CN220866557U - Material distributing equipment and processing system - Google Patents

Abstract

The application relates to a material distributing device which is provided with a first station and a plurality of second stations. The transfer mechanism comprises a transfer driving piece and a transfer positioning table, wherein the transfer driving piece is connected with the transfer positioning table so as to drive the transfer positioning table to reciprocate along a first direction, and the transfer positioning table can pass through a first station and a plurality of second stations in the process of moving along the first direction; the feeding unit can provide products for the transfer positioning table of the first station; each feeding mechanism can acquire the corresponding second station on the transfer positioning table. Therefore, when the distance between the first station and the plurality of second stations is large, the conveying distance of the transfer driving piece can be prolonged, and products can be conveyed to the corresponding feeding mechanism. The mechanical arm is not required to be additionally arranged or a motion shaft is added, so that the equipment cost and the processing cost are reduced. The application also relates to a processing system.

Description

Material distributing equipment and processing system

Technical Field

The utility model relates to the technical field of automatic equipment, in particular to a material distributing device and a processing system.

Background

At present, when products conveyed by a streamline are separated, a mechanical arm is generally adopted to grasp the conveyed products, and then the products are respectively conveyed to different processing stations. When the arm of the manipulator cannot meet the conveying requirement, another manipulator is required to be additionally arranged or a motion shaft is added to the manipulator, so that the processing cost is high.

Disclosure of utility model

Based on this, it is necessary to provide a material distributing device and a processing system capable of realizing multi-station material distribution without increasing the cost, aiming at the problem that the processing cost is high due to the fact that one manipulator or one motion shaft needs to be newly added when the existing manipulator material distributing arm is insufficient to spread.

A dispensing apparatus having a first station and a plurality of second stations, the dispensing apparatus comprising:

The transfer mechanism comprises a transfer driving piece and a transfer positioning table, wherein the transfer driving piece is connected with the transfer positioning table so as to drive the transfer positioning table to move back and forth along a first direction, and the transfer positioning table can pass through the first station and a plurality of second stations in the process of moving along the first direction;

The feeding unit can provide products for the transfer positioning table of the first station; and

And the feeding mechanisms are in one-to-one correspondence with the second stations, and each feeding mechanism can acquire the products on the transit positioning table corresponding to the second station.

In one embodiment, the material distributing device is further provided with a material feeding station, and the material feeding unit comprises a material feeding streamline, a jacking mechanism and a carrying mechanism;

The material loading streamline can carry the carrier that bears the product to the material loading station, climbing mechanism set up in the material loading station, just climbing mechanism can with carry to the material loading station the carrier jack-up to break away from the material loading streamline, handling mechanism can with the product on the carrier of climbing mechanism jack-up is carried to the transfer location bench of first station.

In one embodiment, the jacking mechanism includes a jacking driving member, a coarse positioning module and a fine positioning module, wherein the jacking driving member is in transmission connection with the coarse positioning module and is used for driving the coarse positioning module to reciprocate along a second direction perpendicular to the first direction so as to enable the coarse positioning module to approach or depart from the fine positioning module, the coarse positioning module can coarsely position the carrier in butt joint with the coarse positioning module, and the fine positioning module can finely position the carrier in butt joint with the coarse positioning module;

In the process that the coarse positioning module is close to the fine positioning module, the coarse positioning module can be in butt joint with the carrier of the feeding station and push the carrier to move towards the fine positioning module until the carrier is in butt joint with the fine positioning module.

In one embodiment, the jacking mechanism further comprises a vacuum adsorption module and a jacking frame, the vacuum adsorption module and the fine positioning module are both arranged on the jacking frame, and when the carrier is in butt joint with the fine positioning module, the vacuum adsorption module is in butt joint with the carrier, so that the carrier performs vacuum adsorption fixation on the product.

In one embodiment, the jacking mechanism further comprises an unlocking module, the carrier is provided with a positioning and clamping module for positioning the product, and the unlocking module is connected with the jacking driving piece;

When the carrier is in butt joint with the fine positioning module, the unlocking module can unlock the carrier, so that the positioning and clamping module releases the product.

In one embodiment, the material distributing device further comprises a reflow line and a reflow mechanism, wherein the reflow line is used for reflowing the carrier, and the reflow mechanism is arranged between the material loading line and the reflow line and is used for carrying the carrier passing through the material loading station on the material loading line to the reflow line.

