CN213084748U - Cutter tray feeding and discharging device - Google Patents

Abstract

The utility model discloses a unloader on cutter charging tray has solved among the prior art charging tray degree of automation low, and the more problem of manual intervention has liberation hand labor's beneficial effect, and concrete scheme is as follows: a cutter material tray feeding and discharging device comprises a material tray stacking assembly body, wherein the material tray stacking assembly body comprises at least one layer of material tray, multiple layers of material trays are stacked, and each material tray is provided with a plurality of positioning grooves for limiting the position of a material; the charging tray lifting platform comprises a first charging tray supporting table, and the first charging tray supporting table is connected with the first lifting mechanism; the charging tray lowering platform also comprises a second charging tray supporting table which is connected with the second lifting mechanism, and the charging tray lowering platform is arranged on one side of the charging tray lifting platform; the charging tray grabbing and placing platform is supported by the rack, the working area of the charging tray grabbing and placing platform covers the charging tray lifting platform and the charging tray placing platform, the charging tray grabbing and placing platform comprises a manipulator, and the manipulator is connected with the multidimensional movement mechanism.

Description

Cutter tray feeding and discharging device

Technical Field

The utility model belongs to the technical field of the industrial automation technique and specifically relates to a unloader on cutter charging tray.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In all the uses of machine tool cutters, turning tools are the most widely used cutters, and turning is one of the most common machining methods, and is widely applied. With the rapid development of the manufacturing industry in China, the demand of turning tools in the manufacturing field is increasing continuously. In the process of turning tool production, feeding and discharging are very important links, the traditional feeding and discharging mode in China is manual feeding and discharging, after a machining cycle is completed by a machine tool, a worker takes a finished material away, puts a blank material into the machine tool, and controls the machine tool to machine. Along with the demand of lathe tool constantly increases and the cost of labor's constantly increases, the unloading mode is wasted time and energy in traditional manual work, seriously hinders the promotion of production efficiency and economic benefits, when workman and lathe closely contact even, probably because the improper operation leads to the problem of personal safety. At present, along with the improvement of an automation technology, the problems can be solved to a certain extent by adopting a charging tray feeding and discharging mode, but some new defects also appear.

The existing automatic feeding and discharging production line can replace manual work to feed and discharge workpieces on a machining center through machinery, and the working efficiency is improved. However, if the specification of the workpiece processed by the production line changes, the current type of the material tray needs to be changed according to the specification of the workpiece, and the application range of the production line is narrow. And this production line adopts rectangular type flow production line, and this kind of flow production line structure not only purchase and processing cost are high, still can cause the very big waste of space. Although the set of production line can automatically complete the transportation and feeding of materials, workers can only place or take away the materials singly at a time in the process of placing the materials in the equipment and taking the materials out of the equipment, and the labor force and the labor time of the workers cannot be saved to the greatest extent.

The prior art mainly has the following problems:

(1) in the current cutter processing operation, because the material tray is heavy, in order to ensure safe operation, a single material tray is manually operated at one time. And when changing the charging tray, need stop the machine and wait for, increased the required time of unloading, restricted the degree of automation of producing the line, need artifical repeated intervention unloading moreover, intensity of labour is great.

(2) The existing automatic charging and discharging system for the charging tray mostly adopts a strip-shaped production line, and the production line structure has the advantages of high purchasing and processing cost, incompact arrangement and great waste of space.

(3) The charging tray can not reliably consign materials of different specifications, and when the specifications of the materials to be consigned change, the charging tray needs to be replaced correspondingly, so that the applicability of the charging tray is not high.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a unloader on cutter charging tray can realize high automation, liberates the workman from the production process, and the workman can change nimble adjustment according to the order and produce the quantity of line single input/output charging tray. The feeding and discharging device can realize automatic feeding and automatic discharging, ensures the reliability of materials in the transportation process, has compact integral structure and avoids space waste.

In order to achieve the above purpose, the present invention is realized by the following technical solution:

the utility model provides a unloader on cutter charging tray, includes:

the material tray stacking assembly comprises at least one layer of material tray, wherein the multiple layers of material trays are stacked, and each material tray is provided with a plurality of positioning grooves for limiting the position of a material;

the charging tray lifting platform comprises a first charging tray supporting table, and the first charging tray supporting table is connected with the first lifting mechanism;

the charging tray lowering platform also comprises a second charging tray supporting table which is connected with the second lifting mechanism, and the charging tray lowering platform is arranged on one side of the charging tray lifting platform;

the charging tray is grabbed and is put the platform, supports through the frame, and the working area that the charging tray was grabbed and is put the platform covers charging tray lift platform and charging tray and transfers the platform, and the charging tray is grabbed and is put the platform and include the manipulator, and the manipulator is connected with multidimension motion, opens and shuts through the manipulator and realizes grabbing putting to the charging tray.

Among the foretell feeding system, the stacking of a plurality of charging trays can be realized to the stacked assembly body of charging tray, can carry out the material loading of a plurality of charging trays simultaneously, has improved material loading efficiency, and the promotion of charging tray among the stacked assembly body of charging tray is realized to charging tray promotion platform to realize that the charging tray is grabbed and is put the charging tray that the platform was lifted on the platform and transport to other places with the charging tray, the charging tray is transferred the platform and is used for the below to the charging tray, can grab by the charging tray and put the platform and place the charging tray in charging tray transfer the platform.

According to the cutter tray loading and unloading device, the first lifting mechanism is a ball screw mechanism, the first lifting mechanism is fixed on the first rear supporting plate, the first tray supporting table is connected with a sliding block in the ball screw mechanism through the connecting plate, a distance sensor connected with a computer is arranged on the inner side of the first tray supporting table, and the distance sensor faces the inner side of the first tray supporting table to detect whether a tray completely reaches the first tray supporting table;

the belt auxiliary module is arranged at the first strip hole, the upper surface of the belt auxiliary module is higher than the upper surface of the first tray supporting plate, and the upper surface of the belt auxiliary module is in direct contact with the bottom surface of the tray, so that the friction force generated when the tray laminated assembly moves to the first tray supporting table is reduced, and power is further provided for the input of the tray laminated assembly;

the lateral part of first rear backup pad sets up the U type photoelectric sensor that two height positions are different, and U type photoelectric sensor is connected with the computer, and the lateral part of first charging tray supporting bench sets up first trigger piece, and U type photoelectric sensor detects through the position to first trigger piece, and then control charging tray promotion platform feeding.

The feeding and discharging device for the cutter material disc also comprises a material disc lowering platform for realizing discharging, the structure of the material disc lowering platform also comprises a second material disc supporting table, the second material disc supporting table is connected with a second lifting mechanism, the second lifting mechanism is arranged on a second rear supporting plate, the surface of the second material disc supporting table is provided with a clamping groove, two sides of the bottom of a push plate penetrate through the clamping groove to be connected with a T-shaped plate, a moving mechanism is connected with the T-shaped plate, two sides of the upper surface of the T-shaped plate are respectively provided with a fixed slide block, the fixed slide blocks are fixed with a guide rail arranged on the second material disc supporting, and a plurality of proximity sensors are embedded in the surface of the moving mechanism and connected with the computer to transmit the position information of the push plate to the computer, and the proximity sensor is a magnetic proximity sensor and is arranged on the outer side of the moving mechanism, and the moving mechanism selects the rodless cylinder sliding table.

