CN109650117A - A kind of flexible material handling equipment - Google Patents
A kind of flexible material handling equipment Download PDFInfo
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- CN109650117A CN109650117A CN201811485368.6A CN201811485368A CN109650117A CN 109650117 A CN109650117 A CN 109650117A CN 201811485368 A CN201811485368 A CN 201811485368A CN 109650117 A CN109650117 A CN 109650117A
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- material box
- flexible material
- box
- lock tongue
- feeding
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- 239000000463 material Substances 0.000 title claims abstract description 311
- 230000007246 mechanism Effects 0.000 claims abstract description 133
- 230000003028 elevating effect Effects 0.000 claims abstract description 41
- 230000007723 transport mechanism Effects 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract description 5
- 238000004064 recycling Methods 0.000 claims description 40
- 230000007423 decrease Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 8
- 230000005571 horizontal transmission Effects 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 239000012528 membrane Substances 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 9
- 239000000446 fuel Substances 0.000 description 7
- 210000004027 cell Anatomy 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000003054 catalyst Substances 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000005865 ionizing radiation Effects 0.000 description 2
- 238000011112 process operation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 229920000557 Nafion® Polymers 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 210000000170 cell membrane Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/04—Feeding articles separated from piles; Feeding articles to machines by movable tables or carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The present invention relates to a kind of flexible material handling equipments, including mainframe, ion wind stick, feeding mechanism, recovering mechanism, transport mechanism, manipulator and master control set, flexible material to be contained in material box, and manipulator is the frock clamp with electrostatic chuck；Transport mechanism is provided on the both side plate inner sidewall of mainframe, feeding mechanism and recovering mechanism are located above transport mechanism front end, and ion wind stick and manipulator are set on the end of transport mechanism；Feeding mechanism includes elevating mechanism, push jack cylinder and baffle, and the installation of baffle horizontal direction is symmetrically disposed on material box two sides, and two side lower part of material box is equipped with the notch being inserted into for baffle；Recovering mechanism includes elevating mechanism and lock tongue, and lock tongue is to be symmetrically disposed on material box down either side, and to press indented style, extension lower part is smooth bevel, upper surface level.The present apparatus can better meet the characteristics such as frivolous, the frangible, easy damaged of flexible material, be conducive to improve flexible material loading and unloading process safety and working efficiency.
Description
Technical field
The present invention relates to automated fuel cell production field, especially a kind of flexible material handling equipment.
Background technique
Fuel cell is a kind of device that chemical energy is directly translated into electric energy, since its is high-efficient, zero-emission, starting temperature
It spends low, can be widely used in every field.Wherein membrane electrode is the core component of Proton Exchange Membrane Fuel Cells, to cell performance
Key effect can be played.It not only has barrier action, also has the function of proton conducting.In the prior art, membrane electrode
Several carbon fiber paper electrodes for being coated with Nafion solution and Pt catalyst are respectively placed in preparation process pretreated
Proton exchange membrane two sides make catalyst close to proton exchange membrane, are pressed into certain temperature and pressure lower die.
Membrane electrode belongs to flexible material, and the membrane electrode made is not easy to store, and material is frivolous frangible, gives producing line operation of feeding and discharging
Bring difficulty.Membrane electrode and associated component and battery pole plates material are different, and production built-in unit cannot directly and membrane electrode
Ontology is contacted, and otherwise membrane electrode is easily caused to damage.Currently, fuel cell dress heap operation is completed by manual work
, staff wears gloves membrane electrode of taking and stacks, it is easy to which the damage for causing membrane electrode not can guarantee each fuel electricity
The consistency of pond Performance data, influences fuel battery performance.Also, due to being manual operation, production work efficiency is low, error
Rate is high.
Flexible material is related to that field is more, and application range is wider, in addition to fuel cell membrane electrode, further include cloth, carbon paper,
Film etc..With popularizing for automated production, the demand to flexible material is introduced production line processing is further strong, but at present also
Not specifically for the handling equipment of flexible material.
Summary of the invention
Against the above deficiency, the present invention provides a kind of flexible material handling equipments, specifically for the spy of flexible material
Point and design, the characteristics such as frivolous, the frangible, easy damaged of flexible material can be better meet, be conducive to raising flexible material feeding and
Safety and loading and unloading working efficiency in blanking process.
