CN110950088B - Loading and unloading equipment - Google Patents

Abstract

The invention discloses a feeding and discharging device, which comprises: the insert device comprises a workpiece fixing part and a workpiece driving component, wherein the workpiece fixing part is connected to the output end of the workpiece driving component through an elastic part, and the elastic part can deform along the motion direction output by the workpiece driving component; the jig driving device is arranged on one side of the inserting piece device along the moving direction of the workpiece fixing part and comprises a jig mounting part, a lifting driving component and a rotating driving component, wherein the jig mounting part is connected to the output end of the rotating driving component and the output end of the lifting driving component. The arrangement of the jig driving device and the sheet inserting device can flexibly adjust the height and the angle of the jig, improve the automation degree of the feeding and discharging process, improve the feeding and discharging efficiency, avoid inserting or taking sheets in the jig manually and reduce the labor intensity of workers; the arrangement of the elastic piece on the inserting piece device can reduce the impact damage among the inserting piece device, the workpiece and the jig, and can prolong the service life of the inserting piece device and the jig.

Description

Loading and unloading equipment

Technical Field

The invention relates to the technical field of feeding and discharging, in particular to feeding and discharging equipment.

Background

At present, in a typical workpiece loading and unloading process, taking a workpiece as a glass plate as an example, manual work is used to insert glass into a jig for loading or unloading. Generally, the tool has a plurality of installation positions, if 100, and the spacing distance is less between the adjacent installation position, if 5mm, so, adopt manual inserted sheet of manpower or get a work load great, inserted sheet and get a piece inefficiency.

Therefore, how to improve the feeding and discharging efficiency is a technical problem that needs to be solved by the technical personnel in the field at present.

Disclosure of Invention

In view of this, the present invention provides a loading and unloading apparatus, which can improve loading and unloading efficiency.

In order to achieve the purpose, the invention provides the following technical scheme:

a loading and unloading device comprises:

the insert device comprises a workpiece fixing part and a workpiece driving component, wherein the workpiece fixing part is connected to the output end of the workpiece driving component through an elastic part, and the elastic part can deform along the motion direction output by the workpiece driving component;

the jig driving device is arranged on one side of the inserting piece device along the movement direction of the workpiece fixing part and comprises a jig mounting part, a lifting driving component and a rotary driving component, wherein the jig mounting part is connected with the output end of the rotary driving component and the output end of the lifting driving component.

Preferably, a pre-warning induction sheet and a first travel switch which are matched with each other are arranged between the output end of the workpiece driving assembly and the workpiece fixing part, and a signal output end of the first travel switch is electrically connected with the controller.

Preferably, the workpiece driving assembly includes a first driving member and a second driving member connected to an output end of the first driving member, the workpiece fixing portion is connected to an output end of the second driving member, the elastic member is connected between the output end of the second driving member and the workpiece fixing portion, and the first driving member and the second driving member are linear driving members and have driving directions parallel to each other.

Preferably, the automatic feeding device further comprises a conveyor belt assembly, a positioning mechanism and a robot transfer assembly arranged between the conveyor belt assembly and the sheet inserting device, wherein the positioning mechanism is used for positioning a workpiece at a preset taking and placing position on the conveyor belt assembly; the inserting piece device is arranged between the robot transfer component and the jig driving device.

Preferably, the conveyor belt assembly comprises a transmission roller, a belt driving assembly, a belt body sleeved on the transmission roller and a baffle plate arranged at the preset material taking and placing position to stop materials, and the transmission roller is connected to the output end of the belt driving assembly; the transmission roller comprises a roller with a flange, and the roller with the flange is provided with a flange which is positioned on the side surface of the belt body and protrudes out of the conveying surface of the belt body.

Preferably, the conveyor belt assembly further comprises a workpiece sensor for sensing whether the workpiece moves to the preset material taking and placing position, and a signal output end of the workpiece sensor and a signal input end of the positioning mechanism are electrically connected to the controller respectively.

Preferably, the positioning mechanism comprises a positioning driving assembly, two mounting guide bars and a clamping part arranged on the mounting guide bars, and the two mounting guide bars are respectively connected to two output ends of the positioning driving assembly, wherein the two output ends have opposite movement directions; the clamping part on one mounting guide strip can be matched with the clamping part on the other mounting guide strip to clamp a workpiece so as to position the workpiece.

Preferably, the robot transfer assembly includes a main body robot having a rotational degree of freedom, at least two lifting driving parts connected to an output end of the main body robot, and a material taking and placing part connected to an output end of each lifting driving part, and each lifting driving part corresponds to one of the sheet inserting devices.

Preferably, the jig driving device further comprises a workpiece detection sensor arranged at a preset height, and a signal output end of the workpiece detection sensor and a signal input end of the lifting driving assembly are electrically connected to the controller.

Preferably, the rotary driving component is connected to the output end of the lifting driving component; the jig mounting part comprises a supporting frame fixed at the output end of the rotary driving assembly, a pressing part used for pressing the jig on the supporting frame and a locking part used for locking the supporting frame at the output end of the lifting driving assembly and capable of being unlocked, and the pressing part is connected to the supporting frame.

The invention provides a loading and unloading device, which comprises: the insert device comprises a workpiece fixing part and a workpiece driving component, wherein the workpiece fixing part is connected to the output end of the workpiece driving component through an elastic part, and the elastic part can deform along the motion direction output by the workpiece driving component; the jig driving device is arranged on one side of the inserting piece device along the movement direction of the workpiece fixing part and comprises a jig mounting part, a lifting driving component and a rotary driving component, and the jig mounting part is connected to the output end of the rotary driving component and the output end of the lifting driving component.