In one embodiment, the feeding mechanism includes a first feeding driving member, a second feeding driving member, a third feeding driving member and a feeding grabbing assembly, wherein the first feeding driving member is connected with the second feeding driving member to drive the second feeding driving member to reciprocate along a third direction, the second feeding driving member is connected with the third feeding driving member to drive the third feeding driving member to reciprocate along the first direction, and the third feeding driving member is connected with the feeding grabbing assembly to drive the feeding grabbing assembly to reciprocate along a second direction, and the feeding grabbing assembly can grab or release a product.

The processing system comprises the material distribution equipment and a plurality of processing mechanisms, wherein each feeding mechanism can convey the product to the corresponding processing mechanism, and the processing mechanism is used for processing the product.

In one embodiment, the processing system further comprises a buffer platform, and the feeding mechanism is further capable of delivering the product to the buffer platform and delivering the product on the buffer platform to the processing mechanism.

In one embodiment, the material distributing device further comprises a material loading station, the material supplying unit comprises a material loading streamline, a jacking mechanism and a carrying mechanism, the material loading streamline can convey a carrier bearing a product to the material loading station, the jacking mechanism is arranged at the material loading station, and the jacking mechanism can jack the carrier conveyed to the material loading station to be separated from the material loading streamline;

The conveying mechanism comprises a conveying driving assembly and two groups of conveying grabbing assemblies, and the conveying driving assembly is connected with the two groups of conveying grabbing assemblies so as to drive the two groups of conveying grabbing assemblies to reciprocate between the feeding station and the first station;

when two groups of carrying grabbing components move to the feeding station, one group of carrying grabbing components can grab the products moved to the carrier, and the other group of carrying grabbing components can place the products grabbed by the carrying grabbing components on the carrier;

when two groups of carrying grabbing components move to the first station, one group of carrying grabbing components can grab the product on the transfer positioning table, and the other group of carrying grabbing components can grab the product on the transfer positioning table.

By adopting the material distributing equipment and the processing system, products continuously provided by the material supplying unit can be respectively conveyed to a plurality of material conveying mechanisms through the transfer mechanism, so that material distribution is realized. And when the distance between the first station and the plurality of second stations is larger, the conveying distance of the transfer driving piece can be prolonged, so that products can be conveyed to the corresponding feeding mechanisms. The mechanical arm is not required to be additionally arranged or a motion shaft is added, so that the equipment cost and the processing cost are reduced.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a processing system according to an embodiment of the present application;

FIG. 2 is a schematic view of a transfer mechanism in the processing system shown in FIG. 1;

Fig. 3 is a schematic diagram illustrating a positional relationship among the lifting mechanism, the carrying mechanism and the transferring mechanism in the processing system shown in fig. 1;

FIG. 4 is a schematic structural view of the jacking mechanism shown in FIG. 3;

FIG. 5 is a schematic view of a carrier cooperating with the lifting mechanism shown in FIG. 4;

FIG. 6 is a schematic view of a portion of the components of the climbing mechanism shown in FIG. 4;

FIG. 7 is a schematic view of the internal structure of a portion of the components shown in FIG. 4;

FIG. 8 is a schematic view of a handling gripper assembly of the handling mechanism shown in FIG. 3;

FIG. 9 is a schematic view of another angle of the handling gripper assembly shown in FIG. 8;

Fig. 10 is a schematic structural view of a feeding mechanism in the processing system shown in fig. 1.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

As shown in fig. 1 and 2, one embodiment of the present application provides a processing system 10 including a dispensing apparatus. The material distributing device has a first station 11 (refer to fig. 3) and a plurality of second stations. The material distributing apparatus includes a material feeding unit 20, a transfer mechanism 100, and a plurality of material feeding mechanisms 600.

The transfer mechanism 100 includes a transfer driving member 110 and a transfer positioning table 120. The transfer driving member 110 is connected to the transfer positioning table 120 to drive the transfer positioning table 120 to reciprocate along the first direction X, and the transfer positioning table 120 can pass through the first station 11 and the plurality of second stations during moving along the first direction X.

The supply unit 20 is capable of providing products to the transfer station 120 of the first station 11. The plurality of feeding mechanisms 600 are in one-to-one correspondence with the plurality of second stations, and each feeding mechanism 600 can acquire a product on the transfer positioning table 120 corresponding to the second station and convey the product downstream.

The supply unit 20 first supplies the product to the transfer station 120 of the first station 11. The transfer driving member 110 drives the transfer positioning table 120 to move to one of the second stations, and the corresponding feeding mechanism 600 obtains the product and then conveys the product downstream.

Alternatively, the transfer driving member 110 is a linear module. Of course, in other embodiments, the transfer driving member 110 may be other linear driving mechanisms, which are not limited herein.