The technical solution of the present invention is as follows:
A kind of flexible material handling equipment, including mainframe, ion wind stick, feeding mechanism, recovering mechanism, conveyer
Structure, manipulator and master control set, the flexible material are contained in material box, transmitted on handling equipment with material box,
And picked and placed from material box by manipulator, the manipulator is the frock clamp with electrostatic chuck；
Be provided with transport mechanism on the both side plate inner sidewall of the mainframe, for by material box horizontally forward or back kick
It is defeated；The feeding mechanism is fixed on above the front end of transport mechanism, and the recovering mechanism is located at feeding mechanism rear and conveyer
Above structure, the ion wind stick is fixed on the end of transport mechanism, and the manipulator picks and places soft above the end of transport mechanism
Property material；
The feeding mechanism includes feeding elevating mechanism, push jack cylinder and baffle, and the feeding elevating mechanism is set to master
Immediately below machine frame inside, material box, the baffle horizontal direction installation controls it by push jack cylinder and stretches, baffle is symmetrical arranged
In material box two sides, two side lower part of material box is equipped with the notch being inserted into for baffle, the feeding elevating mechanism and push jack gas
Cylinder cooperates, and material box is successively sent to transport mechanism by feeding mechanism；
The recovering mechanism includes recycling elevating mechanism and lock tongue, the recycling elevating mechanism is set to inside mainframe,
Immediately below material box, the lock tongue is pressing indented style, and extension lower part is smooth bevel, upper surface level, lock tongue pair
Title is set to material box down either side, and the recycling elevating mechanism and lock tongue cooperate, material box transmitted by transport mechanism
To recovering mechanism；
The manipulator, feeding mechanism, recovering mechanism, transport mechanism are connected with master control set, realize flexible material
Automatic loading/unloading.
It further include testing agency, the testing agency includes the first photosensitive sensor, the second photosensitive sensor and third light
Dependent sensor, the feeding mechanism and recovering mechanism are respectively provided with the fixed rotary shafts and recycling machine for stacking material box
Frame, first photosensitive sensor are set to rotary shafts middle and lower part, and the second photosensitive sensor is set to recycling rack middle and upper part, third
Photosensitive sensor is set to mainframe at ion wind stick；The testing agency is connected with master control set, the signal that will test
It is transmitted to master control set.
The feeding mechanism is equipped with vertical limit plate, and material box side corresponding position is equipped with corresponding
Limit slot.
The material box upper surface is equipped with several positioning pins, and lower surface corresponding position is equipped with several location holes.
The feeding elevating mechanism is identical with the recycling structure of elevating mechanism, includes fixed frame, lifting motor, electronic stretches
Contracting bar, lifter plate and lifting guide pillar, the fixed frame are mounted on inside mainframe, and lifting motor is vertically installed on fixed frame,
Lifting motor upper end is equipped with electric telescopic rod, and lifter plate is mounted at the top of electric telescopic rod, and lifter plate lower surface is equipped with several liters
Guide post is dropped, offers the lift span passed through for lifting guide pillar on fixed frame.
The transport mechanism includes driving motor, drive pulley, transmission shaft and conveyer belt, and the driving motor is mounted on one
On the mainframe of side, the drive pulley is symmetrically disposed on mainframe side plate interior sides, and driving motor drives the drive pulley of side
Rotation, the drive pulley of two sides is realized by transmission shaft to be rotated synchronously, and conveyer belt is mounted on drive pulley, by drive pulley band
Dynamic transmission.
The manipulator is equipped with color and shows sensor, for detect in material box whether flexible material.
If being placed with dry plate flexible material in each material box.
A kind of flexible material feeding process, comprising the following steps:
S1: under original state, the baffle of feeding mechanism is stretching state；
S2: manually the material box by a certain number of equipped with flexible material stacks the rotary shafts for being placed in feeding mechanism
Interior, material box is erected on the baffle of stretching；
S3: lifter plate is raised up to the material box stopping for touching the bottom by the lifting motor starting of feeding elevating mechanism；
S4: the push jack cylinder control baffle of two sides is retracted to not contactant magazine；
S5: the height that lifting motor drives the decline of bottom material box to be equivalent to a material box stops；
S6: the push jack cylinder control baffle of two sides stretches out, and is inserted into the notch of penultimate material box；
S7: lifting motor drives bottom material box to continue to decline, until material box is fallen on conveyer belt；
S8: driving motor starting drives material box to come close to ion wind stick position；
S9: third photosensitive sensor detects that material box signal, driving motor stop；
S10: the starting of ion wind stick, blowout have the air mass of positive and negative charge, eliminate electrostatic entrained by flexible material；
S11: mechanical hand starting successively takes out flexible material from material box；
S12: the color on manipulator shows sensor and detects that material box is empty；
S13: driving motor reversion drives empty material box to come below the region of recovering mechanism；
S14: the lifting motor starting of elevating mechanism is recycled, lifter plate is raised up to and touches material box；
S15: lifting motor drives material box to be detached from conveyer belt, continue to rise, by material box edge pressing lock when lock tongue
Tongue makes its retraction, reaches lock tongue when above lock tongue and resets and stretches out, this material box becomes bottom material box in recycling rack, and
It is stacked in the plane of lock tongue upper surface；
S16: repeating step S3-S15, and the material box of feeding mechanism is successively sent to manipulator, and manipulator takes out flexible object
Material, empty material box return recovering mechanism；The first photosensitive sensor detects signal therebetween, issues alarm, manually will be certain
The full material box of quantity adds in rotary shafts；Second photosensitive sensor detects signal, issues alarm, manually by sky
Material box is taken away out of recycling rack.
