CN109650117B - Feeding and discharging device for flexible materials - Google Patents
Feeding and discharging device for flexible materials Download PDFInfo
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- CN109650117B CN109650117B CN201811485368.6A CN201811485368A CN109650117B CN 109650117 B CN109650117 B CN 109650117B CN 201811485368 A CN201811485368 A CN 201811485368A CN 109650117 B CN109650117 B CN 109650117B
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- 239000000463 material Substances 0.000 title claims abstract description 343
- 238000007599 discharging Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 226
- 238000011084 recovery Methods 0.000 claims abstract description 81
- 230000000903 blocking effect Effects 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000003825 pressing Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 54
- 238000004064 recycling Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 7
- 230000003068 static effect Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 9
- 230000002349 favourable effect Effects 0.000 abstract 1
- 239000012528 membrane Substances 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 9
- 239000000446 fuel Substances 0.000 description 7
- 239000003054 catalyst Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000005855 radiation Effects 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
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005571 horizontal transmission Effects 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
- 238000002360 preparation method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- 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
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- 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 invention relates to a flexible material loading and unloading device which comprises a main frame, an ion wind rod, a feeding mechanism, a recovery mechanism, a conveying mechanism, a manipulator and a main control device, wherein flexible materials are contained in a material box, and the manipulator is a fixture clamp with an electrostatic chuck; the inner side walls of the two side plates of the main frame are provided with a conveying mechanism, the feeding mechanism and the recovery mechanism are positioned above the front end of the conveying mechanism, and the ion wind rod and the manipulator are arranged at the tail end of the conveying mechanism; the feeding mechanism comprises a lifting mechanism, a pushing piece cylinder and a blocking piece, wherein the blocking piece is installed in the horizontal direction and symmetrically arranged on two sides of the material box, and notches for inserting the blocking piece are formed in the lower parts of the two sides of the material box; the recovery mechanism comprises a lifting mechanism and a lock tongue, wherein the lock tongue is symmetrically arranged below two sides of the material box and is in pressing retraction type, and the lower part of the extension part of the lock tongue is a smooth inclined surface and the upper end surface of the extension part is horizontal. The device can better meet the characteristics of light and thin flexible materials, fragility, easiness in damage and the like, and is favorable for improving the safety and the working efficiency of the feeding and discharging process of the flexible materials.
Description
Technical Field
The invention relates to the field of automatic production of fuel cells, in particular to a flexible material loading and unloading device.
Background
The fuel cell is a device for directly converting chemical energy into electric energy, and can be widely applied to various fields due to high efficiency, zero emission and low starting temperature. Wherein the membrane electrode is a core component of the proton exchange membrane fuel cell and plays a key role in the performance of the cell. It has not only the barrier function, but also the proton-conducting function. In the prior art, in the preparation process of the membrane electrode, a plurality of carbon fiber paper electrodes sprayed with Nafion solution and Pt catalyst are respectively arranged on two sides of a pretreated proton exchange membrane, so that the catalyst is close to the proton exchange membrane, and the membrane electrode is manufactured by mould pressing at a certain temperature and pressure.
The membrane electrode belongs to flexible materials, and the prepared membrane electrode is not easy to store, is light and thin and fragile, and brings difficulty to feeding and discharging operations of a production line. The membrane electrode and related components are different from the battery electrode plate in material, and equipment on the production line cannot directly contact with the membrane electrode body, otherwise, the membrane electrode is easily damaged. At present, the fuel cell stacking operation is completed by manual operation, and workers wear gloves to take membrane electrodes for stacking, so that the membrane electrodes are easily damaged, the consistency of the performance of each fuel cell stack cannot be ensured, and the performance of the fuel cell is affected. Moreover, the production efficiency is low and the error rate is high due to manual operation.
The flexible material relates to a plurality of fields, has a wider application range, and comprises cloth, carbon paper, a film and the like besides the membrane electrode of the fuel cell. With the popularization of automatic production, the demand for introducing flexible materials into a production line for processing is increasing, but no feeding and discharging device special for the flexible materials exists at present.
Disclosure of Invention
Aiming at the defects, the invention provides the flexible material loading and unloading device which is specially designed according to the characteristics of flexible materials, can better meet the characteristics of light weight, fragility, easiness in damage and the like of the flexible materials, and is beneficial to improving the safety and the loading and unloading working efficiency in the flexible material loading and unloading process.
The technical scheme of the invention is as follows:
The flexible material loading and unloading device comprises a main frame, an ion wind rod, a feeding mechanism, a recycling mechanism, a conveying mechanism, a manipulator and a main control device, wherein the flexible material is contained in a material box, is transported on the loading and unloading device along with the material box, and is taken and placed from the material box by the manipulator, and the manipulator is a fixture clamp with an electrostatic chuck;
The inner side walls of the two side plates of the main frame are provided with conveying mechanisms for conveying the material boxes horizontally forwards or backwards; the feeding mechanism is fixed above the front end of the conveying mechanism, the recovery mechanism is positioned behind the feeding mechanism and above the conveying mechanism, the ion wind rod is fixed at the tail end of the conveying mechanism, and the manipulator takes and places flexible materials from above the tail end of the conveying mechanism;
The feeding mechanism comprises a feeding lifting mechanism, a pushing piece cylinder and a blocking piece, the feeding lifting mechanism is arranged in the main frame and under the material box, the blocking piece is horizontally arranged, the pushing piece cylinder controls the blocking piece to stretch and retract, the blocking piece is symmetrically arranged on two sides of the material box, notches for inserting the blocking piece are formed in the lower parts of the two sides of the material box, and the feeding lifting mechanism and the pushing piece cylinder are mutually matched to sequentially convey the material box to the conveying mechanism through the feeding mechanism;
The recovery mechanism comprises a recovery lifting mechanism and a lock tongue, the recovery lifting mechanism is arranged in the main frame and under the material box, the lock tongue is in a pressing retraction type, the lower part of the extension part of the lock tongue is a smooth inclined plane, the upper end surface of the extension part of the lock tongue is horizontal, the lock tongue is symmetrically arranged under two sides of the material box, and the recovery lifting mechanism and the lock tongue are mutually matched to convey the material box to the recovery mechanism through the conveying mechanism;
The manipulator, the feeding mechanism, the recycling mechanism and the conveying mechanism are all connected with the main control device, so that automatic feeding and discharging of the flexible material are realized.