In the process of installing the jig on the jig driving device, the lifting driving assembly adjusts the height of the jig installation part, and the rotating driving assembly adjusts the angle of the jig installation part, so that the jig installation part is adjusted to the position convenient for installation, and after the jig is installed on the jig installation part, the jig installation part is adjusted to the angle convenient for workpiece loading to the jig through the rotating driving assembly.

In the feeding process, the inserting device takes materials and moves towards the jig, the inserting device inserts the workpiece on the workpiece fixing part into the mounting position of the feeding position on the jig, after feeding of one mounting position is completed, in the jig driving device, the lifting driving component adjusts the height of the jig, so that the other empty mounting position moves to the feeding position, the inserting device takes off one workpiece and repeatedly carries out operation of transferring the workpiece to the mounting position of the feeding position on the jig, and each workpiece to be fed can be fed onto the jig through continuous adjustment of the jig driving device and continuous transmission of the inserting device. Wherein, work piece drive assembly drives the work piece fixed part and moves towards the tool, if the work piece does not aim at an installation position of tool, the tool can block work piece fixed part and continue to advance, at this moment, work piece drive assembly if continue the primary motion, because the setting of blockking and the elastic component of tool, work piece fixed part and work piece position are unchangeable, can not continue the primary motion along with work piece drive assembly, the deformation of elastic component constantly increases, compare in setting up work piece fixed part snap-on work piece drive assembly, the impact damage between work piece fixed part and tool and work piece fixed part and the tool can greatly be reduced to work piece fixed part and work piece drive assembly through the flexible coupling of elastic component.

In the blanking process, the insert device takes down the workpiece in the installation position of the blanking position on the jig and transmits the workpiece to the receiving position, after the blanking of one installation position is completed, the lifting driving assembly adjusts the height of the jig to enable the other installation position with the workpiece to move to the blanking position, the insert device repeats the operation of taking down the workpiece in the installation position of the blanking position on the jig and transmitting the workpiece to the receiving position, and the blanking of the workpieces to the receiving position on the jig can be completed by continuously circulating the operations.

The arrangement of the jig driving device and the sheet inserting device can flexibly adjust the height and the angle of the jig, improve the automation degree of the feeding and discharging process, improve the feeding and discharging efficiency, avoid the need of manually inserting or taking sheets in the jig, and reduce the labor intensity of workers; meanwhile, due to the arrangement of the elastic piece on the inserting piece device, the impact damage among the inserting piece device, a workpiece and the jig can be reduced, and the service lives of the inserting piece device and the jig can be prolonged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a block diagram of the roller line provided by the present invention, with the dotted line with arrows indicating the direction of feed travel of the conveyor assembly and the solid line with arrows indicating the direction of travel of the mounting bar during clamping of the workpiece by the positioning mechanism;

FIG. 2 is a block diagram of a conveyor belt assembly provided by the present invention;

FIG. 3 is a block diagram of a positioning mechanism provided by the present invention;

fig. 4 is a structural diagram of the driving device of the jig provided by the present invention, wherein a straight line with an arrow indicates a moving direction of the lifting driving assembly, and a curve with an arrow indicates a rotating direction of the supporting frame;

FIG. 5 is a block diagram of a lift drive assembly provided in accordance with the present invention;

FIG. 6 is a structural diagram of a fixture mounting portion according to the present invention;

fig. 7 is a structural diagram of the jig driving device provided in the present invention after the jig is mounted;

FIG. 8 is a side view of the insert device of the present invention feeding a tool driving device;

FIG. 9 is a schematic view of a first direction of movement of the present invention, with the solid lines with arrows indicating the direction of movement of the first driving member away from its home position and the dashed lines with arrows indicating the direction of movement of the second driving member away from its home position;

FIG. 10 is a second schematic view of the blade assembly of the present invention, with the dashed lines with arrows indicating the direction of movement of the second driving member away from its home position;

FIG. 11 is a block diagram of a robotic transfer unit provided in accordance with the present invention;

FIG. 12 is an enlarged view of FIG. 11 at A;

FIG. 13 is an external view of the loading and unloading apparatus of the present invention;

fig. 14 is a first side view (hidden housing) of the loading and unloading apparatus provided in the present invention;

FIG. 15 is a second side view (hidden housing) of the loading and unloading apparatus of the present invention;

FIG. 16 is a third side view (hidden housing) of the loading and unloading apparatus of the present invention;

fig. 17 is a structural diagram (hidden housing) of the loading and unloading apparatus provided by the present invention;

fig. 18 is a top view (hidden casing) of the loading and unloading apparatus provided by the present invention.

Reference numerals:

the device comprises a roller line 1, a conveyor belt assembly 11, a blocking piece 111, a workpiece sensor 112, a round belt 113, a transmission roller 114, a support body 115, a belt blocking edge roller 116, a first synchronous belt assembly 117, a stepping motor 118, a positioning mechanism 12, a mounting base plate 121, a second travel switch 122, a second servo motor 123, a mounting guide bar 124, a clamping rod 125, a second synchronous belt assembly 126, a clamping block 127, a third guide rail 128 and a third travel switch 129;

the jig driving device 2, the lifting driving assembly 21, the fourth synchronous belt assembly 211, the fourth servo motor 212, the fourth guide rail 213, the fourth travel switch 214, the lead screw 215, the mounting block 216, the bearing block 217, the lifting bottom plate 218, the jig mounting portion 22, the pressing cylinder 221, the locking cylinder 222, the third servo motor 223, the rotating shaft 224, the third synchronous belt assembly 225, the guide rod 226, the support frame 227, the material taking and placing port 2271, the mounting port 2272 and the workpiece detection sensor 23;

the device comprises a sheet inserting device 3, a tension spring 31, a first servo motor 32, a first driving piece 33, a workpiece fixing part 34, an early warning induction sheet 35, a first travel switch 36, a second guide rail 37, a buffer 38, a panel 39, a first guide rail 310, a standard module 311 and a fixing bottom plate 312;

the robot transfer component 4, the four-axis robot 41, the robot base 42, the telescopic sucker 43, the lifting cylinder 44 and the support 45;

a jig 5;

and (6) glass.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide the feeding and discharging equipment which can improve the feeding and discharging efficiency.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, when an element is referred to as being "secured" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