A second strip hole is formed in the width direction of the second tray supporting table, the antifriction belt module is arranged at the second strip hole, the upper surface of the antifriction belt module is higher than the upper surface of the second tray supporting plate, and the upper surface of the belt antifriction module is directly contacted with the bottom surface of the tray, so that the friction force generated when the tray laminated assembly moves on the second tray supporting table is reduced;

the side part of a second rear support plate of the charging tray lowering platform is provided with three U-shaped photoelectric sensors with different heights, the U-shaped photoelectric sensors are connected with the computer, the U-shaped photoelectric sensors at the top and the bottom are used for acquiring position signals of a second charging tray support table by the computer and further controlling the charging of the charging tray lowering platform, the mounting height of the U-shaped photoelectric sensor at the middle part on the second rear support plate can be changed, the U-shaped photoelectric sensor at the middle part is used for detecting whether discharging is started or not, when the second charging tray support table reaches the U-shaped photoelectric sensor at the middle part, discharging can be confirmed to be started, namely, the charging tray is lowered to the height of the belt output module for discharging; the number of the material trays output from the system at a time can be controlled by changing the mounting height of the middle U-shaped photoelectric sensor, so that the number of the material trays input and output at a time in the production line can be adjusted along with the change of the number of orders; and a second trigger sheet is arranged on the side part of the second tray support table.

The first trigger piece or the second trigger piece can move to the middle of the U-shaped photoelectric sensor, so that the U-shaped photoelectric sensor sends a signal to a computer.

As above a unloader on cutter charging tray, still include charging tray input/output platform, charging tray input/output platform is including being used for the input the belt input module of the stacked assembly body of charging tray with be used for exporting the belt output module of the stacked assembly body of charging tray, belt input module locates the side of charging tray promotion platform, belt output module locate the side of platform is transferred to the charging tray, belt input module and belt output module are the same height setting, and belt input module locates one side of belt output module, and belt output module's side sets up the distance sensor who is used for detecting whether the stacked assembly body of charging tray is exported completely, distance sensor with the computer connect.

As above a cutter charging tray unloader, charging tray input/output platform still includes the support body of frame shape, and the support body divide into two regions, and one side is used for supporting belt input module, the opposite side is used for supporting belt output module, the support body upper surface sets up two openings, charging tray promotion platform with the charging tray is transferred the platform and is protruding from an opening respectively, and the distance sensor towards charging tray promotion platform has been arranged to one of them opening part, and the distance sensor towards charging tray transfer platform of two high differences has been arranged to another opening part, and wherein the lower distance sensor in position is used for detecting whether there is the entity that can provide the support for waiting to land the charging tray in its the place ahead, after the higher distance sensor in wherein position detected that the charging tray transferred the platform has the charging tray, computer control charging tray transfer platform descends. And when the distance sensor at the side of the material tray lifting platform detects that no material tray exists, the computer controls the material tray lifting platform to lift. All the distance sensors are connected with a computer, the computer is connected with the multidimensional movement mechanism to control the unstacking and stacking of the material trays,

the distance sensors are all selected from diffuse reflection sensors, and the information reflected by the surface of the material tray layer is processed and transmitted to a computer.

According to the cutter material tray loading and unloading device, the upper surface of the material tray is provided with at least one positioning block, the lower surface of the material tray is provided with at least one positioning groove matched with the positioning block of the lower layer material tray, the height of the positioning block is lower than the depth of the positioning groove, and the length of the positioning block is smaller than the length of the positioning groove; the inner part of the material groove is in a step shape so as to be suitable for materials with different sizes; and a grabbing groove used for grabbing by the manipulator is arranged on the side part of the material tray.

The manipulator comprises a mounting plate, the mounting plate is provided with a third linear slide rail, a two-way moving mechanism is arranged through the mounting plate, two ends of the two-way moving mechanism are connected with hooks, the hooks are connected with a third slide block arranged on the third linear slide rail, the material tray is supported through the hooks at the two ends, a proximity sensor is embedded in the surface of the two-way moving mechanism and connected with a computer to detect the opening and closing state of the manipulator, the proximity sensors are provided in plurality and are magnetic proximity sensors which are arranged on the outer side surface of the two-way moving mechanism opposite to the mounting plate;

further, the couple has the recess and makes the couple be the recess couple, and the recess orientation of recess couple two-way moving mechanism sets up, and recess in the recess couple is used for cooperating with the groove of snatching of charging tray side, and two-way moving mechanism selects two guide arm cylinders, and under the drive of two guide arm cylinders, drives the removal of both sides couple, realizes grabbing of charging tray and puts.

The feeding and discharging device for the cutter tray comprises a multi-dimensional moving mechanism, a multi-dimensional moving mechanism and a multi-dimensional moving mechanism, wherein the multi-dimensional moving mechanism comprises X-axis direction displacement modules, the X-axis direction displacement modules are arranged on two sides of a retainer, the Y-axis direction displacement modules are supported by the X-axis direction displacement modules on the two sides, the Z-axis direction displacement modules are supported by the Y-axis direction displacement modules, the Z-axis direction displacement modules penetrate through the Y-axis direction displacement modules, and the manipulator is arranged below the Y-axis direction displacement modules;

the X-axis direction displacement module and the Y-axis direction displacement module have the same structure and respectively comprise linear slide rails, the linear slide rails are provided with corresponding slide blocks, racks are connected with the power part and fixed, the slide blocks are driven by the power part to move along the linear slide rails, and the corresponding power parts are fixed on the Y-axis direction displacement module and the Z-axis direction displacement module;

the Z-axis direction displacement module comprises a telescopic piece, the telescopic piece penetrates through the cylinder mounting plate to be provided with a connecting block, and the connecting block is connected with the manipulator;

the outside of extensible member sets up the proximity sensor that a plurality of differences in height are used for confirming extensible member extended position, proximity sensor with the computer connect, the cylinder is selected to the extensible member.

Above-mentioned the utility model has the advantages as follows:

1) the utility model discloses a charging tray can be to the reliable consignment of the material of different specifications, and the application scope of charging tray is wide.

2) The feeding and discharging device of the utility model is highly automatic, thereby freeing people from the production process to the maximum extent and reducing unnecessary manual intervention time; the whole production process worker only needs to put the tray laminated assembly body filled with the blank materials on the belt input module, and then takes the tray laminated assembly body filled with the finished product materials away from the belt output module, so that the worker can operate a plurality of trays once, the frequency of manual intervention is reduced, and the efficiency of manual intervention is increased.

3) The utility model discloses an unloader grabs through the charging tray and puts platform, charging tray promotion platform and belt input module and can realize automatic feeding, grabs through the charging tray and puts platform, charging tray and transfer platform and belt output module and can realize automatic unloading, when the workman carries out the blowing and gets the material, the machining center of keeping away from of workman's operation, the equipment that probably causes the potential safety hazard such as robot has improved workman's operational environment security.

4) The utility model discloses an go up unloader, the overall arrangement of each part is arranged and is adopted embedded overall arrangement more, and the space is compact, and space utilization is high.

Drawings

The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.

