CN114852706A - Automatic separating and feeding device for steaming tray and control method thereof - Google Patents

Automatic separating and feeding device for steaming tray and control method thereof Download PDF

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Publication number
CN114852706A
CN114852706A CN202210574534.XA CN202210574534A CN114852706A CN 114852706 A CN114852706 A CN 114852706A CN 202210574534 A CN202210574534 A CN 202210574534A CN 114852706 A CN114852706 A CN 114852706A
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China
Prior art keywords
conveying platform
semi
steaming tray
travel switch
tooling plate
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CN202210574534.XA
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Chinese (zh)
Inventor
孙伟勇
刘欢
王明
厉明
郭刚
游林
邹雄
黄金钿
周希斌
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Zhejiang Entive Smart Kitchen Appliance Co Ltd
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Zhejiang Entive Smart Kitchen Appliance Co Ltd
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Priority to CN202210574534.XA priority Critical patent/CN114852706A/en
Publication of CN114852706A publication Critical patent/CN114852706A/en
Pending legal-status Critical Current

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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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • 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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • 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
    • 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
    • B65G60/00—Simultaneously or alternatively stacking and de-stacking of articles
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention discloses an automatic separating and feeding device for a steaming tray and a control method thereof, and the automatic separating and feeding device comprises a conveying platform, a transfer tool, a tooling plate and a separating and grabbing tool, wherein the conveying platform comprises a first conveying platform and a second conveying platform, the transfer tool comprises a first transfer tool and a second transfer tool, the first conveying platform, the first transfer tool, the second conveying platform and the second transfer tool are sequentially connected end to form a closed loop, the tooling plate is sequentially transmitted on the first conveying platform, the first transfer tool, the second conveying platform and the second transfer tool, and the separating and grabbing tool is arranged beside the second conveying platform and corresponds to the tooling plate on the second conveying platform. According to the automatic material distribution device, the separation grabbing tool is matched with the first conveying platform, the first transferring tool, the second conveying platform and the second transferring tool, so that automatic conveying and automatic material distribution are realized, labor is saved, and the material loading time is saved.

Description

Automatic separating and feeding device for steaming tray and control method thereof
Technical Field
The invention relates to a feeding device and a control method thereof, in particular to an automatic separating and feeding device for a steaming tray and a control method thereof.
Background
The processing procedure of the steam box steaming tray comprises 6 procedures of feeding, blanking, flanging, pre-bending, rolling and receiving, wherein the feeding procedure is inevitably matched manually and at least 2 persons are needed. At present, manual feeding is needed in the steam box and steaming tray feeding process, and the steam box and steaming tray can be further processed after being positioned for multiple times. Due to the fact that manual feeding is needed, the material changing waiting time is long, labor intensity is high, operation efficiency is low, and the automatic production process is not met, and improvement is provided.
Disclosure of Invention
The invention provides a novel automatic separating and feeding device for a steaming tray and a control method thereof, aiming at the defects that in the prior art, the feeding process of the steaming tray needs manual feeding and repeated positioning, so that the waiting time for material changing is long, the labor intensity is high, the operation efficiency is low, the automatic production flow is not met, and the like.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the utility model provides a be used for steaming tray autosegregation loading attachment, includes conveying platform, moves and carries frock, frock board, separation and snatch the frock, conveying platform includes first conveying platform, second conveying platform, it includes that first moves carries the frock, the second moves carries the frock to move to carry the frock to move, first conveying platform, first move carries frock, second conveying platform, second and moves and carry the frock and connect end to end in proper order and form the closed loop, the frock board is in proper order first conveying platform, first move carry frock, second conveying platform, second move and carry the frock and go up the transmission, the separation snatchs the frock locate second conveying platform side and with frock board on the second conveying platform is corresponding.
According to the invention, the first conveying platform, the first transfer tool, the second conveying platform and the second transfer tool are sequentially connected end to form a closed loop, so that a tooling plate loaded with a semi-finished steaming tray can circulate on the first conveying platform, the first transfer tool, the second conveying platform and the second transfer tool, thereby reducing the physical labor required by transportation of the semi-finished steaming tray and reducing the labor cost; arranging a separation grabbing tool, wherein when the tooling plate loaded with the semi-finished steaming tray is conveyed to a position corresponding to the separation grabbing tool, the separation grabbing tool can separate the semi-finished steaming tray one by one; according to the automatic material distribution device, the separation grabbing tool is matched with the first conveying platform, the first transferring tool, the second conveying platform and the second transferring tool, so that automatic conveying and automatic material distribution are realized, labor is saved, and the material loading time is saved.
Preferably, the control method for the automatic separating and feeding device of the steaming tray comprises 4 steps of feeding, conveying, distributing and recovering, wherein the 4 steps of feeding, conveying, distributing and recovering are sequentially executed and circulated;
wherein, the material loading step includes:
a1, stacking the stretched and molded semi-finished steaming tray on a tooling plate, and moving the tooling plate loaded with the semi-finished steaming tray to a first conveying platform by using a lifter;
a2, the first conveying platform operates to convey the tooling plates with the semi-finished steaming trays to the next station, and at the moment, the next group of tooling plates with the semi-finished steaming trays are moved to the currently vacated station by using the lifter;
the transmission step comprises:
b1, when the first conveying platform conveys the tooling plate loaded with the semi-finished product of the steaming tray to the first transfer tooling, the first transfer tooling is started to move the tooling plate loaded with the semi-finished product of the steaming tray to the second conveying platform;
b2, when the first transfer tool moves in place, the first transfer tool transfers the tooling plate loaded with the semi-finished product of the steaming tray to a second conveying platform, the second conveying platform starts to operate, and when the tooling plate loaded with the semi-finished product of the steaming tray moves to a position corresponding to the separation grabbing tool, the second conveying platform stops working;
the material distributing step comprises the following steps:
c1, automatically distributing materials after the separation and grabbing tool detects that the tooling plate is in place and the steaming tray semi-finished product is loaded on the tooling plate;
c2, when the separation grabbing tool detects that the semi-finished product of the steaming tray on the tooling plate is exhausted, the second conveying platform operates again, the tooling plate at the current position is conveyed to the next station, and the tooling plate with the semi-finished product of the steaming tray on the next station is conveyed to the current position and stops operating again;
the recovery step comprises:
d1, when the tool plate in the step c2 is conveyed to the second transfer tool, the second transfer tool is started, and the empty tool plate is conveyed to the end position, then is taken down and is loaded again.
