CN205240765U - Automatic unloading system that goes up of general type of bottom frock separation method based on conveyer belt - Google Patents

Abstract

The utility model discloses an automatic unloading system that goes up of general type of bottom frock separation method based on conveyer belt relates to unloading equipment and high temperature and burns ceramic machining equipment technical field altogether. The utility model discloses a mechanism, tray, sensor and controller are collected by bottom tray separating mechanism, location feeding agencies, the end of tray portion of seriate in the frame, and bottom tray separating mechanism includes three station jacking devices and tray clamping device, and location feeding agencies collects the mechanism including duplex position jacking clamping device including duplex position jacking positioner and last feeding mechanical arm, end of tray portion, the mechanism is collected by bottom tray separating mechanism, location feeding agencies, end of tray portion and the sensor all links to each other with the controller. Utilize this system can improve the continuity of course of working and the flexibility of last unloading, go up the unloading system and be modularization standard unit, can be for multiple product or green processing equipment coordination, its integrated level is high, expect from top to bottom that the position accuracy is high, production beat compactness, commonality are strong.

Description

The universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt

Technical field

The utility model relates to loading and unloading equipment and HTCC technical field of processing equipment, specifically a kind of universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt.

Background technology

First transistor of AT&T Labs of nineteen forty-seven U.S. birth, the encapsulation that has just produced immediately semiconductor devices. Over more than 60 year, semiconductor devices is to high frequency, low noise, high-power, miniaturization, high density, highly reliable and multi-functional development, and encapsulation from one generation to the next plays important supporting role, therefore packages and devices be supplement and complement each other, indispensable relation. Multi-layer ceramic package has a wide range of applications in highly reliable fields such as military Electronic Packaging as a kind of packing forms, and especially in recent years, components and parts mass production has very high demand for ceramic package shell. But in the manufacturing of ceramic package shell, but exist the problems such as homogeneity of product is poor. The basic reason of this problem is that production equipment automaticity is low, product is subject to man's activity large. An important thinking that solves problems is exactly to utilize the mode of automation to carry out production.

Multi-layer ceramic package envelope process complexity, comprises 11 technological processes such as curtain coating, blanking, punching, filling perforation. In multilayer high-temperature co-fired-ceramic (HTCC) shell Qian road technological process, mainly contain five processing steps such as blanking, punching, filling perforation, printing, lamination. Wherein the operand of blanking, punching, filling perforation, typography is monolithic green band material, in batch machining process, every band material is put into respectively to a magazine frock, and becomes a stacking and realize the batch of product and shift stacking some frocks. If therefore realize the automated production of front road process equipment, need a kind of automation equipment that single product is separated from the stacking of frock, and put into and formulate processing table top, after machining, again band material is reinstalled to magazine frock and collect.

Automatic loading/unloading part in existing green band material automatically processing device is special mechanism, have the advantages that integrated level is high, specificity is strong, the concept of general automation loading and unloading system is not yet proposed, and in existing system, the modes that adopt top pallet to separate realize pallet separation more, single material loading limited amount, typical products in mass production processing poor continuity, monolithic product material loading pitch time is longer.

Utility model content

Technical problem to be solved in the utility model is to provide a kind of universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt, can in process, the product of any amount be put in pallet stacking, improve the continuity of process and the flexibility of loading and unloading; Station order is arranged, and can improve the continuity of production, shortens productive temp; Loading and unloading system is modularization standard unit, can be that multiple product or green process equipment are supporting, has that integrated level is high, material loading positional precision is high, productive temp is compact, the feature of highly versatile.

For solving the problems of the technologies described above, technical solution adopted in the utility model is: a kind of universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt, comprise the bottom tray separating mechanism, location material fetching mechanism, tray bottom collecting mechanism, pallet, sensor and the controller that are arranged in turn in frame, bottom tray separating mechanism comprises three station jacking apparatus and a pallet clamping device, location material fetching mechanism comprises double jacking positioner and loading and unloading manipulator, and tray bottom collecting mechanism comprises double jacking clamping device, bottom tray separating mechanism, location material fetching mechanism, tray bottom collecting mechanism are all connected with controller with sensor, when material loading work, stacked pallet is delivered to the separation station of bottom tray separating mechanism with the conveyer belt of connecting gear, stacked pallet and conveyer belt are by the supreme station of three station jacking apparatus jack-up, the gripper jaw of pallet clamping device is opened, three station jacking apparatus fall after rise to middle station, pallet clamping device clamps from the bottom and starts at pallet more than penultimate, three station jacking apparatus fall after rise to lower station, now, the pallet of the bottom falls after rise with three station jacking apparatus and conveyer belt, and forward with conveyer belt, enter the feeding station of location material fetching mechanism, the be positioned supreme station of double jacking positioner jack-up of material fetching mechanism of the pallet of the bottom and conveyer belt, loading and unloading manipulator feeding, double jacking positioner is repositioned to lower station, conveyer belt continues forward empty pallet to be sent to below the stacked trays that tray bottom collecting mechanism collects, the supreme station of empty pallet that the double jacking clamping device jack-up of tray bottom collecting mechanism sends, and be held, double jacking clamping device falls after rise to lower station, this process loops, automatically complete loading and unloading work.