FIG. 1 is an isometric view of an automatic charging system for trays, FIG. 1- (a) is an exploded view of an automatic charging system for trays

FIG. 2 is a perspective view of a tray stack assembly; FIG. 2- (a) is an isometric view of a cutter material; FIG. 2- (b) is a view showing the axial view of the tray

FIG. 2- (c) is an enlarged view of a portion A in FIG. 2- (b); FIG. 2- (d) is a view of the tray axis; FIG. 2- (e) is a partial enlarged view of the portion A in FIG. 2- (d)

FIG. 2- (f) is an enlarged view of a portion B of FIG. 2- (d); FIG. 2- (g) is a side view of a tray stack assembly;

FIG. 2- (h) is a sectional view of a tray laminated assembly A-A

FIG. 3 is an isometric view of a tray input/output platform; FIG. 3- (a) is an isometric view of a diffuse reflectance sensor; FIG. 3- (b) is a side view of the belt input module

FIG. 4 is an isometric view of a tray lifting platform; fig. 4- (a) is an exploded view of the tray lifting platform; FIG. 4- (b) is a partial enlarged view of the portion A in FIG. 4- (a)

FIG. 4- (c) is a partial enlarged view of B in FIG. 4- (a); FIG. 4- (d) is a partial cross-sectional view of a side view of the tray lifting platform

Fig. 4- (e) is a partial cross-sectional view of a top view of the tray lifting platform; FIG. 4- (f) is a partial enlarged view of A in FIG. 4- (e)

FIG. 4- (g) is a cross-sectional view taken along line A-A in FIG. 4- (h); FIG. 4- (h) is a side view of the stand;

FIG. 4- (i) is a partial enlarged view of A in FIG. 4- (h); FIG. 4- (j) is an isometric view of the first tray support table; FIG. 4- (k) is an exploded view of the first tray support table; FIG. 4- (l) is an isometric view of the first tray support plate; FIG. 4- (m) is an isometric view of the belt auxiliary module;

FIG. 4- (n) is a top view of the first tray support table; FIG. 4- (o) is a cross-sectional view of the first tray support table A-A;

FIG. 5 is a side view of a tray holding and placing platform; FIG. 5- (a) is an exploded view of a tray holding and releasing platform; FIG. 5- (b) is an isometric view of the holder; FIG. 5- (c) is an enlarged view of a portion A in FIG. 5- (b); FIG. 5- (d) is an isometric view of a Y-axis direction displacement module and a Z-axis direction displacement module; FIG. 5- (e) is an enlarged view of a portion A of FIG. 5- (d); FIG. 5- (f) is an isometric view of the robot; FIG. 5- (g) is an exploded view of the robot; FIG. 5- (h) is an isometric view of a mounting plate

FIG. 5- (i) is an isometric view of a first L-shaped web; FIG. 5- (j) is an isometric view of a groove hook; FIG. 5- (k) is an isometric view of a double-guide-rod cylinder

FIG. 5- (l) is an isometric view of a manipulator core module; FIG. 5- (m) is a top view of the robot core module;

FIG. 5- (n) is a sectional view of a robot core module A-A

FIG. 5- (o) is a partial cross-sectional view of a front view of the robot; FIG. 5- (p) is a Z-axis direction displacement module axonometric view

FIG. 5- (q) is a perspective view of a third gear motor shaft; FIG. 5- (r) is a partial cross-sectional view of a front view of a Z-axis displacement module

FIG. 5-(s) is an enlarged view of a portion A of FIG. 5- (r); FIG. 5- (t) is a partial enlarged view of B in FIG. 5- (r)

FIG. 6 is an axonometric view of the charging tray lowering platform

FIG. 6- (a) is an exploded view of the tray lowering platform; FIG. 6- (b) is an axonometric view of the second tray support table; FIG. 6- (c) is an exploded view of the second tray support table

FIG. 6- (d) is an isometric view of a rodless cylinder ramp; FIG. 6- (e) is an isometric view of a magnetic proximity sensor;

FIG. 6- (f) is an assembly axonometric drawing of a push guide rail, a material tray support plate and an antifriction belt module

FIG. 6- (g) is a cross-sectional view taken along line A-A of FIG. 6- (h); FIG. 6- (h) is an assembly plan view of the push guide rail, the tray support plate and the antifriction belt module

FIG. 6- (i) is a sectional view taken along line B-B in FIG. 6- (h);

in the picture, I is the range upon range of assembly body of charging tray, and II is charging tray input/output platform, and III is charging tray promotion platform, and IV is the platform is grabbed and put to the charging tray, and V is the platform is transferred to the charging tray.

I-01 is a material tray, I-02 is a cutter material, I-0101 is a first positioning block, I-0102 is a first material groove, I-0103 is a second material groove, I-0104 is a third material groove, I-0105 is a grabbing groove, I-0106 is a second positioning block, I-0107 is a first positioning groove, and I-0108 is a second positioning groove.

II-01 is a diffuse reflection sensor, II-02 is a belt input module, II-03 is a diffuse reflection sensor, II-04 is a diffuse reflection sensor, II-05 is a belt output module, and II-06 is a diffuse reflection sensor.

III-01 is a stepping motor, III-02 is a lower fixing plate, III-03 is an inner hexagonal socket head cap screw, III-04 is a ball screw module, III-05 is a first trigger piece, III-06 is a hexagonal flange self-tapping screw, III-07 is an inner hexagonal socket head cap screw, III-08 is a first guide rod, III-09 is an inner hexagonal socket head cap screw, III-10 is a first tray support table, III-11 is a retainer, III-12 is an inner hexagonal socket head cap screw, III-13 is an inner hexagonal socket head cap screw, III-14 is a lifting connecting plate, III-15 is a lifting slider, III-16 is an inner hexagonal socket head cap screw, III-17 is an inner hexagonal socket head cap screw, III-18 is a lifting guide rail, III-19 is a hexagonal flange self-tapping screw, III-20 is a U-shaped photoelectric sensor, III-21 is a first rear supporting plate, III-22 is a hexagonal flange tapping screw, and III-23 is a U-shaped photoelectric sensor.

IV-01 is a retainer, IV-02 is a Y-axis direction displacement module, IV-03 is a manipulator, IV-04 is a socket cap screw, IV-05 is a socket cap screw, and IV-06 is a Z-axis direction displacement module

V-01 is a hexagon flange tapping screw, V-02 is an upper layer material tray push-pull module, V-03 is a material platform main body, V-04 is an inner hexagon cylindrical head screw, V-04 is a hexagon flange tapping screw, and V-05 is a lower layer material tray push-pull module.

V-01 is a ball screw module, V-02 is a second rear supporting plate, V-03 is a U-shaped photoelectric sensor, V-04 is a lower connecting plate, V-05 is a second trigger plate, V-06 is a U-shaped photoelectric sensor, V-07 is a stepping motor, V-08 is a U-shaped photoelectric sensor, V-09 is an inner hexagonal socket head screw, V-10 is an inner hexagonal socket head screw, and V-11 is a second material plate supporting table.

III-10-01 is a sensor holder, III-10-02 is an inner hexagonal cylindrical head screw, III-10-03 is a first material tray support plate, III-10-04 is a transition righting block, III-10-05 is a side triangular support plate, III-10-06 is a belt auxiliary module, III-10-07 is an inner hexagonal cylindrical head screw, III-10-08 is a drag chain connecting sheet, III-10-09 is an inner hexagonal cylindrical screw, III-10-10 is an inner hexagonal cylindrical screw, III-10-11 is an inner hexagonal cylindrical screw, III-10-12 is a diffuse reflection sensor, III-10-13 is an inner hexagonal cylindrical screw, and III-10-14 is a hexagonal flange self-tapping screw.