The 4 steps of feeding, conveying, distributing and recovering respectively play roles of automatically filling the semi-finished material of the steaming tray, automatically conveying the semi-finished material of the steaming tray to a distributing area, automatically distributing and automatically recovering a tooling plate, and the steps are matched together to play a role of replacing manual carrying by adopting automatic equipment, so that the labor is liberated, the workload is effectively reduced, and the production efficiency is improved.
Preferably, the first conveying platform includes a first mounting frame, a first roller set, a first transmission motor, a first travel switch, and a first lifting cylinder, the first roller set, the first transmission motor, the first travel switch, and the first lifting cylinder are all mounted on the first mounting frame, the first transmission motor drives the first roller set to operate, the first travel switch and the first lifting cylinder are all located at the extreme end of the first conveying platform in the conveying direction, the first travel switch is triggered by the conveying position of the tooling plate on the first conveying platform, and the first lifting cylinder blocks the movement direction of the tooling plate on the first conveying platform in an extended state;
the feeding step a2 includes the steps of,
a21, starting a first drive motor to drive a first roller group to rotate, conveying the tooling plate loaded with the semi-finished steaming tray to the next station by the first roller group, triggering a first travel switch when the tooling plate loaded with the semi-finished steaming tray reaches the next station, and leaving the current station empty;
a22, when the first travel switch is triggered, the first lifting cylinder extends out, the first drive motor stops working, and the first roller group stops running.
The first roller group and the first transmission motor are matched for transmission, power for backward transportation is provided for the tooling plate, the first travel switch is matched with the first lifting cylinder to play a limiting role, the tooling plate is prevented from moving backward, and a protective role is played before the subsequent second conveying platform is in place.
Preferably, in the above control method for the automatic separating and feeding device of the steaming tray, the first transfer tool includes a first base, a first transfer conveyor, a second travel switch, a third travel switch, and a first sensor, the first base is provided with a first shifting cylinder and two guide rails which are distributed in parallel, the telescopic motion direction of the first shifting cylinder is parallel to the guide direction of the guide rails, the first transfer conveyer moves horizontally on the guide rail, a transfer conveyer roller set and a roller transmission motor are arranged on the first transfer conveyer, the roller transmission motor drives the roller group of the transfer conveyor to rotate, the second travel switch is arranged on one side of the first base close to the first conveying platform, the third travel switch is arranged on one side, close to the second conveying platform, of the first base, and the first sensor is arranged on the first transfer conveyor;
said transmitting step B1 includes the steps of,
b11, the first shifting cylinder contracts to a proper position, the second travel switch is triggered, when the first travel switch is triggered, the second travel switch is triggered to a limited duration, and the first sensor does not detect that the first shifting conveyor has a tooling plate, the first lifting cylinder descends, the first driving motor starts and drives the first roller set to work, the roller driving motor starts and drives the shifting conveyor roller set to work, and the tooling plate loaded with the semi-finished steaming tray is conveyed to the first shifting tooling from the first conveying platform;
b12, the first sensor detects the tooling plate, the roller transmission motor stops working, and when the first sensor is triggered to a limited time, the first transfer cylinder pushes the first transfer conveyor to move towards the second conveying platform along the guide rail.
Preferably, the second conveying platform includes a second mounting bracket, a second roller set, a second transmission motor, a fourth stroke switch, a fifth stroke switch, a second lifting cylinder, and a third lifting cylinder, the second roller set, the second transmission motor, the fourth stroke switch, and the fifth stroke switch are all mounted on the second mounting bracket, the second transmission motor drives the second roller set to operate, the fourth stroke switch and the second lifting cylinder are disposed on a station corresponding to the separation grabbing tool, and the fifth stroke switch and the third lifting cylinder are disposed at the extreme end of the second conveying platform in the conveying direction;
the separation grabbing tool comprises a mounting seat, a left servo lifting assembly and a right servo lifting assembly, the mounting seat is erected beside the second conveying platform, the left servo lifting assembly and the right servo lifting assembly are respectively arranged on the left side and the right side of the mounting seat and are independently controlled to lift on the left side and the right side of the mounting seat through servo motors respectively, a left mechanical arm is arranged on the left servo lifting assembly, a right mechanical arm is arranged on the right servo lifting assembly, a sensor cylinder, a distance sensor, an insert block cylinder, an insert block and a double-material detection cylinder are respectively arranged on the left mechanical arm and the right mechanical arm, the distance sensor is fixed at the front end of a piston rod on the sensor cylinder, the insert block is fixed at the front end of a piston rod on the insert block cylinder, and an inductance device is arranged at the front end of the double-material detection cylinder;
said transmitting step B2 includes the steps of,
b21, after the first shifting cylinder extends to a certain position, triggering a third travel switch, keeping the first shifting cylinder in an extending state, and when the third travel switch is triggered to a limited duration, and simultaneously a fourth travel switch is not triggered, starting a roller transmission motor and a second transmission motor simultaneously, conveying a tooling plate loaded with semi-finished steaming trays to the second roller group along with the roller group of the shifting conveyor, and conveying the tooling plate to a station corresponding to the separating and grabbing tooling;
b22, triggering a third stroke switch when the tooling plate loaded with the semi-finished steaming tray moves to a station corresponding to the separating and grabbing tooling for conveying, pausing the work of a second transmission motor and a roller transmission motor, extending a second lifting cylinder, and withdrawing a first shifting cylinder;
the material dividing step C1 includes that,