A kind of flexible material blanking process, comprising the following steps:
S1: under original state, the baffle of feeding mechanism is stretching state；
S2: manually the material box stacking of a certain number of skies is placed in the rotary shafts of feeding mechanism, material box frame
It is located on the baffle of stretching；
S3: lifter plate is raised up to the material box stopping for touching the bottom by the lifting motor starting of feeding elevating mechanism；
S4: the push jack cylinder control baffle of two sides is retracted to not contactant magazine；
S5: the height that lifting motor drives the decline of bottom material box to be equivalent to a material box stops；
S6: the push jack cylinder control baffle of two sides stretches out, and is inserted into the notch of penultimate material box；
S7: lifting motor drives bottom material box to continue to decline, until material box is fallen on conveyer belt；
S8: driving motor starting drives material box to come close to ion wind stick position；
S9: third photosensitive sensor detects that material box signal, driving motor stop；
S10: flexible material is sequentially placed into material box by mechanical hand starting, until being put into a certain number of flexible materials；
S11: driving motor reversion drives full material box to come below the region of recovering mechanism；
S12: the lifting motor starting of elevating mechanism is recycled, lifter plate is raised up to and touches material box；
S13: lifting motor drives material box to be detached from conveyer belt, continue to rise, by material box edge pressing lock when lock tongue
Tongue makes its retraction, reaches lock tongue when above lock tongue and resets and stretches out, this material box becomes bottom material box in recycling rack, and
It is stacked in the plane of lock tongue upper surface；
S14: repeating step S3-S13, and the material box of feeding mechanism is successively sent to manipulator, and manipulator is put into flexible object
Material, full material box return recovering mechanism；The first photosensitive sensor detects signal therebetween, issues alarm, manually will be certain
The empty material box of quantity adds in rotary shafts；Second photosensitive sensor detects signal, issues alarm, manually will be full
Material box is taken away out of recycling rack.
The present invention contains the material box of flexible material, and the frock clamp by being provided with electrostatic chuck by setting
Flexible material is clamped and is put back to, extruding, the collision that flexible material is subject in transmit process are minimized.Material
Box carries out vertical lift and horizontal transport in handling equipment, and handling equipment is equipped with feeding mechanism, recovering mechanism and transmission
Mechanism, be respectively used to for material box to be from top to bottom sent to conveyer belt, from the front to the back level be sent to below manipulator, will from the bottom to top
It is detached from conveyer belt and solves flexible material in automated production to realize the loading and unloading process of material box (i.e. flexible material)
More difficult the problems such as taking, storing during line loading and unloading.
Flexible material handling equipment of the invention has the advantage that
Material box can once store multiple flexible materials, accelerate flexible material loading and unloading speed.Ion wind stick can produce greatly
The air mass with positive and negative charge is measured, entrained positive and negative charge on the flexible material in its ionizing radiation area can be neutralized, be reached
To the purpose for eliminating electrostatic, therefore the manipulator with electrostatic chuck can carry out loading or unloading operation to flexible material.
Feeding elevating mechanism and push jack cylinder match, and realize that material box from top to bottom enters conveyer belt.Recycle elevator
Structure and lock tongue match, and realize that material box is detached from conveyer belt from the bottom to top.It can be by adjusting each rise/fall of lifting motor
Highly, the parameters such as rise/fall speed, push jack cylinder interval, reach and material box height are adjusted flexibly, and control is up and down
The purpose of speed is expected, to be suitable for the flexible material production and processing of unlike material, process velocity.
Driving motor and third photosensitive sensor match, and the manipulator after realizing material box horizontal transmission in place takes automatically
It puts, the color on manipulator shows sensor, realizes the auto-reverse operation of driving motor after feeding.It can be by adjusting transmission electricity
Range ability, speed of service of machine etc. change the length and loading and unloading speed of handling equipment, to adapt to actual production field
Layout scenarios.
First photosensitive sensor and the second photosensitive sensor are respectively used to magazine decline and recycling in perception feeding mechanism
Magazine in mechanism rises, and reminds field personnel that magazine is replenished in time and takes magazine away.
Handling equipment be equipped with computer master control set, according to computer set PLC program automatic running, complete loading and unloading and
Each process operations.Computer master control set is equipped with human-computer interaction interface, can manually set to the parameters in operation program
It sets and adjusts, and the operation such as starting, pause, stopping is executed to device.
This handling equipment structure is simple, and occupied area is small, improves production efficiency.
Detailed description of the invention
Fig. 1 is flexible material handling equipment perspective view of the present invention；
Fig. 2 is flexible material handling equipment left view of the present invention；
Fig. 3 is feeding mechanism partial enlarged view of the present invention；
Fig. 4 is recovering mechanism partial enlarged view of the present invention；
Fig. 5 is transport mechanism partial enlarged view of the present invention；
Fig. 6 is the position enlarged drawing of the first photosensitive sensor and the second photosensitive sensor of the invention；
Fig. 7 is the position enlarged drawing of third photosensitive sensor of the present invention.
