CN113651071B - Flat workpiece stacking equipment - Google Patents
Flat workpiece stacking equipment Download PDFInfo
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- CN113651071B CN113651071B CN202110970055.5A CN202110970055A CN113651071B CN 113651071 B CN113651071 B CN 113651071B CN 202110970055 A CN202110970055 A CN 202110970055A CN 113651071 B CN113651071 B CN 113651071B
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- horizontal direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/09—Stacking of articles by adding to the top of the stack from alongside
- B65G57/10—Stacking of articles by adding to the top of the stack from alongside by devices, e.g. reciprocating, acting directly on articles for horizontal transport to the top of stack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Pile Receivers (AREA)
Abstract
The invention discloses flat workpiece stacking equipment, and relates to the technical field of automatic stacking of workpieces; the device comprises a conveying device, a limiting device, a jacking device, a material receiving device, a pushing device and a sucking device. Compared with manual stacking, the flat workpiece stacking device has higher operation efficiency, can meet the requirement of capacity expansion on stacking efficiency, can fix the flat workpiece which is just pushed, and then can release the fixation when pushing the next workpiece, so that the phenomenon that the flat workpiece inclines or falls down caused by the conditions of vibration or insufficient pushing in the mechanical conveying process is solved.
Description
Technical Field
The invention relates to the technical field of automatic stacking of workpieces, in particular to flat workpiece stacking equipment.
Background
In order to improve the operation efficiency, the processed workpieces are generally automatically stacked by workpiece stacking equipment, but flat workpieces, such as the workpieces processed by magnetic materials, often deviate or fall down due to the difficulty in picking and fixing the workpieces, so that the conventional workpiece stacking equipment cannot meet the stacking requirement, and further depends on manual stacking at present, the manual stacking operation efficiency is low, and the requirement of capacity expansion on the stacking efficiency cannot be met.
Disclosure of Invention
The invention aims to provide flat workpiece stacking equipment to solve the problems that the existing flat workpiece stacking only depends on manual operation and is low in efficiency.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a flat workpiece stacking apparatus comprising: a conveying device for conveying the flat workpiece in a first horizontal direction; the limiting device is positioned above the conveying device and is provided with a feeding end and a discharging end in the first horizontal direction, and the limiting device restricts the thickness direction of the flat workpiece on the conveying device to be in a second horizontal direction perpendicular to the first horizontal direction; a holding member movable in the second horizontal direction and adapted to abut against one surface of the flat workpiece in a thickness direction thereof; the material receiving device is adjacent to the conveying device; the pushing component of the pushing device and the jacking device form a workpiece clamping space for clamping a flat workpiece, and the pushing component can reciprocate in the second horizontal direction and is used for pushing the workpiece in the workpiece clamping space to enter the material receiving device; the sucking device is arranged close to the discharge end and comprises a transmission mechanism, a rotating core, a cylinder and a piston; the transmission mechanism is respectively connected with the push rod and the rotating core and is used for converting the linear motion of the push rod into rotary motion so as to drive the rotating core to rotate; the rotating core is arranged at one end of the cylinder through a sealing bearing and is fixedly connected with a piston in the cylinder; the cylinder is arranged on the substrate, the axial direction of the cylinder is arranged along the first horizontal direction, and the inner wall of the cylinder is provided with a limiting rail; the piston is arranged at the other end of the air cylinder in a sealing mode and is provided with a sliding piece located in the limiting track, a sucking hole communicated with the inner cavity of the air cylinder is formed in the middle of the air cylinder, and a sucking disc is connected to the sucking hole.
According to the flat workpiece stacking equipment provided by the invention, the state of a flat workpiece in the conveying process is limited by the limiting device, the flat workpiece is ensured to be in the vertical state, then the workpiece clamping space is formed by the jacking device and the pushing device, and the flat workpiece is pushed into the receiving device to complete stacking. Meanwhile, the sucking device can be used for fixing the flat workpiece which is just pushed, and then the next workpiece is released from fixing when being pushed, so that the phenomenon that the flat workpiece is inclined or falls down due to the vibration in the mechanical conveying process or the situation that the pushing is not in place and the like is solved.
In addition, the flat workpiece stacking device according to the above embodiment of the present invention may further have the following additional technical features:
according to one example of the present invention, the limiting device includes a first limiting plate, a second limiting plate, and a spacing adjustment mechanism; the first limiting plate and the second limiting plate are arranged oppositely in the second horizontal direction and limit the flat workpiece together; the distance adjusting mechanism is connected with the first limiting plate and/or the second limiting plate and used for adjusting the distance between the first limiting plate and the second limiting plate.
According to one example of the invention, the jacking device comprises a first mounting frame, a first linear motion mechanism and a jacking component; the first linear motion mechanism is arranged on the first mounting frame and connected with the jacking part so as to drive the jacking part to move in the second horizontal direction; the jacking component is adjacent to the discharge end and is arranged opposite to the pushing device in the second horizontal direction.
According to one example of the present invention, the first linear motion mechanism comprises a rodless cylinder; the rodless cylinder is arranged on the first sliding rail; the push device pushes the push device to move along the direction close to the material receiving device, and the cylinder body drives the jacking component to reset under the pushing of the push device along the direction deviating from the material receiving device.