c11, after a third stroke switch is triggered to a limited time, the separating and grabbing tool starts to operate, the left servo lifting assembly is controlled by a corresponding servo motor to move downwards along the left side of the mounting seat, a sensor cylinder on the left mechanical arm extends to a limited position in the descending process, and the left servo lifting assembly stops descending when a distance sensor on the left mechanical arm detects a height distance of 5mm away from the semi-finished product of the steaming tray; the right servo lifting assembly is controlled by a servo motor corresponding to the right servo lifting assembly to move downwards along the right side of the mounting seat, a sensor cylinder on the right mechanical arm extends out to a limited position in the descending process, and the right servo lifting assembly stops descending when a distance sensor on the right mechanical arm detects a height distance of 5mm from a semi-finished product of the steaming tray;
c12, when the left servo lifting component stops descending, the insert block cylinder on the left mechanical arm extends out to wedge the insert blocks into the left side of the stacked semi-finished steaming tray for distributing; when the right servo lifting assembly stops descending, the insert block cylinder on the right mechanical arm stretches out to wedge the insert blocks into the right side of the stacked semi-finished steaming tray for distributing materials;
c13, when the double-material detection cylinder positioned on the left mechanical arm extends out to detect the left side of the semi-finished steaming tray, the double-material detection cylinder positioned on the right mechanical arm extends out to detect the right side of the semi-finished steaming tray, and when the separated semi-finished steaming tray is detected to be a single piece on both the right side and the left side of the semi-finished steaming tray, the separated semi-finished steaming tray is transferred to the next process; and when the separated semi-finished product of the steaming tray is not a single sheet measured by one of the right side and the left side of the semi-finished product of the steaming tray, stopping the work of the separation grabbing tool and reporting an error, and continuing to operate the separation grabbing tool after manual processing and error reporting are carried out.
Preferably, in the control method for the automatic separating and feeding device for the steaming tray, magnetic sensors are arranged on the lower sides of the left servo lifting assembly and the right servo lifting assembly;
the material dividing step C2 includes that,
c21, when the left servo lifting component and the right servo lifting component are lowered to the lowest point of the limited stroke, the magnetic sensors arranged on the left servo lifting component and the right servo lifting component detect whether the semi-finished product of the steaming tray still exists on the tooling plate, and when the magnetic sensors detect the semi-finished product of the steaming tray, the steps C11-C13 are continuously executed; when the magnetic sensor does not detect the semi-finished product of the steaming tray, the tooling plate is judged to be in no-load state, at the moment, the left servo lifting assembly and the right servo lifting assembly ascend to the highest point of a limited stroke, the second lifting cylinder descends, the second transmission motor starts to work, the empty tooling plate is conveyed to the next station, and meanwhile, the fifth stroke switch is triggered;
c22, when the empty tooling plate triggers the fifth travel switch, the third lifting cylinder stretches out to block the tooling plate, and at the moment, the next batch of tooling plates loaded with the semi-finished product of the steaming tray are transported to the position of the separation grabbing tooling, and the second transmission motor stops operating.
Preferably, the control method for the automatic separating and feeding device for the steaming tray comprises the steps that the second transfer tool comprises a second base, a second transfer conveyor, a sixth travel switch, a seventh travel switch and a second sensor, the second transfer tool has the same structure as the first transfer tool, the sixth travel switch is located on one side, close to the second conveying platform, of the second base, the seventh travel switch is located on one side, close to the first conveying platform, of the second base, and the second sensor is arranged on the second transfer conveyor;
the recovery step D1 includes the steps of,
d11, on the premise that the fifth stroke switch is triggered, the second lifting cylinder descends, the sixth stroke switch is triggered to a limited time length, the sensor on the second transfer conveyor does not sense the tooling plate, at the moment, the third lifting cylinder descends, the second transmission motor starts to work, and the tooling plate at the fifth stroke switch is conveyed to the second transfer conveyor;
d12, when the sensor on the second transfer conveyor senses the tooling plate, the second transmission motor stops working, the second transfer conveyor is moved to one side close to the first conveying platform, a seventh travel switch is triggered, and the second transfer conveyor is kept at one side close to the first conveying platform;
and D13, when the seventh travel switch is triggered to a limited time and the sensor on the second transfer conveyor does not sense the tooling plate, the second transfer conveyor returns to the side close to the second conveying platform and triggers the sixth travel switch.
According to the invention, the first travel switch to the seventh travel switch, the first sensor and the second sensor in the steps receive and sense the working state of the invention and send corresponding signals, so that the cooperation among all the components in the invention is more accurately controlled, and the automation of the transportation process is realized; meanwhile, the distance sensor in the separating and grabbing tool plays a role in controlling the lifting height of the mechanical arm corresponding to the distance sensor, the height difference between the distance sensor and the semi-finished steaming tray is set to be 5mm, and the inserting block cylinder extends out of the inserting block during the height difference and can be just wedged into and divide the semi-finished steaming tray on the uppermost layer, so that the separating function is ensured; the inductance device on the duplex material detection cylinder plays the detection effect, and it adopts the inductance principle, detects the semi-manufactured thickness of steaming tray on the inserted block, compares with predetermineeing the thickness scope through this thickness to whether the inspection steaming tray semi-manufactured goods is the single material, plays the insurance effect equally. In conclusion, the invention can automatically realize the transportation and material distribution process, reduce the manual participation, reduce the labor cost and further improve the industrial automation level.