With the above-described material-dividing apparatus, the products continuously supplied from the supply unit 20 can be respectively conveyed to the plurality of feeding mechanisms 600 by the transfer mechanism 100, thereby realizing the material-dividing. And when the distance between the first station 11 and the plurality of second stations is large, the conveying distance of the transfer driving member 110 can be prolonged to ensure that the products are conveyed to the corresponding feeding mechanisms 600. The mechanical arm is not required to be additionally arranged or a motion shaft is added, so that the equipment cost and the processing cost are reduced.

In one embodiment, the processing system further includes a plurality of processing mechanisms 700. The feeding mechanism 600 can deliver the product to the processing mechanism 700, and the processing mechanism 700 is used for processing the product.

It will be appreciated that in this embodiment, the downstream of the feeding mechanism 600 is the processing mechanism 700, and the feeding mechanism 600 delivers the product downstream for processing. In other embodiments, other mechanisms may be downstream of the feed mechanism 600 to perform other processing of the product, such as storage, etc. Of course, the processing mechanism 700 will be described below as an example.

Next, a specific structure of the feeding unit 20 will be described.

In one embodiment, the dispensing apparatus further comprises a loading station 12. The feeding unit 20 includes a loading streamline 200, a lifting mechanism 300, and a carrying mechanism 400. The loading streamline 200 is capable of transporting the carrier 500 carrying the product to the loading station 12. The lifting mechanism 300 is disposed at the loading station 12, and the lifting mechanism 300 can lift the carrier 500 conveyed to the loading station 12 to be separated from the loading streamline 200. The conveying mechanism 400 can convey the product on the carrier 500 lifted by the lifting mechanism 300 to the transfer positioning table 120 of the first station 11.

In the embodiment shown in fig. 2, after the transfer positioning table 120 moves to any of the second stations, the feeding mechanism 600 is further capable of conveying the processed product from the processing mechanism 700 to the transfer positioning table 120, and then the carrying mechanism 400 is further capable of acquiring the processed product on the transfer positioning table 120 moved to the first station 11 and carrying the processed product to the carrier 500 of the loading station 12. The carrier 500 then returns to the loading flow line 200 and continues downstream.

It is understood that the feeding flow line 200 is a conventional conveying flow line, and will not be described herein. The specific structure of the lifting mechanism 300 and the carrying mechanism 400 will be described further below.

Referring to fig. 4, in one embodiment, the jacking mechanism 300 includes a jacking driving member 310, a coarse positioning module 320, and a fine positioning module 330. The jacking driving member 310 is connected to the coarse positioning module 320, and is used for driving the coarse positioning module 320 to reciprocate along a second direction Z perpendicular to the first direction X, so that the coarse positioning module 320 approaches to or separates from the fine positioning module 330. The coarse positioning module 320 can coarsely position the carrier 500 docked therewith, and the fine positioning module 330 can finely position the carrier 500 docked therewith.

It may be determined that the fine positioning module 330 may be able to position the carrier 500 with greater accuracy than the coarse positioning module 320.

Further, the lifting mechanism 300 further includes a lifting frame 340 and a lifting bracket 350. The fine positioning module 330 and the lifting bracket 350 are both disposed on the lifting frame 340, and the lifting bracket 350 can reciprocate along the second direction Z. The lifting driving member 310 is connected to the lifting bracket 350 to drive the lifting bracket 350 to reciprocate along the second direction Z, and the coarse positioning module 320 is disposed on the lifting bracket 350.

For ease of understanding, the structure of the carrier 500 that mates with the positioning modules (coarse positioning module 320 and fine positioning module 330) is described herein in connection with fig. 4 and 5.

Coarse positioning holes and fine positioning holes 510 are respectively formed on two sides of the carrier 500 along the second direction Z. In the process that the coarse positioning module 320 moves along the second direction Z, at least part of the coarse positioning module 320 can be inserted into the coarse positioning hole to dock with the carrier 500, so as to realize coarse positioning of the carrier 500. Meanwhile, the coarse positioning module 320 continues to move, so that the carrier 500 can be pushed to separate from the feeding streamline 200 and move towards the fine positioning module 330 until the fine positioning module 330 is partially inserted into the fine positioning hole 510, and one side of the carrier 500 with the fine positioning hole 510 is abutted against the jack-up frame 340. Thus, the fine positioning module 330 can be abutted with the carrier 500 to realize fine positioning of the carrier 500, and the carrier 500 can be limited in the second direction Z by the jacking frame 340 to ensure constant height of each jacking of the carrier 500.