The device also comprises a detection mechanism, wherein the detection mechanism comprises a first photosensitive sensor, a second photosensitive sensor and a third photosensitive sensor, the feeding mechanism and the recovery mechanism are respectively provided with a feeding frame and a recovery frame for fixing the stacked material boxes, the first photosensitive sensor is arranged at the middle lower part of the feeding frame, the second photosensitive sensor is arranged at the middle upper part of the recovery frame, and the third photosensitive sensor is arranged at the position of the main frame close to the ion wind bar; the detection mechanism is connected with the main control device and transmits the detected signals to the main control device.
The feeding mechanism is provided with a vertical limiting plugboard, and a corresponding limiting slot is arranged at one side of the material box.
The upper surface of the material box is provided with a plurality of locating pins, and the corresponding position of the lower surface is provided with a plurality of locating holes.
The feeding lifting mechanism and the recycling lifting mechanism are identical in structure and comprise a fixing frame, a lifting motor, an electric telescopic rod, a lifting plate and lifting guide posts, the fixing frame is installed inside the main frame, the lifting motor is vertically installed on the fixing frame, the electric telescopic rod is installed at the upper end of the lifting motor, the lifting plate is installed at the top of the electric telescopic rod, a plurality of lifting guide posts are arranged on the lower surface of the lifting plate, and lifting holes for the lifting guide posts to penetrate through are formed in the fixing frame.
The conveying mechanism comprises a transmission motor, a transmission belt wheel, a transmission shaft and a transmission belt, wherein the transmission motor is arranged on the main frame on one side, the transmission belt wheels are symmetrically arranged on the inner side of the side plate of the main frame, the transmission motor drives the transmission belt wheels on one side to rotate, the transmission belt wheels on two sides synchronously rotate through the transmission shaft, and the transmission belt is arranged on the transmission belt wheels and is driven to be conveyed by the transmission belt wheels.
And the manipulator is provided with a color sensor for detecting whether flexible materials exist in the material box.
A plurality of flexible materials are placed in each material box.
A flexible material loading process comprising the steps of:
s1: in the initial state, the baffle of the feeding mechanism is in an extending state;
S2: stacking a certain number of material boxes filled with flexible materials into a feeding rack of a feeding mechanism by manpower, wherein the material boxes are erected on the extending baffle plates;
s3: starting a lifting motor of the feeding lifting mechanism, lifting the lifting plate until the lifting plate contacts with the material box at the bottommost layer, and stopping;
s4: the pushing sheet cylinders on the two sides control the baffle sheets to retract to be not in contact with the material box;
S5: the lifting motor drives the bottommost material box to descend, which is equivalent to the stop of the height of one material box;
S6: the pushing piece cylinders on two sides control the baffle pieces to extend out and insert into the notch of the penultimate material box;
S7: the lifting motor drives the bottommost material box to continuously descend until the material box falls onto the conveyor belt;
S8: starting a transmission motor to drive the material box to a position close to the ion wind rod;
s9: the third photosensitive sensor detects a material box signal, and the transmission motor stops;
s10: the ion wind stick is started to blow out air clusters with positive and negative charges, and static electricity carried by the flexible material is eliminated;
s11: starting a mechanical arm, and sequentially taking out the flexible materials from the material box;
s12: the color display sensor on the manipulator detects that the material box is empty;
S13: the transmission motor rotates reversely to drive the empty material box to come under the area of the recovery mechanism;
s14: starting a lifting motor of the recovery lifting mechanism, and lifting the lifting plate until the lifting plate is contacted with the material box;
s15: the lifting motor drives the material box to separate from the conveyor belt and continuously ascend, the edge of the material box presses the lock tongue to retract when passing through the lock tongue, the lock tongue is reset and stretches out when reaching the upper part of the lock tongue, and the material box becomes the lowest material box in the recycling rack and is stacked on the plane of the upper end surface of the lock tongue;
S16: repeating the steps S3-S15, sequentially conveying the material boxes of the feeding mechanism to the manipulator, taking out the flexible materials by the manipulator, and returning the empty material boxes to the recycling mechanism; the first photosensitive sensor detects signals and gives an alarm, and a certain amount of full material boxes are manually replenished into the material feeding rack; the second photosensitive sensor detects the signal and gives an alarm, and the empty material box is manually taken away from the recycling rack.