Further technical scheme, bottom tray separating mechanism comprises three station jacking apparatus, pallet clamping device and three are for responding to the approach switch sensor of three station positions, three station jacking apparatus comprise bracing frame, stepper motor, base plate and leading screw, stepper motor is fixed on the below of bracing frame, the output shaft of stepper motor is connected with leading screw above, leading screw passes the centre of base plate and coordinates with base thread, four jiaos of base plate are respectively provided with a guide pillar, stepper motor forward or reverse, drive screw synchronous rotates, make the base plate coordinating with leading screw along moving on leading screw or moving down, jack-up pallet while making guide pillar rise to station, when guide pillar comes downwards to middle station, the clamping of pallet clamping device is started at pallet more than penultimate from the bottom, when guide pillar comes downwards to lower station, the pallet of the bottom and conveyer belt fall after rise, be connected with controller for the approach switch sensor of responding to three station positions, accurately locate three work bit positions, pallet clamping device is a pair of gripper cylinder that is divided into stacked trays both sides, and the cylinder bar of gripper cylinder is connected with gripper jaw, and gripper cylinder action is stretched out in opposite directions a pair of gripper jaw and held stacked pallet, or oppositely regains, and stacked pallet is dropped down onto on conveyer belt.

Further technical scheme, location material fetching mechanism comprises double jacking positioner, loading and unloading manipulator and two are for responding to the photoelectric sensor of double position, double jacking positioner comprises double feeding jacking apparatus and feeding positioner, double feeding jacking apparatus comprises jacking post coupler and feeding jacking cylinder, the cylinder bar of feeding jacking cylinder is connected with the lower surface of jacking post coupler, above jacking post coupler, four jiaos are respectively provided with a jacking pillar, the action of feeding jacking cylinder, make the jacking pillar of going up on jacking post coupler rise to station, the pallet of separating from bottom is by jack-up, or fall after rise to lower station, continue to next station transmission with conveyer belt, feeding positioner comprises coarse positioning parts and fine positioning parts, coarse positioning parts comprise coarse positioning cylinder, the cylinder bar of coarse positioning cylinder is connected with two locating dowels by attaching parts, fine positioning parts are the lower large little bell-mouth structure of air being made up of two right angle location-plates, two right angle location-plates are diagonal angle and are divided into the wherein outer top of the jacking pillar at one group of diagonal angle, the bottom of the medial surface that two right angle location-plates are relative is divided into inclined-plane, and top is divided into vertical plane, when double feeding jacking apparatus is arrived in palletized transport by conveyer belt, its location status of photoelectric sensor perception, and output signal to coarse positioning cylinder, and the action of coarse positioning cylinder, the locating dowel on it rises, and pallet is halted, now, four jacking pillars of pallet below hold up pallet, in product introduction bell-mouth structure of air in pallet, the two relative arms of angle to pallet contact with the vertical plane of right angle location-plate, complete whole position fixing process, and product is accurately located, manipulator is taken green band material to carry out material loading operation away subsequently, locating dowel falls subsequently, and jacking pillar drops to lower station, and pallet is sent to next station by conveyer belt.

Further technical scheme, loading and unloading manipulator comprises the cantilever sliding that one end and frame are fixedly linked, the slide block coordinating with slide rail, cantilever sliding is vertical with the direction that pallet transmits, the opposite side of slide rail is provided with drag chain, slide block is connected with drag chain, drag chain is connected with horizontal air cylinder, slide block is dragged and can be moved horizontally along slide rail by drag chain, sucker and slide block are fixedly linked, four jiaos of sucker are respectively provided with one and inhale pawl, each pawl of inhaling can move up and down by sucker cylinder, when feeding, horizontal air cylinder drags drag chain, make sucker move to the top of location material fetching mechanism along slide rail with slide block, now, pallet is jack-up accurate location under the effect of double jacking positioner, the suction pawl of sucker moves down under the effect of sucker cylinder, hold the product on pallet, inhale on pawl and move, and return with sucker, product is taken away and put to processing stations.