It will be appreciated that the coarse positioning holes and the fine positioning holes 510 are holes that gradually decrease from the opening toward the inner aperture to facilitate insertion of the coarse positioning module 320 and the fine positioning module 330 into the corresponding holes. In addition, the aperture of the coarse positioning hole is larger than that of the fine positioning hole 510, so as to realize coarse positioning and fine positioning of the carrier 500 in sequence.

In the embodiment shown in fig. 5, a limiting plate 341 is disposed on the top of the jack-up frame 340, and the coarse positioning module 320 pushes the carrier 500 to move towards the fine positioning module 330, so that the carrier 500 abuts against the limiting plate 341.

In one embodiment, the jacking mechanism 300 further includes an unlocking module 360. The unlocking module 360 is connected with the jacking drive 310.

When the carrier 500 is docked with the fine positioning module 330, the unlocking module 360 can unlock the carrier 500, so that the carrier 500 releases the product, thereby facilitating the handling mechanism 400 to grasp the product.

For ease of understanding, the structure of the carrier 500 that mates with the unlocking module 360 is described herein in connection with fig. 5.

The carrier 500 is provided with a positioning and clamping module for positioning the product, and after the unlocking module 360 unlocks the carrier 500, the positioning and clamping module releases the unprocessed product. Meanwhile, after the carrying mechanism 400 places the product on the carrier 500, the positioning and clamping module can clamp and fix the processed product.

Referring to fig. 5 to 7, further, the positioning and clamping module includes a first fixed column 521, a movable push block 522 and an elastic member. The first fixed post 521 and the movable push block 522 are arranged on the carrier 500 at intervals along a third direction Y perpendicular to the first direction X and the second direction Z, and the elastic member is connected between the carrier 500 and the movable push block 522 and is used for providing a force for making the movable push block 522 approach to the fixed post, so that the movable push block 522 and the fixed post cooperate to clamp and position a product. The unlocking module 360 can push the movable push block 522 away from the first fixed column 521, thereby releasing the product.

It should be noted that, the positioning and clamping module is further provided with two second fixing columns 523 arranged at intervals in the first direction X, and the two second fixing columns 523 are used for positioning the product in the first direction X.

In one embodiment, the carrier 500 is provided with a mounting cavity 531 and a positioning opening 532 communicated with the mounting cavity 531, the positioning opening 532 is located on the carrying surface 550, and the unlocking opening is located on a side of the carrier 500 away from the carrying surface 550. The movable push block 522 is reciprocally disposed in the mounting cavity 531 along the third direction Y, and a portion of the movable push block 522 passes through the positioning opening 532 to extend out of the bearing surface 550 and cooperate with the first fixing post 521 to clamp and position the product.

In the embodiment shown in fig. 5, a unlocking opening is further formed on a side of the carrier 500 facing away from the carrying surface 550 and is in communication with the mounting cavity 531. The movable push block 522 has a mating surface 5221 that is inclined relative to the second direction Z. The unlocking module 360 can partially penetrate through the unlocking opening and extend into the mounting cavity 531 to be abutted against the matching surface 5221 so as to push the movable push block 522 to be away from the first fixed column 521, so that the positioning and clamping module releases a product.

In one embodiment, the unlocking module 360 includes an unlocking drive 361 and a top piece 362. The unlocking driving member 361 is disposed on the lifting bracket 350 and connected to the top block 362 to drive the top block 362 to reciprocate along the second direction Z. The top block 362 can pass through the unlocking opening and extend into the mounting cavity 531 to abut against the mating surface 5221 in the moving process, so as to push the movable push block 522 away from the first fixed column 521.

Optionally, the unlocking actuator 361 is a cylinder or other actuating mechanism.

In one embodiment, the jacking mechanism 300 further includes a vacuum adsorption module 370. The vacuum adsorption module 370 is disposed on the jacking frame 340.

When the carrier 500 is docked with the fine positioning module 330, the vacuum adsorption module 370 is abutted with the carrier 500, so that the carrier 500 performs vacuum adsorption fixation on the product.

The structure of the carrier 500 that mates with the vacuum adsorption module 370 is described herein with reference to fig. 5.

The carrier 500 is provided with a vacuum air inlet 540 and a carrying surface 550 for carrying the product. The bearing surface 550 is provided with an adsorption hole 551 communicated with the vacuum air inlet 540. The vacuum air inlet 540 can be abutted against and communicated with the vacuum adsorption module 370, so that the adsorption hole 551 can perform vacuum adsorption fixation on a product under the action of the vacuum adsorption module 370.