A flexible material blanking process comprising the steps of:
s1: in the initial state, the baffle of the feeding mechanism is in an extending state;
S2: manually stacking a certain number of empty material boxes in a feeding frame of a feeding mechanism, wherein the material boxes are erected on the extending baffle plates;
s3: starting a lifting motor of the feeding lifting mechanism, lifting the lifting plate until the lifting plate contacts with the material box at the bottommost layer, and stopping;
s4: the pushing sheet cylinders on the two sides control the baffle sheets to retract to be not in contact with the material box;
S5: the lifting motor drives the bottommost material box to descend, which is equivalent to the stop of the height of one material box;
S6: the pushing piece cylinders on two sides control the baffle pieces to extend out and insert into the notch of the penultimate material box;
S7: the lifting motor drives the bottommost material box to continuously descend until the material box falls onto the conveyor belt;
S8: starting a transmission motor to drive the material box to a position close to the ion wind rod;
s9: the third photosensitive sensor detects a material box signal, and the transmission motor stops;
S10: starting a mechanical arm, and sequentially placing the flexible materials into the material box until a certain amount of flexible materials are placed;
S11: the transmission motor rotates reversely to drive the full material box to come under the area of the recovery mechanism;
S12: starting a lifting motor of the recovery lifting mechanism, and lifting the lifting plate until the lifting plate is contacted with the material box;
s13: the lifting motor drives the material box to separate from the conveyor belt and continuously ascend, the edge of the material box presses the lock tongue to retract when passing through the lock tongue, the lock tongue is reset and stretches out when reaching the upper part of the lock tongue, and the material box becomes the lowest material box in the recycling rack and is stacked on the plane of the upper end surface of the lock tongue;
S14: repeating the steps S3-S13, sequentially conveying the material boxes of the feeding mechanism to a manipulator, putting the flexible materials into the manipulator, and returning the full material boxes to the recycling mechanism; the first photosensitive sensor detects signals and gives an alarm, and a certain number of empty material boxes are manually replenished into the material feeding rack; the second photosensitive sensor detects the signal and gives an alarm, and the full material box is manually taken out of the recycling rack.
According to the invention, the flexible material is clamped and put back by arranging the material box for containing the flexible material and the tool clamp with the electrostatic chuck, so that extrusion and collision of the flexible material in the conveying process are reduced to the greatest extent. The material box carries out vertical lifting and horizontal transmission in the feeding and discharging device, and the feeding and discharging device is provided with a feeding mechanism, a recycling mechanism and a conveying mechanism, and is respectively used for conveying the material box from top to bottom to the conveying belt, horizontally conveying the material box from front to back to the lower part of the manipulator and separating the material box from bottom to top from the conveying belt, so that the feeding and discharging process of the material box (namely flexible materials) is realized, and the problems that the flexible materials are difficult to take and store in the feeding and discharging process of an automatic production line are solved.
The flexible material loading and unloading device has the following advantages:
the material box can store a plurality of flexible materials at a time, so that the feeding and discharging speed of the flexible materials is increased. The ion wind stick can generate a large amount of air clusters with positive and negative charges, and can neutralize the positive and negative charges carried on the flexible material in the ion radiation area, so that the aim of eliminating static electricity is fulfilled, and the manipulator with the electrostatic chuck can carry out picking and placing operation on the flexible material.
The feeding lifting mechanism is matched with the pushing piece cylinder, so that the material box enters the conveying belt from top to bottom. The recovery lifting mechanism is matched with the lock tongue, so that the material box is separated from the conveyor belt from bottom to top. The height of the material box can be flexibly adjusted and the feeding and discharging speed can be controlled by adjusting the lifting motor per time of lifting/descending, the lifting/descending speed, the running interval of the pushing piece cylinder and other parameters, so that the device is suitable for producing and processing flexible materials with different materials and processing speeds.
The transmission motor is matched with the third photosensitive sensor, so that the manipulator can automatically pick and place the material box after being horizontally transferred in place, and the color display sensor on the manipulator can automatically reversely rotate after the material is taken out. The length of the feeding and discharging device and the feeding and discharging speed can be changed by adjusting the running distance, the running speed and the like of the transmission motor, so that the feeding and discharging device is suitable for the layout situation of actual production places.
The first photosensitive sensor and the second photosensitive sensor are respectively used for sensing the falling of the material box in the feeding mechanism and the rising of the material box in the recovery mechanism, and reminding on-site staff of timely replenishing the material box and taking the material box.
The feeding and discharging device is provided with a computer main control device, and automatically operates according to a PLC program set by a computer to finish feeding and discharging and operation of each procedure. The computer main control device is provided with a man-machine interaction interface, and can manually set and adjust various parameters in the running program and execute operations such as starting, suspending, stopping and the like on the device.
The feeding and discharging device is simple in structure, small in occupied area and capable of improving production efficiency.
Drawings
FIG. 1 is a perspective view of a flexible material loading and unloading device of the invention;
FIG. 2 is a left side view of the flexible material loading and unloading device of the invention;
FIG. 3 is an enlarged view of a portion of the feed mechanism of the present invention;
FIG. 4 is an enlarged view of a portion of the recovery mechanism of the present invention;
FIG. 5 is an enlarged view of a portion of the transfer mechanism of the present invention;
FIG. 6 is an enlarged view of the positions of the first and second photosensors of the present invention;
fig. 7 is an enlarged view of the position of the third photosensor of the present invention.
Detailed Description
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Referring to fig. 1, the flexible material loading and unloading device of the present invention includes a main frame 10, an ion wind bar 11, a feeding mechanism 20, a recovery mechanism 30, a conveying mechanism 40, a manipulator (not shown) and a main control device (not shown), wherein a flexible material 51 is contained in a material box 50, and is transported on the loading and unloading device along with the material box 50 and taken and placed from the material box 50 by the manipulator, and the manipulator is a fixture with an electrostatic chuck, so as to adapt to the light, thin and fragile physical characteristics of the flexible material, and avoid damage to the flexible material.