Further technical scheme, tray bottom collecting mechanism comprises double jacking clamping device, double jacking clamping device comprises that double collects jacking assembly, pallet and collect clamp assemblies and two for responding to the photoelectric sensor of double position, double is collected jacking assembly and is comprised collection support and collect jacking cylinder, collect jacking cylinder and be fixed on the below of collecting support, collect the cylinder bar of jacking cylinder through collecting support and being connected with the gripper shoe that is connected above, four jiaos that connect gripper shoe are arranged with four leads between two, it is two that pallet is collected clamp assemblies, be divided into the both sides of stacked pallet, each pallet is collected clamp assemblies and is comprised a holder and an inverted-triangular holder, the hypotenuse of inverted-triangular holder is downward, inverted-triangular holder right angle place and holder are rotatedly connected, and be provided with back-moving spring, and one end of back-moving spring is connected with inverted-triangular holder, and one end is connected with holder, when pallet is collected, the stacked tray clamps of original collection is held between the drift angle of two inverted-triangular holders, conveyer belt is sent to double the empty pallet of a upper operation and collects jacking assembly place, now, induced signal is sent in photoelectric sensor induction, collect the action of jacking cylinder, connecting gripper shoe rises, make the lead pallet that upwards jack-up sends, lead continues upwards jack-up, the edge of pallet is jack-up inverted-triangular holder upwards, inverted-triangular holder upwards rotates under the effect of pallet, pallet contacts with pallet above and continues upwards jack-up, clamped by inverted-triangular holder to this pallet, collecting jacking cylinder regains, lead declines and is back to original position, continue next circulation.

The beneficial effect that adopts technique scheme to produce is: the utility model comprises bottom tray separating mechanism, location material fetching mechanism and tray bottom collecting mechanism three parts, realize successively bottom tray and separate, locate feeding and bottom tray collection, its automaticity is high, can freely add or take out pallet, pallet operating path is short, transport efficacy is high, greatly improve production efficiency, improved the utilization rate of equipment.

Brief description of the drawings

Fig. 1 is perspective view of the present utility model;

Fig. 2 is the perspective view of bottom tray separating mechanism in Fig. 1;

Fig. 3 is the front view of Fig. 2;

Fig. 4 is the perspective view of locating material fetching mechanism in Fig. 1;

Fig. 5 is the front view of Fig. 4;

Fig. 6 is the perspective view of tray bottom collecting mechanism in Fig. 1;

Fig. 7 is the front view of Fig. 6;

In figure: 1, bottom tray separating mechanism; 11, base plate; 12, gripper jaw; 13, gripper cylinder; 14, leading screw; 15, bracing frame; 16, stepper motor; 17, guide pillar; 18, pallet clamping device; 19, three station jacking apparatus; 2, location material fetching mechanism; 21, loading and unloading manipulator; 211, drag chain; 212, slide rail; 213, slide block; 214, sucker cylinder; 215, sucker; 216, inhale pawl; 22, jacking post coupler; 23, right angle location-plate; 24, attaching parts; 25, vertical plane; 26, inclined-plane; 27, jacking pillar; 28, feeding jacking cylinder; 29, coarse positioning cylinder; 30, locating dowel; 301, double jacking positioner; 3, tray bottom collecting mechanism; 31, holder; 32, inverted-triangular holder; 33, lead; 34, connect gripper shoe; 35, collect support; 36, collect jacking cylinder; 37, double jacking clamping device; 4, frame; 5, pallet.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.

For loading and unloading operation, have two kinds of implementations: the one, based on the automatic loading/unloading module of top frock partition method; The 2nd, based on the loading and unloading module of bottom frock partition method. The utility model is the loading and unloading system based on bottom frock partition method. Compare the automatic loading/unloading mode based on top frock partition method, the loading and unloading mode based on bottom frock partition method has following characteristics:

1, the mode that adopts tray bottom to separate realizes pallet and separates, and this mode can be inserted into the product of any amount in the stacking of processed product in process, improves the continuity of process;

2, the continuity that adopts pallet to separate---location capture---pallet to collect the tactic mode of three stations and improve production, shortens productive temp;

3, utilize horn mouth formula jacking detent mechanism to improve system material loading location consistency;

4, utilizing the concept of general loading and unloading system, loading and unloading system is designed to standard unit, can be that multiple green process equipment is supporting;

5, the utility model has two kinds of models, can select linear pattern and L-type station to arrange according to physical device demand.

First the technical scheme of the utility model being taked is carried out overall introduction, shown in Figure 1, comprising the bottom tray separating mechanism 1 being arranged in turn in frame 4, location material fetching mechanism 2, tray bottom collecting mechanism 3, pallet, sensor and controller, bottom tray separating mechanism 1 comprises three station jacking apparatus 19 and a pallet clamping device 18, location material fetching mechanism 2 comprises double jacking positioner 301 and loading and unloading manipulator 21, tray bottom collecting mechanism 3 comprises double jacking clamping device 37, bottom tray separating mechanism 1, location material fetching mechanism 2, tray bottom collecting mechanism 3 is all connected with controller with sensor, when material loading work, stacked pallet 5 is delivered to the separation station of bottom tray separating mechanism 1 with the conveyer belt of connecting gear, stacked pallet 5 is by the supreme station of three station jacking apparatus 19 jack-up, the gripper jaw 12 of pallet clamping device 18 is opened, three station jacking apparatus 19 fall after rise to middle station, pallet clamping device 18 clamps from the bottom and starts at pallet more than penultimate, three station jacking apparatus 19 fall after rise to lower station, now, the pallet of the bottom falls after rise with three station jacking apparatus 19 and conveyer belt, and forward with conveyer belt, enter the feeding station of location material fetching mechanism 2, the be positioned supreme station of double jacking positioner 301 jack-up of material fetching mechanism 2 of the pallet 5 of the bottom, loading and unloading manipulator 21 feedings, loading and unloading manipulator 21 is delivered to other stations the material of drawing and is processed, after machining, loading and unloading manipulator 21 is put back to pallet by the material after processing again, now, the pallet that is placed with material falls after rise to lower station with double jacking positioner 301 and conveyer belt, conveyer belt continues forward pallet to be sent to together with material below the stacked trays of collecting at collecting mechanism 3 places in tray bottom, the double jacking clamping device 37 of tray bottom collecting mechanism 3 pushes up supreme station the pallet sending, and clamping, double jacking clamping device 37 falls after rise to lower station, this process loops, automatically complete loading and unloading work.