IV-01-01 is a first rack, IV-01-02 is a first slide block, IV-01-03 is a first linear guide rail, IV-02-01 is a second slide block, IV-02-02 is a second linear guide rail, IV-02-03 is a second rack, IV-02-04 is a second gear motor, IV-03-01 is a third linear slide rail, IV-03-02 is an inner hexagonal head screw, IV-03-03 is a mounting plate, IV-03-04 is a third slide block, IV-03-05 is a first L-shaped connecting plate, IV-03-06 is an inner hexagonal head screw, IV-03-07 is a second L-shaped connecting plate, IV-03-08 is an inner hexagonal head screw, IV-03-09 is a groove hook, IV-03-0901 is a positioning groove, IV-03-10 is a double-guide-rod air cylinder, IV-03-11 is an inner hexagonal socket head screw, IV-03-12 is an inner hexagonal socket head screw, IV-03-13 is an inner hexagonal socket head screw, IV-06-01 is a connecting block, IV-06-02 is an air cylinder mounting plate, IV-06-03 is a hexagonal flange self-tapping screw, IV-06-04 is a third gear motor, IV-06-05 is a magnetic proximity sensor, IV-06-06 magnetic proximity sensor, IV-06-07 is a guide rod, IV-06-08 is an air cylinder, IV-06-09 is a magnetic proximity sensor, IV-06-10 is a guide rod retainer, and IV-06-11 is a magnetic proximity sensor.

V-11-01 is a push plate, V-11-02 is an inner hexagonal cylindrical head screw, V-11-03 is a triangular connecting block, V-11-04 is an inner hexagonal cylindrical head screw, V-11-05 is a second material tray supporting plate, V-11-06 is a side triangular fixing plate, V-11-07 is a pushing sliding block, V-11-08 is an inner hexagonal cylindrical head screw, V-11-09 is an inner hexagonal cylindrical head screw, V-11-10 is an inner hexagonal cylindrical head screw, V-11-11 is a triangular table, V-11-12 is a rodless cylinder sliding table, V-11-13 is an inner hexagonal head screw, V-11-14 is a T-shaped plate, V-11-15 is an antifriction belt module, and V-11-16 is a pushing guide rail, v-11-17 is a transition righting block, V-11-18 is an inner hexagonal socket head cap screw, V-11-19 is an inner hexagonal socket head cap screw, and V-11-20 is an inner hexagonal socket head cap screw.

V-11-12-01 is a magnetic proximity sensor, and V-11-12-02 is a magnetic proximity sensor.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "upper", "lower", "left" and "right" in the present application, if any, merely indicate correspondence with the upper, lower, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the present invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Term interpretation section: the terms "mounted," "connected," "fixed," and the like in the present invention are to be understood in a broad sense, for example, they may be fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Just as the background art introduces, it is big to have artifical material loading work load among the prior art, influences the problem of production, in order to solve above-mentioned technical problem, the utility model provides a unloader on cutter charging tray.

The utility model discloses an among the typical embodiment, refer to figure 1, figure 1- (a) is shown, and unloading system includes the range upon range of assembly body I of charging tray in the charging tray is automatic, charging tray input/output platform II, and the charging tray promotes platform III, and platform IV is put to the charging tray grabbing, and platform V is transferred to the charging tray, and power part and computer in each mechanism are the independent connection respectively. Wherein, charging tray promotion platform III and charging tray transfer platform V imbed in charging tray input/output platform II. And a charging tray grabbing and placing platform IV is arranged above the charging tray input and output platform II. The material tray is grabbed and placed through the material tray grabbing and placing platform IV, and the material tray lifting platform III and the material tray lowering platform V are moved.

Specifically, the tray stack assembly I: the system is responsible for consigning cutter materials of different models; and a material tray input and output platform II: the device is responsible for inputting and outputting the tray laminated assembly body and controlling the tray grabbing and placing platform to detach and stack; and (3) a tray lifting platform III: the feeding device is responsible for feeding and lifting a blank tray to a position to be grabbed; a material tray grabbing and placing platform IV: the system is responsible for the procedures of pile removal and tray replacement; platform V is transferred to charging tray: and the device is responsible for providing a landing position and discharging for a finished material tray.

Referring to fig. 2 to 2- (h), the tray stack assembly I is formed by stacking a plurality of trays I-01. The material tray I-01 is provided with a first positioning block I-0101 and a second positioning block I-0106 which are distributed along the diagonal line of the material tray I-01. A first positioning groove I-0107 and a second positioning groove I-0108 are formed below the tray I-01. One of the two positioning grooves is positioned below the first positioning block I-0101, and the other is positioned below the second positioning block I-0106. During the pile up neatly, through the cooperation between upper and lower charging tray locating piece and the constant head tank, avoid the range upon range of assembly body of charging tray to take place to empty or scatter the circumstances such as in transportation or pile up neatly in-process, improve the stability of the range upon range of assembly body of charging tray in transportation and pile up neatly in-process. The height of the positioning block is lower than the depth of the positioning groove; the length of the positioning block is smaller than the groove length of the positioning groove, so that the situation that the upper and lower trays cannot be assembled smoothly due to the fact that a single tray positioning block or the positioning groove has machining errors can be reduced.

A plurality of material grooves are processed in the material tray I-01, grabbing grooves I-0105 are processed on two sides of the material tray, the size of the grabbing grooves is matched with the size of a positioning groove IV-03-0901 of a groove hook IV-03-09 in the manipulator IV-03, the reliability and the stability of the mechanical arm in grabbing and carrying the material tray can be improved, in order to be suitable for materials with different models, a first material groove I-0102, a second material groove I-0103 and a third material groove I-0104 are arranged in each material groove from inside to outside, and the three material grooves are distributed in a ladder shape, so that the width of the material grooves is sequentially increased from inside to outside at the position where the material grooves are arranged, each positioning groove can completely limit six spatial degrees of freedom of corresponding cutter materials, and the material tray can reliably carry the cutter materials of various types.

Referring to fig. 3 to 3- (b), the tray input/output platform II includes a frame, the frame is divided into two areas, one area is used for tray input, the other area is used for tray output, and a belt input module II-02 and a belt output module II-05 are arranged on the lower portion of the tray input/output platform through the frame. Two openings are arranged on the upper surface of the frame body of the charging tray input and output platform II, one opening is provided with a diffuse reflection sensor II-01, the other opening is provided with a diffuse reflection sensor II-03 and a diffuse reflection sensor II-04, and the three sensors are all arranged on the charging tray input and output platform II through screws. And the diffuse reflection sensor II-06 is fixed on the side of the belt output module II-05 through a screw and is used for detecting whether the tray laminated assembly is completely output.

It should be explained that the diffuse reflection sensor is a distance sensor, and can be used for judging whether the materials exist or not, and transmitting information to the computer, and the computer controls the system to unstack and stack by analyzing signals transmitted by the sensor. The input and output of the tray laminated assembly I are realized through a belt input module II-02 and a belt output module II-05 which are arranged below the tray input and output platform.

Referring to FIGS. 4 to 4- (i). The material tray lifting platform III comprises a first rear supporting plate III-21, wherein a plurality of first supporting frames are arranged on one side of the first rear supporting plate III-21, each first supporting frame is composed of a plurality of first guide rods III-08, the adjacent first guide rods are arranged at intervals, the first material tray supporting tables III-10 penetrate through the first guide rods on two sides and support the ball screw module III-04 through the first rear supporting plate III-21, a lifting slide block III-15 of the ball screw module is connected with the first material tray supporting tables III-10 through a lifting connecting plate III-14, a stepping motor III-01 provides power for the ball screw module, and the ball screw module drives the first material tray supporting tables III-10 to move up and down. The first guide rod III-08 can play a role in positioning and righting in the lifting process of the first tray supporting table III-10. The charging tray lifting platform III can lift the charging tray laminated assembly I with different laminated quantities at a time according to production requirements.