According to an example of the present invention, the pushing device includes a second mounting frame, a second linear motion mechanism, and a pushing member; the second linear motion mechanism is arranged on the second mounting frame; the pushing component and the jacking device are arranged oppositely in the second horizontal direction, and the pushing component is connected with the second linear motion mechanism and driven by the second linear motion mechanism to reciprocate along the second horizontal direction.
According to an example of the present invention, the pushing member includes a first push plate and a second push plate which are vertically connected; the first push plate and the jacking device form the workpiece clamping space; the length direction of the second push plate extends along the direction departing from the jacking device, and the distance between the second push plate and the discharge end is smaller than the length of the flat workpiece in the first horizontal direction.
According to an example of the present invention, the second linear motion mechanism includes a driving part, a gear, a rack, a slider, and a second slide rail; the driving part is connected with the gear and is used for driving the gear to rotate; the rack is meshed with the gear and is fixedly connected with the sliding block; the sliding block is slidably mounted on the second sliding rail and connected with the pushing component, and the rack, the sliding block and the pushing component reciprocate on the second sliding rail along the second horizontal direction under the rotation of the gear.
According to an example of the present invention, the second mounting bracket comprises a horizontal mounting plate and a vertical mounting plate which are connected; the second sliding rail is arranged on the horizontal mounting plate, and a linear bearing is arranged on the vertical mounting plate; the support and the push rod are arranged between the sliding block and the pushing component, the support is installed on the sliding block, one end of the push rod is installed on the support, and the other end of the push rod penetrates through the linear bearing to be connected with the pushing component.
According to an example of the invention, the receiving device comprises a receiving groove, a temporary storage table and a transverse pushing mechanism which are sequentially arranged in the first horizontal direction; along the first horizontal direction, one end of the two opposite sides of the material receiving groove, which is close to the temporary storage table, is open; the flat workpiece positioned in the workpiece clamping space can move to the temporary storage table, and the transverse pushing mechanism can push the flat workpiece on the temporary storage table to the material receiving groove.
According to one example of the present invention, the lateral pushing mechanism includes a third linear motion mechanism and a lateral pushing plate; the third linear motion mechanism is connected with the transverse push plate and drives the transverse push plate to move along the first horizontal direction; the length of the transverse push plate in the second horizontal direction is smaller than or equal to the distance between the material receiving groove and the two opposite side walls in the second horizontal direction.
According to an example of the invention, further, when the push rod moves linearly away from the jacking device, the transmission mechanism drives the rotary core to rotate forward, the piston rotates in the cylinder under the driving of the rotary core, and the sliding part slides along the limiting track, so that the piston partially extends out of the cylinder, and the sucker can suck one side of the flat workpiece, which is away from the discharge end, under the negative pressure of the cylinder; when the push rod moves linearly towards the jacking device, the transmission mechanism drives the rotary core to rotate reversely, the piston rotates in the cylinder under the driving of the rotary core, the sliding part slides along the limiting rail, so that the part of the piston extending out of the cylinder retracts to the cylinder, and the sucking disc releases the adsorption on the flat workpiece.
According to one example of the invention, the transmission mechanism comprises a moving piece, a first connecting shaft, a first connecting rod, a second connecting shaft, a second connecting rod, a shaft seat, a third connecting shaft and a telescopic rod; the moving piece is fixedly connected with the push rod, and the first connecting shaft is arranged on the moving piece; one end of the first connecting rod is sleeved on the first connecting shaft and can rotate around the first connecting shaft, and the second connecting shaft is mounted at the other end of the first connecting rod; one end of the second connecting rod is sleeved on the second connecting shaft and can rotate around the second connecting shaft, and the other end of the second connecting rod is connected with the third connecting shaft; the third connecting shaft is rotatably arranged on the shaft seat and driven by the second connecting rod to rotate on the shaft seat; the telescopic link can be passively flexible, telescopic link one end with third connecting axle coaxial coupling, the other end with change core coaxial coupling.
According to an example of the present invention, the limiting rail is curved, one end of the limiting rail is disposed near one end of the cylinder where the piston is located, and the other end of the limiting rail is disposed away from one end of the cylinder where the piston is located.
According to an example of the invention, a first sleeve and a second sleeve which are adjacent to each other are fixedly installed in the cylinder, a part of the piston is located in the first sleeve, the other part of the piston is located in the second sleeve, a first inclined end surface is arranged at one end, close to the second sleeve, of the first sleeve, a second inclined end surface is arranged at one end, close to the second sleeve, of the second sleeve, and the first inclined end surface and the second inclined end surface are arranged at intervals to form the limiting track.
According to an example of the present invention, the slider includes a fourth connecting shaft and a rotating portion fitted around the fourth connecting shaft, the rotating portion being rotatable about the fourth connecting shaft and being in clearance fit with one of the first inclined end surface and the second inclined end surface.
According to an example of the present invention, the cylinder is mounted on a bottom frame, the base plate is provided with a slide rail arranged along the first horizontal direction, the bottom frame is slidably mounted on the slide rail, and the bottom frame and one end of the slide rail away from the discharge end are connected through an elastic member, wherein the elastic member is configured to: when the sucker moves to be sucked with the flat workpiece under the driving of the piston, the elastic piece is compressed, and when the sucker moves to be disconnected with the flat workpiece under the driving of the piston, the elastic piece resets, and the sucker is in clearance fit with the flat workpiece.