The inside walls of the side plates 12 of the main frame 10 are provided with a transfer mechanism 40 for horizontally transferring the material cassettes 50 forward or backward. The feeding mechanism 20 is fixed above the front end of the conveying mechanism 40, the recovery mechanism 30 is positioned behind the feeding mechanism 20 and above the conveying mechanism 40, the ion wind rod 11 is fixed at the tail end of the conveying mechanism 40, and the manipulator picks up and places the flexible material 51 from above the tail end of the conveying mechanism 40;
The feeding mechanism 20 and the recovery mechanism 30 are respectively provided with a feeding rack 24 and a recovery rack 33 for fixing the stacked material boxes 51, and the feeding rack 24 and the recovery rack 33 are vertical frames and encircle the edges of the material boxes 50. In the initial state of the operation of the device, the material box 50 filled with the flexible material 51 (or empty) needs to be manually placed in the feeding frame 24, in order to position the material box 50 in the direction, the feeding mechanism 20 is further provided with a vertical limiting plugboard 25, and a limiting slot 53 corresponding to the limiting plugboard 25 is arranged at a corresponding position on one side of the material box 50. Since the cassettes 50 need to be stacked up to a certain height, the misalignment of the edges is liable to occur. Therefore, a plurality of metal positioning pins 54 are provided on the upper surface of the material box 50, and a plurality of positioning holes (not shown) are provided at corresponding positions on the lower surface. The positioning pin 54 on the upper surface of each material box 50 is inserted into the positioning hole of the previous material box 50, so that the material boxes 50 are orderly stacked when stacked, and the subsequent lifting operation is convenient.
A plurality of sheets of flexible material 51 are placed in each material cassette 50. Because the flexible material 51 is easily adhered under the influence of static electricity, when the manipulator sucks the uppermost flexible material 51, the manipulator can easily bring up the lower flexible material 51 together, so that the ion wind rod 11 is arranged at the tail end of the conveying mechanism 40, and the static electricity on the surface of the flexible material 51 is eliminated through the ion wind rod 11 before the manipulator sucks. The ion wind bar 11 can generate a large amount of air clusters with positive and negative charges, and can neutralize the charges on objects in the ion radiation area, thereby achieving the purpose of eliminating static electricity.
Referring to fig. 1 and 3, the feeding mechanism 20 includes a feeding lifting mechanism 21, a pushing plate cylinder 22 and a blocking plate 23, the feeding lifting mechanism 21 is disposed in the main frame 10 and under the material box 50, the blocking plate 23 is horizontally mounted, the pushing plate cylinder 22 controls the blocking plate 23 to stretch and retract, the blocking plate 23 is symmetrically disposed at two sides of the material box 50, notches 52 for inserting the blocking plate 23 are disposed at the lower parts of two sides of the material box 50, the feeding lifting mechanism 21 and the pushing plate cylinder 22 are mutually matched, and the material box 50 is sequentially transferred to the transfer mechanism 40 by the feeding mechanism 20.
The upper surface of the baffle plate 23 is a horizontal plane, and in the initial state, the material box 50 is stacked above the baffle plate 23, and the baffle plate 23 is inserted into the notch 52. At the beginning of the loading operation, the pusher cylinder 22 is moved up until contacting the bottom surface of the lowest material box 50, the pusher cylinder 22 is released, and the blocking piece 23 is retracted. The feeding lifting mechanism 21 carries the lowest material box 50 to move downwards by the height equivalent to that of one material box 50, so that the baffle plate 23 is aligned with the notch 52 of the penultimate material box 50, and the baffle plate 23 is pushed out by the plate pushing cylinder 22 and inserted into the lower end of the penultimate material box 50. The feeding lifter 21 carries the lowermost cassette 50 down to the conveyor 40, the cassette 50 rests on the conveyor belt 44, and the feeding lifter 21 descends back to the initial position.
Referring to fig. 1 and 4, the recovery mechanism 30 includes a recovery lifting mechanism 31 and a lock tongue 32, the recovery lifting mechanism 31 is disposed in the main frame 10 and under the material box 50, the lock tongue 32 has a spring on its upper portion, the lower portion of its extension portion is a smooth inclined surface and the upper end surface is horizontal, the lock tongue 32 is an even number and symmetrically disposed under both sides of the material box 50, the recovery lifting mechanism 31 and the lock tongue 32 are mutually matched, and the material box 50 is transferred to the recovery mechanism 30 by the transfer mechanism 40.
The upper surface of the tongue 32 is also horizontal, and the symmetrical tongue 32 forms a pallet for stacking the cassettes 50. When the magazine 50 is on the conveyor belt 44 directly below the recovery frame 33, the recovery lift mechanism 31 is below the magazine 50. The recovery lifting mechanism 31 rises to jack up the material box 50 to be separated from the conveyor belt 44, and continues to rise to the position of the lock tongue 32, the edge of the material box 50 extrudes the lock tongue 32, the lock tongue 32 is compressed to retract, the material box 50 reaches above the lock tongue 32 through the lock tongue 32, the lock tongue 32 is reset and popped up again due to the disappearance of the pressure, and the material box 50 is added to be the lowest one of the stacked material boxes and is stacked on the upper end plane of the lock tongue 32.
Referring to fig. 6 and 7, the flexible material loading and unloading device of the present invention further includes a detection mechanism, where the detection mechanism includes a first photosensitive sensor 61, a second photosensitive sensor 62, and a third photosensitive sensor 63, where the first photosensitive sensor 61 is disposed at a middle lower portion of the feeding frame 24, and is used for sensing whether the feeding frame 24 at this height has a material box 50, and reminding a worker to timely supplement the material box 50. When the material cassettes 50 are stacked beyond this height, the first photosensor 61 is in a shielded state. As the cassettes 50 are removed by the feeding mechanism, the blocked portions of the first photosensor 61 are removed, and a signal is received, giving an alarm.