Specific embodiment
It is described further below with reference to technical effect of the attached drawing to design of the invention, specific structure and generation, with
It is fully understood from the purpose of the present invention, feature and effect.
With reference to Fig. 1, flexible material handling equipment of the invention, including mainframe 10, ion wind stick 11, feeding mechanism
20, recovering mechanism 30, transport mechanism 40, manipulator (not shown) and master control set (not shown), flexible material 51 are contained in
In material box 50, transmits on handling equipment with material box 50 and picked and placed from material box 50 by manipulator, manipulator is
Frock clamp with electrostatic chuck avoids causing to damage to flexible material to adapt to the physical characteristic that flexible material is frivolous, frangible
It is bad.
Be provided with transport mechanism 40 on 12 inner sidewall of both side plate of mainframe 10, for by material box 50 horizontally forward or to
After transmit.Feeding mechanism 20 is fixed on above the front end of transport mechanism 40, and recovering mechanism 30 is located at 20 rear of feeding mechanism and biography
Send mechanism 40 top, ion wind stick 11 is fixed on the end of transport mechanism 40, and manipulator takes above the end of transport mechanism 40
Put flexible material 51；
Feeding mechanism 20 and recovering mechanism 30 are respectively provided with the fixed rotary shafts 24 for stacking material box 51 and recycling
Rack 33, rotary shafts 24 and recycling rack 33 are vertical stand, are surrounded on 50 edge of material box.In the initial shape of equipment operation
Under state, need will manually to fill flexible material 51 (or empty) material box 50 and be put into cradle 24, in order to material box 50 into
Line direction positioning, feeding mechanism 20 are additionally provided with vertical limit plate 25, and 50 side corresponding position of material box is equipped with inserts with limit
The corresponding limit slot 53 of plate 25.Since material box 50 needs constantly to stack certain altitude upwards, being easy to produce edge can not
The situation of alignment.Therefore, several made of metal positioning pins 54 are set in 50 upper surface of material box, lower surface corresponding position is equipped with several
Location hole (not shown).The positioning pin 54 of each 50 upper surface of material box is inserted into the location hole of a material box 50, makes material
Box 50 is neatly packed when stacking, and is convenient for subsequent descending operation.
If being placed with dry plate flexible material 51 in each material box 50.Since flexible material 51 is easy to glue by electrostatic influence
Even, manipulator is easy together to take up following flexible material 51 when drawing the flexible material 51 of top layer, therefore is transmitting
Ion wind stick 11 is arranged in 40 end of mechanism, and manipulator is disappeared the electrostatic on 51 surface of flexible material by ion wind stick 11 before drawing
It removes.Ion wind stick 11 can produce a large amount of air mass for having positive and negative charge, can will be on object in ionizing radiation area in the charge of institute's band
With, achieve the purpose that eliminate electrostatic.
With reference to Fig. 1 and Fig. 3, feeding mechanism 20 includes feeding elevating mechanism 21, push jack cylinder 22 and baffle 23, feeding lifting
Mechanism 21 is set to inside mainframe 10, immediately below material box 50, and the installation of 23 horizontal direction of baffle controls it by push jack cylinder 22
Flexible, baffle 23 is symmetrically disposed on 50 two sides of material box, and 50 liang of side lower parts of material box are equipped with the notch 52 being inserted into for baffle 23, send
Expect that elevating mechanism 21 and push jack cylinder 22 cooperate, material box 50 is successively sent to transport mechanism 40 by feeding mechanism 20.
The upper surface of baffle 23 is horizontal plane, and under original state, material box 50 is stacked in 23 top of baffle, and baffle 23 is inserted into
Into notch 52.When feeding operation starts, push jack cylinder 22, which is gone upward to, touches bottom 50 bottom surface of material box, push jack gas
Cylinder 22 unclamps, and baffle 23 retracts.Feeding elevating mechanism 21 carries bottom 50 downlink of material box and is equivalent to a material box
50 height makes baffle 23 be directed at the notch 52 of penultimate material box 50, and push jack cylinder 22 releases baffle 23, and insertion is fallen
Second 50 lower end of material box of number.Feeding elevating mechanism 21 carries a bottom material box 50 and continues traveling downwardly to transport mechanism
40, material box 50 rests on conveyer belt 44, and feeding elevating mechanism 21 falls back to initial position.
With reference to Fig. 1 and Fig. 4, recovering mechanism 30 includes recycling elevating mechanism 31 and lock tongue 32, and recycling elevating mechanism 31 is arranged
Inside mainframe 10, immediately below material box 50, spring is arranged at 32 top of lock tongue, indented style is pressed for top, under extension
Portion is smooth bevel, upper surface level, and lock tongue 32 is even number, is symmetrically disposed on 50 down either side of material box, recycles elevator
Structure 31 and lock tongue 32 cooperate, and material box 50 is sent to recovering mechanism 30 by transport mechanism 40.