Advantages of the above additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic structural diagram of a flat workpiece stacking apparatus according to an embodiment of the present invention;
FIG. 2 is an enlarged view of the portion A of FIG. 1;
FIG. 3 is an enlarged view of portion B of FIG. 1;
FIG. 4 is an enlarged view of section C of FIG. 1;
FIG. 5 is a top view of a holding apparatus according to an embodiment of the present invention in a state of being held by a flat workpiece;
FIG. 6 is a plan view of the flat workpiece and the holding device according to the embodiment of the present invention;
fig. 7 is a schematic view of an internal structure of a cylinder of the holding apparatus according to the embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1-a conveying device;
2-a limiting device; 21-a feed end; 22-a discharge end; 221-in-position sensor; 23-a first limiting plate; 24-a second limiting plate; 25-a spacing adjustment mechanism;
3-a holding device; 31-a first mounting frame; 311-a first sliding rail; 32-a first linear motion mechanism; 33-a holding member;
4-a material receiving device; 41-material receiving groove; 42-temporary storage table; 43-a transverse pushing mechanism; 431-a third linear motion mechanism; 432-horizontal push plate;
5-a pushing device; 51-a second mounting frame; 511-horizontal mounting plate; 512-vertical mounting plate; 513-linear bearings; 514-zero detection sensor; 52-a second linear motion mechanism; 521-a drive member; 522-gear wheel; 523-rack; 524-a slide block; 5241-zero point positioning piece; 525-a second slide rail; 53-a pushing member; 531-first pusher plate; 532-a second push plate; 54-a support; 55-a push rod;
6-body; 61-a substrate; 611-a third slide rail;
7-a holding device; 71-a transmission mechanism; 711-a moving member; 712-a first connecting shaft; 713-a first link; 714-a second connecting shaft; 715-a second link; 716-shaft seat; 717-a third connecting shaft; 718-a telescoping rod; 72-rotating the core; 73-a cylinder; 74-a piston; 741-a slider; 7411-a fourth connection shaft; 7412-a rotating part; 742-a holding hole; 75-a limit track; 76-a suction cup; 77-a first sleeve; 771-first inclined end face; 78-a second sleeve; 781-a second angled end face; 79-bottom frame; 791-elastic member.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "inside", "outside", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise specifically stated or limited, the terms "mounted," "connected," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
For the stacking of flat workpieces, the existing stacking equipment has the disadvantages that the flat workpieces cannot be ensured to be in a vertical state, namely, the thickness direction of the flat workpieces cannot be ensured to be horizontal (the thickness direction refers to the minimum distance between two opposite surfaces of the workpieces), the thickness direction of the flat workpieces in the stacking and conveying process of the existing equipment is in a vertical direction, namely, the surface of the flat workpieces in the thickness direction is horizontal, a large storage space is occupied, and the problem can be overcome only by stacking, but the stacking requirement for the stacking equipment is higher, the surfaces of the workpieces are easily damaged under stacking, the complexity and the cost of the equipment exceed the due range, so that the stacking is required only by retreating, and then manual stacking is selected to reduce the cost and meet the stacking requirement, but the manual stacking has the problem of low efficiency, and the flat workpiece is easy to be damaged in the manual operation process.
In view of this, the present embodiment provides a flat workpiece stacking apparatus, which aims to solve the above technical problems by improving the whole apparatus.
Referring to fig. 1, the flat workpiece stacking apparatus of the present embodiment includes a conveying device 1, a limiting device 2, a supporting device 3, a receiving device 4, and a pushing device 5, the equipment also comprises a machine body 6, a base plate 61 is arranged on the machine body 6, the conveying device 1, the limiting device 2, the jacking device 3, the material receiving device 4 and the pushing device 5 are all arranged on the base plate 61, a control system or a control device (not shown in the figure) can be arranged inside or outside the machine body 6 to control the devices, the control comprises the opening and closing or the adjustment of specific action parameters, since the control device may be any control structure (for example, PLC, etc.) in the prior art, the present embodiment does not describe a specific control process, and a person skilled in the art can fully deduce the control process and principle according to the operation process of each device described above.
In the above-described apparatus, the conveying apparatus 1 of the present embodiment is used for conveying the flat workpiece in the first horizontal direction, and the conveying apparatus 1 may be a belt drive or other existing conveying structure, for which excessive spreading is not performed.
The limiting device 2 of this embodiment is located conveyor 1 top to have feed end 21 and discharge end 22 on first horizontal direction, limiting device 2 retrains the thickness direction of the flat work piece on conveyor 1 to the second horizontal direction perpendicular to first horizontal direction mutually, and then makes the flat work piece also be in the state of erectting when discharge end 22 unloading, can reduce the shared horizontal space of flat work piece, especially to the magnetism material, also can avoid the damage of magnetism material thickness direction upper surface.
The supporting member 33 of the supporting device 3 of this embodiment can move in the second horizontal direction, the supporting member 33 of the supporting device 3 of this embodiment is mainly used to abut against a surface of the flat workpiece discharged by the discharging end 22 in the thickness direction, so as to prevent the flat workpiece from falling after discharging, the supporting device 3 can form a workpiece clamping space for clamping the flat workpiece with the pushing device 5, and the supporting device 3 can give way to the receiving device 4 in the pushing process of the pushing device 5, so as to increase the width of the workpiece clamping space in the second horizontal direction, so that the clamping requirements of rows of flat workpieces can be met in the workpiece clamping space.