The lower fixing plate III-02 is connected with a first rear supporting plate III-21 through an inner hexagonal socket head cap screw III-03. The U-shaped photoelectric sensor III-20 is fixed on one side of the first rear supporting plate III-21 through a hexagonal flange self-tapping screw III-19. The U-shaped photoelectric sensor III-23 is fixed on one side of the first rear supporting plate III-21 through a hexagonal flange self-tapping screw III-22, and the U-shaped photoelectric sensor III-20 and the U-shaped photoelectric sensor III-23 are arranged up and down and used for limiting the highest position and the lowest position of the first tray supporting table III-10 and further controlling the feeding of the tray lifting platform III.

The lifting guide rail III-18 is fixed on the first rear support plate III-21 through a hexagon socket head cap screw III-17. The ball screw module III-04 is connected with the first rear support plate III-21 through a hexagon socket head cap screw III-16. The inner hexagonal socket head cap screw III-13 passes through the lifting connecting plate III-14 to be screwed with the lifting slide block III-15. The lifting connecting plate III-14 and the ball screw module III-04 are connected through a hexagon socket head cap screw III-12. The first triggering piece III-05 is fixed on the side of the lifting connecting plate III-14 through a hexagonal flange self-tapping screw III-06, and one end of the first triggering piece III-05 exceeds the side face of the lifting connecting plate III-14 so as to trigger the U-shaped photoelectric sensor III-20 or the U-shaped photoelectric sensor III-23 in the process of moving the lifting connecting plate up and down. The inner hexagonal socket head cap screw III-07 passes through the retainer III-11 to be screwed with the first guide rod III-08. The first tray support table III-10 is connected with the lifting connecting plate III-14 through a hexagonal socket head cap screw III-09.

It will be readily appreciated that the form of the screw may be other options and is not limited to the particular type of screw used in the present embodiment; the U-shaped photoelectric sensors III-20 and the U-shaped photoelectric sensors III-23 are also independently connected with the computer respectively, the two U-shaped photoelectric sensors can feed back position signals of the first tray supporting table to the computer in time, and the computer analyzes the position signals and controls the feeding of the tray lifting platform III.

Referring to FIGS. 4- (j) to 4- (0), the first tray support platform III-10 includes a first tray support plate III-10-03 having a first elongated hole, a belt auxiliary module III-10-06 provided at the position of the first elongated hole, the belt auxiliary module III-10-06 disposed below the first tray support plate III-10-03 and having an upper surface higher than an upper surface of the first tray support plate III-10-03, and when the tray stacked assembly I is inputted from the belt input module II-02 to the first tray support plate III-10-03, power is further supplied to the input of the tray stacked assembly I through the belt auxiliary module III-10-06, and the contact and the friction between the tray laminated assembly I and the first tray supporting table III-10 can be reduced, the original sliding friction is converted into rolling friction, the friction force borne by the tray laminated assembly I in the input process is greatly reduced, the tray abrasion is reduced, and the service life of the tray is prolonged.

Specifically, the belt auxiliary module III-10-06 is fixed on the first tray supporting plate III-10-03 through an inner hexagonal cylindrical screw III-10-11 and an inner hexagonal cylindrical head screw III-10-07.

The transition righting block III-10-04 is arranged at the inlet of the first tray supporting plate III-10-03 and can play a role in righting and positioning. The transition centralizing block III-10-04 is fixed on the first tray supporting plate III-10-03 by the inner hexagonal socket head cap screw III-10-02. The two side triangular support plates III-10-05 are connected with the first tray support plate III-10-03 through hexagonal cylindrical screws III-10-10. The drag chain connecting piece III-10-08 is fixed on one side of the side triangular supporting plate III-10-05 through a hexagon socket head cap screw III-10-09.

The diffuse reflection sensor III-10-12 is used for detecting whether the tray laminated assembly I is input in place or not, and is fixed on the sensor holder III-10-01 through an inner hexagonal cylindrical screw III-10-13. The sensor holder III-10-01 is fixed on the first tray supporting plate III-10-03 through a hexagonal flange self-tapping screw III-10-14.

Referring to the attached drawings 5 to 5- (e), the material tray grabbing platform IV comprises a material tray grabbing manipulator IV-03, a retainer IV-01, a Y-axis direction displacement module IV-02 and a Z-axis direction displacement module IV-06, the retainer IV-01 has a set height, X-axis direction displacement modules are respectively arranged on two sides of the retainer IV-01, each X-axis direction displacement module comprises a first rack IV-01-01, a first sliding block IV-01-02 and a first linear guide rail IV-01-03, the first sliding block IV-01-02 is arranged on the first linear guide rail IV-01-03, the first sliding block IV-01-02 is connected with the Y-axis direction displacement module IV-02 through a screw, the first rack IV-01-01 is arranged on one side of the first linear guide rail IV-01-03, the first rack IV-01-01 is slightly higher than the first linear guide rail IV-01-03, the first rack IV-01-01 is fixed on the retainer, the second gear motor IV-02-04 is in meshed transmission with the first rack IV-01-01 to drive the Y-axis direction displacement module IV-02 to move along the direction of the first linear guide rail IV-01-03, and the Y-axis direction displacement module IV-02 is supported by the retainer IV-01.

Similarly, the Y-axis direction displacement module IV-02 comprises a Y-direction support frame, a second sliding block IV-02-01, a second linear guide rail IV-02-02, a second rack IV-02-03 and a second gear motor IV-02-04 are arranged on the Y-direction support frame, the second gear motor IV-02-04 is arranged on the side part of the Y-direction support frame, the second sliding block IV-02-01 is arranged on the second linear guide rail IV-02-02, the Z-axis direction displacement module IV-06 and the second sliding block IV-02-01 are connected through screws, the second rack IV-02-03 is fixed on the Y-direction support frame through screws, a third gear motor IV-06-04 arranged on the Z-axis direction displacement module IV-06 is meshed with the second rack IV-02-03 for transmission, and the Z-axis direction displacement module IV-06 is driven to move along the direction of the second linear guide rail IV-02-02. And the Z-axis direction displacement module IV-06 is supported by the Y-axis direction displacement module IV-02. The manipulator IV-03 is connected with the Z-axis direction displacement module IV-06 through inner hexagonal socket head cap screws IV-04 and IV-05, and the manipulator IV-03 is arranged below the retainer.

Referring to fig. 5- (f) to 5- (i), the robot IV-03 includes a mounting plate IV-03-03, the mounting plate IV-03-03 is disposed below the Y-axis direction displacement module IV-02, a third linear guide IV-03-01 is disposed on the mounting plate IV-03-03 toward the inside of the Y-axis direction displacement module IV-02, and the third linear guide IV-03-01 is fixed to the mounting plate IV-03-03 by a hexagon socket head cap screw IV-03-02. The double-guide-rod cylinder IV-03-10 is fixed on the mounting plate IV-03-03 through an inner hexagonal cylindrical head screw IV-03-11. Referring to fig. 5- (k), the double-guide-rod cylinder IV-03-10 is embedded with a magnetic proximity sensor IV-03-10-01 and a magnetic proximity sensor IV-03-10-02.