Drawings
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is a schematic structural view of a transfer tool according to the present invention;
FIG. 4 is a third schematic structural view of the present invention;
FIG. 5 is a schematic structural view of the separating and grabbing tool of the present invention;
fig. 6 is a partially enlarged view of a portion a in fig. 5.
Detailed Description
The invention will be described in further detail below with reference to the accompanying figures 1-6 and the detailed description, but they are not intended to limit the invention:
example 1
The utility model provides a be used for steaming tray autosegregation loading attachment, includes conveying platform, moves and carries frock, frock board 6, separation and snatch frock 5, conveying platform includes first conveying platform 1, second conveying platform 3, it includes that first move carries frock 2, second and moves and carries frock 4 to move the frock to move, first conveying platform 1, first move carry frock 2, second conveying platform 3, second move and carry frock 4 and connect end to end in proper order and form the closed loop, frock board 6 is in proper order first conveying platform 1, first move and carry frock 2, second conveying platform 3, second move and carry and transport on the frock 4, the separation snatchs frock 5 and locates second conveying platform 3 is other and with frock board 6 on the second conveying platform 3 is corresponding.
The control method for the automatic separating and feeding device of the steaming tray comprises 4 steps of feeding, conveying, distributing and recovering, wherein the 4 steps of feeding, conveying, distributing and recovering are sequentially executed and circulated;
wherein the feeding step comprises the steps of,
a1, stacking the stretched and molded semi-finished steaming tray on a tooling plate 6, and moving the tooling plate 6 loaded with the semi-finished steaming tray to a first conveying platform 1 by using a lifter;
a2, the first conveying platform 1 operates to convey the tooling plates 6 with the semi-finished steaming trays to the next station, and at the moment, the next group of tooling plates 6 with the semi-finished steaming trays are moved to the currently vacated station by using the lifter;
the step of transmitting includes the steps of,
b1, when the first conveying platform 1 conveys the tooling plate 6 loaded with the semi-finished product of the steaming tray to the first transfer tooling 2, the first transfer tooling 2 is started to move the tooling plate 6 loaded with the semi-finished product of the steaming tray to the second conveying platform 3;
b2, when the first transfer tool 2 moves in place, the first transfer tool 2 transfers the tooling plate 6 loaded with the semi-finished product of the steaming tray onto the second conveying platform 3, the second conveying platform 3 starts to operate, and when the tooling plate 6 loaded with the semi-finished product of the steaming tray moves to a position corresponding to the separating and grabbing tool 5, the second conveying platform 3 stops working;
the material distributing step comprises the following steps of,
c1, automatically distributing materials after the separation and grabbing tool 5 detects that the tooling plate 6 is in place and the steaming tray semi-finished product is loaded on the tooling plate 6;
c2, when the separating and grabbing tool 5 detects that the semi-finished product of the steaming tray on the tool plate 6 is exhausted, the second conveying platform 3 operates again, the tool plate 6 at the current position is conveyed to the next station, and the tool plate 6 with the semi-finished product of the steaming tray on the next station is conveyed to the current position and stops operating again;
the recovery step comprises the steps of,
d1, when the tool plate 6 in the step c2 is conveyed to the second transfer tool 4, the second transfer tool 4 is started, and the empty tool plate 6 is conveyed to the end position, then is taken down and is loaded again.
Preferably, the first conveying platform 1 includes a first mounting frame 11, a first roller set 12, a first transmission motor 13, a first travel switch 15, and a first lifting cylinder 14, where the first roller set 12, the first transmission motor 13, the first travel switch 15, and the first lifting cylinder 14 are all mounted on the first mounting frame 11, the first transmission motor 13 drives the first roller set 12 to operate, the first travel switch 15 and the first lifting cylinder 14 are located at the extreme end of the first conveying platform 1 in the conveying direction, the first travel switch 15 is triggered by the conveying position of the tooling plate 6 on the first conveying platform 1, and the first lifting cylinder 14 is in an extended state to block the moving direction of the tooling plate 6 on the first conveying platform 1;
the feeding step A2 comprises the following steps:
a21, starting operation of a first transmission motor 13, driving the first roller set 12 to rotate by the first transmission motor 13, conveying the tooling plate 6 loaded with the semi-finished product of the steaming tray to the next station by the first roller set 12, triggering a first travel switch 15 when the tooling plate 6 loaded with the semi-finished product of the steaming tray reaches the next station, and emptying the current station;
when the stroke switch a22 and the first travel switch 15 are triggered, the first lifting cylinder 14 extends, the first drive motor 13 stops working, and the first roller set 12 stops running.
Preferably, the first transfer tool 2 comprises a first base 21, a first transfer conveyor 22, a second travel switch 23, a third travel switch 24 and a first sensor, the first base 21 is provided with a first transfer cylinder 25 and two parallel guide rails 26, the telescopic moving direction of the first transfer cylinder 25 is parallel to the guiding direction of the guide rail 26, the first transfer conveyor 22 moves horizontally on the guide rail 26, a transfer conveyor roller group 27 and a roller transmission motor are arranged on the first transfer conveyor 22, the roller transmission motor drives the roller group 27 of the transfer conveyor to rotate, the second travel switch 23 is arranged on one side of the first base 21 close to the first conveying platform 1, the third travel switch 24 is arranged on one side of the first base 21 close to the second conveying platform 3, and the first sensor is arranged on the first transfer conveyor 22;
the transmitting step B1 includes:
b11, when the first travel switch 15 is triggered, the second travel switch 23 is triggered to a limited duration, and the first sensor does not detect that the tooling plate 6 exists in the first transfer conveyor 22, the first lifting cylinder 14 descends, the first drive motor 13 starts and drives the first roller set 12 to work, the roller drive motor starts and drives the transfer conveyor roller set 27 to work, and the tooling plate 6 loaded with the semi-finished steaming tray is conveyed to the first transfer tooling 2 from the first conveying platform 1;
b12, the first sensor detects the tooling plate 6, the roller transmission motor stops working, when the first sensor is triggered to a limited time, the first transfer cylinder 25 pushes the first transfer conveyor 22 to move along the guide rail 26 to the second conveying platform 3.
