block and the surface of storage tank
The spring that can restore deformation makes elastic connection between support block and storage tank.In the case of there is no extraneous application pressure, due to
The elasticity of spring keeps support block protruding from storage tank, and the support of support block faces upward at this time, can support it is disposed thereon
The charging tray of side.When extraneous application pressure is more than the elastic force between support block and storage tank, support block is accommodated into storage tank, this
When support block outer surface and supporting parts ontology outer surface in same plane.
Claims (18)
1. a kind of device shifting rack automatically for product, it is characterised in that：Including automatic hoisting mechanism and automatic insert rack machine
Structure, described device further include the first manipulator being arranged on the automatic hoisting mechanism, overlay the automatic hoisting mechanism
In charging tray, and the orientating and conveying mechanisms, the second manipulator and the rack that are respectively and independently arranged in the automatic insert rack mechanism,
Described device further include respectively with the automatic hoisting mechanism, the automatic insert rack mechanism, first manipulator, the conveying
The task driven mechanism that detent mechanism, second manipulator are electrically connected, wherein：
The automatic hoisting mechanism is used to that the charging tray equipped with product to be pressed first under the driving of the task driven mechanism
Desired guiding trajectory is jacked to the first designated position；First manipulator under the driving of the task driven mechanism for that will be located at
Product in the charging tray of first specified location is put by the shifting of the second desired guiding trajectory to the orientating and conveying mechanisms front end；
The orientating and conveying mechanisms by the product under the driving of the task driven mechanism for being delivered to the conveying localization machine
Structure rear end；Second manipulator under the driving of the task driven mechanism for that will be located at the orientating and conveying mechanisms rear end
Product be inserted into the rack by third desired guiding trajectory；
The automatic hoisting mechanism includes frame, fixed lifting shaft on said frame and is respectively provided on the lifting shaft
Feeding material component and charging tray clamp assemblies, the task driven mechanism respectively with the feeding material component, the charging tray clamp assemblies
It is electrically connected, the feeding material component, the charging tray clamp assemblies is made to be respectively relative to the lifting shaft movement；
Unidirectional supporting parts are equipped on the charging tray clamp assemblies, the unidirectional supporting parts include supporting parts ontology and relative to institute
The support block of supporting parts ontology flexible connection is stated, the supporting parts ontology is formed with size towards therein recess and is held with described
The matched storage tank of tray makes the support block from protruding in the storage tank or be housed in the storage tank.
2. the apparatus according to claim 1, it is characterised in that：In the charging tray of first specified location
Product is put by all shiftings to the front end of the orientating and conveying mechanisms, and the charging tray becomes the empty charging tray, the automatic liter
Descending mechanism is additionally operable under the driving of the task driven mechanism by the shifting of the 4th desired guiding trajectory put the empty charging tray to second
Designated position.
3. the apparatus of claim 2, it is characterised in that：The frame is enclosed by several sheths, from described
First level frame is extended to form in the middle part of the trailing flank of frame forward in the horizontal direction, the first level frame corresponds to institute
The first designated position is stated, the second horizontal frame, institute have been extended to form forward in the horizontal direction from the trailing flank top of the frame
It states the second horizontal frame and corresponds to second designated position.
4. the apparatus according to claim 1, it is characterised in that：The lifting shaft includes independently being installed in the frame
On the first lifting shaft, the second lifting shaft and third lifting shaft, wherein the short transverse along the frame sees, described first liter
Drop axle position is respectively positioned in the middle and lower part of the frame, second lifting shaft and the third lifting shaft in the frame
Portion；Length direction along the frame sees that first lifting shaft is located at the centre of the frame, second lifting shaft and institute
State the left and right side that third lifting shaft is located at the frame.
5. device according to claim 4, it is characterised in that：First lifting shaft is equipped with the first sliding rail, passes through institute
Stating the first sliding rail makes the feeding material component be arranged on first lifting shaft；Second lifting shaft and the third lifting shaft
On be respectively equipped with the second sliding rail and third sliding rail, the charging tray clamp assemblies are made by second sliding rail and the third sliding rail
It is arranged on second lifting shaft and the third lifting shaft.
6. device according to claim 5, it is characterised in that：The feeding material component includes support portion and material conveying platform, institute
The one end for stating support portion is movably connected on first lifting shaft by first sliding rail, makes the support portion along described first
The axial direction of lifting shaft moves up and down, and the other end of the support portion is free end；The material conveying platform is horizontal panel, and described
Material conveying platform is vertically located on the support portion, is equipped on the material conveying platform vertically through the logical of the material conveying platform
Gas port raises up from the edge of the material conveying platform and has extended to form limited block.
7. device according to claim 5, it is characterised in that：The charging tray clamp assemblies include interconnecting piece and clamping limb,
The interconnecting piece is string configuration, and the interconnecting piece is slided by described second respectively along the both ends that length direction extends
Rail, the third sliding rail are movably connected on second lifting shaft, the third lifting shaft, make the interconnecting piece along described second
The axial direction of lifting shaft and the third lifting shaft moves up and down；The clamping limb is installed in the interconnecting piece along length respectively
At the both ends that direction extends, and forward extended out in the horizontal direction along the both ends that length direction extends from the interconnecting piece.