In one embodiment of the loading and unloading apparatus provided in the present invention, the loading and unloading apparatus includes: tool drive arrangement 2 and inserted sheet device 3. The inserting piece device 3 is used for feeding the workpiece to the jig or discharging the workpiece from the jig. The insert device 3 comprises a workpiece fixing part 34 and a workpiece driving component for driving the workpiece fixing part 34 to perform reciprocating motion towards or away from the jig driving device 2, the jig driving device 2 is used for adjusting the position of the jig 5, and the jig driving device 2 is arranged on one side of the insert device 3 along the motion direction output by the workpiece driving component.

Referring to fig. 4 to 7, the jig driving device 2 includes a jig mounting portion 22, a lifting driving component 21 and a rotation driving component, wherein the jig mounting portion 22 is connected to an output end of the rotation driving component and an output end of the lifting driving component 21. The jig mounting portion 22 is used for fixing and mounting the jig 5. As shown in fig. 4, the jig mounting portion 22 is connected to an output end of the rotary driving assembly, and the rotary driving assembly is connected to an output end of the lifting driving assembly. Preferably, the center of rotation of the output of the rotational drive assembly is perpendicular to the direction of movement of the workpiece holding portion 34 and the direction of movement of the output of the elevation drive assembly. Of course, in other embodiments, the jig mounting portion 22 may be connected to the output end of the lifting driving assembly 21, and the lifting driving member assembly 21 may be connected to the output end of the rotating driving assembly.

In the process of installing the jig 5 on the jig driving device 2, the elevation driving component 21 adjusts the height of the jig installation part 22, and the rotation driving component adjusts the angle of the jig installation part 22, so that the jig installation part 22 is adjusted to a position convenient for installation, and after installing the jig 5 on the jig installation part 22, please refer to fig. 7, and then the rotation driving component adjusts the jig installation part 22 to an angle convenient for loading the workpiece onto the jig 5.

In the feeding process, referring to fig. 8, the insert device 3 takes a material and moves toward the jig 5, the insert device 3 inserts the workpiece on the workpiece fixing portion 34 into the mounting position on the jig 5 at the feeding position, after the feeding of one mounting position is completed, the jig driving device 2 adjusts the position of the jig 5 to move the other empty mounting position to the feeding position, the insert device 3 takes off one workpiece and repeatedly performs the operation of transferring the workpiece to the mounting position on the jig 5 at the feeding position, and each workpiece to be fed can be fed to the jig 5 by continuous adjustment of the jig driving device 2 and continuous transmission of the insert device 3.

In the unloading in-process, inserted sheet device 3 takes off the work piece that is in the installation position of unloading position on tool 5 and transmits to receiving the material department, accomplish the unloading back of an installation position, tool drive arrangement 2 adjusts the position of tool 5, make another installation position that is equipped with the work piece move to the unloading position, inserted sheet device 3 repeats to take off the work piece that is in the installation position of unloading position on tool 5 and transmits to receiving the operation of material department, through the above-mentioned operation of constantly circulating, can accomplish each work piece unloading to receiving the material department on tool 5.

Referring to fig. 8 and 9, the workpiece fixing portion 34 is connected to the output end of the workpiece driving assembly through an elastic member, the elastic member can deform along the movement direction output by the workpiece driving assembly, and when the workpiece fixing portion 34 collides with the jig 5, the workpiece fixing portion 34 is elastically connected to the workpiece driving assembly instead of rigidly connected to the workpiece driving assembly, so that the workpiece fixing portion 34 is prevented from continuing to move in the original direction along with the workpiece driving assembly through the deformation of the elastic member. The workpiece fixing portion 34 is a vacuum chuck, but may be a clamp in other embodiments. The elastic member may be a tension spring 31.

On the insert device 3, the workpiece is located on the workpiece fixing part 34, and the workpiece can move close to or away from the jig driving device 2 along with the workpiece fixing part 34 by the driving of the workpiece driving component. In the feeding process, please refer to fig. 8, the workpiece driving assembly drives the workpiece fixing portion 34 to move towards the fixture 5, if the workpiece is not aligned with an installation position of the fixture 5, the fixture 5 will block the workpiece fixing portion 34 from continuing to move, at this time, if the workpiece driving assembly continues to move in the original direction, because of the blocking of the fixture 5 and the arrangement of the elastic member, the workpiece fixing portion 34 and the workpiece position are unchanged, and will not continue to move in the original direction along with the workpiece driving assembly, and the deformation of the elastic member is continuously increased, compared with the case that the workpiece fixing portion 34 is directly fixed on the workpiece driving assembly by adopting a hard connection, the impact damage between the workpiece and the fixture 5 and between the workpiece fixing portion 34 and the fixture 5 can be greatly reduced by the soft connection of the elastic. In addition, it should be noted that, in the case that the workpiece fixing portion 34 and the workpiece thereon are not blocked by the external object, the workpiece fixing portion 34 can move synchronously with the output end of the workpiece driving assembly, and the elastic member is in an original state.

Therefore, through the arrangement of the jig driving device 2 and the inserting device 3 in the embodiment, the automation degree of the feeding and discharging process can be improved, the feeding and discharging efficiency is improved, manual inserting or taking of the insert in the jig 5 is not needed, and the labor intensity of workers can be reduced; meanwhile, due to the arrangement of the elastic piece on the inserting piece device 3, the impact damage between the inserting piece device 3, the workpiece and the jig 5 can be reduced, and the service lives of the inserting piece device 3 and the jig 5 can be prolonged.