The second photosensitive sensor 62 is disposed at the middle upper part of the recovery rack 33, and is used for sensing whether a material box exists in the recovery rack 33 at the height, and reminding a worker of timely taking the material box 50. When there are only a small number of cassettes 50 in the recovery rack 33, the second photosensitive sensor is in an unoccluded state, and when the cassettes 50 are stacked up to a certain degree, the second photosensitive sensor 62 is blocked, receives a signal, and gives an alarm. The third photosensitive sensor 63 is disposed on the main frame 10 near the ion wind bar 11, and is used for sensing whether the material box 50 reaches the vicinity of the ion wind bar 11, and starting the ion wind bar 11 and the manipulator to start running.
The detection mechanism also includes a color sensor mounted on the manipulator for detecting whether the cartridge 50 has flexible material 51 therein. When the color sensor detects that the flexible material 51 in the material cassette 50 has been emptied, the next stage of operation is automatically triggered.
The detection mechanism, the mechanical arm, the feeding mechanism 20, the recovery mechanism 30 and the conveying mechanism 40 are all connected with the main control device, so that the automatic feeding and discharging of the flexible material 51 is realized. The feeding and discharging device automatically operates according to a PLC program set by a computer to finish feeding and discharging and operation of each procedure. The computer main control device is provided with a man-machine interaction interface, and can manually set and adjust various parameters in the running program and execute operations such as starting, suspending, stopping and the like on the device.
Referring to fig. 2, the feeding lifting mechanism 21 and the recovery lifting mechanism 31 have the same structure, and each comprises a fixing frame 211, a lifting motor 212, an electric telescopic rod 213, a lifting plate 214 and a lifting guide pillar 215, wherein the fixing frame 211 is installed inside the main frame 10, the lifting motor 212 is vertically installed on the fixing frame 211, the electric telescopic rod 213 is installed at the upper end of the lifting motor 211, the lifting plate 214 is installed at the top of the electric telescopic rod 213, and the electric telescopic rod 213 stretches up and down along with the rotation of the lifting motor 212, so that the lifting plate 214 lifts up and down. The lower surface of the lifting plate 214 is provided with a plurality of lifting guide posts 215, the fixing frame 211 is provided with lifting holes for the lifting guide posts 215 to pass through, and the lifting guide posts 215 lift in the lifting holes to play a role in connection guiding and supporting.
Referring to fig. 5, the transmission mechanism 40 includes a transmission motor 41, a transmission pulley 42, a transmission shaft 43 and a transmission belt 44, the transmission motor 41 is mounted on the main frame 10 on one side, the transmission pulley 42 is symmetrically disposed on the inner side of the side plate of the main frame 10, the transmission motor 41 drives the transmission pulley 42 on one side to rotate, the transmission pulleys 42 on both sides realize synchronous rotation through the transmission shaft 43, and the transmission belt 44 is mounted on the transmission pulley 42 and is driven to transmit by the transmission pulley 42. The material box 50 is placed on the conveyor belt 44, and is moved forward and backward by the conveyor belt 44. When the transmission motor 41 rotates forward, the material box 50 is moved by the feeding mechanism 20 to the ion wind bar 11, and when the transmission motor 41 rotates backward, the material box 50 is moved by the ion wind bar 11 to the recovery mechanism 30.
The flexible material feeding process comprises the following steps:
s1: in the initial state, the baffle plate 23 of the feeding mechanism 20 is in an extending state;
s2: manually stacking a certain number of material boxes 50 filled with flexible materials 51 in a feeding frame 24 of a feeding mechanism 20, wherein the material boxes 50 are erected on the extending baffle plates 23;
s3: the lifting motor 212 of the feeding lifting mechanism 21 is started, and the lifting plate 214 is lifted until the material box 50 at the bottom layer is contacted to stop;
S4: the pushing piece cylinders 22 on the two sides control the blocking pieces 23 to retract to be not contacted with the material box 50;
S5: the lifting motor 212 drives the bottommost material box 50 to descend and stop at the height equivalent to one material box 50;
S6: the pushing piece cylinders 22 on two sides control the baffle pieces 23 to extend out and insert into the notch 52 of the penultimate material box 50;
S7: the lifting motor 212 drives the bottommost material box 50 to continue to descend until the material box 50 falls onto the conveyor belt 44;
s8: the transmission motor 41 is started to drive the material box 50 to come to a position close to the ion wind bar 11;
S9: the third photosensor 63 detects the material box 50 signal and the drive motor 41 stops;
S10: the ion wind bar 11 is started to blow out air masses with positive and negative charges, and static electricity carried by the flexible material 51 is eliminated;
s11: the manipulator is started to take out the flexible materials 51 from the material box 50 in sequence;
s12: the color sensor on the manipulator detects that the material box 50 is empty;
S13: the transmission motor 41 rotates reversely to drive the empty material box 50 to come under the area of the recovery mechanism 30;
S14: the lifting motor 212 of the recovery lifting mechanism 31 is started to lift the lifting plate 214 to be contacted with the material box 50;
S15: the lifting motor 212 drives the material box 50 to separate from the conveyor belt 44 and to continuously ascend, when the material box 50 passes through the lock tongue 32, the edge of the material box 50 presses the lock tongue 32 to retract, when the material box reaches the upper part of the lock tongue 32, the lock tongue 32 is reset and stretches out, and the material box 50 becomes the lowest material box 50 in the recycling rack 33 and is stacked on the plane of the upper end face of the lock tongue 32;
S16: repeating the steps S3-S15, sequentially conveying the material boxes 50 of the feeding mechanism 20 to a manipulator, taking out the flexible materials 51 by the manipulator, and returning the empty material boxes 50 to the recovery mechanism 30; during which the first photosensor 61 detects a signal and gives an alarm, and a certain number of full material boxes 50 are manually replenished into the material feeding rack 24; the second photosensor 62 detects the signal and sounds an alarm to manually remove the empty magazine 50 from the recovery frame 33.