The receiving device 4 of the present embodiment is adjacent to the conveying device 1, is used for receiving flat workpieces, and may have a certain stacking function, and the specific structure thereof is given below.
The pushing device 5 of the present embodiment is disposed opposite to the supporting device 3 in the second horizontal direction, and forms a workpiece clamping space for clamping the flat workpiece with the supporting device 3, and the pushing component 53 of the pushing device 5 can reciprocate in the second horizontal direction, so as to adjust the size of the workpiece clamping space in the second horizontal direction, and push the workpiece located in the workpiece clamping space to enter the receiving device 4.
According to the description of each functional device of the flat workpiece stacking equipment, the flat workpiece stacking equipment provided by the embodiment can limit the state of a flat workpiece in the conveying process by using the limiting device 2, so that the flat workpiece is ensured to be in a vertical state, then the jacking device 3 and the pushing device are used for forming a workpiece clamping space, the flat workpiece is pushed into the receiving device 4 to complete stacking, the operation efficiency is higher compared with manual stacking, and the requirement of capacity expansion on stacking efficiency can be met.
Referring to fig. 1 and 2, the limiting device 2 of the present embodiment includes a first limiting plate 23, a second limiting plate 24, and a spacing adjusting mechanism 25; the first limiting plate 23 and the second limiting plate 24 are arranged oppositely in the second horizontal direction and limit the flat workpiece together, so that the flat workpiece can be kept upright all the time in the conveying process.
The spacing adjustment mechanism 25 of this embodiment is connected with first limiting plate 23 and/or second limiting plate 24 for adjust the interval of first limiting plate 23 and second limiting plate 24, specifically speaking, the spacing adjustment mechanism 25 of this embodiment is connected with first limiting plate 23 and second limiting plate 24 respectively, its structural style can be that an adjusting plate connects first limiting plate 23 and second limiting plate 24 through connecting pieces such as two or more bolts respectively, the horizontal position of connecting pieces such as bolts on the adjusting plate is adjustable, realize the regulation of first limiting plate 23 and second limiting plate 24 interval in proper order. Furthermore, optionally, the number of the spacing adjusting mechanisms 25 in this embodiment is multiple, and the spacing adjusting mechanisms are arranged at intervals along the first horizontal direction, so that the first limiting plate 23 and the second limiting plate 24 do not need to be fixed by other structures, and only the spacing adjusting mechanisms 25 need to be fixed, thereby further optimizing the structure.
As shown in fig. 1 and 3, the supporting device 3 of the present embodiment includes a first mounting frame 31, a first linear motion mechanism 32, and a supporting member 33; the first linear moving mechanism 32 of this embodiment is mounted on the first mounting frame 31 and connected to the supporting member 33 to drive the supporting member 33 to move in the second horizontal direction, the supporting member 33 of this embodiment is adjacent to the discharging end 22 and is disposed opposite to the pushing device 5 in the second horizontal direction, specifically, the supporting member 33 of this embodiment may be a rectangular block or a plate, and is close to the surface of the pushing device 5 for abutting against the flat workpiece.
Optionally, the first linear motion mechanism 32 of this embodiment is a rodless cylinder, and correspondingly, the first mounting bracket 31 of this embodiment is provided with the first slide rail 311, the rodless cylinder of this embodiment is mounted on the first slide rail 311, and a cylinder body of the rodless cylinder can slide on the first slide rail 311.
The cylinder body of the rodless cylinder is connected with the jacking component 33, the pushing device 5 drives the jacking component 33 and the cylinder body to move in the direction close to the material receiving device 4 under the pushing of the pushing device 5 in the direction close to the material receiving device 4, the pushing device 5 removes the pushing force on the jacking component 33 under the pushing of the pushing device in the direction away from the material receiving device 4, so that the cylinder body of the rodless cylinder drives the jacking component 33 to reset, namely in the pushing process of the pushing device 5, the cylinder body of the rodless cylinder and the jacking component 33 of the rodless cylinder passively move, control and power output are not needed, the control step and the power output cost are reduced, and in the resetting process of the jacking component 33, the cylinder body can control to drive the jacking component 33 to reset.
As shown in fig. 1 and 4, the pushing device 5 of the present embodiment includes a second mounting bracket 51, a second linear motion mechanism 52, and a pushing member 53; wherein, the second linear motion mechanism 52 of the present embodiment is mounted on the second mounting frame 51; the pushing component 53 of the present embodiment is disposed opposite to the supporting component 33 of the supporting device 3 in the second horizontal direction, and the pushing component 53 is connected to the second linear motion mechanism 52 and driven by the second linear motion mechanism 52 to reciprocate along the second horizontal direction.
In order to ensure that a plurality of flat workpieces can enter the workpiece holding space in order, the present embodiment designs the pushing member 53 to include a first pushing plate 531 and a second pushing plate 532 which are vertically connected; the first push plate 531 and the supporting device 3 of this embodiment form a workpiece clamping space, the length direction of the second push plate 532 of this embodiment extends in the direction away from the supporting device 3, and the distance between the second push plate 532 and the discharging end 22 is smaller than the length of the flat workpiece in the first horizontal direction, when the pushing component 53 pushes the first flat workpiece to move toward the supporting component 33, the second push plate 532 can prevent the second flat workpiece fed from the discharging end 22 from entering the workpiece clamping space, that is, only after the first flat workpiece is completely in place, and the pushing component 53 moves in the direction away from the supporting component 33, the second flat workpiece can enter the workpiece clamping space, so as to avoid the mutual influence of the two flat workpieces.