Further, as shown in fig. 10, a warning induction sheet 35 and a first travel switch 36 are disposed between an output end of the workpiece driving assembly and the workpiece fixing portion 34, a signal output end of the first travel switch 36 is electrically connected to the controller, and the controller can control the operation of the workpiece driving assembly according to a signal of the first travel switch 36, which may specifically include a moving direction and start and stop of the workpiece driving device. The controller may specifically be a PLC controller.

Referring to fig. 10, the workpiece fixing portion 34 is fixedly connected to the early warning sensing plate 35, and the output end of the workpiece driving assembly is fixedly provided with a first travel switch 36. When the vacuum chuck operates under the drive of the workpiece driving assembly, once the conditions such as dislocation of the vacuum chuck and the jig 5 occur, the jig 5 is collided by the front end of the vacuum chuck, the workpiece driving assembly continues to move forwards, the vacuum chuck is flexibly fixed through the tension spring 31, the tension force is not enough to drive the vacuum chuck to continue to move along with the workpiece driving assembly, and the output end of the vacuum chuck and the workpiece driving assembly generates relative motion. When the early warning induction sheet 35 fixed on the vacuum chuck enters the induction range of the first travel switch 36 which moves together with the output end of the workpiece driving component, the first travel switch 36 generates a signal, and after the controller receives the signal of the first travel switch 36, the workpiece driving component can be commanded to retreat immediately and alarm at the same time, so that the damage caused by the collision of the module in operation is prevented.

Through the arrangement of the first travel switch 36 and the early warning induction sheet 35, the anti-collision effect between the workpiece fixing part 34 and other parts can be further improved.

Further, referring to fig. 9, the workpiece driving assembly includes a first driving member 33 and a second driving member connected to an output end of the first driving member 33. The workpiece fixing part 34 is connected to the output end of the second driving part, the elastic part is connected between the output end of the second driving part and the workpiece fixing part 34, and the first driving part 33 and the second driving part are linear driving parts and are parallel in driving direction.

As shown in fig. 9, the first driving member 33 is an air cylinder, the second driving member includes a first servo motor 32 and a standard module 311 connected to an output end of the first servo motor 32, the standard module 311 can be a screw nut assembly or other modules capable of outputting linear motion, and the vacuum chuck is fixed at an output end of the standard module 311. The insert device 3 is integrally mounted on a panel 39 of the rack, a linear first guide rail 310 is fixed on the panel 39, and the first driving member 33 drives a fixed bottom plate 312 slidably connected to the first guide rail 310 and all the components thereon to linearly slide. The first servo motor 32, the housing of the standard module 311, and the linear second guide rail 37 are fixed on the fixed base plate 312, the vacuum chuck is fixed on the slider of the second guide rail 37, the slider is fixedly connected to the output end of the standard module 311, the first servo motor 32 drives the standard module 311, so that the vacuum chuck mounted at the output end of the standard module 311 reciprocates under the guidance of the second guide rail 37, and when the vacuum chuck is not impacted by external force, the vacuum chuck and the output end of the standard module 311 synchronously move.

Through the setting of two-stage driving piece, can guarantee that the distance that 3 can convey the work pieces of inserted sheet device is great, simultaneously, accomplish the requirement of the total stroke of work piece through the two-stage driving piece, can reduce first driving piece 33 and the respective total stroke of second driving piece, be favorable to reducing the cost of first driving piece 33 and second driving piece.

Further, referring to fig. 1 to 3, the loading and unloading apparatus further includes a conveying device for taking and placing the material between the predetermined origin position and the workpiece fixing portion 34. The preset original position is a material storage position or the tail end of the previous work station. The conveyor is arranged to realize automatic material taking and placing at the workpiece fixing part 34.

Referring to fig. 1 to 3, in the feeding process, the conveying device conveys the workpiece from the preset origin position to the workpiece fixing portion 34, and the insert device 3 inserts the workpiece on the workpiece fixing portion 34 into the mounting position of the feeding position on the jig 5, so as to complete feeding of one mounting position; in the blanking process, the insert device 3 takes down the workpiece in the mounting position of the blanking position on the jig 5 and transmits the workpiece to the conveying device, and the conveying device conveys the workpiece to the preset original point position to complete the blanking of one mounting position.

Referring to fig. 1 and 14, the conveyor includes a conveyor belt assembly 11, a positioning mechanism 12, and a robotic transfer assembly 4 disposed between the conveyor belt assembly 11 and the tuck tab device 3. The conveyor belt assembly 11 is used to convey the workpiece from a preset origin position on the conveyor belt assembly 11 to a preset pick-and-place position on the conveyor belt assembly 11. The positioning mechanism 12 is used for positioning the workpiece at the preset material taking and placing position on the conveyor belt assembly 11. The robot transfer unit 4 is used to transfer the workpiece between a preset pick-and-place position and the workpiece fixing portion 34. Of course, in other embodiments, the transfer device may be a robot directly disposed to move between the predetermined origin position and the workpiece fixing portion 34. In addition, the inserting piece device 3 is arranged between the robot transfer component 4 and the jig driving device 2

The conveyor belt assembly 11 and the robot transfer assembly 4 divide the stroke between the preset origin position and the workpiece fixing portion 34 into two parts. Referring to fig. 1, 11 and 18, in the feeding process, the conveyor belt assembly 11 conveys the workpiece toward the preset pick-and-place position, after the preset pick-and-place position is reached, the positioning mechanism 12 positions the workpiece, and then the robot transfer assembly 4 transfers the workpiece at the preset pick-and-place position to the workpiece fixing portion 34; in the blanking process, the robot transfer assembly 4 takes materials from the workpiece fixing part 34, then is placed at a preset material taking and placing position, is positioned by the positioning mechanism 12, and then is transmitted back to a preset original point position through the conveying belt assembly 11.