The flexible material blanking process comprises the following steps:
s1: in the initial state, the baffle plate 23 of the feeding mechanism 20 is in an extending state;
s2: manually stacking a certain number of empty material boxes 50 in the feeding frame 24 of the feeding mechanism 20, wherein the material boxes 50 are erected on the extending baffle plates 23;
s3: the lifting motor 212 of the feeding lifting mechanism 21 is started, and the lifting plate 214 is lifted until the material box 50 at the bottom layer is contacted to stop;
S4: the pushing piece cylinders 22 on the two sides control the blocking pieces 23 to retract to be not contacted with the material box 50;
S5: the lifting motor 212 drives the bottommost material box 50 to descend and stop at the height equivalent to one material box 50;
S6: the pushing piece cylinders 22 on two sides control the baffle pieces 23 to extend out and insert into the notch 52 of the penultimate material box 50;
S7: the lifting motor 212 drives the bottommost material box 50 to continue to descend until the material box 50 falls onto the conveyor belt 44;
s8: the transmission motor 41 is started to drive the material box 50 to come to a position close to the ion wind bar 11;
S9: the third photosensor 63 detects the material box 50 signal and the drive motor 41 stops;
s10: the manipulator is started, and the flexible materials 51 are sequentially put into the material box 50;
s11: the transmission motor 41 rotates reversely to drive the full material box 50 to come under the area of the recovery mechanism 30;
s12: the lifting motor 312 of the recovery lifting mechanism 31 is started to lift the lifting plate 214 to be in contact with the material box 50;
S13: the lifting motor 212 drives the material box 50 to separate from the conveyor belt 44 and to continuously ascend, when the material box 50 passes through the lock tongue 32, the edge of the material box 50 presses the lock tongue 32 to retract, when the material box reaches the upper part of the lock tongue 32, the lock tongue 32 is reset and stretches out, and the material box 50 becomes the lowest material box 50 in the recycling rack 33 and is stacked on the plane of the upper end face of the lock tongue 32;
s14: repeating the steps S3-S13, sequentially conveying the material boxes 50 of the feeding mechanism 20 to a manipulator, putting the flexible materials 51 into the manipulator, and returning the full material boxes 50 to the recovery mechanism 30; during which the first photosensor 61 detects a signal and gives an alarm, and a certain number of empty material boxes 50 are manually replenished into the material feeding rack 24; the second photosensor 62 detects the signal and sounds an alarm to manually remove the full magazine 50 from the recovery frame 33.
The above disclosure is merely an example of the present invention, but the present invention is not limited thereto, and any variations that can be considered by a person skilled in the art should fall within the protection scope of the present invention.
Claims (7)
1. The flexible material feeding method is characterized by being realized based on a flexible material feeding and discharging device, wherein the device comprises a main frame (10), an ion wind rod (11), a feeding mechanism (20), a recycling mechanism (30), a conveying mechanism (40), a manipulator and a main control device, the flexible material (51) is contained in a material box (50), and is transported on the feeding and discharging device along with the material box (50) and is taken and placed from the material box (50) by the manipulator, and the manipulator is a fixture with an electrostatic chuck; the conveying mechanism (40) is arranged on the inner side walls of the two side plates (12) of the main frame (10) and used for horizontally conveying the material boxes (50); The feeding mechanism (20) is fixed above the front end of the conveying mechanism (40), the recovery mechanism (30) is positioned behind the feeding mechanism (20) and above the conveying mechanism (40), the ion wind rod (11) is fixed at the tail end of the conveying mechanism (40), and the manipulator takes and places the flexible material (51) from above the tail end of the conveying mechanism (40); The feeding mechanism (20) comprises a feeding lifting mechanism (21), a pushing piece cylinder (22) and a blocking piece (23), the feeding lifting mechanism (21) is arranged in the main frame (10) and under the material box (50), the blocking piece (23) is installed in the horizontal direction, the pushing piece cylinder (22) controls the blocking piece (23) to stretch out and draw back, the blocking piece (23) is symmetrically arranged on two sides of the material box (50), notches (52) for inserting the blocking piece (23) are formed in the lower portions of two sides of the material box (50), and the feeding lifting mechanism (21) and the pushing piece cylinder (22) are matched with each other to sequentially convey the material box (50) to the conveying mechanism (40) through the feeding mechanism (20); The recovery mechanism (30) comprises a recovery lifting mechanism (31) and a lock tongue (32), the recovery lifting mechanism (31) is arranged in the main frame (10) and under the material box (50), the lock tongue (32) is in a pressing retraction type, the lower part of the extension part of the lock tongue is a smooth inclined surface, the upper end surface of the extension part is horizontal, the lock tongue (32) is symmetrically arranged below two sides of the material box (50), the recovery lifting mechanism (31) and the lock tongue (32) are mutually matched, and the material box (50) is conveyed to the recovery mechanism (30) by the conveying mechanism (40); the manipulator, the feeding mechanism (20), the recovery mechanism (30) and the conveying mechanism (40) are all connected with the main control device, so that automatic feeding and discharging of the flexible material (51) are realized; The device further comprises a detection mechanism, wherein the detection mechanism comprises a first photosensitive sensor (61), a second photosensitive sensor (62) and a third photosensitive sensor (63), the feeding mechanism (20) and the recovery mechanism (30) are respectively provided with a feeding frame (24) and a recovery frame (33) for fixing the stacked material boxes (50), the first photosensitive sensor (61) is arranged at the middle lower part of the feeding frame (24), the second photosensitive sensor (62) is arranged at the middle upper part of the recovery frame (33), and the third photosensitive sensor (63) is arranged at the position, close to the ion wind bar (11), of the main frame (10); the detection mechanism is connected with the main control device and transmits the detected signal to the main control device; The manipulator is provided with a color display sensor for detecting whether a flexible material (51) exists in the material box (50);