It should be noted that, after the unlocking module 360 acts and the positioning and clamping module releases the unprocessed product, the product is fixed by vacuum adsorption through the adsorption hole 551, so that the product is prevented from moving relative to the carrier 500 before the carrying mechanism 400 grabs the product. Ensuring the accuracy of the product position when the handling mechanism 400 grabs the product on the carrier 500.

In addition, after the carrying mechanism 400 places the processed product on the carrier 500, the product may be first vacuum-adsorbed and fixed by the adsorption hole 551, then clamped and fixed by the positioning and clamping module, then the vacuum adsorption module 370 is separated from the carrier 500, and the adsorption hole 551 breaks the vacuum.

Referring to fig. 3, in one embodiment, the handling mechanism 400 includes a handling drive assembly 410 and a handling gripper assembly 420. The handling driving assembly 410 is connected with the handling grabbing assembly 420 to drive the handling grabbing assembly 420 to reciprocate between the feeding station 12 and the first station 11. The handling gripper assembly 420 is used to grip the product to transfer the product on the carrier 500 of the loading station 12 and on the transfer station 120 of the first station 11.

Further, the handling mechanism 400 includes two sets of handling grabbing assemblies 420, and the handling driving assembly 410 can drive the two sets of handling grabbing assemblies 420 to reciprocate between the feeding station 12 and the first station 11.

When two sets of handling gripper assemblies 420 are moved to the loading station 12, one set of handling gripper assemblies 420 is able to grip unprocessed products that are moved onto the carrier 500, and the other set of handling gripper assemblies 420 is able to place processed products that are gripped by them onto the carrier 500.

When two sets of handling gripper assemblies 420 are moved to the first station 11, one set of handling gripper assemblies 420 is capable of placing the unprocessed product it grips on the transfer station 120, and the other set of handling gripper assemblies 420 is capable of gripping the processed product on the transfer station 120.

In one embodiment, the handling drive assembly 410 includes a first handling drive 411 and a second handling drive 412. The first carrying driving member 411 is connected with the second carrying driving member 412 to drive the second carrying driving member 412 to reciprocate between the feeding station 12 and the first station 11 along the third direction Y, and the second carrying driving member 412 is connected with the carrying grabbing assembly 420 to drive the carrying grabbing assembly 420 to reciprocate along the second direction Z, so that the carrying grabbing assembly 420 approaches or departs from the product.

Further, the handling drive assembly 410 further comprises a handling rotary drive 413. The second carrying driving member 412 is connected to the carrying rotary driving member 413 to drive the carrying rotary driving member 413 to reciprocate along the second direction Z, and the carrying rotary driving member 413 is connected to the two sets of carrying grabbing assemblies 420 to drive the two sets of carrying grabbing assemblies 420 to rotate around the first axis parallel to the second direction Z.

Alternatively, the first conveying driving member 411 is a linear module, the second conveying driving member 412 is an air cylinder, and the conveying rotation driving member 413 is a motor. Of course, in other embodiments, the three may be other driving mechanisms, which are not limited herein.

For ease of understanding, the operation of the conveyance mechanism 400 will be described in connection with the above embodiments.

The first conveying driving member 411 drives the second conveying driving member 412 to move to the feeding station 12, then the conveying rotary driving member 413 drives the conveying grabbing component 420 to rotate to adjust the position, and then the second conveying driving member 412 drives the conveying grabbing component 420 to move towards the carrier 500 until one group of conveying grabbing components 420 grabs the product. The second transporting driving member 412 drives the transporting and grabbing assembly 420 to separate from the carrier 500, and then the transporting and rotating driving member 413 drives the transporting and grabbing assembly 420 to rotate, such that another group of transporting and grabbing assemblies 420 is located above the carrier 500, and then the second transporting driving member 412 drives the group of transporting and grabbing assemblies 420 to descend, so as to place the product on the carrier 500.

After the handling grabbing component 420 grabs the product and places the product on the carrier 500, the first handling driving component 411 drives the second handling driving component 412 to move to the first station 11. The transport rotation drive 413 then drives rotation of the transport gripping assembly 420 to adjust the position. The second transporting driver 412 then drives the transporting and grabbing assembly 420 to descend to place the product on the transfer positioning table 120 and grab the product on the transfer positioning table 120.

It will be appreciated that the transfer station 120 is provided with a first placement bit 121 and a second placement bit 122. The first place 121 is used for placing unprocessed products and the second place 122 is used for placing processed products. In this way, the two sets of handling grabbing assemblies 420 are moved to above the transfer positioning table 120, and the positions are adjusted by the handling rotary driving member 413, so that the two sets of handling grabbing assemblies 420 are only required to be driven to move towards the transfer positioning table 120, and the grabbing of the processed product and the releasing of the unprocessed product can be achieved.