Preferably, the second conveying platform 3 includes a second mounting frame 31, a second roller set 32, a second transmission motor 33, a fourth travel switch 34, a fifth travel switch 35, a second lifting cylinder 36, and a third lifting cylinder 37, the second roller set 32, the second transmission motor 33, the fourth travel switch 34, and the fifth travel switch 35 are all mounted on the second mounting frame 31, the second transmission motor 33 drives the second roller set 32 to operate, the fourth travel switch 34 and the second lifting cylinder 36 are disposed on a station corresponding to the separation grasping tool 5, and the fifth travel switch 35 and the third lifting cylinder 37 are disposed at the extreme end of the second conveying platform 3 in the conveying direction;
the separation grabbing tool 5 comprises a mounting seat 51, a left servo lifting assembly 52 and a right servo lifting assembly 53, wherein the mounting seat 51 is arranged beside the second conveying platform 3, the left servo lifting assembly 52 and the right servo lifting assembly 53 are respectively arranged on the left side and the right side of the mounting seat 51 and are respectively controlled to lift on the left side and the right side of the mounting seat 51 through servo motors independently, a left mechanical arm 54 is arranged on the left servo lifting assembly 52, a right mechanical arm 55 is arranged on the right servo lifting assembly 53, a sensor cylinder 8, a distance sensor 81, an insert cylinder 9, an insert 91 and a double-material detection cylinder 7 are respectively arranged on the left mechanical arm 54 and the right mechanical arm 55, the distance sensor 81 is fixed at the front end of a piston rod on the sensor cylinder 8, and the insert 91 is fixed at the front end of a piston rod on the insert cylinder 9, the front end of the double-material detection cylinder 7 is provided with an inductance device 71;
the transmitting step B2 includes:
b21, after the first shifting cylinder 25 extends to a certain position, triggering the third stroke switch 24, keeping the first shifting cylinder 25 in an extending state, and when the third stroke switch 24 is triggered to a limited duration, and simultaneously satisfying that the fourth stroke switch 34 is not triggered, starting the roller transmission motor and the second transmission motor 33 simultaneously, conveying the tooling plate 6 loaded with the semi-finished steaming tray to the second roller group 32 along with the roller group 27 of the shifting conveyor, and conveying the tooling plate to a station corresponding to the separating and grabbing tool 5;
b22, when the tooling plate 6 loaded with the semi-finished steaming tray moves to a station corresponding to the separating and grabbing tooling 5 for conveying, the third stroke switch 24 is triggered, the second transmission motor 33 and the roller transmission motor pause to work, the second lifting cylinder 36 extends out, and the first transfer cylinder 25 retracts;
the material distributing step C1 comprises the following steps:
c11, after the third stroke switch 24 is triggered to a limited duration, the separating and grabbing tool 5 starts to operate, the left servo lifting assembly 52 is controlled by a corresponding servo motor to move downwards along the left side of the mounting base 51, the sensor cylinder 8 on the left mechanical arm 54 extends to a limited position in the descending process, and the left servo lifting assembly 52 stops descending when the distance sensor 81 on the left mechanical arm 54 detects that the distance is 5mm from the semi-finished product of the steaming tray; the right servo lifting component 53 is controlled by a corresponding servo motor to move downwards along the right side of the mounting seat 51, the sensor cylinder 8 on the right mechanical arm 55 extends out to a limited position in the descending process, and the right servo lifting component 53 stops descending when the distance sensor 81 on the right mechanical arm 55 detects the height distance of 5mm from the semi-finished product of the steaming tray;
c12, when the left servo lifting assembly 52 stops descending, the insert block cylinder 9 on the left mechanical arm 54 extends out to wedge the insert block 91 into the left side of the stacked semi-finished steaming tray for material distribution; when the right servo lifting assembly 53 stops descending, the insert block cylinder 9 positioned on the right mechanical arm 55 extends out to wedge the insert block 91 into the right side of the stacked semi-finished steaming tray for distributing materials;
c13, extending the double-material detection cylinder 7 positioned on the left mechanical arm 54 to detect the left side of the semi-finished product of the steaming tray, extending the double-material detection cylinder 7 positioned on the right mechanical arm 55 to detect the right side of the semi-finished product of the steaming tray, and transmitting the separated semi-finished product of the steaming tray to the next process when the separated semi-finished product of the steaming tray is detected to be a single piece on the right side and the left side of the semi-finished product of the steaming tray; and when the separated semi-finished product of the steaming tray is not a single sheet measured on one of the right side and the left side of the semi-finished product of the steaming tray, stopping the work of the separation grabbing tool 5 and reporting an error, and continuing to operate the separation grabbing tool 5 after manual processing and error reporting are carried out.
Preferably, magnetic sensors are arranged on the lower sides of the left servo lifting assembly 52 and the right servo lifting assembly 53;
the material distributing step C2 comprises the following steps:
c21, when the left servo lifting assembly 52 and the right servo lifting assembly 53 descend to the lowest point of the limited stroke, the magnetic sensors arranged on the left servo lifting assembly 52 and the right servo lifting assembly 53 detect whether the semi-finished product of the steaming tray still exists on the tooling plate 6, and when the magnetic sensors detect the semi-finished product of the steaming tray, the steps C11-C13 are continuously executed; when the magnetic sensor does not detect the semi-finished product of the steaming tray, the tooling plate 6 is judged to be in no-load state, at the moment, the left servo lifting assembly 52 and the right servo lifting assembly 53 are lifted to the highest point of the limited stroke, the second lifting cylinder 36 is lowered, the second transmission motor 33 starts to work, the empty tooling plate 6 is conveyed to the next station, and meanwhile, the fifth stroke switch 35 is triggered;
c22, when the empty tooling plate 6 triggers the fifth stroke switch 35, the third lifting cylinder 37 extends out to block the tooling plate 6, and at the moment, the next batch of tooling plates 6 loaded with semi-finished steaming trays are transported to the position of the separation grabbing tool 5, and the second transmission motor 33 stops operating.