8. device according to claim 3, it is characterised in that：Medial surface, the charging tray folder of the first level frame
The medial surface for holding the interconnecting piece of component is respectively equipped with locating part, when the charging tray clamp assemblies drop to and the first level frame
When frame is generally in the same horizontal position, the locating part on the medial surface of the first level frame and the charging tray clamp assemblies
Interconnecting piece medial surface on locating part it is opposite and set, the first limit space, first limit is collectively formed in the locating part
Space is used to limit the spatial position of the charging tray in the horizontal position of the first level frame.
9. device according to claim 3, it is characterised in that：On second horizontal frame after the frame
Lateral side regions are installed with across fixing piece, it is described across fixing piece along the second horizontal frame length direction across be arranged in institute
State on two sheths of the second horizontal frame, the medial surface across fixing piece, second horizontal frame medial surface
It is respectively equipped with locating part, and on the locating part on the medial surface of second horizontal frame and the medial surface across fixing piece
Locating part it is opposite and set, the locating part is collectively formed the second limit space, and second limit space is used for described the
The horizontal position of two horizontal frames limits the spatial position of the charging tray.
10. device according to claim 7, it is characterised in that：The unidirectional supporting parts are set to the charging tray clamp assemblies
Clamping limb on, when the support block is protruding from the storage tank, the support of the support block faces upward, the support
When block is housed in the storage tank, the outer surface of the support block is in same plane with the supporting parts body outer surface.
11. device according to claim 10, it is characterised in that：The surface of the storage tank, the support block interior table
It is embedded with magnet in face, and is embedded in the magnet on the surface of the storage tank and is embedded in the magnet of the support block inner surface
The opposite magnetic pole of the two is magnetic identical；Alternatively, being set between the surface of the storage tank and the inner surface of the support block
The spring of deformation can be restored by having, and make elastic connection between the storage tank and the support block.
12. according to claim 1 to 11 any one of them device, it is characterised in that：Towards outside the frame on the frame
Portion is installed with horizontal stand, and first manipulator is set on the horizontal stand, and first manipulator includes mutually hanging down
The first mechanical arm and second mechanical arm that are directly arranged and the first crawl section being arranged in the second mechanical arm；Wherein, institute
It states first mechanical arm to be fixed on the horizontal stand, the second mechanical arm connects relative to the first mechanical arm activity
It connects, first crawl section is connected relative to second mechanical activity.
13. according to claim 1 to 11 any one of them device, it is characterised in that：The charging tray includes the grid knot of hollow out
Structure and frame for enclosing the network, the frame protrude out downwards equipped with supporting block, are made by the supporting block
Gap is formed between the frame of two charging trays of lower adjacent one another.
14. according to claim 1 to 11 any one of them device, it is characterised in that：The automatic insert rack mechanism includes mechanism
Main body, the third for upwardly extending the holder to be formed from the mechanism body posterior region and being installed in the mechanism body
Slide unit, the orientating and conveying mechanisms are arranged in the mechanism body close to the side of the automatic hoisting mechanism, second machine
Tool hand is arranged on the bracket, and the rack is movably connected on the mechanism body by the third slide unit.
15. device according to claim 14, it is characterised in that：Second manipulator includes orthogonal third machine
Tool arm, the 4th mechanical arm and it is arranged in the second crawl section of the 4th mechanical arm bottom, the third mechanical arm is installed in
On the holder of the automatic insert rack mechanism, the 4th mechanical arm is flexibly connected relative to the third mechanical arm, and described second
Crawl section is flexibly connected relative to the 4th mechanical arm.
16. device according to claim 15, it is characterised in that：Second manipulator further includes being arranged the described 4th
Fibre optical sensor on mechanical arm.
17. device according to claim 14, it is characterised in that：The rack is enclosed by several sheet frames, and described
Several positioning strips for the third slide unit length direction for being parallel to the automatic insert rack mechanism, the positioning strip both ends are equipped in rack
It is connected between two sheet frames set relatively.
18. device according to claim 17, it is characterised in that：The sheet frame of the positioning strip is connected with along own edges court
It is formed with to the rack internal bend horizontal extension apart from adjustable plate, several open is equipped in described be spaced apart on adjustable plate
The position in hole, the trepanning corresponds respectively to the positioning strip.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610613391.3A CN106081623B (en) | 2016-07-28 | 2016-07-28 | Shift the device of rack automatically for product |
| PCT/CN2016/101010 WO2018018750A1 (en) | 2016-07-28 | 2016-09-30 | Device for automatic product transfer rack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610613391.3A CN106081623B (en) | 2016-07-28 | 2016-07-28 | Shift the device of rack automatically for product |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106081623A CN106081623A (en) | 2016-11-09 |
| CN106081623B true CN106081623B (en) | 2018-09-28 |
Family
ID=57479428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610613391.3A Active CN106081623B (en) | 2016-07-28 | 2016-07-28 | Shift the device of rack automatically for product |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106081623B (en) |
| WO (1) | WO2018018750A1 (en) |
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- 2016-07-28 CN CN201610613391.3A patent/CN106081623B/en active Active
- 2016-09-30 WO PCT/CN2016/101010 patent/WO2018018750A1/en active Application Filing
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| WO2018018750A1 (en) | 2018-02-01 |
| CN106081623A (en) | 2016-11-09 |
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