Be described in detail as follows to each mechanism in order below:

One, bottom tray separating mechanism

The design concept of bottom tray separating mechanism 1 is: the change in location of three station jacking apparatus drives a screw mandrel to realize by stepper motor 16, design three approach switch sensors simultaneously, in order to the location status of perception lifting body, four guide pillars 17 ensure lifting body even running, utilize the cylinder of two horizontal movements to drive metal catch to realize pallet clamping. Its concrete technical scheme is as follows:

As Fig. 2, shown in Fig. 3, bottom tray separating mechanism 1 comprises three station jacking apparatus 19, pallet clamping device 18 and three are for responding to the approach switch sensor of three station positions, three station jacking apparatus 19 comprise bracing frame 15, stepper motor 16, base plate 11 and leading screw 14, stepper motor 16 is fixed on the below of bracing frame 15, the output shaft of stepper motor 16 is connected with leading screw above 14, leading screw 14 through the centre of base plate 11 and with base plate 11 threaded engagement, four jiaos of base plate 11 are respectively provided with a guide pillar 17, stepper motor 16 forward or reverse, drive leading screw 14 synchronously to rotate, make the base plate 11 coordinating with leading screw 14 along moving or move down on leading screw 14, jack-up pallet 5 while making guide pillar 17 rise to station, when guide pillar 17 comes downwards to middle station, the clamping of pallet clamping device is started at pallet more than penultimate from the bottom, when guide pillar 17 comes downwards to lower station, the pallet of the bottom and conveyer belt fall after rise, be connected with controller for the approach switch sensor of responding to three station positions, accurately locate three work bit positions, pallet clamping device 18 is for being divided into a pair of gripper cylinder 13 of stacked trays both sides, the cylinder bar of gripper cylinder 13 is connected with gripper jaw 12, gripper cylinder 13 actions are stretched out in opposite directions a pair of gripper jaw 12 and are held stacked pallet, or oppositely regain, and stacked pallet is dropped down onto on conveyer belt.

Two, location material fetching mechanism

1, the design concept of location material fetching mechanism is: when jacking localization part is arrived in palletized transport by conveyer belt, its location status of photoelectric sensor perception, in the time that photoelectric sensor output signals is on, the front rise of blocking, pallet is halted, complete thus location for the first time, i.e. pallet coarse positioning; Now, four jacking pillars of pallet below rise, and pallet is held up, and the pallet being held up enters in horn mouth formula detent mechanism together with band material, completes whole position fixing process, and product is accurately located. Manipulator is taken band material to carry out material loading operation away subsequently, and after machining, manipulator is returned to band material in pallet, blocks and falls, and jacking detent mechanism falls after rise to low level, and conveyer belt is sent to next station by pallet together with band material.

2, the design concept of loading and unloading manipulator 21 is: the band that act as of loading and unloading manipulator 21 is expected picking and placeing on workbench. In order to ensure flexibility integrated between manipulator and printing machine, loading and unloading manipulator 21 adopts cantilever structure. Moving horizontally by electric cylinder of manipulator driven, and manipulator picks and places material action and realized by the cylinder of vertically installing.

The structure of location material fetching mechanism 2 is referring to Fig. 4, shown in Fig. 5, location material fetching mechanism 2 comprises double jacking positioner 301, loading and unloading manipulator 21 and two are for responding to the photoelectric sensor of double position, double jacking positioner 301 comprises double feeding jacking apparatus and feeding positioner, double feeding jacking apparatus comprises jacking pillar 27 connectors 22 and feeding jacking cylinder 28, the cylinder bar of feeding jacking cylinder 28 is connected with the lower surface of jacking pillar 27 connectors 22, above jacking pillar 27 connectors 22, four jiaos are respectively provided with a jacking pillar 27, feeding jacking cylinder 28 moves, make the jacking pillar 27 of going up on jacking pillar 27 connectors 22 rise to station, pallet is by jack-up, or fall after rise to lower station, continue to next station transmission with conveyer belt, feeding positioner comprises coarse positioning parts and fine positioning parts, coarse positioning parts comprise coarse positioning cylinder 29, the cylinder bar of coarse positioning cylinder 29 is connected with two locating dowels 30 by attaching parts 24, fine positioning parts are the lower large little bell-mouth structure of air being made up of two right angle location-plates 23, two right angle location-plates 23 are diagonal angle and are divided into the outer top in one group of diagonal angle jacking pillar 27 wherein, the bottom of the medial surface that two right angle location-plates 23 are relative is divided into inclined-plane 26, and top is divided into vertical plane 25, when double feeding jacking apparatus is arrived in palletized transport by conveyer belt, its location status of photoelectric sensor perception, and output signal to coarse positioning cylinder 29, and coarse positioning cylinder 29 moves, and the locating dowel 30 on it rises, and pallet is halted, now, four jacking pillars 27 of pallet below hold up pallet, the green band material being held up enters in bell-mouth structure of air, relative two jiaos to green band material contact with the vertical plane 25 of right angle location-plate 23, complete whole position fixing process, and product is accurately located, loading and unloading manipulator 21 is taken green band material to carry out material loading operation away subsequently, locating dowel 30 falls subsequently, and jacking pillar 27 drops to lower station, and pallet is sent to next station by conveyer belt.