Preferably, the second transfer tool 4 includes a second base 41, a second transfer conveyor 42, a sixth travel switch 43, a seventh travel switch, and a second sensor, and the structure of the second transfer tool 4 is the same as that of the first transfer tool 2, the sixth travel switch 43 is located on the side of the second base 41 close to the second conveying platform 3, the seventh travel switch is located on the side of the second base 41 close to the first conveying platform 1, and the second sensor is disposed on the second transfer conveyor 42;
the recovering step D1 includes:
d11, when the fifth stroke switch 35 is triggered, the second lifting cylinder 36 is simultaneously lowered, the sixth stroke switch 43 is triggered to a limited time, and the sensor on the second transfer conveyor 42 does not sense the tooling plate 6, at this time, the third lifting cylinder 37 is lowered, the second transmission motor 33 starts to work, and the tooling plate 6 located at the fifth stroke switch 35 is conveyed to the second transfer conveyor 42;
d12, when the sensor on the second transfer conveyor 42 senses the tooling plate 6, the second transmission motor 33 stops working, the second transfer conveyor 42 is moved to the side close to the first conveying platform 1, and the seventh travel switch is triggered, so that the second transfer conveyor 42 is kept at the side close to the first conveying platform 1;
d13, when the seventh travel switch is triggered to a limited time and the sensor on the second transfer conveyor 42 does not sense the tooling plate 6, the second transfer conveyor 42 returns to the side close to the second conveying platform 3 and triggers the sixth travel switch 43.
Preferably, a PLC controller is used as the control unit.
In summary, the above-mentioned embodiments are only preferred embodiments of the present invention, and all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims (7)

1. The utility model provides a be used for steaming tray autosegregation loading attachment which characterized in that: snatch frock (5) including conveying platform, moving and carrying frock, frock board (6), separation, conveying platform includes first conveying platform (1), second conveying platform (3), move and carry the frock and include that first move moves and carry frock (2), second and carry frock (4), first conveying platform (1), first move and carry frock (2), second conveying platform (3), second move and carry frock (4) and connect end to end in proper order and form the closed loop, frock board (6) are in proper order first conveying platform (1), first move and carry frock (2), second conveying platform (3), second move and carry and transport on frock (4), the separation snatchs frock (5) and locates second conveying platform (3) by side and with frock board (6) on second conveying platform (3) are corresponding.
2. The control method for the automatic separating and feeding device of the steaming tray as claimed in claim 1, wherein: the method comprises 4 steps of feeding, conveying, distributing and recovering, wherein the 4 steps of feeding, conveying, distributing and recovering are sequentially executed and circulated;
wherein, the material loading step includes:
a1, stacking the stretched and molded semi-finished steaming tray on a tooling plate (6), and moving the tooling plate (6) loaded with the semi-finished steaming tray to a first conveying platform (1) by using a lifter;
a2, the first conveying platform (1) operates to convey the tooling plates (6) carrying the semi-finished products of the steaming tray to the next station, and at the moment, the next group of tooling plates (6) carrying the semi-finished products of the steaming tray are moved to the currently vacated station by using the lifter;
the transmission step comprises:
b1, when the first conveying platform (1) conveys the tooling plate (6) loaded with the semi-finished product of the steaming tray to the first transfer tooling (2), the first transfer tooling (2) is started to move the tooling plate (6) loaded with the semi-finished product of the steaming tray to the second conveying platform (3);
b2, when the first transfer tool (2) moves in place, the first transfer tool (2) transfers the tooling plate (6) loaded with the semi-finished steaming tray onto the second conveying platform (3), the second conveying platform (3) starts to operate, and when the tooling plate (6) loaded with the semi-finished steaming tray moves to a position corresponding to the separating and grabbing tool (5), the second conveying platform (3) stops working;
the material distributing step comprises the following steps:
c1, automatically distributing materials after the separation and grabbing tool (5) detects that the tooling plate (6) is in place and the steaming tray semi-finished product is uploaded on the tooling plate (6);
c2, when the separation grabbing tool (5) detects that the semi-finished product of the steaming tray on the tooling plate (6) is exhausted, the second conveying platform (3) operates again, the tooling plate (6) at the current position is conveyed to the next station, and the tooling plate (6) with the semi-finished product of the steaming tray on the next station is conveyed to the current position and stops operating again;
the recovery step comprises:
d1, when the tool plate (6) in the step C2 is conveyed to the second transfer tool (4), the second transfer tool (4) is started, and the empty tool plate (6) is taken down and reloaded after being conveyed to the final position.