32 upper surface of lock tongue is also horizontal plane, and symmetrical lock tongue 32 forms a saddle, for stacking material box 50.Work as object
When magazine 50 is on the conveyer belt 44 immediately below recycling rack 33, recycling elevating mechanism 31 is in 50 lower section of material box.Recycling
Elevating mechanism 31 rises, and material box 50 is jacked up to conveyer belt 44 is detached from, is continued to rise at lock tongue 32,50 edge of material box squeezes
Lock tongue 32 is pressed, lock tongue 32, which is pressurized, to be retracted, and material box 50 reaches 32 top of lock tongue by lock tongue 32, and lock tongue 32 is heavy since pressure disappears
New to reset pop-up, material box 50, which is added, becomes the bottom one for stacking magazine, and is stacked on lock tongue 32 on transverse plane.
With reference to Fig. 6 and Fig. 7, flexible material handling equipment of the invention further includes testing agency, and testing agency includes the
One photosensitive sensor 61, the second photosensitive sensor 62 and third photosensitive sensor 63, the first photosensitive sensor 61 are set to feeder
Whether 24 middle and lower part of frame has material box 50 in the rotary shafts 24 for perceiving this height, reminds staff that object is replenished in time
Magazine 50.When the pile of material box 50 is got up more than this height, the first photosensitive sensor 61 is in the state being blocked.With material
Box 50 is fed mechanism taking-up one by one, and the part that the first photosensitive sensor 61 is blocked is removed, and signal is received, and issues alarm.
Second photosensitive sensor 62 is set to recycling 33 middle and upper part of rack, in the recycling rack 33 for perceiving this height whether
There is material box, staff is reminded to take material box 50 away in time.When recycling only a small amount of material box 50 in rack 33, the second light
Dependent sensor is in the state not being blocked, when material box 50 is cumulative to be stacked high to a certain degree, 62 quilt of the second photosensitive sensor
It blocks, receives signal, issue alarm.Third photosensitive sensor 63 is set to mainframe 10 at ion wind stick 11, for perceiving
Whether material box 50 reaches near ion wind stick 11, starts ion wind stick 11 and manipulator brings into operation.
Whether testing agency further includes that the color of installation on a robotic arm shows sensor, flexible in material box 50 for detecting
Material 51.When color, which shows the flexible material 51 that sensor detects in material box 50, is taken sky, automatic trigger next stage
Operation.
Testing agency, manipulator, feeding mechanism 20, recovering mechanism 30, transport mechanism 40 are connected with master control set, real
Existing 51 automatic loading/unloading of flexible material.The PLC program automatic running that handling equipment is set according to computer completes loading and unloading and each
A process operations.Computer master control set is equipped with human-computer interaction interface, can manually be configured to the parameters in operation program
And adjustment, and the operation such as starting, pause, stopping is executed to device.
With reference to Fig. 2, feeding elevating mechanism 21 is identical with the recycling structure of elevating mechanism 31, includes fixed frame 211, lifting
Motor 212, electric telescopic rod 213, lifter plate 214 and lifting guide pillar 215, fixed frame 211 are mounted on inside mainframe 10, lifting
Motor 212 is vertically installed on fixed frame 211, and 211 upper end of lifting motor is equipped with electric telescopic rod 213, and lifter plate 214 is mounted on
213 top of electric telescopic rod, with the rotation of lifting motor 212, about 213 electric telescopic rod is flexible, makes about 214 lifter plate
Lifting.214 lower surface of lifter plate is equipped with several lifting guide pillars 215, offers on fixed frame 211 and to pass through for lifting guide pillar 215
Lift span, lifting guide pillar 215 are gone up and down in lift span, play the role of connection guiding and support.
With reference to Fig. 5, transport mechanism 40 includes driving motor 41, drive pulley 42, transmission shaft 43 and conveyer belt 44, transmission electricity
Machine 41 is mounted on the mainframe 10 of side, and drive pulley 42 is symmetrically disposed on 10 side plate interior sides of mainframe, 41 band of driving motor
The drive pulley 42 of dynamic side rotates, and the drive pulley 42 of two sides is realized by transmission shaft 43 to be rotated synchronously, and conveyer belt 44 is installed
On drive pulley 42, is driven and transmitted by drive pulley 42.Material box 50 is placed on conveyer belt 44, drives front and back by conveyer belt 44
It is mobile.When driving motor 41 rotates forward, material box 50 is mobile from feeding mechanism 20 to ion wind stick 11, when driving motor 41 inverts
When, material box 50 is mobile from ion wind stick 11 to recovering mechanism 30.