In one embodiment, the carry drive assembly 410 further includes a connection rack 414. The conveyance rotation driving member 413 is connected to the link 414 to drive the link 414 to rotate about the first axis. Both sets of handling gripper assemblies 420 are disposed on the connecting frame 414.

In particular to the embodiment shown in fig. 3, the two sets of handling gripping assemblies 420 are symmetrically arranged with respect to a plane coincident with the first axis to enable positional exchange during rotation about the first axis.

Referring to fig. 8 and 9, in one embodiment, the handling gripper assembly 420 includes an access drive 421, a web 422, and a clamp 423. The approaching driving member 421 is disposed on the connecting frame 414 and connected to the connecting plate 422 to drive the connecting plate 422 to reciprocate along the second direction Z. The clamping member 423 is disposed on the connecting plate 422 for clamping or releasing the product.

It should be noted that, the second carrying driving member 412 is configured to simultaneously drive the two sets of carrying grabbing assemblies 420 to move along the second direction Z, and the proximity driving member 421 in the carrying grabbing assemblies 420 can separately drive the clamping member 423 to move along the second direction Z, so that the clamping member 423 in the two sets of carrying grabbing assemblies 420 can relatively and independently move along the second direction Z, which is convenient for the two sets of carrying grabbing assemblies 420 to perform different actions. Taking two sets of handling gripping assemblies 420 located at the loading station 12 as an example:

The second transporting driving member 412 drives the two groups of transporting and grabbing assemblies 420 to descend for a certain distance and then stop, and at this time, a certain distance exists between the two groups of transporting and grabbing assemblies 420 and the product on the carrier 500. The approaching driving member 421 in one group of carrying and grabbing assemblies 420 drives the clamping member 423 to descend to approach and clamp the product, and the clamping member 423 ascends after grabbing; next, the two handling rotary driving members 413 drive the connecting frame 414 to rotate, so that the other group of handling grabbing components 420 is located above the carrier 500. The approaching drive 421 in the other set of handling gripper assemblies 420 then drives the gripper 423 downward to release the product onto the carrier 500.

In the embodiment shown in fig. 9, the clamping member 423 includes a clamping cylinder 424, a cylindrical clamping jaw 425, and a clamping spring 426. The clamping cylinder 424 is capable of driving the cylindrical clamping jaws 425 away from each other to release the product, and the clamping elastic member 426 is connected between the cylindrical clamping jaws 425, and is capable of driving the cylindrical clamping jaws 425 close to each other to clamp the product.

Wherein the cylindrical clamping jaw 425 can reduce the area of contact with the product, reduces the risk of causing damage to the product surface.

Alternatively, the proximity actuator 421 is a cylinder. In other embodiments, other drive mechanisms are possible, without limitation.

As described above, the transfer station 120 is provided with a first place 121 for carrying unprocessed products and a second place 122 for carrying processed products. For ease of understanding, the relay mechanism 100 will be described next.

Referring to fig. 2, in one embodiment, vacuum holes are formed on the placement positions (the first placement position 121 and the second placement position 122), and the vacuum holes can perform vacuum adsorption fixing on the product.

Further, the placement position is also provided with a positioning column which is similar to the contour of the product so as to position the product.

In the embodiment shown in fig. 2, the transfer positioning table 120 is provided with two first placement positions 121 and two second placement positions 122, and the corresponding carrier 500 can carry two products, and each carrying and grabbing assembly 420 includes two clamping members 423 to simultaneously convey two products, thereby improving processing efficiency. Of course, in other embodiments, more products may be delivered simultaneously, without limitation.

Next, a specific structure of the feeding mechanism 600 will be described.

Referring to fig. 10, in one embodiment, the feeding mechanism 600 includes a first feeding driving member 610, a second feeding driving member 620, a third feeding driving member 630, and a feeding grabbing assembly 640. The first feeding driving member 610 is connected with the second feeding driving member 620 to drive the second feeding driving member 620 to reciprocate along the third direction Y, the second feeding driving member 620 is connected with the third feeding driving member 630 to drive the third feeding driving member 630 to reciprocate along the first direction X, and the third feeding driving member 630 is connected with the feeding grabbing assembly 640 to drive the feeding grabbing assembly 640 to reciprocate along the second direction Z. The feed grabbing assembly 640 is capable of grabbing or releasing the product. In this manner, after the product is grasped by the feed grasping assembly 640, the product may be transported to the processing mechanism 700 or the transfer station 120 corresponding to the second station.