The robot transfer component 4 can flexibly realize the butt joint of the conveyor belt component 11 and the inserting piece device 3, and the smooth transfer of workpieces between the conveyor belt component 11 and the inserting piece device 3 is ensured. The positioning mechanism 12 can ensure that the workpiece conveyor belt assembly 11 stably runs in the blanking process and the robot transfer assembly 4 stably takes workpieces in the feeding process.

Further, referring to fig. 1 and fig. 2, the conveyor belt assembly 11 includes a belt body, a belt driving assembly, a transmission roller 114 for driving the belt body to rotate, and a blocking piece 111 disposed at a preset material taking and placing position, the transmission roller 114 is connected to an output end of the belt driving assembly, and the transmission roller 114 is sleeved with the belt body. The blocking piece 111 is used for positioning the workpiece in the conveying direction when the belt body conveys the workpiece towards a preset pick-and-place position so as to prevent the workpiece from falling. The drive roller 114 includes a belt-flange roller 116, and the belt-flange roller 116 has a flange located on a side surface of the belt body and protruding from a conveying surface of the belt body, the flange being used to position the workpiece in a conveying direction perpendicular to the belt body.

Referring to fig. 2, in each of the driving rollers 114, only a part of the driving rollers 114 may be provided with ribs to form the rollers 116 with ribs, or all of the driving rollers 114 may be provided with ribs to form the rollers 116 with ribs.

Wherein, optionally, as shown in fig. 2, the belt driving assembly includes a stepping motor 118 and a first timing belt assembly 117 connected to an output end of the stepping motor 118. The belt body is embodied as a circular belt 113. One of the driving rollers 114 is connected to the first synchronous belt assembly 117 to drive the circular belt 113 to rotate under the driving of the first synchronous belt assembly 117, and the driving rollers 114 are connected in a driving manner through an annular belt. During the conveying process, the workpieces move between the flanges of the flange-provided rollers 116 on the two sides of the round belt 113, so that the workpieces are prevented from deflecting, and the workpieces are prevented from falling in the conveying direction perpendicular to the belt body.

Further, referring to fig. 2, the conveyor belt assembly 11 further includes a workpiece sensor 112 for sensing whether the workpiece moves to a predetermined material taking and placing position, a signal output end of the workpiece sensor 112 and a signal input end of the positioning mechanism 12 are electrically connected to the controller, respectively, and the controller can control the positioning mechanism 12 to start according to a signal of the workpiece sensor 112.

Specifically, as shown in fig. 3, the positioning mechanism 12 includes two mounting bars 124, a clamping portion disposed on the mounting bars 124, and a positioning driving assembly for driving the two mounting bars 124 to move in opposite directions, where the two mounting bars 124 are respectively connected to two output ends of the positioning driving assembly, where the two output ends have opposite moving directions. Driven by the positioning drive assembly, the clamping portion on one mounting bar 124 can cooperate with the clamping portion on the other mounting bar 124 to clamp the workpiece to position the workpiece. The positioning mechanism 12 is arranged, so that the same positioning mechanism 12 can position the workpieces on the plurality of conveyor belt assemblies 11 conveniently. As shown in fig. 1, five single-pass conveyor belt modules 11 and a positioning mechanism 12 are combined to form a roller line 1.

More specifically, as shown in fig. 3, the clamping portion includes clamping blocks 127 fixed to the mounting guide 124 and clamping bars 125 fixed to the clamping blocks 127, at least two clamping bars 125 are arranged in parallel on each clamping block 127, and the workpiece is clamped by the clamping bars 125 in cooperation. In addition, the positioning driving assembly is a second synchronous belt assembly 126, and the two mounting guide bars 124 are fixed on the belt surfaces of the belt body of the second synchronous belt assembly 126, which have opposite moving directions, so that the two mounting guide bars 124 can be reversely driven by the same synchronous belt assembly. Wherein, each synchronous belt component usually comprises a belt wheel and a belt body which is sleeved outside the belt wheel and driven by the belt wheel.

Preferably, as shown in fig. 3, at least one of the mounting bars 124 is fixedly provided with a sensing piece, the mounting base plate 121 is fixedly provided with a second travel switch 122 and a third travel switch 129 respectively matched with the sensing piece, the second travel switch 122 and the third travel switch 129 are respectively electrically connected to the controller, and the controller controls the start and stop of the positioning driving assembly according to signals of the second travel switch 122 and the third travel switch 129. Second travel switch 122 is used to determine the home position of mounting bar 124 and third travel switch 129 is used to determine the limit position of mounting bar 124. As shown in fig. 3, one of the mounting bars 124 is provided with a sensing piece, when the sensing piece moves towards the second travel switch 122 with the mounting bar 124 away from the third travel switch 129, and the second travel switch 122 senses the sensing piece, the controller controls the positioning driving assembly to stop moving, and the two mounting bars 124 return to the original position, so as to release the positioned workpiece; when the sensing piece moves away from the second travel switch 122 along with the mounting guide bars 124 and towards the third travel switch 129, and after the third travel switch 129 senses the sensing piece, the controller controls the positioning driving assembly to stop moving, and the two mounting guide bars 124 move to the extreme positions, so that the workpiece can be clamped and positioned.

Preferably, referring to fig. 3, the mounting bar 124 is slidably connected to the third rail 128 to ensure that the mounting bar 124 moves smoothly and does not deflect in direction and position during clamping.

Wherein, the workpiece sensor 112 may be a photoelectric sensor, an ultrasonic sensor, or other sensing devices.