Flexible material feeding process of the invention, comprising the following steps:
S1: under original state, the baffle 23 of feeding mechanism 20 is stretching state；
S2: manually the material box 50 by a certain number of equipped with flexible material 51 stacks the feeding for being placed in feeding mechanism 20
In rack 24, material box 50 is erected on the baffle 23 of stretching；
S3: the lifting motor 212 of feeding elevating mechanism 21 starts, and lifter plate 214 is raised up to the object for touching the bottom
Magazine 50 stops；
S4: the push jack cylinder 22 of two sides controls baffle 23 and is retracted to not contactant magazine 50；
S5: lifting motor 212 drives bottom material box 50 to decline the height stopping for being equivalent to a material box 50；
S6: the push jack cylinder 22 of two sides controls baffle 23 and stretches out, and is inserted into the notch 52 of penultimate material box 50；
S7: lifting motor 212 drives bottom material box 50 to continue to decline, until material box 50 is fallen on conveyer belt 44；
S8: driving motor 41 starts, and material box 50 is driven to come close to 11 position of ion wind stick；
S9: third photosensitive sensor 63 detects that 50 signal of material box, driving motor 41 stop；
S10: ion wind stick 11 starts, and blowout has the air mass of positive and negative charge, eliminates electrostatic entrained by flexible material 51；
S11: mechanical hand starting successively takes out flexible material 51 from material box 50；
S12: the color on manipulator shows sensor and detects that material box 50 is empty；
S13: driving motor 41 inverts, and empty material box 50 is driven to come below the region of recovering mechanism 30；
S14: the lifting motor 212 of recycling elevating mechanism 31 starts, and lifter plate 214 is raised up to and touches material box 50；
S15: lifting motor 212 drives material box 50 to be detached from conveyer belt 44, continue to rise, by material box 50 when lock tongue 32
Edge pressing lock tongue 32 makes its retraction, and lock tongue 32, which resets, when reaching 32 top of lock tongue stretches out, this material box 50 becomes recycling machine
Bottom material box 50 in frame 33, and be stacked in the plane of 32 upper surface of lock tongue；
S16: repeating step S3-S15, and the material box 50 of feeding mechanism 20 is successively sent to manipulator, and manipulator takes out soft
Property material 51, empty material box 50 return recovering mechanism 30；The first photosensitive sensor 61 detects signal therebetween, issues report
It is alert, manually a certain number of full material box 50 are added in rotary shafts 24；Second photosensitive sensor 62 detects signal,
Alarm is issued, manually takes empty material box 50 out of recycling rack 33 away.
Flexible material blanking process of the invention, comprising the following steps:
S1: under original state, the baffle 23 of feeding mechanism 20 is stretching state；
S2: manually the stacking of material box 50 of a certain number of skies is placed in the rotary shafts 24 of feeding mechanism 20, object
Magazine 50 is erected on the baffle 23 of stretching；
S3: the lifting motor 212 of feeding elevating mechanism 21 starts, and lifter plate 214 is raised up to the object for touching the bottom
Magazine 50 stops；
S4: the push jack cylinder 22 of two sides controls baffle 23 and is retracted to not contactant magazine 50；
S5: lifting motor 212 drives bottom material box 50 to decline the height stopping for being equivalent to a material box 50；
S6: the push jack cylinder 22 of two sides controls baffle 23 and stretches out, and is inserted into the notch 52 of penultimate material box 50；
S7: lifting motor 212 drives bottom material box 50 to continue to decline, until material box 50 is fallen on conveyer belt 44；
S8: driving motor 41 starts, and material box 50 is driven to come close to 11 position of ion wind stick；
S9: third photosensitive sensor 63 detects that 50 signal of material box, driving motor 41 stop；
S10: flexible material 51 is sequentially placed into material box 50 by mechanical hand starting；
S11: driving motor 41 inverts, and full material box 50 is driven to come below the region of recovering mechanism 30；
S12: the lifting motor 312 of recycling elevating mechanism 31 starts, and lifter plate 214 is raised up to and touches material box 50；
S13: lifting motor 212 drives material box 50 to be detached from conveyer belt 44, continue to rise, by material box 50 when lock tongue 32
Edge pressing lock tongue 32 makes its retraction, and lock tongue 32, which resets, when reaching 32 top of lock tongue stretches out, this material box 50 becomes recycling machine
Bottom material box 50 in frame 33, and be stacked in the plane of 32 upper surface of lock tongue；
S14: repeating step S3-S13, and the material box 50 of feeding mechanism 20 is successively sent to manipulator, and manipulator is put into soft
Property material 51, full material box 50 return recovering mechanism 30；The first photosensitive sensor 61 detects signal therebetween, issues report
It is alert, manually the material box 50 of a certain number of skies is added in rotary shafts 24；Second photosensitive sensor 62 detects signal,
Alarm is issued, manually takes full material box 50 out of recycling rack 33 away.
Disclosed above is only the embodiment of the present invention, and still, the present invention is not limited to this, the technology of any this field
What personnel can think variation should all fall into protection scope of the present invention.