3. The control method for the automatic separating and feeding device of the steaming tray as claimed in claim 2, wherein: the first conveying platform (1) comprises a first mounting frame (11), a first roller group (12), a first transmission motor (13), a first travel switch (15) and a first lifting cylinder (14), the first roller group (12), the first transmission motor (13), the first travel switch (15) and the first lifting cylinder (14) are all arranged on the first mounting frame (11), the first transmission motor (13) drives the first roller group (12) to operate, the first travel switch (15) and the first lifting cylinder (14) are both positioned at the tail end of the first conveying platform (1) in the conveying direction, and the first travel switch (15) is triggered by the transport position of the tooling plate (6) on the first conveying platform (1), the first lifting cylinder (14) is in an extending state and blocks the moving direction of the tooling plate (6) on the first conveying platform (1);
the feeding step A2 comprises the following steps:
a21, a first transmission motor (13) starts to work, the first transmission motor (13) drives a first roller set (12) to operate, the first roller set (12) conveys a tooling plate (6) loaded with a semi-finished product of a steaming tray to a next station, and when the tooling plate (6) loaded with the semi-finished product of the steaming tray reaches the next station, a first travel switch (15) is triggered, and the current station is vacated;
a22, when the first stroke switch (15) is triggered, the first lifting cylinder (14) extends, the first transmission motor (13) stops working, and the first roller group (12) stops running.
4. The control method for the automatic separating and feeding device of the steaming tray as claimed in claim 3, wherein: the first transfer tool (2) comprises a first base (21), a first transfer conveyor (22), a second travel switch (23), a third travel switch (24) and a first sensor, wherein the first base (21) is provided with a first transfer cylinder (25) and two guide rails (26) which are distributed in parallel, the telescopic motion direction of the first transfer cylinder (25) is parallel to the guide direction of the guide rails (26), the first transfer conveyor (22) horizontally moves on the guide rails (26), the first transfer conveyor (22) is provided with a transfer conveyor roller set (27) and a roller transmission motor, the roller transmission motor drives the transfer conveyor roller set (27) to rotate, the second travel switch (23) is arranged on one side, close to the first conveying platform (1), of the first base (21), and the third travel switch (24) is arranged on one side, close to the second conveying platform (3), of the first base (21), the first sensor is arranged on the first transfer conveyor (22);
the transmitting step B1 includes:
b11, the first transfer cylinder (25) contracts to a proper position, the second travel switch (23) is triggered, when the first travel switch (15) is triggered, the second travel switch (23) is triggered to a limited time length, and the first sensor does not detect that the first transfer conveyor (22) has a tooling plate (6), the first lifting cylinder (14) descends, the first transmission motor (13) starts and drives the first roller set (12) to work, the roller transmission motor starts and drives the transfer conveyor roller set (27) to work, and the tooling plate (6) loaded with semi-finished steaming trays is conveyed to the first transfer tooling (2) from the first conveying platform (1);
b12, the first sensor detects the tooling plate (6), the roller transmission motor stops working, and when the first sensor is triggered to a limited time, the first transfer cylinder (25) pushes the first transfer conveyor (22) to move towards the second conveying platform (3) along the guide rail (26).
5. The control method for the automatic separating and feeding device of the steaming tray as claimed in claim 4, wherein the control method comprises the following steps: the second conveying platform (3) comprises a second mounting frame (31), a second roller group (32), a second transmission motor (33), a fourth travel switch (34), a fifth travel switch (35), a second lifting cylinder (36) and a third lifting cylinder (37), the second roller group (32), the second transmission motor (33), the fourth travel switch (34) and the fifth travel switch (35) are all mounted on the second mounting frame (31), the second transmission motor (33) drives the second roller group (32) to operate, the fourth travel switch (34) and the second lifting cylinder (36) are arranged on a station corresponding to the separating and grabbing tool (5), and the fifth travel switch (35) and the third lifting cylinder (37) are arranged at the extreme end of the second conveying platform (3) in the conveying direction;
the separation grabbing tool (5) comprises a mounting seat (51), a left servo lifting assembly (52) and a right servo lifting assembly (53), wherein the mounting seat (51) is erected beside the second conveying platform (3), the left servo lifting assembly (52) and the right servo lifting assembly (53) are respectively arranged on the left side and the right side of the mounting seat (51) and are respectively and independently controlled to lift on the left side and the right side of the mounting seat (51) through a servo motor, a left mechanical arm (54) is arranged on the left servo lifting assembly (52), a right mechanical arm (55) is arranged on the right servo lifting assembly (53), a sensor cylinder (8), a distance sensor (81), an insert block cylinder (9), an insert block (91) and a double-material detection cylinder (7) are respectively arranged on the left mechanical arm (54) and the right mechanical arm (55), and the distance sensor (81) is fixed at the front end of a piston rod on the sensor cylinder (8), the insert block (91) is fixed at the front end of a piston rod on the insert block cylinder (9), and an inductance device (71) is arranged at the front end of the double-material detection cylinder (7);
the transmitting step B2 includes:
b21, after the first shifting cylinder (25) extends to a certain position, triggering the third travel switch (24), keeping the first shifting cylinder (25) in an extending state, and when the third travel switch (24) is triggered to a limited duration, and simultaneously the fourth travel switch (34) is not triggered, starting the roller transmission motor and the second transmission motor (33) simultaneously, conveying a tooling plate (6) loaded with semi-finished steaming trays to the second roller group (32) along with the roller group (27) of the shifting conveyor, and conveying the tooling plate to a station corresponding to the separating and grabbing tooling (5);
b22, when the tooling plate (6) loaded with the semi-finished steaming tray moves to a station corresponding to the separating and grabbing tooling (5) for conveying, a third stroke switch (24) is triggered, a second transmission motor (33) and a roller transmission motor pause to work, a second lifting cylinder (36) extends out, and a first transfer cylinder (25) retracts;
the material distributing step C1 comprises the following steps:
c11, after a third stroke switch (24) is triggered to a limited time length, the separating and grabbing tool (5) starts to operate, the left servo lifting assembly (52) is controlled by a corresponding servo motor to move downwards along the left side of the mounting seat (51), a sensor cylinder (8) on the left mechanical arm (54) extends to a limited position in the descending process, and the left servo lifting assembly (52) stops descending when a distance sensor (81) on the left mechanical arm (54) detects a height distance of 5mm from a semi-finished product of the steaming tray; the right servo lifting component (53) is controlled by a servo motor corresponding to the right servo lifting component to move downwards along the right side of the mounting seat (51), a sensor cylinder (8) on the right mechanical arm (55) extends out to a limited position in the descending process, and the right servo lifting component (53) stops descending when a distance sensor (81) on the right mechanical arm (55) detects a height distance of 5mm away from a semi-finished product of the steaming tray;
c12, when the left servo lifting component (52) stops descending, the insert block cylinder (9) on the left mechanical arm (54) extends out to wedge the insert block (91) into the left side of the stacked semi-finished steaming tray for distributing materials; when the right servo lifting assembly (53) stops descending, the insert block cylinder (9) positioned on the right mechanical arm (55) extends out to wedge the insert blocks (91) into the right side of the stacked semi-finished steaming tray for distributing materials;
c13, detecting the left side of the semi-finished product of the steaming tray by extending the double-material detection cylinder (7) positioned on the left mechanical arm (54), detecting the right side of the semi-finished product of the steaming tray by extending the double-material detection cylinder (7) positioned on the right mechanical arm (55), and transmitting the separated semi-finished product of the steaming tray to the next process when the separated semi-finished product of the steaming tray is detected to be a single sheet on both the right side and the left side of the semi-finished product of the steaming tray; when the semi-finished product of the steaming tray which is measured to be separated from one of the right side and the left side of the semi-finished product of the steaming tray is not a single sheet, the separation grabbing tool (5) stops working and reports an error, and the separation grabbing tool (5) continues to operate after manual processing and error reporting are carried out.