As shown in fig. 4, the second linear motion mechanism 52 of the present embodiment includes a driving member 521, a gear 522, a rack 523, a slider 524, and a second slide rail 525; the driving member 521 of this embodiment may be a stepping motor, and an output shaft of the stepping motor is directly connected to the gear 522 and is configured to drive the gear 522 to rotate; the rack 523 of the embodiment is engaged with the gear 522 and is fixedly connected with the slider 524; the sliding block 524 of the present embodiment is slidably mounted on the second sliding rail 525, and is connected to the pushing component 53, and under the rotation of the gear 522, the rack 523, the sliding block 524, and the pushing component 53 reciprocate on the second sliding rail 525 along the second horizontal direction, thereby achieving the adjustment of the size of the workpiece clamping space.
In order to ensure the stability of the pushing member 53 during the movement, the present embodiment modifies the second mounting bracket 51 to include a horizontal mounting plate 511 and a vertical mounting plate 512 connected thereto; the second slide rail 525 of the present embodiment is mounted on the horizontal mounting plate 511, and a linear bearing 513 is provided on the vertical mounting plate 512; a support 54 and a push rod 55 are arranged between the sliding block 524 and the pushing member 53, the support 54 is mounted on the sliding block 524, one end of the push rod 55 is mounted on the support 54, and the other end of the push rod 55 passes through the linear bearing 513 to be connected with the pushing member 53, and in the moving process of the sliding block 524, the push rod 55 moves in the linear bearing 513 to further drive the pushing member 53 of the present embodiment to approach the supporting member 33 of the present embodiment.
Referring to fig. 1 again, the receiving device 4 of the present embodiment includes a receiving trough 41, a temporary storage table 42, and a transverse pushing mechanism 43 sequentially arranged in a first horizontal direction; wherein, the material receiving groove 41 of this embodiment is detachably mounted on the base station for easy taking out and replacement, and in the first horizontal direction, one end of two opposite sides of the material receiving groove 41 of this embodiment close to the temporary storage table 42 is open for easy entering of the flat workpiece; the flat workpiece located in the workpiece holding space can be moved to the temporary storage table 42, and the transverse pushing mechanism 43 can push the flat workpiece on the temporary storage table 42 into the receiving slot 41.
Further, the lateral pushing mechanism 43 of the present embodiment includes a third linear motion mechanism 43 and a lateral pushing plate 432; the third linear motion mechanism 43 may include an air cylinder 73 (or an electric cylinder, etc. of the prior art), a piston rod of the air cylinder 73 is connected to the lateral pushing plate 432, and drives the lateral pushing plate 432 to move along the first horizontal direction; in addition, the length of the lateral push plate 432 in the second horizontal direction in this embodiment is less than or equal to the distance between the two side walls of the material receiving groove 41 in the second horizontal direction.
In addition, as shown in fig. 3, in the present embodiment, the in-place sensor 221 is provided at the discharge end 22, when the flat workpiece enters the discharge end 22, the in-place sensor 221 detects information of the flat workpiece and transmits the detected information to the control device, and the control device controls the pushing mechanism of the present embodiment to operate based on the information, so as to push the flat workpiece against the abutting member 33; referring to fig. 4, in this embodiment, a zero position detecting sensor 514 is further disposed on the horizontal mounting plate 511, and a zero position locating piece 5241 is disposed on the slider 524, where the zero position detecting sensor 514 is used to detect position information of the zero position locating piece 5241, when the two are close to a certain distance, it indicates that the slider 524 has moved to an end point in a direction close to the supporting device 3, and at this time, the control device controls the stepping motor to rotate reversely, so that the slider 524 is reset.
The following description is made of the specific operation of the flat workpiece stacking device of the present embodiment, so as to better understand the operation and principle of each device of the present embodiment:
referring to fig. 1, under the transportation of the transportation device 1 and under the guidance of the position-limiting device 2, the flat workpiece moves from the loading end of the position-limiting device 2 to the discharging end 22 in an upright state, when the flat workpiece moves to the discharging end 22, the above-mentioned in-place sensor 221 detects information of a flat signal, the control device controls the pushing device 5 to act, that is, the stepping motor sequentially drives the gear 522, the rack 523 and the slider 524 to act, so that the pushing member 53 moves towards the supporting member 33, at this time, the flat workpiece is just pushed by the pushing member to abut against the supporting member 33, the process completes the clamping of one flat workpiece, and in the process, the second pushing plate 532 of the supporting member 33 blocks the next flat workpiece from the unloading end to the workpiece clamping space, and then the pushing member 53 resets towards the direction away from the supporting member 33 under the action of the zero position-detecting sensor 514 and the control device, and the second push plate 532 can unblock the next flat workpiece.
Then, under the continuous conveying of the conveying device 1, the next flat workpiece enters the workpiece clamping space, the pushing component 53 is driven by a stepping motor and the like to push the next flat workpiece to be abutted against the previous flat workpiece, and the pushing component 33 of the embodiment is continuously pushed, the distance for pushing the pushing component 33 is just the position of one flat component, and the process is completely controlled by the control device.