One end of the first L-shaped connecting plate IV-03-05 is connected with the third sliding block IV-03-04 through an inner hexagonal socket head cap screw IV-03-06, and the other end is connected with the double-guide-rod air cylinder IV-03-10 through an inner hexagonal socket head cap screw IV-03-13. One end of the second L-shaped connecting plate IV-03-07 is connected with the first L-shaped connecting plate IV-03-05 through an inner hexagonal socket head cap screw IV-03-12, and the other end is connected with the groove hook IV-03-09 through an inner hexagonal socket head cap screw IV-03-08.

Referring to fig. 5- (j) and 5- (l) to 5- (o), positioning grooves IV-03-0901 are formed along the length direction of the groove hooks IV-03-09, and through the arrangement of the positioning grooves, the positioning grooves cooperate with the grabbing grooves I-0105 on the two sides of the tray I, so that the stability and reliability of grabbing and carrying the tray are improved.

Referring to fig. 5- (p) to 5- (t), the Z-axis direction displacement module IV-06 is disposed through the Y-axis direction displacement module IV-02, the Z-axis direction displacement module IV-06 includes a cylinder mounting plate IV-06-02, a plurality of guide rods IV-06-07 passing through the cylinder mounting plate IV-06-02, a guide rod holder IV-06-10 is disposed at the top end of the plurality of guide rods IV-06-07, and the cylinder IV-06-08 is fixed on the cylinder mounting plate IV-06-02. The third gear motor IV-06-04 is fixed on the cylinder mounting plate IV-06-02 through a screw VI-06-03. The cylinder piston rod IV-06-08 is connected with the connecting block IV-06-01 after penetrating through the cylinder mounting plate IV-06-02, the connecting block IV-06-01 is connected with the mounting plate IV-03-03 in the manipulator IV-03 through an inner hexagonal cylinder head screw IV-04, a plurality of magnetic proximity sensors IV-06-05, IV-06-06, IV-06-09, IV-06-11 are embedded on the cylinder IV-06-08, and the magnetic proximity sensors arranged on the cylinder IV-06-08 are arranged along the shell of the cylinder and used for controlling the piston stroke of the cylinder IV-06-08. The guide rod IV-06-07 penetrates through the cylinder mounting plate IV-06-02 and is connected with a mounting plate in the manipulator IV-03 through an inner hexagonal cylindrical head screw IV-05.

It is easy to understand that the rack is a precision rack, and the length of the rack is consistent with that of the retainer.

In the manipulator IV-03, the groove hook IV-03-09 is driven by the double-guide-rod cylinder IV-03-10 to transversely move to realize the opening and closing of the manipulator IV-03, and corresponding sliding blocks and linear guide rails in the manipulator IV-03 are matched with each other to play a role in supporting and guiding. The magnetic proximity sensor IV-03-10-01 and the magnetic proximity sensor IV-03-10-02 are embedded in the double-guide-rod cylinder IV-03-10 cylinder body, so that the opening and closing state of the manipulator IV-03 can be fed back to a computer in time.

The manipulator IV-03 is driven to move along the X-axis direction by the mutual matching of a second gear motor IV-02-04 in the Y-axis direction displacement module IV-02 and a first rack IV-01-01 in the X-axis direction displacement module, and a first slide block IV-01-02 and a first linear guide rail IV-01-03 in the X-axis direction displacement module are mutually matched to play a supporting and guiding role in the process. The manipulator IV-03 is driven to move along the Y-axis direction by the mutual matching of a third gear motor IV-06-04 in the Z-axis direction displacement module IV-06 and a second rack IV-02-03 in the Y-axis direction displacement module IV-02, and a second slide block IV-02-01 in the Y-axis direction displacement module IV-02 and a second linear guide rail IV-02-02 are mutually matched to play a supporting and guiding role in the process. The cylinder IV-06-08 in the Z-axis direction displacement module IV-06 can drive the manipulator IV-03 to move along the Z-axis direction, and meanwhile, the plurality of guide rods IV-06-07 arranged around the cylinder body can improve the stability and reliability of the movement of the manipulator IV-03 in the Z-axis direction.

Referring to fig. 6 to 6- (a), the tray lowering platform V includes a second rear support plate V-02, and a ball screw module V-01 is mounted on the second rear support plate V-02 (in the same manner as in the tray lifting platform III). The U-shaped photoelectric sensor V-03, the U-shaped photoelectric sensor V-06 and the U-shaped photoelectric sensor V-08 are arranged on the side of the second rear supporting plate V-02 (the installation mode is the same as that in the tray lifting platform III), and the three sensors are arranged up and down. And a second trigger piece V-05 is arranged on the side of the lower connecting plate V-04 (the installation mode is the same as that in the charging tray lifting platform III). The second tray support platform V-11 is fixed on the lower connection plate V-04 through inner hexagonal socket head cap screws V-09 and V-10. The side triangular fixing plate V-11-06 is fixed on the lower connecting plate V-04 through an inner hexagonal socket head cap screw V-09, and the triangular platform V-11-11 is fixed on the lower connecting plate V-04 through an inner hexagonal socket head cap screw V-10.

The U-shaped photoelectric sensor V-03 and the U-shaped photoelectric sensor V-08 are used for limiting the highest position and the lowest position of the second tray supporting table V-11 and further controlling the feeding of the lower platform of the tray, the U-shaped photoelectric sensor V-06 is located between the U-shaped photoelectric sensor V-03 and the U-shaped photoelectric sensor V-08 and used for detecting whether the trays stacked on the second tray supporting table V-11 reach the specified number or not and playing a role in detecting whether the feeding is started or not, and the number of the trays output at a time can be controlled by changing the installation position of the U-shaped photoelectric sensor V-06.

Referring to the attached drawings 6- (b) to 6- (i), one end of the triangular connecting block V-11-03 is fixed on the push plate V-11-01 through a hexagon socket cap screw V-11-20, and the other end is fixedly connected with the T-shaped plate V-11-14 through an inner hexagon socket cap screw V-11-02. The push plate V-11-01 and the T-shaped plate V-11-14 are fixedly connected by a triangular connecting block V-11-03 at ninety degrees. The side triangular fixing plate V-11-06 is fixed below the tray supporting plate V-11-05 by the hexagon socket cap screw V-11-04. The pushing sliding block V-11-07 is fixedly connected with the T-shaped plate V-11-14 through a hexagon socket head cap screw V-11-08. The pushing guide rail V-11-16 is fixed below the second tray support plate V-11-05 through a hexagon socket head cap screw V-11-09. A triangular platform V-11-11 is arranged below the second tray supporting plate V-11-05. The slide platform V-11-12 of the rodless cylinder is fixed on the triangular platform V-11-11 by using an inner hexagonal socket head cap screw V-11-13.

The middle of the T-shaped plate V-11-14 is fixed on a sliding table V-11-12 of the rodless cylinder through an inner hexagonal cylindrical head screw V-11-10, and pushing sliders V-11-07 are arranged on two sides of the T-shaped plate through inner hexagonal cylindrical head screws V-11-08. The antifriction belt module V-11-15 is fixed below the tray support plate V-11-05 through an inner hexagonal socket head cap screw V-11-19, and the upper surface of the antifriction belt module V-11-15 is higher than the upper surface of the second tray support plate V-11-05. The transition centralizing block V-11-17 is fixedly connected with the second tray supporting plate V-11-05 through an inner hexagonal cylindrical head screw V-11-18.