Further, the feeding mechanism 600 further includes a mounting plate 650, and the third feeding driving member 630 is connected to the mounting plate 650 to drive the mounting plate 650 to reciprocate along the second direction Z. The feed gripping assembly 640 is disposed on a mounting plate 650.

It should be noted that the structure of the feeding grabbing assembly 640 is the same as that of the handling grabbing assembly 420, and will not be described herein.

Optionally, the first feeding driving member 610, the second feeding driving member 620 and the third feeding driving member 630 are all linear modules. Of course, in other embodiments, other driving mechanisms are possible, and are not limited herein.

It will be appreciated that, as shown in fig. 1, the feeding gripping assembly 640 in the feeding mechanism 600 can reciprocate along the first direction X and the third direction Y, and can convey the product to the plurality of processing mechanisms 700 arranged along the third direction Y, thereby further increasing the conveying range of the product and increasing the distributing range of the product to the processing mechanisms 700.

Referring to FIG. 1, in one embodiment, the processing system further includes a cache platform 800. The feed mechanism 600 is also capable of delivering unprocessed products to the caching platform 800 and delivering products on the caching platform 800 to the processing mechanism 700. In this way, the products are buffered during the processing process, and the smoothness of the actions of the feeding streamline 200, the carrying mechanism 400 and the transfer mechanism 100 is ensured.

Next, a conveying process of the carrier 500 will be described.

In one embodiment, the dispensing apparatus further comprises a return line 900 and a return mechanism. The return line 900 is used for returning the carrier 500 to facilitate recycling of the carrier 500. The reflow mechanism is disposed between the loading streamline 200 and the reflow streamline 900, and is used for conveying the carrier 500 passing through the loading station 12 on the loading streamline 200 to the reflow streamline 900.

It should be noted that, before the carrier 500 is transported to the reflow line 900, the processed product on the carrier 500 is fed through other mechanisms, so as to ensure that the reflow line 900 reflows the empty carrier 500.

In addition, the carrier 500 is realized by a blocking mechanism when staying at a certain station on the feeding streamline 200, and the blocking mechanism is more conventional and will not be described herein.

To facilitate understanding of the technical solution of the present application, the working procedure of the processing system in the above embodiment is described herein with reference to fig. 1:

The loading streamline 200 conveys the carrier 500 along the first direction X, and the lifting mechanism 300 lifts the carrier 500 conveyed to the loading station 12 to be separated from the loading streamline 200, and performs coarse positioning and fine positioning on the carrier 500 in sequence. Next, the carrier 500 is vacuum-adsorbed and fixed to the unprocessed product by the vacuum adsorption module 370 in the jacking mechanism 300, and then the unlocking module 360 unlocks the carrier 500, so that the positioning and clamping module releases the unprocessed product.

At the same time, one of the transport gripping modules 420 is moved above the carrier 500 by the first transport driving member 411 and the second transport driving member 412, and the position is adjusted by the transport rotation driving member 413. The approaching driving member 421 then drives the clamping member 423 to approach and clamp the unprocessed product on the carrier 500, and then drives the clamping member 423 to move away from the carrier 500. Then, the carrying rotary driving member 413 drives the two sets of carrying grabbing components 420 to exchange positions, the other set of carrying grabbing components 420 places the processed product on the carrier 500, and the clamping member 423 is far away from the carrier 500.

For the carrier 500, the unlocking module 360 then releases the unlocking state of the carrier 500, so that the positioning and clamping module clamps and fixes the processed product, and then the lifting mechanism 300 returns the carrier 500 to the loading streamline 200, and the carrier 500 continues to be conveyed downstream.

As for the handling gripping module 420, the handling gripping module 420 is moved to above the transfer positioning table 120 of the first station 11 by the first handling driving member 411 and the second handling driving member 412. The grippers 423 in both sets of handling gripper assemblies 420 are then lowered. One of the handling gripper assemblies 420 releases the gripped unprocessed product to the first placement site 121, and the other handling gripper assembly 420 grips the processed product on the second placement site 122. And repeating the above actions.

For the product, after the unprocessed product is placed on the first placement position 121 of the transfer stage 120, the transfer stage 120 moves to the second station corresponding to the feeding mechanism 600 at the lower side in fig. 1. The feeding mechanism 600 places the processed product obtained from the processing mechanism 700 at the second placement site 122 of the relay station 120, then grabs the unprocessed product on the relay station 120, and conveys it to the buffer stage 800 or the processing mechanism 700. In the next round, the transfer positioning table 120 moves to a second station corresponding to the feeding mechanism 600 on the upper side in fig. 1, so as to realize the separation of the unprocessed product.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. A dispensing apparatus having a first station and a plurality of second stations, the dispensing apparatus comprising:

The transfer mechanism comprises a transfer driving piece and a transfer positioning table, wherein the transfer driving piece is connected with the transfer positioning table so as to drive the transfer positioning table to move back and forth along a first direction, and the transfer positioning table can pass through the first station and a plurality of second stations in the process of moving along the first direction;

The feeding unit can provide products for the transfer positioning table of the first station; and

And the feeding mechanisms are in one-to-one correspondence with the second stations, and each feeding mechanism can acquire the products on the transit positioning table corresponding to the second station.