Then the above process is repeated until the propping component 33 is pushed to the end of the temporary storage platform departing from the conveying device 1, at this moment, a plurality of flat workpieces are in a row, and the row of flat workpieces just corresponds to the opening of the receiving trough 41, then the row of flat workpieces is pushed to the innermost part of the receiving trough 41 through the transverse pushing mechanism 43, the row of flat workpieces can be limited by two side walls of the receiving trough 41 in the second horizontal direction, so far, the material stacking of the first row of flat workpieces is completed, after the completion, the propping component 33 and the pushing component 53 of the embodiment are reset to wait for the material stacking of the next row of flat workpieces, the process is repeated, the material stacking of the rows of flat workpieces can be completed, the flat workpieces are always in a vertical state in the material stacking process, a small material stacking space is occupied, the thickness surface cannot be crushed by the gravity of the rest flat workpieces, and while the operation efficiency is improved, the product quality is ensured.
Based on the above structure, the inventor has also found that, for a plurality of flat workpieces located in the clamping space, when the number of the flat workpieces is less than one row, the pushing member 53 always needs to perform pushing operation back and forth, after one flat workpiece is pushed to overlap with the previous pushing member 53 or abut against the supporting member 33, the pushing member 53 directly leaves the flat workpiece, and due to the occurrence of vibration or insufficient pushing during mechanical transmission, the flat workpiece is prone to tilt or fall over, if the flat workpiece just pushed can be fixed, and then the next workpiece is released when pushed, this problem can be avoided, therefore, the present embodiment makes further improvement on the apparatus, and adds the suction device 7, it should be noted that, because the suction device 7 of the present embodiment in fig. 1 to 4 is partially shielded by other structures, the overall view of the holding device 7 is therefore not shown in fig. 1 to 4.
Referring to fig. 5, 6 and 7, the holding device 7 of the present embodiment is disposed near the discharge end 22, and the holding device 7 includes a transmission mechanism 71, a rotary core 72, a cylinder 73 and a piston 74; the transmission mechanism 71 of the present embodiment is respectively connected to the push rod 55 and the rotary core 72, and is used for converting the linear motion of the push rod 55 into a rotary motion to drive the rotary core 72 to rotate.
The rotary core 72 of the embodiment is installed at one end of the cylinder 73 through a sealed bearing and is fixedly connected with a piston 74 in the cylinder 73; the cylinder 73 of this embodiment is installed on base plate 61, and the axial of cylinder 73 sets up along first horizontal direction, and the sealed department at cylinder 73 both ends can be the existing seal structure such as oil blanket, and the cylinder 73 inner wall is equipped with spacing track 75, and the central axis of cylinder 73 is parallel with discharge end 22 central direction and just in time the thickness of about a flat work piece in interval, and then makes holding device 7 can fix the flat work piece just after promoting. The piston 74 of this embodiment is hermetically installed at the other end of the cylinder 73, and is provided with a sliding member 741 located in the limiting rail 75, the middle of the cylinder 73 is provided with a suction hole 742 communicating with the inner cavity of the cylinder 73, and the suction cup 76 is connected to the suction hole 742.
Referring to fig. 5, when the push rod 55 moves linearly away from the supporting device 3, the transmission mechanism 71 drives the rotating core 72 to rotate forward, the piston 74 rotates in the cylinder 73 under the driving of the rotating core 72, the sliding member 741 slides along the limiting rail 75, so that the piston 74 partially extends out of the cylinder 73, so that the suction cup 76 can suck the side of the flat workpiece away from the discharging end 22 under the negative pressure of the cylinder 73, it should be noted that, in this process, when the suction cup 76 is not in contact with the flat workpiece, the negative pressure generated in the cylinder 73 has no suction effect on the flat workpiece, when the suction cup 76 is just in contact with the flat workpiece, since the suction cup 76 is made of a soft material, after it abuts against the flat workpiece, it deforms itself, and then the suction cup 76 can form a seal with the surface of the flat workpiece, so that during the process that the suction cup 76 moves towards the flat workpiece, the negative pressure in the cylinder 73 can make the suction cup 76 suck the flat workpiece, and provides a reliable suction force to fix the flat workpiece.
Referring to fig. 6, when the push rod 55 moves linearly toward the abutting device 3, the transmission mechanism 71 drives the rotary core 72 to rotate reversely, the piston 74 rotates in the cylinder 73 under the driving of the rotary core 72, the sliding member 741 slides along the limiting rail 75, so that the portion of the piston 74 extending out of the cylinder 73 retracts into the cylinder 73, and at this time, the cylinder 73 is pressurized, so that the suction cup 76 releases the suction on the flat workpiece, and the pushing of the next flat workpiece is not affected.
Further, based on the linear motion direction of the push rod 55 and the axial direction of the rotating core 72 of the present embodiment, the transmission mechanism 71 of the present embodiment utilizes the crank-link to move away to form transmission, and specifically, the transmission mechanism 71 includes a moving member 711, a first connecting shaft 712, a first link 713, a second connecting shaft 714, a second link 715, a shaft seat 716, a third connecting shaft 717, and an expansion link 718.