Loading and unloading manipulator 21 comprises the cantilever sliding 212 that one end and frame 4 are fixedly linked, the slide block 213 coordinating with slide rail 212, cantilever sliding 212 is vertical with the direction that pallet transmits, the opposite side of slide rail 212 is provided with drag chain 211, slide block 213 is connected with drag chain 211, drag chain 211 is dragged and can be moved horizontally along slide rail 212 by horizontal air cylinder, sucker 215 is fixedly linked with slide block 213, four jiaos of sucker 215 are respectively provided with one and inhale pawl 216, each pawl 216 of inhaling can move up and down by sucker cylinder 214, when feeding, horizontal air cylinder drags drag chain 211, make sucker 215 move to the top of location material fetching mechanism 2 along slide rail 212 with slide block 213, now, pallet is jack-up accurate location under the effect of double jacking positioner, the suction pawl 216 of sucker 215 moves down under the effect of sucker cylinder 214, hold the green band material on pallet, inhale on pawl 216 and move, and return with sucker 215, green band material is delivered on printing machine and processed.

Above-mentioned is description for automatic material taking process, in the time the green band material after processing need to being sent back to pallet again, accurately locate at product, loading and unloading manipulator 21 takes the green band material in pallet to carry out after material loading operation away, it is motionless that pallet keeps, after waiting for that removed green band material processes, loading and unloading manipulator 21 is sent pallet back to again the green band material after processing, then locating dowel 30 falls, jacking pillar 27 drops to lower station, and conveyer belt is sent to next station by pallet together with the green band material after processing.

Further instruction, the utility model is the operation principle taking green band material as the detailed explanation native system of example, utilizes loading and unloading manipulator of the present utility model to draw green band material, need to add frame to green band material; And the feeding mode of change loading and unloading manipulator, green band material also can not add frame; And loading and unloading system of the present utility model, not only can be applied in field of ceramic processing, it is applicable to transmit based on conveyer belt, product is laminar and adopts the product of pallet transmission, can carry out the operation of automatic charging, blanking.

Further illustrate, the described loading and unloading process of the utility model is for processing, after machining, then band to be expected to put back to pallet from pallet taking-up band material. The design also can once operate, and takes out band material for processing from pallet, after machining, will be with material to place other stations, and empty pallet is collected.

Three, the design concept of pallet collection unit sub-agencies is: after the green band material in pallet is removed, pallet proceeds to pallet with conveyer belt and collects station. Be arranged in the position sensor perception pallet state of equipment tail end. In the time that sensor signal transfers on state to, lifting body is jacking upwards, and empty pallet is headed into pallet stacking. Fixedly being realized by del self-locking pin of pallet stacking, pallet is unidirectional motion from top to bottom, after pallet puts in place, is stuck and can not falls.

Concrete structure is referring to Fig. 6, shown in Fig. 7, tray bottom collecting mechanism 3 comprises double jacking clamping device, double jacking clamping device comprises double collection jacking assembly, pallet is collected clamp assemblies and two for responding to the photoelectric sensor of double position, double is collected jacking assembly and is comprised collection support 35 and collect jacking cylinder 36, collect jacking cylinder 36 and be fixed on the below of collecting support 35, collect the cylinder bar of jacking cylinder 36 through collecting support 35 and being connected with the gripper shoe 34 that is connected above, four jiaos that connect gripper shoe 34 are arranged with four leads 33 between two, it is two that pallet is collected clamp assemblies, be divided into the both sides of stacked pallet, each pallet is collected clamp assemblies and is comprised a holder 31 and an inverted-triangular holder 32, the hypotenuse of inverted-triangular holder 32 is downward, inverted-triangular holder 32 right angle places and holder 31 are rotatedly connected, and be provided with back-moving spring, and one end of back-moving spring is connected with inverted-triangular holder 32, and one end is connected with holder 31, when pallet is collected, the stacked tray clamps of original collection is held between the drift angle of two inverted-triangular holders 32, conveyer belt is sent to double the empty pallet of a upper operation and collects jacking assembly place, now, induced signal is sent in photoelectric sensor induction, collecting jacking cylinder 36 moves, connecting gripper shoe 34 rises, make lead 33 pallet that upwards jack-up sends, lead 33 continues upwards jack-up, upwards jack-up inverted-triangular holder 32 of the upper edge of pallet, inverted-triangular holder 32 upwards rotates under the effect of pallet, pallet contacts with pallet above and continues upwards jack-up, clamped by inverted-triangular holder 32 to this pallet, collecting jacking cylinder 36 regains, lead 33 declines and is back to original position, continue next circulation.