In the feeding process, referring to fig. 1, the belt body presets a feeding position of a workpiece conveyor belt flowing from a previous station, after the workpiece sensor 112 senses a workpiece, the controller receives a signal from the workpiece sensor 112, and then the controller controls the second servo motor 123 in the positioning mechanism 12 to drive the second synchronous belt assembly 126, so that the mounting guide bar 124 fixed below the belt body performs relative movement. The clamping blocks 127 distributed on the two mounting guide bars 124 are close to each other in pairs, and clamp the workpiece by the clamping rods 125 for positioning. In addition, in the blanking process, the positioning mechanism can be used for positioning the workpiece, or the positioning mechanism is not used for positioning the workpiece, and the robot transfer component 4 directly transmits the workpiece after placing the workpiece on the conveyor belt component 11.

Further, referring to fig. 11 and 12, the robot transfer assembly 4 includes a main body robot having a rotational degree of freedom, at least two lifting driving portions connected to an output end of the main body robot, and a material taking and placing member connected to an output end of each lifting driving portion, wherein each lifting driving portion corresponds to one insert device 3. Through different lifting driving parts, the multi-station material taking and placing operation can be realized.

Wherein, optionally, please refer to fig. 11 and 12, the main body robot includes a robot base 42 fixed on the panel 39, a four-axis robot 41 fixed on the robot base 42, wherein the four-axis robot 41 has a moving degree of freedom for lifting and lowering perpendicular to the panel 39 and a rotational degree of freedom for rotating around an axis perpendicular to the panel 39. The lifting driving part is a lifting cylinder 44 connected to a lifting shaft of the four-shaft robot 41, and the material taking and placing part is a telescopic sucker 43. The lifting cylinder 44 and the telescopic sucker 43 directly connected with the lifting cylinder can rotate and lift freely under the driving of the four-axis robot 41. In addition, the expansion and contraction of the lifting cylinder 44 can make different expansion suckers 43 work in a staggered way in the lifting direction.

Optionally, as shown in fig. 17 and fig. 18, the loading and unloading apparatus is provided with two stations, correspondingly, the output end of the main robot is provided with two lifting driving parts, each lifting driving part is correspondingly provided with one insert device 3, each insert device 3 corresponds to one jig driving device 2, one lifting driving part and the corresponding insert device 3 form one station with the jig driving device 2, and the other lifting driving part and the corresponding insert device 3 form one station with the jig driving device 2.

In the feeding process, after one of the lifting driving parts finishes the piece placing on the first inserting piece device 3, the main robot rotates to enable the other lifting driving part to rotate to the second inserting piece device 3 to place the piece, when the lifting driving part places the piece on the second inserting piece device 3, the first inserting piece device 3 continues to operate to feed materials to the jig 5, and the continuous operation of two stations is ensured.

Further, referring to fig. 4 to 8, the jig driving device 2 further includes a workpiece detection sensor 23 disposed at a predetermined height. The signal output end of the workpiece detection sensor 23 and the signal input end of the lifting drive assembly 21 are electrically connected to the controller, and the controller can control the lifting drive assembly 21 to adjust the height of the jig mounting part 22 according to the signal of the workpiece detection sensor 23. Through the cooperation of the lifting drive assembly 21 and the workpiece detection sensor 23, the height of the workpiece can be accurately controlled, so that the workpiece can be fed or discharged layer by layer. The detection sensor 23 is preferably a correlation sensor.

Preferably, referring to fig. 4 to 8, an output end of the lifting driving assembly 21 is fixedly provided with a mounting block. The rotation driving component is connected to the output end of the lifting driving component 21, and is specifically connected to the mounting block. The jig mounting portion 22 includes a supporting frame 227 fixed to the output end of the rotary driving unit for mounting the jig, a pressing member for pressing the jig 5 against the supporting frame 227, and a locking member for locking and unlocking the supporting frame 227 to the mounting block 216, and the pressing member is connected to the supporting frame 227. Specifically, the mounting block 216 is rotatably connected to a rotating shaft 224, the supporting frame 227 is connected to the rotating shaft 224, and the rotating driving assembly is configured to drive the supporting frame 227 to rotate around the rotating shaft 224. The rotatable and locking part's of support frame 227 setting can make things convenient for the installation operation of tool 5, and simultaneously, the setting that compresses tightly the part can be guaranteed to reliably lock tool 5 on support frame 227.

As shown in fig. 4 to 6, the jig driving device 2 includes a lifting bottom plate 218 for supporting the whole of the jig driving device 2. Under the initial state of the jig mounting portion 22, the supporting frame 227 is horizontally placed, the material taking and placing port 2271 on the supporting frame 227 faces upward, the jig 5 is manually placed at the mounting port 2272 at the end portion of the supporting frame 227 in the horizontal direction, the jig 5 is horizontally pushed into the supporting frame 227 along the guide rod 226 on the supporting frame 227, then, the start button on the pressing component is pressed, the pressing component presses the jig 5 at the mounting port 2272 of the supporting frame 227 and is positioned on the supporting frame 227, and the pressing component is specifically the pressing cylinder 221. Be used for the response to compress tightly the inductor that the part moved on the support frame 227 and after sensing to compress tightly the part action and accomplish, send signal to the controller, the unblock of controller control locking part, later, controller control rotary drive subassembly drives support frame 227 and rotates around pivot 224, makes the getting of support frame 227 put material mouth 2271 towards the horizontal direction, later, controller control locking part locking support frame 227, and insert device 3 can be followed the horizontal direction and sent the work piece into in tool 5. Specifically, the locking component is a locking cylinder 222, and locking and unlocking of the support 227 are realized through extension and contraction. Specifically, the rotation driving assembly includes a third servo motor 223 and a third timing belt assembly 225 connected to an output end of the third servo motor 223, and an output end of the third timing belt assembly 225 is fixedly connected to a supporting frame 227. The inserting device 3 should be staggered from the rotating shaft 224 to avoid the rotating path of the supporting frame 227.