The moving member 711 of the present embodiment is fixedly connected to the push rod 55, and the first connecting shaft 712 of the present embodiment is mounted on the moving member 711; in this embodiment, one end of the first link 713 is sleeved on the first link 712 and can rotate around the first link 712, and the other end of the first link 713 is provided with the second link 714; in the embodiment, one end of the second connecting rod 715 is sleeved on the second connecting shaft 714 and can rotate around the second connecting shaft 714, and the other end of the second connecting rod 715 is connected with the third connecting shaft 717; the third connecting shaft 717 of the present embodiment is rotatably installed on the shaft seat 716, and is driven by the second connecting rod 715 to rotate on the shaft seat 716; the telescopic rod 718 can be passively extended and retracted, one end of the telescopic rod 718 is coaxially connected with the third connecting shaft 717, the other end of the telescopic rod 718 is coaxially connected with the rotating core 72, during specific actions, the moving member 711 is driven by the push rod 55 to move, so that the first connecting rod 713 is driven to rotate around the first connecting shaft 712, one end of the second connecting rod 715 rotates around the second connecting shaft 714, the other end of the second connecting rod 715 drives the third connecting shaft 717 to rotate on the shaft seat 716, and the third connecting shaft 717 drives the telescopic rod 718 and the rotating core 72 to rotate. The function of the expansion link 718 as far as this is concerned is given below.
Referring to fig. 7, the limiting rail 75 of the present embodiment is curved, and one end of the limiting rail is disposed near one end of the cylinder 73 where the piston 74 is located, and the other end of the limiting rail is disposed away from one end of the cylinder 73 where the piston 74 is located, but the limiting rail 75 may also be in a wave shape. During the rotation of the piston 74, the sliding member 741 can move from one end of the limiting rail 75 to the other end, so as to drive the piston 74 of the embodiment to extend or retract.
Considering that the sliding member 741 is a structure protruding from the outer peripheral surface of the piston 74, therefore, if the limit track 75 is formed directly on the inner wall of the cylinder 73, which is not favorable for the assembly of the piston 74, even if the track is formed by the inner wall of one sleeve, then the piston 74 is installed in the sleeve, which is not favorable for the assembly of the piston 74, the structure for forming the limit track 75 needs to be improved, and as shown in fig. 7, the adjacent first sleeve 77 and second sleeve 78 are fixedly installed in the cylinder 73 of this embodiment, the piston 74 is partially located in the first sleeve 77, the other part of the piston 74 is located in the second sleeve 78, one end of the first sleeve 77 close to the second sleeve 78 is provided with a first inclined end face 771, one end of the second sleeve 78 close to the second sleeve 78 is provided with a second inclined end face 781, and the first inclined end face 771 and the second inclined end face 781 are spaced to form the limit track 75. During assembly, the second sleeve 78 can be installed in the cylinder 73, the piston 74 is installed, the first sleeve 77 is installed at last, the inner wall of the first sleeve 77 is in sealing fit with the outer peripheral surface of the piston 74, the sealing mode can be oil sealing, the assembly efficiency can be improved, and the piston 74 is installed conveniently.
As shown in fig. 7, in order to prevent the friction between the sliding member 741 and the limiting rail 75 from wearing the sliding member 741 and the limiting rail 75, in this embodiment, the sliding member 741 is designed to include a fourth connecting shaft 7411 and a rotating portion 7412 sleeved on the fourth connecting shaft 7411, and the rotating portion 7412 can rotate around the fourth connecting shaft 7411 and is in clearance fit with one of the first inclined end surface 771 and the second inclined end surface 781, so that the sliding member 741 can roll the rotating portion 7412 during the movement of the limiting rail 75, and the original sliding friction is changed into rolling friction.
In addition, since the suction device 7 needs to make the suction cup 76 completely adsorb to the workpiece, the piston 74 will apply a certain pressure to the flat workpiece to a certain extent, and in order to prevent the flat workpiece from being easily damaged due to an excessive pressure, the present embodiment is designed into a buffer manner, in which the air cylinder 73 is mounted on the base frame 79, and the base plate 61 is provided with a third slide rail 611 arranged along the first horizontal direction, the base frame 79 of the present embodiment is slidably mounted on the slide rail, and the base frame 79 and one end of the slide rail, which is away from the discharging end 22, are connected through an elastic member 791, wherein the elastic member 791 is configured to: when the suction cup 76 is driven by the piston 74 to move to be sucked with the flat workpiece, the elastic piece 791 is compressed, and when the suction cup 76 is driven by the piston 74 to move to be disconnected with the flat workpiece, the elastic piece 791 resets, so that the suction cup 76 is in clearance fit with the flat workpiece.