The utility model point of this system is:

(1) utilizing integrated mechanism to realize bottom frock separates: this technology has the advantages that continuous working ability is strong, integral structure reliability is high;

(2) adopted the sequence of order station: frock movement locus is straight line or broken line, and does not repeat in tray motion path. Save thus station conversion time;

(3) utilize the location structure of horn mouth jacking type: this detent mechanism simple structure, practical, and positioning precision is high; To can the reach ± 0.4mm of positioning precision of green band material. Meet the material loading required precision of most of process equipments;

(4) generalization, modularized design can be that plurality of devices is supporting.

(5) station is arranged flexibly, and this utility model can have two kinds of concrete forms, is respectively linear pattern and L-type.

Utility model point (1) is set forth:

In the utility model, bottom frock separating mechanism is for the pallet separating part of general automatic loading/unloading unit, the major function of its realization is: the pallet of the stacked state is separated one by one, so that next station positions the operation of feeding, its concrete structure is shown in Fig. 2,3. Motor pattern is: the frock of some is put into feeding station, now, after lifting body jacking, decline, certain position to be dropped to, makes a frock below clamping device, and all the other frocks are above clamping device time, and clamping device clamps. Lifting body continues to decline, and the frock of clamping device below is positioned on conveyer belt, transmits downwards. Completing thus frock separates.

The method that this bottom tray separates has pallet stacking top without interfering, the function that can freely add or take out product. Improve the continuity of producing.

Utility model point (2) is set forth:

Order station is that pallet separation, location feeding, pallet are collected to three processes and arranged successively, to shorten the motion path of pallet, improves pallet transport efficacy. Product is shortened to minimum interval time, and utilization rate of equipment and installations maximizes.

Utility model point (3) is set forth:

Location feeding part major function is: the green band material relative position that ensures manipulator crawl is fixed, and guarantees the repeatable position precision of feeding system.

There is the process equipment of requirement for material loading positional precision, need to position operation to band material. In this patent, utilize the jacking detent mechanism of horn mouth formula to realize. It is little that this jacking detent mechanism has volume, the feature that cycle period is short. Utilize jacking cylinder that band material is headed in lower large little horn mouth, diminish along with bell-mouthed, the position of band material also can passively be adjusted, and finally reaches zone of reasonableness. In the design, by adopting the adjustment to equipment jacking detent mechanism, can reach ± 0.4mm of material loading precision, meets the required precision of all process equipment material loadings, and concrete structure is shown in Fig. 4,5.

Utility model point (4) is set forth:

Equipment is divided into standards body's modules such as bottom separation module, jacking locating module, collection module. In the process of carrying out new-product development, can use by directly transplanting, at utmost shortened the R&D cycle. Can accomplish rapid-assembling, avoid design iterations.

The mentality of designing of modules part and motion flow, can be referring to brief description of the drawings part.

Utility model point (5) is set forth:

For multi-form equipment, can carry out deformation design to this automatic loading and unloading system, by the section material framework from the general loading and unloading system of new design, utilize standard cell block to overlap, can be within the very short duration assembling and the debugging of finishing equipment, greatly saved the time cost of equipment research and development.

For solving the technical problem of automatic loading and unloading system, the bottom frock partition method implementation step of the utility model employing order station is:

1) preparation: the band material that becomes stacking is placed on to feeding station;

2) bottom frock separates: by jacking clamping device, carry out pallet separation at feeding station. By a separation of pallet stacking bottom, and be placed on conveyer belt;

3) product orientation, and take out: the pallet of separation is transported to jacking location station. This station is by jacking apparatus, and the band material jacking in frock is extremely high-order, and by the positioner of horn mouth formula, band material level is put and retrained;

4) product material loading, processing: utilize manipulator that jacking to high-order band material is grabbed in machine table;

5) feeding: manipulator is grabbed the band material after machining to be back to jacking feed mechanism, lifting body declines, and the product after machining is returned to former frock;

6) pallet is collected: the product being placed with after machining is put back to pallet, utilize the passive clamping device of jacking to carry out pallet stacking.

The mentality of designing providing according to native system and requirement, the arrange general automation unit design of order station is as follows:

Material loading transporter comprises three parts altogether: pallet separating part, location feeding part, pallet are collected part.

Pallet separating part forms (have clamping and open two states) by three station lifting bodies (total three of upper, middle and lower station) and a pallet clamping device.