6. The control method for the automatic separating and feeding device of the steaming tray as claimed in claim 5, wherein: magnetic sensors are arranged on the lower sides of the left servo lifting assembly (52) and the right servo lifting assembly (53);
the material distributing step C2 comprises the following steps:
c21, when the left servo lifting assembly (52) and the right servo lifting assembly (53) descend to the lowest point of the limited stroke, the magnetic sensors arranged on the left servo lifting assembly (52) and the right servo lifting assembly (53) detect whether the semi-finished steaming tray still exists on the tooling plate (6), and when the magnetic sensors detect the semi-finished steaming tray, the steps C11-C13 are continuously executed; when the magnetic sensor does not detect the semi-finished product of the steaming tray, the tooling plate (6) is judged to be in no-load state, at the moment, the left servo lifting assembly (52) and the right servo lifting assembly (53) rise to the highest point of a limited stroke, the second lifting cylinder (36) descends, the second transmission motor (33) starts to work, the empty tooling plate (6) is conveyed to the next station, and meanwhile, the fifth stroke switch (35) is triggered;
c22, when the empty tooling plate (6) triggers the fifth travel switch (35), the third lifting cylinder (37) stretches out to block the tooling plate (6), the next batch of tooling plates (6) loaded with semi-finished steaming trays are transported to the position of the separation grabbing tooling (5), and the second transmission motor (33) stops operating.
7. The control method for the automatic separating and feeding device of the steaming tray as claimed in claim 6, wherein the control method comprises the following steps: the second transfer tool (4) comprises a second base (41), a second transfer conveyor (42), a sixth travel switch (43), a seventh travel switch and a second sensor, the structure of the second transfer tool (4) is the same as that of the first transfer tool (2), the sixth travel switch (43) is positioned on one side, close to the second conveying platform (3), of the second base (41), the seventh travel switch is positioned on one side, close to the first conveying platform (1), of the second base (41), and the second sensor is arranged on the second transfer conveyor (42);
the recovering step D1 includes:
d11, under the premise that the fifth travel switch (35) is triggered, the second lifting cylinder (36) descends, the sixth travel switch (43) is triggered to a limited duration, the tooling plate (6) is not sensed by a sensor on the second transfer conveyor (42), at the moment, the third lifting cylinder (37) descends, the second transmission motor (33) starts to work, and the tooling plate (6) located at the fifth travel switch (35) is conveyed to the second transfer conveyor (42);
d12, when the sensor on the second transfer conveyor (42) senses the tooling plate (6), the second transmission motor (33) stops working, the second transfer conveyor (42) is moved to the side close to the first conveying platform (1), and a seventh travel switch is triggered, so that the second transfer conveyor (42) is kept at the side close to the first conveying platform (1);
d13, when the seventh travel switch is triggered to a limited time and the sensor on the second transfer conveyor (42) does not sense the tooling plate (6), the second transfer conveyor (42) returns to the side close to the second conveying platform (3) and triggers the sixth travel switch (43).
CN202210574534.XA 2022-05-24 2022-05-24 Automatic separating and feeding device for steaming tray and control method thereof Pending CN114852706A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210574534.XA CN114852706A (en) 2022-05-24 2022-05-24 Automatic separating and feeding device for steaming tray and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210574534.XA CN114852706A (en) 2022-05-24 2022-05-24 Automatic separating and feeding device for steaming tray and control method thereof

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116461925A (en) * 2023-04-04 2023-07-21 浙江亿洲机械科技有限公司 Well lattice steel bar truss production line
CN117645162A (en) * 2024-01-29 2024-03-05 山东澳兴绝缘材料有限公司 Steel plate and material sheet separating device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116461925A (en) * 2023-04-04 2023-07-21 浙江亿洲机械科技有限公司 Well lattice steel bar truss production line
CN116461925B (en) * 2023-04-04 2024-01-05 浙江亿洲机械科技有限公司 Well lattice steel bar truss production line
CN117645162A (en) * 2024-01-29 2024-03-05 山东澳兴绝缘材料有限公司 Steel plate and material sheet separating device
CN117645162B (en) * 2024-01-29 2024-04-12 山东澳兴绝缘材料有限公司 Steel plate and material sheet separating device

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