In this way, even if the piston 74 has a tendency to continue moving toward the flat workpiece after the suction cup 76 has attracted the workpiece, the pressure applied to the flat workpiece is largely counteracted by the spring, and the spring also returns the suction cup 76 to a clearance fit with the flat workpiece after the piston 74 is retracted.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. The utility model provides a flat work piece sign indicating number material equipment, includes the organism, be provided with the base plate on the organism, its characterized in that includes:
a conveying device for conveying the flat workpiece in a first horizontal direction;
the limiting device is positioned above the conveying device and is provided with a feeding end and a discharging end in the first horizontal direction, and the limiting device limits the thickness direction of the flat workpiece on the conveying device to be in a second horizontal direction perpendicular to the first horizontal direction;
a holding member movable in the second horizontal direction and adapted to abut against one surface of the flat workpiece in a thickness direction thereof;
the material receiving device is adjacent to the conveying device;
the pushing device is arranged opposite to the jacking device in the second horizontal direction and comprises a second mounting frame, a second linear motion mechanism and a pushing component, the pushing component and the jacking device form a workpiece clamping space for clamping a flat workpiece, and the pushing component can reciprocate in the second horizontal direction and is used for pushing the workpiece in the workpiece clamping space into the material receiving device; the second linear motion mechanism is mounted on the second mounting frame; the pushing component and the jacking device are oppositely arranged in the second horizontal direction, and the pushing component is connected with the second linear motion mechanism and driven by the second linear motion mechanism to reciprocate along the second horizontal direction; the pushing component comprises a first push plate and a second push plate which are vertically connected; the first push plate and the jacking device form the workpiece clamping space; the length direction of the second push plate extends along the direction departing from the jacking device, and the distance between the second push plate and the discharge end is smaller than the length of the flat workpiece in the first horizontal direction; the second linear motion mechanism comprises a driving part, a gear, a rack, a sliding block and a second sliding rail; the driving part is connected with the gear and is used for driving the gear to rotate; the rack is meshed with the gear and is fixedly connected with the sliding block; the sliding block is slidably mounted on the second sliding rail and connected with the pushing component, and under the rotation of the gear, the rack, the sliding block and the pushing component reciprocate on the second sliding rail along the second horizontal direction; the second mounting rack comprises a horizontal mounting plate and a vertical mounting plate which are connected; the second sliding rail is arranged on the horizontal mounting plate, and a linear bearing is arranged on the vertical mounting plate; a bracket and a push rod are arranged between the sliding block and the pushing component, the bracket is arranged on the sliding block, one end of the push rod is arranged on the bracket, and the other end of the push rod penetrates through the linear bearing to be connected with the pushing component;
the sucking device is arranged close to the discharge end and comprises a transmission mechanism, a rotating core, a cylinder and a piston; the transmission mechanism is respectively connected with the push rod and the rotating core and is used for converting the linear motion of the push rod into rotary motion so as to drive the rotating core to rotate; the rotating core is arranged at one end of the cylinder through a sealing bearing and is fixedly connected with a piston in the cylinder; the cylinder is arranged on the substrate, the axial direction of the cylinder is arranged along the first horizontal direction, and the inner wall of the cylinder is provided with a limiting track; the piston is arranged at the other end of the air cylinder in a sealing mode and is provided with a sliding piece located in the limiting track, a sucking hole communicated with the inner cavity of the air cylinder is formed in the middle of the air cylinder, and a sucking disc is connected to the sucking hole.
2. The flat workpiece stacking device as claimed in claim 1, wherein the limiting device comprises a first limiting plate, a second limiting plate and a spacing adjusting mechanism;
the first limiting plate and the second limiting plate are arranged oppositely in the second horizontal direction and limit the flat workpiece together;
the distance adjusting mechanism is connected with the first limiting plate and/or the second limiting plate and used for adjusting the distance between the first limiting plate and the second limiting plate.
3. The flat workpiece stacking device as claimed in claim 1, wherein the jacking device comprises a first mounting frame, a first linear motion mechanism and a jacking component;
the first linear motion mechanism is arranged on the first mounting frame and connected with the jacking part so as to drive the jacking part to move in the second horizontal direction;
the jacking component is adjacent to the discharge end and is arranged opposite to the pushing device in the second horizontal direction.
4. A flat workpiece stacking apparatus as claimed in claim 3, wherein said first linear motion mechanism includes a rodless cylinder;
the first mounting frame is provided with a first slide rail, and the rodless cylinder is mounted on the first slide rail;
the push component moves along the direction close to the material receiving device, the push component pushes along the direction deviating from the material receiving device, and the cylinder body drives the jacking component to reset.
5. The flat workpiece stacking device according to any one of claims 1 to 4, wherein the material receiving device comprises a material receiving groove, a temporary storage table and a transverse pushing mechanism which are sequentially arranged in the first horizontal direction;
along the first horizontal direction, one end of the two opposite sides of the material receiving groove, which is close to the temporary storage table, is open;
the flat workpiece positioned in the workpiece clamping space can move to the temporary storage table, and the transverse pushing mechanism can push the flat workpiece on the temporary storage table to the material receiving groove.
6. The flat workpiece stacking device as claimed in claim 5, wherein the transverse pushing mechanism comprises a third linear motion mechanism and a transverse pushing plate;
the third linear motion mechanism is connected with the transverse push plate and drives the transverse push plate to move along the first horizontal direction;
the length of the transverse push plate in the second horizontal direction is smaller than or equal to the distance between the material receiving groove and the two opposite side walls in the second horizontal direction.
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| CN202110970055.5A CN113651071B (en) | 2021-08-23 | 2021-08-23 | Flat workpiece stacking equipment |
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| CN202110970055.5A CN113651071B (en) | 2021-08-23 | 2021-08-23 | Flat workpiece stacking equipment |
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| CN113651071B true CN113651071B (en) | 2022-09-23 |
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| CN114620479B (en) * | 2022-04-24 | 2022-09-30 | 广东天太机器人有限公司 | Mechanical arm control system and method for improving stacking efficiency of rectangular packaging boxes |
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