Claims (10)
1. a kind of flexible material handling equipment, which is characterized in that including mainframe (10), ion wind stick (11), feeding mechanism
(20), recovering mechanism (30), transport mechanism (40), manipulator and master control set, the flexible material (51) are contained in material
In box (50), transmits and picked and placed from material box (50) by manipulator, the machine on handling equipment with material box (50)
Tool hand is the frock clamp with electrostatic chuck；
Transport mechanism (40) are provided on both side plate (12) inner sidewall of the mainframe (10), for material box (50) is horizontal
Transmission；The feeding mechanism (20) is fixed on above the front end of transport mechanism (40), and the recovering mechanism (30) is located at feeder
Above structure (20) rear and transport mechanism (40), the ion wind stick (11) is fixed on the end of transport mechanism (40), the machine
Tool hand picks and places flexible material (51) above the end of transport mechanism (40)；
The feeding mechanism (20) includes feeding elevating mechanism (21), push jack cylinder (22) and baffle (23), the feeding lifting
Mechanism (21) is set to mainframe (10) inside, material box (50) underface, baffle (23) the horizontal direction installation, by push jack
Cylinder (22) controls it and stretches, and baffle (23) is symmetrically disposed on material box (50) two sides, and (50) two side lower part of material box is set
There is the notch (52) for baffle (23) insertion, the feeding elevating mechanism (21) and push jack cylinder (22) cooperate, by material
Box (50) is successively sent to transport mechanism (40) by feeding mechanism (20)；
The recovering mechanism (30) includes that recycling elevating mechanism (31) and lock tongue (32), the recycling elevating mechanism (31) are set to
Immediately below mainframe (10) inside, material box (50), the lock tongue (32) is pressing indented style, and extension lower part is smooth
Inclined-plane, upper surface are horizontal, and lock tongue (32) is symmetrically disposed on material box (50) down either side, the recycling elevating mechanism (31) and lock
Tongue (32) cooperates, and material box (50) is sent to recovering mechanism (30) by transport mechanism (40)；
The manipulator, feeding mechanism (20), recovering mechanism (30), transport mechanism (40) are connected with master control set, realize
Flexible material (51) automatic loading/unloading.
2. flexible material handling equipment according to claim 1, which is characterized in that it further include testing agency, the inspection
Surveying mechanism includes the first photosensitive sensor (61), the second photosensitive sensor (62) and third photosensitive sensor (63), the feeding
Mechanism (20) and recovering mechanism (30) are respectively provided with the fixed rotary shafts (24) for stacking material box (51) and recycling rack
(33), first photosensitive sensor (61) is set to rotary shafts (24) middle and lower part, and the second photosensitive sensor (62) is set to recycling
Rack (33) middle and upper part, third photosensitive sensor (63) are set to mainframe (10) at ion wind stick (11)；The detection machine
Structure is connected with master control set, and the signal that will test is transmitted to master control set.
3. flexible material handling equipment according to claim 1, which is characterized in that the feeding mechanism (20) is equipped with perpendicular
Straight limit plate (25), material box (50) the side corresponding position are equipped with corresponding limit slot (53).
4. flexible material handling equipment according to claim 1, which is characterized in that material box (50) upper surface is set
Have several positioning pins (54), lower surface corresponding position is equipped with several location holes.
5. flexible material handling equipment according to claim 1, which is characterized in that the feeding elevating mechanism (21) and
The structure for recycling elevating mechanism (31) is identical, includes fixed frame (211), lifting motor (212), electric telescopic rod (213), rises
Plate (214) and lifting guide pillar (215) drop, and the fixed frame (211) is mounted on mainframe (10) inside, and lifting motor (212) is perpendicular
It is directly mounted on fixed frame (211), lifting motor (211) upper end is equipped with electric telescopic rod (213), and lifter plate (214) is mounted on
At the top of electric telescopic rod (213), lifter plate (214) lower surface is equipped with several lifting guide pillars (215), and fixed frame opens up on (211)
There is the lift span passed through for lifting guide pillar (215).
6. flexible material handling equipment according to claim 1, which is characterized in that the transport mechanism (40) includes passing
Dynamic motor (41), drive pulley (42), transmission shaft (43) and conveyer belt (44), the driving motor (41) are mounted on the master of side
In rack (10), the drive pulley (42) is symmetrically disposed on mainframe (10) side plate interior sides, and driving motor (41) drives side
Drive pulley (42) rotation, the drive pulleys (42) of two sides realized by transmission shaft (43) and rotated synchronously, conveyer belt (44) peace
On drive pulley (42), is driven and transmitted by drive pulley (42).
7. flexible material handling equipment according to claim 1, which is characterized in that the manipulator is equipped with the aobvious biography of color
Sensor, for detect in material box (50) whether flexible material (51).
8. flexible material handling equipment according to claim 1, which is characterized in that put in each material box (50)
If being equipped with dry plate flexible material (51).