Specifically, referring to fig. 5, the lifting driving assembly 21 includes a fourth servo motor 212, a fourth synchronous belt assembly 211 connected to an output end of the fourth servo motor 212, and a screw nut assembly connected to an output end of the fourth synchronous belt assembly 211, and the mounting block 216 is connected to an output end of the screw nut assembly.

In the feeding process, referring to fig. 5, the fourth servo motor 212 drives the screw rod 215 to rotate through the fourth synchronous pulley assembly 211, so that the mounting block 216 descends, and one mounting position on the jig 5 descends to a set workpiece placing position. The vacuum chuck is driven by the standard module 311 to carry out blind insertion to push a layer of workpieces, after the insertion, the vacuum chuck is disconnected from vacuum under the control of the controller, the fourth servo motor 212 is started, the mounting block 216 is lifted, in the lifting process, the mounting position on the jig 5 supports the layer of workpieces to be pushed to synchronously lift along with the jig 5, and the vacuum chucks pushing the layer of workpieces are gradually separated; when the workpiece detection sensor 23 detects that the workpiece stops rising after reaching the top layer, the top layer workpiece is completely separated from the vacuum chuck, meanwhile, the other installation position on the jig 5 moves to the workpiece placing position, the inserting piece device 3 resets to take off the workpiece, the vacuum chuck is driven by the standard module 311 to insert the top two layers of workpieces into the installation position of the workpiece placing position in the jig 5, the process is repeated, and the workpieces are sequentially inserted into the installation positions from top to bottom in the jig 5.

In the blanking process, referring to fig. 7, the fourth servo motor 212 drives the screw rod 215 to rotate through the fourth synchronous belt assembly 211, so that the mounting position corresponding to the bottom layer of workpiece moves to the workpiece detection sensor 23. The vacuum chuck extends into the jig 5, the controller controls the jig 5 to descend until the bottom two-layer workpiece is detected by the correlation sensor, at the moment, the bottom one-layer workpiece moves to a workpiece taking position and falls on the vacuum chuck, and the vacuum chuck starts to vacuum adsorb the workpiece thereon and horizontally take out the workpiece; then, the vacuum chuck extends into the jig 5, and the controller repeats the above control until all the workpieces from bottom to top are taken out of the jig 5 in sequence.

Wherein, according to the model of tool 5, same height may have one or be equipped with two at least installation positions side by side, and inserted sheet device 3 can set up the vacuum chuck of corresponding quantity, for example, tool 5 sets up two installation positions side by side at same height, as shown in fig. 9, inserted sheet device 3 sets up two vacuum chuck. In addition, the workpiece fixing portion 34 usually needs to be at least partially inserted into the jig 5 when the workpiece is taken out from or put into the jig 5.

The unloading equipment that this embodiment provided is being applied to a concrete working process of unloading on glass as follows, wherein, this equipment has two stations, and in addition, the work piece is not restricted to being glass, can also be for work pieces such as plastic slab:

(1) glass insertion mode

The first action is as follows: each conveyor belt assembly 11 is kept rotating independently, glass flows into the conveyor belt assembly 11 from the front section, and the corresponding conveyor belt assembly 11 is matched with the positioning mechanism 12 to convey the glass to a preset material taking and placing position. The glass is removed by the robotic transfer assembly 4. After the glass is removed, the conveyor belt assembly 11 continues to rotate to receive the material. The robot transfer component 4 acts similarly for each conveyor belt component 11, and every two pieces of glass are taken and transferred to the vacuum suction cup of the insert device 3 on one side, and vacuum is opened for fixing.

And the second action: the jig 5 is manually placed on the jig driving device 2, and the jig 5 is fixed and sent to the initial working position through the cooperation of the lifting driving assembly 21 and the jig mounting portion 22. Specifically, in the initial state of the jig mounting portion 22, the supporting frame 227 is horizontally placed, the material taking and placing port 2271 on the supporting frame 227 faces upward, the jig 5 is manually placed at the mounting port 2272 at the end portion of the supporting frame 227 in the horizontal direction, the jig 5 is horizontally pushed into the supporting frame 227 along the guide rod 226 on the supporting frame 227, then, the start button on the pressing cylinder 221 is pressed, and the pressing cylinder 221 presses and positions the jig 5 on the supporting frame 227 at the mounting port 2272 of the supporting frame 227. After the sensor used for sensing the action of the pressing part on the supporting frame 227 senses the completion of the action of the pressing part, a signal is sent to the controller, the controller controls the locking part to be unlocked, and then the controller controls the rotary driving assembly to drive the supporting frame 227 to rotate around the rotating shaft 224 to an initial working position, so that the material taking and placing port 2271 of the supporting frame 227 faces to the horizontal direction, such as the position shown in fig. 7. Then, the controller controls the locking component to lock the supporting frame 227, and the insert device 3 can feed the workpiece into the jig 5 along the horizontal direction.

After the two actions are finished, the vacuum chuck moves forwards, glass is sent into the jig 5 through the gap between the beads of the jig 5, and the vacuum is cut off. The lifting driving component 21 lifts the jig mounting part 22 by a distance, the beads lift the glass above the vacuum chuck, and the vacuum chuck returns. The above actions are repeated until the jig 5 is fully inserted with glass. The parts of the other station act similarly. In addition, because the initial work position, the material taking and placing port 2271 of the supporting frame 227 is oriented to the horizontal direction, as shown in fig. 7, correspondingly, as shown in fig. 8, the vacuum chuck is inserted and taken transversely relative to the jig 5, because in the insertion and taking direction, the vacuum chuck only needs to support the glass from the lower side to reliably fix the glass, and if the vertical insertion and taking mode is adopted, the workpiece fixed on the single side of the vacuum chuck is difficult to ensure the fixing reliability, and the glass is easy to fall off from the chuck in the insertion and taking process.