Location feeding part is made up of jacking detent mechanism and loading and unloading manipulator 21, and loading and unloading manipulator 21 drives sucking disc type mechanical hand to form by an electric cylinder moving horizontally.

Pallet is collected part and is made up of double lifting body (total upper and lower two stations) and the passive clamping device of pallet.

Need to carry out the pallet stacking of operation of feeding and discharging and put into pallet separating part. After this motion flow of loading and unloading equipment following (taking feeding process as example): three station lifting body jackings are placed in open mode-> tri-station lifting body to upper station-> material loading clamping device and return and be down to station-> material loading clamping device and be placed in clamp position (clamping device is stuck in bottom between a pallet and penultimate pallet)-> tri-station lifting bodies drop to lower station, and (last pallet is fallen on conveyer belt with jacking apparatus, travels forward; Remaining pallet stacking rests on clamping device top and waits for that next material loading cycle starts)-> tray motion to locate feeding part-> feeding part block rising-> jacking detent mechanism by pallet and on band material jacking to position-> manipulator in the horn mouth formula detent mechanism of top pick and place the decline of blocking of material-> feeding station, pallet proceeds to pallet collecting mechanism-> pallet with conveyer belt and collects double lifting body jacking in part, and empty pallet is headed into empty pallet stacking. So complete automatic charging process.

For multi-form equipment, can carry out deformation design to this automatic loading and unloading system, by the section material framework from the general loading and unloading system of new design, utilize standard cell block to overlap, can be within the very short duration assembling and the debugging of finishing equipment, greatly saved the time cost of equipment research and development.

Claims (5)

1. the universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt, it is characterized in that, comprise the bottom tray separating mechanism (1) being arranged in turn in frame (4), location material fetching mechanism (2), tray bottom collecting mechanism (3), pallet, sensor and controller, bottom tray separating mechanism (1) comprises three station jacking apparatus (19) and a pallet clamping device (18), location material fetching mechanism (2) comprises double jacking positioner (301) and loading and unloading manipulator (21), tray bottom collecting mechanism (3) comprises double jacking clamping device (37), bottom tray separating mechanism (1), location material fetching mechanism (2), tray bottom collecting mechanism (3) are all connected with controller with sensor, when material loading work, stacked pallet (5) is delivered to the separation station of bottom tray separating mechanism (1) with the conveyer belt of connecting gear, stacked pallet (5) and conveyer belt are by the supreme station of three station jacking apparatus (19) jack-up, the gripper jaw (12) of pallet clamping device (18) is opened, three station jacking apparatus (19) fall after rise to middle station, pallet clamping device (18) clamps from the bottom starts at pallet more than penultimate, three station jacking apparatus (19) fall after rise to lower station, now, the pallet of the bottom falls after rise with three station jacking apparatus (19) and conveyer belt, and forward with conveyer belt, enter the feeding station of location material fetching mechanism (2), the be positioned supreme station of double jacking positioner (301) jack-up of material fetching mechanism (2) of the pallet of the bottom and conveyer belt, loading and unloading manipulator (21) feeding, double jacking positioner (301) is repositioned to lower station, conveyer belt continue forward empty pallet be sent to tray bottom collecting mechanism (3) collect stacked trays below, the supreme station of empty pallet that double jacking clamping device (37) jack-up of tray bottom collecting mechanism (3) sends, and be held, double jacking clamping device (37) falls after rise to lower station, this process loops, automatically complete loading and unloading work.

2. the universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt according to claim 1, it is characterized in that, bottom tray separating mechanism (1) comprises three station jacking apparatus (19), a pallet clamping device (18) and three are for responding to the approach switch sensor of three station positions, three station jacking apparatus (19) comprise bracing frame (15), stepper motor (16), base plate (11) and leading screw (14), stepper motor (16) is fixed on the below of bracing frame (15), the output shaft of stepper motor (16) is connected with leading screw (14) above, leading screw (14) through the centre of base plate (11) and with base plate (11) threaded engagement, four jiaos of base plate (11) are respectively provided with a guide pillar (17), stepper motor (16) forward or reverse, drive leading screw (14) synchronously to rotate, make the base plate (11) coordinating with leading screw (14) along moving or move down on leading screw (14), jack-up pallet (5) while making guide pillar (17) rise to station, when guide pillar (17) comes downwards to middle station, pallet clamping device (18) clamping is started at pallet (5) more than penultimate from the bottom, when guide pillar (17) comes downwards to lower station, the pallet of the bottom and conveyer belt fall after rise, be connected with controller for the approach switch sensor of responding to three station positions, accurately locate three work bit positions, pallet clamping device (18) is for being divided into a pair of gripper cylinder (13) of stacked trays both sides, the cylinder bar of gripper cylinder (13) is connected with gripper jaw (12), gripper cylinder (13) action is stretched out in opposite directions a pair of gripper jaw (12) and is held stacked pallet, or oppositely regain, stacked pallet (5) is dropped down onto on conveyer belt.