The triangular platform V-11-11 is used for supporting the rodless cylinder sliding platform V-11-12. The rodless cylinder sliding table V-11-12 is fixedly connected with the push plate V-11-03 through a T-shaped plate V-11-14 and a triangular connecting block V-11-03, the push plate V-11-01 is driven by the rodless cylinder sliding table V-11-12 to push the charging tray laminated assembly I from the second charging tray supporting table V-11 to the belt output module II-05, the magnetic proximity sensors V-11-12-01 and V-11-12-02 are embedded on the rodless cylinder sliding table V-11-12, and the position information of the push plate V-11-01 can be transmitted to a computer in time. The pushing slide block V-11-07 and the pushing guide rail V-11-16 are matched with each other, so that the functions of supporting, guiding and antifriction can be realized in the reciprocating motion of the pushing plate. In the process that the tray laminated assembly I is pushed out to the belt output module II-05 from the second tray supporting plate V-11-05, the antifriction belt module V-11-15 can reduce the contact and friction between the tray laminated assembly I and the second tray supporting plate V-11, and convert sliding friction into rolling friction, so that the tray laminated assembly is further ensured to be pushed out smoothly, the friction force borne by the tray laminated assembly is greatly reduced, the tray abrasion is reduced, and the service life of the tray is prolonged. In the process of pushing out the tray laminated assembly, the transition righting block V-11-17 arranged at the outlet of the tray supporting plate can play a role in righting and positioning, and the stability of output of the tray laminated assembly is improved.

It should be noted that the material may be a tool or other workpiece.

Specific working process

Referring to fig. 3 and 5- (o) of the accompanying drawings, after the robot III updates the blank material in the tray I-01 to the finished material, the computer controls the tray holding and placing platform IV to execute the tray replacing program. The computer controls the manipulator IV-03 to move, when the piston of the cylinder IV-06-08 reaches a designated position, the double-guide-rod cylinder IV-03-10 closes the manipulator IV-03 to clamp the material tray, and after clamping is finished, signals are transmitted to the computer through the magnetic proximity sensor IV-03-10-02. And then the computer controls the piston of the air cylinder IV-06-08 to be lifted to the detection position of the magnetic progressive sensor IV-06-11, and then the computer controls the manipulator IV-03 and the finished material tray to move to the position above the material tray lowering platform V to prepare for stacking.

Before stacking, the computer detects whether an entity capable of providing support for the material tray to be landed exists in front of the material tray through a diffuse reflection sensor II-04 on the material tray input and output platform II. Because the second tray support platform V-11 can move the second tray support platform V-11 down to the belt output module II-05 and start to execute the feeding program after the finished product trays stacked on the second tray support platform V-11 reach the specified number, an accident can occur if the manipulator IV-03 loosens. When the diffuse reflection sensor II-04 detects that no supporting entity exists, the mechanical arm IV-03 and the finished material tray are kept still at the original position and wait for a signal. When the diffuse reflection sensor II-04 detects that a supporting entity exists in front, the computer controls the piston of the air cylinder IV-06-08 to be lowered to the detection position of the magnetic proximity sensor IV-06-09, then the manipulator IV-03 is opened, and the finished material tray is stacked on the second tray supporting table V-11.

After stacking is finished, the magnetic proximity sensor IV-03-10-01 transmits signals to the computer, then the computer controls the air cylinder piston to be lifted to the detection position of the magnetic progressive sensor IV-06-11, and then the manipulator IV-03 is moved to the position above the material tray lifting platform III to prepare unstacking operation. Before unstacking, whether a tray exists at a position to be grabbed or not is detected through a diffuse reflection sensor II-01. And when the charging tray is detected to exist, the charging tray grabbing and placing platform IV can grab, otherwise, the charging tray grabbing and placing platform IV cannot execute a grabbing program. When all the trays on the first tray support table III-10 are taken away, the computer lowers the first tray support table III-10 to the position of the belt input module II-02 and starts to execute the feeding program. At the moment, if the charging tray is grabbed before the charging tray grabbing and placing platform IV, the phenomenon of 'grabbing empty' can occur. When the computer detects that the material tray exists, the piston of the air cylinder IV-06-08 descends to the detection position of the magnetic proximity sensor IV-06-06, then the manipulator IV-03 clamps the blank material tray, the clamping is carried out, signals are transmitted to the computer through the magnetic proximity sensor IV-03-10-02, then the computer controls the piston of the air cylinder IV-06-08 to ascend to the detection position of the magnetic progressive sensor IV-06-11, and the manipulator IV-03 and the blank material tray are moved to other positions together.

Referring to fig. 3 to 3- (b) and 6- (d), when the tray holding platform IV stacks the finished product trays on the second support V-11. At the moment, the material tray just stacked is positioned right in front of the diffuse reflection sensor II-03, light beams emitted by an emitter in the diffuse reflection sensor II-03 are refracted to a receiver through the material tray in front of the diffuse reflection sensor II-03, the diffuse reflection sensor II-03 transmits signals to a computer, the computer controls the stepping motor V-07 to be started, and the ball screw module V-01 drives the second material tray supporting table V-11 to move downwards. When the second tray support platform V-11 moves downwards by the height of one tray, the detection entity in front of the diffuse reflection sensor II-03 disappears, the computer controls the stepping motor V-07 to self-lock, and waits for the next signal stimulation. The process is repeated, the second tray support table V-11 continuously moves downwards, and when the second trigger sheet V-05 reaches the detection position of the U-shaped photoelectric sensor V-06, the computer starts to execute a feeding program. The computer controls the second tray support platform V-11 to descend, and when the second trigger piece V-05 reaches the detection position of the U-shaped photoelectric sensor V-08, the computer can simultaneously execute three programs; controlling the stepping motor V-07 to be self-locked; controlling the slide table V-11-12 of the rodless cylinder to drive the push plate V-11-01 to push the tray laminated assembly I filled with finished materials outwards; and starting the belt output module II-05.

When the finished material tray laminated assembly I is conveyed to the detection position of the diffuse reflection sensor II-06, the tray laminated assembly I filled with the finished material completely leaves the second tray supporting table V-11, and then the rodless cylinder sliding table V-11-12 resets the push plate V-11-01. When the push plate V-11-01 is reset successfully, the magnetic proximity sensor V-11-12-01 transmits signals to a computer, then the computer controls the second tray support platform V-11 to ascend, when the second trigger piece V-05 reaches the detection position of the U-shaped photoelectric sensor V-03, the computer controls the stepping motor V-07 to be self-locked in time, at the moment, the diffuse reflection sensor II-04 detects the existence of the second tray support plate V-11-05, an entity capable of supporting a tray to be landed exists in front of the second tray support plate V-11-05, and the tray grabbing and placing platform IV can place finished trays. When the order number is changed, the stacking number of the trays in the tray stacking assembly output by the tray lowering platform V at a time can be changed by adjusting the mounting height of the U-shaped photoelectric sensor V-06.

Referring to the attached drawings 3 to 4- (o), after a charging tray in the charging tray lifting platform III is grabbed and lifted by the charging tray grabbing and placing platform IV, a front detection entity of the diffuse reflection sensor II-01 disappears, light beams emitted by an emitter in the sensor cannot be reflected to a receiver by the front entity, and the diffuse reflection sensor II-01 transmits signals to a computer. The computer starts the stepping motor III-01 to drive the lifting connecting plate III-14 and the first tray supporting table III-10 to ascend through the ball screw module III-04. After the first tray supporting table III-10 lifts one tray upwards, the next tray to be grabbed is lifted to the position to be grabbed, namely the front part of the diffuse reflection sensor II-01, the sensor detects a front detection entity at the moment, and the computer controls the stepping motor III-01 to self-lock in time to wait for the tray grabbing platform IV to grab.