wherein the method comprises the steps of:
S1: in the initial state, the baffle (23) of the feeding mechanism (20) is in an extending state;
S2: a certain number of material boxes (50) filled with flexible materials (51) are stacked and placed in a feeding frame (24) of a feeding mechanism (20), and the material boxes (50) are erected on the extending baffle plates (23);
S3: the feeding lifting mechanism (21) is started until the material box (50) contacting the bottommost layer is stopped;
S4: the pushing sheet cylinders (22) on the two sides control the baffle sheets (23) to retract to be not in contact with the material box (50);
S5: the feeding lifting mechanism (21) drives the bottommost material box (50) to descend and stop at the height equivalent to that of one material box (50);
S6: the pushing piece cylinders (22) on two sides control the baffle pieces (23) to extend out and insert into the notch (52) of the penultimate material box (50);
s7: the feeding lifting mechanism (21) drives the bottommost material box (50) to continuously descend until the material box (50) falls onto the conveying mechanism (40);
s8: the conveying mechanism (40) is started to drive the material box (50) to come to a position close to the ion wind bar (11);
s9: the third photosensitive sensor (63) detects a signal of the material box (50), and the conveying mechanism (40) stops;
s10: the ion wind bar (11) is started to blow out air masses with positive and negative charges, and static electricity carried by the flexible material (51) is eliminated;
S11: starting the manipulator, and sequentially taking out the flexible materials (51) from the material box (50);
S12: the color sensor on the manipulator detects that the material box (50) is empty;
S13: the conveying mechanism (40) reverses to drive the empty material box (50) to come under the area of the recycling mechanism (30);
s14: the recovery lifting mechanism (31) is started until the recovery lifting mechanism contacts the material box (50);
S15: the material box (50) is driven by the recovery lifting mechanism (31) to separate from the conveying mechanism (40) and continuously ascend, the edge of the material box (50) presses the lock tongue (32) to retract when passing through the lock tongue (32), the lock tongue (32) is reset and stretches out when reaching the upper part of the lock tongue (32), and the material box (50) becomes the lowest material box (50) in the recovery rack (33) and is stacked on the plane of the upper end surface of the lock tongue (32);
S16: repeating the steps S3-S15, sequentially conveying the material boxes (50) of the feeding mechanism (20) to a manipulator, taking out the flexible materials (51) by the manipulator, and returning the empty material boxes (50) to the recovery mechanism (30); wherein the first photosensitive sensor (61) detects a signal and gives an alarm, and a certain number of full material boxes (50) are manually replenished into the material feeding rack (24); the second photosensor (62) detects the signal and gives an alarm, and the empty material box (50) is manually taken out of the recovery rack (33).
2. The flexible material blanking method is characterized by being realized based on a flexible material loading and unloading device, wherein the device comprises a main frame (10), an ion wind rod (11), a feeding mechanism (20), a recovery mechanism (30), a conveying mechanism (40), a manipulator and a main control device, the flexible material (51) is contained in a material box (50), and is transported on the loading and unloading device along with the material box (50) and is taken and placed from the material box (50) by the manipulator, and the manipulator is a fixture with an electrostatic chuck; the conveying mechanism (40) is arranged on the inner side walls of the two side plates (12) of the main frame (10) and used for horizontally conveying the material boxes (50); The feeding mechanism (20) is fixed above the front end of the conveying mechanism (40), the recovery mechanism (30) is positioned behind the feeding mechanism (20) and above the conveying mechanism (40), the ion wind rod (11) is fixed at the tail end of the conveying mechanism (40), and the manipulator takes and places the flexible material (51) from above the tail end of the conveying mechanism (40); The feeding mechanism (20) comprises a feeding lifting mechanism (21), a pushing piece cylinder (22) and a blocking piece (23), the feeding lifting mechanism (21) is arranged in the main frame (10) and under the material box (50), the blocking piece (23) is installed in the horizontal direction, the pushing piece cylinder (22) controls the blocking piece (23) to stretch out and draw back, the blocking piece (23) is symmetrically arranged on two sides of the material box (50), notches (52) for inserting the blocking piece (23) are formed in the lower portions of two sides of the material box (50), and the feeding lifting mechanism (21) and the pushing piece cylinder (22) are matched with each other to sequentially convey the material box (50) to the conveying mechanism (40) through the feeding mechanism (20); The recovery mechanism (30) comprises a recovery lifting mechanism (31) and a lock tongue (32), the recovery lifting mechanism (31) is arranged in the main frame (10) and under the material box (50), the lock tongue (32) is in a pressing retraction type, the lower part of the extension part of the lock tongue is a smooth inclined surface, the upper end surface of the extension part is horizontal, the lock tongue (32) is symmetrically arranged below two sides of the material box (50), the recovery lifting mechanism (31) and the lock tongue (32) are mutually matched, and the material box (50) is conveyed to the recovery mechanism (30) by the conveying mechanism (40); the manipulator, the feeding mechanism (20), the recovery mechanism (30) and the conveying mechanism (40) are all connected with the main control device, so that automatic feeding and discharging of the flexible material (51) are realized; The device further comprises a detection mechanism, wherein the detection mechanism comprises a first photosensitive sensor (61), a second photosensitive sensor (62) and a third photosensitive sensor (63), the feeding mechanism (20) and the recovery mechanism (30) are respectively provided with a feeding frame (24) and a recovery frame (33) for fixing the stacked material boxes (50), the first photosensitive sensor (61) is arranged at the middle lower part of the feeding frame (24), the second photosensitive sensor (62) is arranged at the middle upper part of the recovery frame (33), and the third photosensitive sensor (63) is arranged at the position, close to the ion wind bar (11), of the main frame (10); the detection mechanism is connected with the main control device and transmits the detected signal to the main control device; The manipulator is provided with a color display sensor for detecting whether a flexible material (51) exists in the material box (50);