3. the universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt according to claim 1, it is characterized in that, location material fetching mechanism (2) comprises double jacking positioner (301), loading and unloading manipulator (21) and two are for responding to the photoelectric sensor of double position, double jacking positioner (301) comprises double feeding jacking apparatus and feeding positioner, double feeding jacking apparatus comprises jacking post coupler (22) and feeding jacking cylinder (28), the cylinder bar of feeding jacking cylinder (28) is connected with the lower surface of jacking post coupler (22), above jacking post coupler (22), four jiaos are respectively provided with a jacking pillar (27), feeding jacking cylinder (28) action, make the jacking pillar (27) of going up on jacking post coupler (22) rise to station, the pallet of separating from bottom is by jack-up, or fall after rise to lower station, continue to next station transmission with conveyer belt, feeding positioner comprises coarse positioning parts and fine positioning parts, coarse positioning parts comprise coarse positioning cylinder (29), the cylinder bar of coarse positioning cylinder (29) is connected with two locating dowels (30) by attaching parts (24), fine positioning parts are the lower large little bell-mouth structure of air being made up of two right angle location-plates (23), two right angle location-plates (23) are diagonal angle and are divided into the wherein outer top of the jacking pillar (27) at one group of diagonal angle, the bottom of the medial surface that two right angle location-plates (23) are relative is divided into inclined-plane (26), and top is divided into vertical plane (25), when pallet (5) is transported to double feeding jacking apparatus by conveyer belt, its position of photoelectric sensor perception, and output signal to coarse positioning cylinder (29), and coarse positioning cylinder (29) action, locating dowel (30) rises, and pallet is halted, now, four jacking pillars (27) of pallet below hold up pallet, in product introduction bell-mouth structure of air in pallet, two arms of angle relative to pallet contact with the vertical plane (25) of right angle location-plate (23), complete whole position fixing process, and product is accurately located, manipulator is taken green band material to carry out material loading operation away subsequently, locating dowel (30) falls subsequently, and jacking pillar (27) drops to lower station, and pallet is sent to next station by conveyer belt.

4. the universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt according to claim 3, it is characterized in that, loading and unloading manipulator (21) comprises the cantilever sliding (212) that one end and frame (4) are fixedly linked, the slide block (213) coordinating with slide rail (212), cantilever sliding (212) is vertical with pallet direction of transfer, the opposite side of slide rail (212) is provided with drag chain (211), slide block (213) is connected with drag chain (211), drag chain (211) is connected with horizontal air cylinder, slide block (213) is dragged and can be moved horizontally along slide rail (212) by drag chain (211), sucker (215) is fixedly linked with slide block (213), four jiaos of sucker (215) are respectively provided with one and inhale pawl (216), each pawl (216) of inhaling can move up and down by sucker cylinder (214), when feeding, horizontal air cylinder drags drag chain (211), make sucker (215) move to the top of location material fetching mechanism (2) along slide rail (212) with slide block (213), now, pallet is jack-up accurate location under the effect of double jacking positioner (301), the suction pawl (216) of sucker (215) moves down under the effect of sucker cylinder (214), hold the product on pallet, inhale on pawl (216) and move, and return with sucker (215), product is taken away and put to processing stations.

5. the universal automatic loading and unloading system of the bottom frock partition method based on conveyer belt according to claim 1, it is characterized in that, tray bottom collecting mechanism (3) comprises double jacking clamping device (37), double jacking clamping device (37) comprises double collection jacking assembly, pallet is collected clamp assemblies and two for responding to the photoelectric sensor of double position, double is collected jacking assembly and is comprised collection support (35) and collect jacking cylinder (36), collect jacking cylinder (36) and be fixed on the below of collecting support (35), collect the cylinder bar of jacking cylinder (36) through collecting support (35) and being connected with the gripper shoe (34) that is connected above, four jiaos that connect gripper shoe (34) are arranged with four leads (33) between two, it is two that pallet is collected clamp assemblies, be divided into the both sides of stacked pallet, each pallet is collected clamp assemblies and is comprised a holder (31) and an inverted-triangular holder (32), the hypotenuse of inverted-triangular holder (32) is downward, inverted-triangular holder (32) right angle place and holder (31) are rotatedly connected, and be provided with back-moving spring, and one end of back-moving spring is connected with inverted-triangular holder (32), and one end is connected with holder (31), when pallet is collected, the stacked tray clamps of original collection is held between the drift angle of two inverted-triangular holders (32), conveyer belt is sent to double the empty pallet of a upper operation and collects jacking assembly place, now, induced signal is sent in photoelectric sensor induction, collect jacking cylinder (36) action, connecting gripper shoe (34) rises, make lead (33) pallet that upwards jack-up sends, lead (33) continues upwards jack-up, the edge of pallet is jack-up inverted-triangular holder (32) upwards, inverted-triangular holder (32) upwards rotates under the effect of pallet, pallet contacts with pallet above and continues upwards jack-up, clamped by inverted-triangular holder (32) to this pallet, collecting jacking cylinder (36) regains, lead (33) declines and is back to original position, continue next circulation.