2. The dispensing apparatus of claim 1 further comprising a loading station, the feeding unit comprising a loading streamline, a jacking mechanism, and a handling mechanism;

The material loading streamline can carry the carrier that bears the product to the material loading station, climbing mechanism set up in the material loading station, just climbing mechanism can with carry to the material loading station the carrier jack-up to break away from the material loading streamline, handling mechanism can with the product on the carrier of climbing mechanism jack-up is carried to the transfer location bench of first station.

3. The material distributing device according to claim 2, wherein the jacking mechanism comprises a jacking driving member, a coarse positioning module and a fine positioning module, the jacking driving member is in transmission connection with the coarse positioning module and is used for driving the coarse positioning module to reciprocate along a second direction perpendicular to the first direction so as to enable the coarse positioning module to approach or depart from the fine positioning module, the coarse positioning module can coarsely position the carrier butted with the coarse positioning module, and the fine positioning module can finely position the carrier butted with the coarse positioning module;

In the process that the coarse positioning module is close to the fine positioning module, the coarse positioning module can be in butt joint with the carrier of the feeding station and push the carrier to move towards the fine positioning module until the carrier is in butt joint with the fine positioning module.

4. The material distribution device according to claim 3, wherein the jacking mechanism further comprises a vacuum adsorption module and a jacking frame, the vacuum adsorption module and the fine positioning module are both arranged on the jacking frame, and when the carrier is in butt joint with the fine positioning module, the vacuum adsorption module is in butt joint with the carrier, so that the carrier can perform vacuum adsorption fixation on the product.

5. The material distribution device according to claim 4, wherein the jacking mechanism further comprises an unlocking module, a positioning and clamping module for positioning the product is arranged on the carrier, and the unlocking module is connected with the jacking driving piece;

When the carrier is in butt joint with the fine positioning module, the unlocking module can unlock the carrier, so that the positioning and clamping module releases the product.

6. The dispensing apparatus of claim 2 further comprising a return line for returning the carrier and a return mechanism disposed between the loading line and the return line for carrying the carrier passing over the loading station on the loading line to the return line.

7. The dispensing apparatus of claim 1, wherein the feed mechanism comprises a first feed drive, a second feed drive, a third feed drive, and a feed grasping assembly, the first feed drive being coupled to the second feed drive to drive the second feed drive to reciprocate in a third direction, the second feed drive being coupled to the third feed drive to drive the third feed drive to reciprocate in the first direction, the third feed drive being coupled to the feed grasping assembly to drive the feed grasping assembly to reciprocate in a second direction, the feed grasping assembly being capable of grasping or releasing a product.

8. A processing system comprising a dispensing apparatus according to any one of claims 1 to 7 and a plurality of processing mechanisms, each of said feeding mechanisms being capable of delivering said product to a corresponding one of said processing mechanisms for processing said product.

9. The processing system of claim 8, further comprising a buffer platform, wherein the feed mechanism is further capable of delivering the product to the buffer platform and delivering the product on the buffer platform to the processing mechanism.

10. The processing system of claim 8, wherein the feed device further comprises a feed station, the feed unit comprises a feed flow line, a lifting mechanism and a handling mechanism, the feed flow line is capable of conveying a carrier carrying a product to the feed station, the lifting mechanism is disposed at the feed station, and the lifting mechanism is capable of lifting the carrier conveyed to the feed station out of the feed flow line;

The conveying mechanism comprises a conveying driving assembly and two groups of conveying grabbing assemblies, and the conveying driving assembly is connected with the two groups of conveying grabbing assemblies so as to drive the two groups of conveying grabbing assemblies to reciprocate between the feeding station and the first station;

when two groups of carrying grabbing components move to the feeding station, one group of carrying grabbing components can grab the products moved to the carrier, and the other group of carrying grabbing components can place the products grabbed by the carrying grabbing components on the carrier;

when two groups of carrying grabbing components move to the first station, one group of carrying grabbing components can grab the product on the transfer positioning table, and the other group of carrying grabbing components can grab the product on the transfer positioning table.