After the above processes are repeated, the first tray support table III-10 is continuously lifted upwards, and when the last tray is taken away, the first tray support table III-10 continues to lift according to the control process. When the first trigger piece III-05 is lifted to the detection position of the first U-shaped photoelectric sensor III-20, the computer starts to execute the feeding program. The computer changes the steering direction of the stepping motor III-01 and drives the first tray supporting table III-10 and the first trigger piece III-05 to move downwards. When the first trigger piece III-05 is placed down to the U-shaped groove of the second U-shaped photoelectric sensor III-23 for detection, the computer can recognize that the first tray supporting table III-10 reaches the appointed feeding position and timely control the stepping motor to be self-locked, and simultaneously, the belt input module II-02 and the belt auxiliary module III-10-06 are started to input the tray laminated assembly I to the appointed position in the first tray supporting table III-10.

When the tray laminated assembly I is conveyed to a designated position, the diffuse reflection sensor III-10-12 sends a signal to the computer, then the computer stops the belt input module II-02 and the belt auxiliary module III-10-06, and controls the stepping motor III-01 to start at the same time, so that the first tray support table III-10 drives the tray laminated assembly I which is just input to lift upwards. When the material tray is lifted to the position to be grabbed, the diffuse reflection sensor II-01 transmits a signal to the computer, the computer controls the stepping motor III-01 to be self-locked in time, and then the uppermost material tray in the material tray laminated assembly body I is kept at the position to be grabbed to wait for the material tray grabbing platform IV to grab.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a unloader on cutter charging tray which characterized in that includes:

the material tray stacking assembly comprises at least one layer of material tray, wherein the multiple layers of material trays are stacked, and each material tray is provided with a plurality of positioning grooves for limiting the position of a material;

the charging tray lifting platform comprises a first charging tray supporting table, and the first charging tray supporting table is connected with the first lifting mechanism;

the charging tray lowering platform also comprises a second charging tray supporting table which is connected with the second lifting mechanism, and the charging tray lowering platform is arranged on one side of the charging tray lifting platform;

the charging tray is grabbed and is put the platform, supports through the frame, and the working area that the charging tray was grabbed and is put the platform covers charging tray lift platform and charging tray and transfers the platform, and the charging tray is grabbed and is put the platform and include the manipulator, and the manipulator is connected with multidimension motion, opens and shuts through the manipulator and realizes grabbing putting to the charging tray.

2. The loading and unloading device for the cutter tray according to claim 1, wherein the first lifting mechanism is a ball screw mechanism, the first lifting mechanism is fixed on a first rear support plate, the first tray support table is connected with a slide block in the ball screw mechanism through a connecting plate, and a distance sensor connected with a computer is arranged on the inner side of the first tray support table and faces the inner side of the first tray support table;

set up first rectangular hole along the width direction of first charging tray brace table, first belt auxiliary module is laid in first rectangular hole department.

3. The loading and unloading device for the cutter tray according to claim 2, wherein the first rear support plate has two U-shaped photoelectric sensors with different heights at its side portion, the U-shaped photoelectric sensors are connected to the computer, and the first trigger piece is provided at the side portion of the first tray support platform.

4. The loading and unloading device for the cutter material tray as claimed in claim 2, wherein the second lifting mechanism is mounted on a second rear support plate, a clamping groove is formed in the surface of the second material tray support table, two sides of the bottom of the push plate penetrate through the clamping groove to be connected with the T-shaped plate, the moving mechanism is connected with the T-shaped plate, two sides of the upper surface of the T-shaped plate are respectively provided with a fixed slide block, the fixed slide blocks are fixed with a guide rail mounted on the second material tray support table, a proximity sensor is embedded in the side surface of the moving mechanism, and the proximity sensor is connected with the computer;

and a second strip hole is formed in the width direction of the second tray supporting table, and the second belt auxiliary module is arranged at the second strip hole.

5. The loading and unloading device for cutter material trays of claim 4, wherein three U-shaped photoelectric sensors with different heights are arranged at the side part of the second rear support plate of the material tray lowering platform, the U-shaped photoelectric sensors are connected with the computer, the U-shaped photoelectric sensors at the top and the bottom are used for the computer to acquire position signals of the second material tray support platform, the mounting height of the U-shaped photoelectric sensor at the middle part of the second rear support plate can be changed, and the second trigger piece is arranged at the side part of the second material tray support platform.

6. The loading and unloading device for the cutter tray according to claim 2, further comprising a tray input and output platform, wherein the tray input and output platform comprises a belt input module for conveying the tray stack assembly and a belt output module for outputting the tray stack assembly, the belt input module and the belt output module are arranged at the same height, the belt input module is arranged on the side of the tray lifting platform, the belt output module is arranged on the side of the tray lowering platform, a distance sensor for detecting whether the tray stack assembly is completely output is arranged on the side of the belt output module, and the distance sensor is connected with the computer.

7. The loading and unloading device for cutter trays of claim 6, wherein the tray input and output platform further comprises a frame-shaped frame body, the frame body is divided into two areas, one side of the frame body is used for supporting the belt input module, the other side of the frame body is used for supporting the belt output module, two openings are formed in the upper surface of the frame body, the tray lifting platform and the tray lowering platform respectively protrude from one opening, a distance sensor facing the tray lifting platform is arranged at one opening, two distance sensors with different heights facing the tray lowering platform are arranged at the other opening, all the distance sensors are connected with the computer, and the computer is connected with the multidimensional movement mechanism.

8. The loading and unloading device for the cutter material tray according to claim 1 or 2, wherein the upper surface of the material tray is provided with at least one positioning block, the lower surface of the material tray is provided with at least one positioning groove matched with the positioning block of the lower layer material tray, the height of the positioning block is lower than the depth of the positioning groove, and the length of the positioning block is smaller than the length of the positioning groove;

and a grabbing groove used for grabbing by the manipulator is arranged on the side part of the material tray.

9. The loading and unloading device for the cutter material tray as claimed in claim 2, wherein the manipulator includes a mounting plate, the mounting plate is provided with a third linear slide rail, a two-way moving mechanism is provided through the mounting plate, both ends of the two-way moving mechanism are connected with hooks, the hooks are connected with a third slide block provided on the third linear slide rail, the material tray is supported through the hooks at both ends, and a proximity sensor is embedded in the surface of the two-way moving mechanism and connected with the computer.

10. The loading and unloading device for cutter trays of claim 2, wherein the multi-dimensional movement mechanism comprises an X-axis direction displacement module, the X-axis direction displacement module is arranged on both sides of the holder, a Y-axis direction displacement module is supported by the X-axis direction displacement module on both sides, a Z-axis direction displacement module is supported by the Y-axis direction displacement module, the Z-axis direction displacement module is arranged to pass through the Y-axis direction displacement module, and the manipulator is arranged below the Y-axis direction displacement module;

the X-axis direction displacement module and the Y-axis direction displacement module have the same structure and respectively comprise linear slide rails, the linear slide rails are provided with corresponding slide blocks, racks are connected with the power part, and the racks are fixed;

the Z-axis direction displacement module comprises an extensible member, a connecting block is arranged at the end part of the extensible member, and the connecting block is connected with the manipulator;

and a plurality of proximity sensors with different heights are arranged on the outer side of the telescopic piece and are connected with the computer.

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