wherein the method comprises the steps of:
S1: in the initial state, the baffle (23) of the feeding mechanism (20) is in an extending state;
S2: manually stacking a certain number of empty material boxes (50) in a feeding rack (24) of a feeding mechanism (20), wherein the material boxes (50) are erected on the extending baffle plates (23);
S3: the feeding lifting mechanism (21) is started until the material box (50) contacting the bottommost layer is stopped;
S4: the pushing sheet cylinders (22) on the two sides control the baffle sheets (23) to retract to be not in contact with the material box (50);
S5: the feeding lifting mechanism (21) drives the bottommost material box (50) to descend and stop at the height equivalent to that of one material box (50);
S6: the pushing piece cylinders (22) on two sides control the baffle pieces (23) to extend out and insert into the notch (52) of the penultimate material box (50);
s7: the feeding lifting mechanism (21) drives the bottommost material box (50) to continuously descend until the material box (50) falls onto the conveying mechanism (40);
s8: the conveying mechanism (40) is started to drive the material box (50) to come to a position close to the ion wind bar (11);
s9: the third photosensitive sensor (63) detects a signal of the material box (50), and the conveying mechanism (40) stops;
S10: starting a manipulator, and sequentially placing the flexible materials (51) into the material box (50) until a certain number of flexible materials (51) are placed;
S11: the conveying mechanism (40) reverses to drive the full material box (50) to come under the area of the recovery mechanism (30);
s12: the recovery lifting mechanism (31) is started until the recovery lifting mechanism contacts the material box (50);
s13: the material box (50) is driven by the recovery lifting mechanism (31) to separate from the conveying mechanism (40) and continuously ascend, the edge of the material box (50) presses the lock tongue (32) to retract when passing through the lock tongue (32), the lock tongue (32) is reset and stretches out when reaching the upper part of the lock tongue (32), and the material box (50) becomes the lowest material box (50) in the recovery rack (33) and is stacked on the plane of the upper end surface of the lock tongue (32);
S14: repeating the steps S3-S13, sequentially conveying the material boxes (50) of the feeding mechanism (20) to a manipulator, putting the flexible materials (51) into the manipulator, and returning the full material boxes (50) to the recovery mechanism (30); wherein the first photosensitive sensor (61) detects signals and gives an alarm, and a certain number of empty material boxes (50) are manually replenished into the material feeding rack (24); the second photosensor (62) detects the signal and gives an alarm, and the full material box (50) is manually taken out of the recovery rack (33).
3. The flexible material loading/unloading method according to claim 1 or 2, wherein the feeding mechanism (20) is provided with a vertical limiting plugboard (25), and a corresponding limiting slot (53) is arranged at one side of the material box (50).
4. The flexible material loading/unloading method according to claim 1 or 2, wherein the upper surface of the material box (50) is provided with a plurality of positioning pins (54), and the corresponding position of the lower surface is provided with a plurality of positioning holes.
5. The flexible material loading/unloading method according to claim 1 or 2, wherein the feeding lifting mechanism (21) and the recovery lifting mechanism (31) have the same structure, and each comprises a fixing frame (211), a lifting motor (212), an electric telescopic rod (213), a lifting plate (214) and a lifting guide column (215), wherein the fixing frame (211) is installed inside the main frame (10), the lifting motor (212) is vertically installed on the fixing frame (211), the electric telescopic rod (213) is installed at the upper end of the lifting motor (212), the lifting plate (214) is installed at the top of the electric telescopic rod (213), a plurality of lifting guide columns (215) are arranged on the lower surface of the lifting plate (214), and lifting holes for the lifting guide columns (215) to penetrate are formed in the fixing frame (211).
6. The flexible material loading/unloading method according to claim 1 or 2, wherein the conveying mechanism (40) comprises a transmission motor (41), a transmission pulley (42), a transmission shaft (43) and a transmission belt (44), the transmission motor (41) is installed on the main frame (10) on one side, the transmission pulley (42) is symmetrically arranged on the inner side of the side plate of the main frame (10), the transmission motor (41) drives the transmission pulley (42) on one side to rotate, the transmission pulleys (42) on two sides realize synchronous rotation through the transmission shaft (43), and the transmission belt (44) is installed on the transmission pulley (42) and is driven to be conveyed by the transmission pulley (42).
7. A flexible material loading/unloading method according to claim 1 or 2, characterized in that a number of sheets of flexible material (51) are placed in each material cassette (50).
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| CN110299539B (en) * | 2019-08-02 | 2024-03-08 | 新源动力股份有限公司 | Continuous hydrophobic treatment equipment and method for gas diffusion layer of fuel cell |
| CN111763925A (en) * | 2020-07-04 | 2020-10-13 | 刘永 | Horizontal drive's substrate preprocessing device |
| CN112707162A (en) * | 2020-12-17 | 2021-04-27 | 东莞市李群自动化技术有限公司 | Feeding method and multi-channel feeding machine |
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