9. a kind of flexible material feeding process, which comprises the following steps:
S1: under original state, the baffle (23) of feeding mechanism (20) is stretching state；
S2: manually material box (50) stacking by a certain number of equipped with flexible material (51) is placed in sending for feeding mechanism (20)
Expect in rack (24), material box (50) is erected on the baffle (23) of stretching；
S3: lifter plate (214) is raised up to and touches the bottom by lifting motor (212) starting of feeding elevating mechanism (21)
Material box (50) stops；
S4: push jack cylinder (22) control baffle (23) of two sides is retracted to not contactant magazine (50)；
S5: the height that lifting motor (212) drives bottom material box (50) decline to be equivalent to a material box (50) stops；
S6: push jack cylinder (22) control baffle (23) of two sides is stretched out, and the notch (52) of penultimate material box (50) is inserted into
It is interior；
S7: lifting motor (212) drives bottom material box (50) to continue to decline, until material box (50) fall on conveyer belt (44)
On；
S8: driving motor (41) starting drives material box (50) to come close to ion wind stick (11) position；
S9: third photosensitive sensor (63) detects that material box (50) signal, driving motor (41) stop；
S10: ion wind stick (11) starting, blowout have the air mass of positive and negative charge, eliminate electrostatic entrained by flexible material (51)；
S11: mechanical hand starting successively takes out flexible material (51) from material box (50)；
S12: the color on manipulator shows sensor and detects that material box (50) is empty；
S13: driving motor (41) reversion drives empty material box (50) to come below the region of recovering mechanism (30)；
S14: lifter plate (214) is raised up to and touches material box by lifting motor (212) starting of recycling elevating mechanism (31)
(50)；
S15: lifting motor (212) drives material box (50) to be detached from conveyer belt (44), continue to rise, by material when lock tongue (32)
Box (50) edge pressing lock tongue (32) makes its retraction, reaches lock tongue (32) when above lock tongue (32) and resets and stretches out, this material box
(50) become recycling rack (33) interior bottom material box (50), and be stacked in the plane of lock tongue (32) upper surface；
S16: repeating step S3-S15, and the material box (50) of feeding mechanism (20) is successively sent to manipulator, and manipulator takes out soft
Property material (51), empty material box (50) return recovering mechanism (30)；The first photosensitive sensor (61) detects signal therebetween,
Alarm is issued, manually adds to a certain number of full material box (50) in rotary shafts (24)；Second photosensitive sensor
(62) it detects signal, issues alarm, manually take empty material box (50) out of recycling rack (33) away.
10. a kind of flexible material blanking process, which comprises the following steps:
S1: under original state, the baffle (23) of feeding mechanism (20) is stretching state；
S2: manually stacking the material box (50) of a certain number of skies and be placed in the rotary shafts (24) of feeding mechanism (20),
Material box (50) is erected on the baffle (23) of stretching；
S3: lifter plate (214) is raised up to and touches the bottom by lifting motor (212) starting of feeding elevating mechanism (21)
Material box (50) stops；
S4: push jack cylinder (22) control baffle (23) of two sides is retracted to not contactant magazine (50)；
S5: the height that lifting motor (212) drives bottom material box (50) decline to be equivalent to a material box (50) stops；
S6: push jack cylinder (22) control baffle (23) of two sides is stretched out, and the notch (52) of penultimate material box (50) is inserted into
It is interior；
S7: lifting motor (212) drives bottom material box (50) to continue to decline, until material box (50) fall on conveyer belt (44)
On；
S8: driving motor (41) starting drives material box (50) to come close to ion wind stick (11) position；
S9: third photosensitive sensor (63) detects that material box (50) signal, driving motor (41) stop；
S10: flexible material (51) is sequentially placed into material box (50) by mechanical hand starting, until being put into a certain number of flexibilities
Material (51)；
S11: driving motor (41) reversion drives full material box (50) to come below the region of recovering mechanism (30)；
S12: lifter plate (214) is raised up to and touches material box by lifting motor (312) starting of recycling elevating mechanism (31)
(50)；
S13: lifting motor (212) drives material box (50) to be detached from conveyer belt (44), continue to rise, by material when lock tongue (32)
Box (50) edge pressing lock tongue (32) makes its retraction, reaches lock tongue (32) when above lock tongue (32) and resets and stretches out, this material box
(50) become recycling rack (33) interior bottom material box (50), and be stacked in the plane of lock tongue (32) upper surface；
S14: repeating step S3-S13, and the material box (50) of feeding mechanism (20) is successively sent to manipulator, and manipulator is put into soft
Property material (51), full material box (50) return recovering mechanism (30)；The first photosensitive sensor (61) detects signal therebetween,
Alarm is issued, manually adds to the material box (50) of a certain number of skies in rotary shafts (24)；Second photosensitive sensor
(62) it detects signal, issues alarm, manually take full material box (50) out of recycling rack (33) away.
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| CN201811485368.6A CN109650117B (en) | 2018-12-06 | 2018-12-06 | Feeding and discharging device for flexible materials |
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| CN201811485368.6A CN109650117B (en) | 2018-12-06 | 2018-12-06 | Feeding and discharging device for flexible materials |
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