(2) Glass taking mode

The jig 5 with full glass is manually placed on the jig driving device 2, and the jig 5 is fixedly conveyed to the initial working position through the cooperation of the lifting driving assembly 21 and the jig mounting part 22. The vacuum chuck moves forward to enter the jig 5 below the glass. The lifting driving component 21 slowly lowers the mounting part 22 of the jig 5 to the vacuum chuck, and the vacuum chuck upwards supports the glass from the surface of the bead. The vacuum cups return and the glass is removed by the robotic transfer assembly 4 and placed on the conveyor assembly 11 to the next station. The actions are repeated until the jig 5 finishes taking out the glass. The other station acts similarly.

The feeding and discharging equipment can realize automatic insertion of the glass into the jig 5, reduce labor burden, improve yield and improve operation environment.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The above description describes the feeding and discharging apparatus provided by the present invention in detail. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (5)

1. The utility model provides a go up unloading equipment which characterized in that includes:

the conveyor belt assembly (11) comprises a workpiece sensor (112) for sensing whether a workpiece moves to a preset material taking and placing position on the conveyor belt assembly (11), and a signal output end of the workpiece sensor (112) is electrically connected with the controller;

the positioning mechanism (12) is used for positioning the workpiece at the preset material taking and placing position, and a signal input end of the positioning mechanism (12) is electrically connected with the controller;

the inserting piece device (3) comprises a workpiece fixing part (34) and a workpiece driving assembly, wherein the workpiece fixing part (34) is used for fixing a workpiece on the upper side of the workpiece fixing part, the workpiece driving assembly comprises a first driving piece (33) and a second driving piece connected to the output end of the first driving piece (33), the workpiece fixing part (34) is connected to the output end of the second driving piece, an elastic piece is connected between the output end of the second driving piece and the workpiece fixing part (34), the first driving piece (33) and the second driving piece are linear driving pieces, the driving directions of the first driving piece and the second driving piece are parallel, and the elastic piece can deform along the movement direction output by the workpiece driving assembly;

the robot transfer component (4) is arranged between the conveyor belt component (11) and the sheet inserting device (3);

the fixture driving device (2), the inserting sheet device (3) is arranged between the robot transfer component (4) and the fixture driving device (2), the fixture driving device (2) is arranged at one side of the inserting sheet device (3) along the motion direction of the workpiece fixing part, the fixture driving device (2) comprises a fixture mounting part (22), a lifting driving component (21), a rotary driving component and a workpiece detection sensor (23) arranged at a preset height, a mounting block (216) is fixedly arranged at the output end of the lifting driving component (21), the rotary driving component is connected to the mounting block (216), the fixture mounting part (22) comprises a pressing part, a supporting frame (227) fixed at the output end of the rotary driving component and a locking part used for locking the supporting frame (227) at the output end of the lifting driving component (21) and unlocking the supporting frame, the supporting frame (227) is connected to a rotating shaft (224) arranged on the mounting block (216), the rotary driving component is used for driving the supporting frame (227) to rotate by taking the rotating shaft (224) as a center, the pressing component is connected to the supporting frame (227), and a signal output end of the workpiece detection sensor (23) and a signal input end of the lifting driving component (21) are electrically connected to a controller;

the pressing device comprises a supporting frame (227), wherein a material taking and placing port (2271), a mounting port (2272), a guide rod (226) and an inductor for inducing the action of a pressing part are arranged on the supporting frame (227), a jig (5) is arranged on the supporting frame (227), a plurality of mounting positions are arranged on the jig (5), and each mounting position can correspondingly support a workpiece on the jig; in an initial state of the jig mounting part (22), the supporting frame (227) is horizontally placed, the material taking and placing port (2271) is upward, the mounting port (2272) is located at the end part of the supporting frame (227) in the horizontal direction, the jig (5) can be horizontally pushed into the supporting frame (227) along the guide rod (226) from the mounting port (2272), and the pressing part is used for pressing the jig (5) on the supporting frame (227); support frame (227) rotate extremely get and put material mouth (2271) towards the horizontal direction just locking part locks behind support frame (227), inserted sheet device (3) can be followed the horizontal direction and sent into the work piece in tool (5).

2. The loading and unloading device according to claim 1, wherein a pre-warning induction sheet (35) and a first travel switch (36) are arranged between the output end of the workpiece driving assembly and the workpiece fixing portion (34), and the signal output end of the first travel switch (36) is electrically connected with a controller.

3. The loading and unloading device according to claim 1, wherein the conveyor belt assembly (11) comprises a transmission roller (114), a belt driving assembly, a belt body sleeved on the transmission roller (114), and a blocking piece (111) arranged at the preset material taking and placing position to block materials, wherein the transmission roller (114) is connected to the output end of the belt driving assembly; the transmission roller (114) comprises a roller (116) with a flange, and the roller (116) with the flange is provided with a flange which is positioned on the side surface of the belt body and protrudes out of the conveying surface of the belt body.

4. The loading and unloading device according to claim 1, wherein the positioning mechanism (12) comprises a positioning driving assembly, two mounting guide bars (124) and a clamping portion arranged on the mounting guide bars (124), and the two mounting guide bars (124) are respectively connected to two output ends of the positioning driving assembly, which have opposite movement directions; the clamping portion on one of the mounting bars (124) is capable of cooperating with the clamping portion on the other mounting bar (124) to clamp a workpiece to position the workpiece.

5. The loading and unloading apparatus according to claim 1, wherein the robot transfer assembly (4) comprises a main body robot having a rotational degree of freedom, at least two lifting driving portions connected to an output end of the main body robot, and a material taking and unloading member connected to an output end of each lifting driving portion, each lifting driving portion corresponding to one of the blade inserting devices (3).

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