TW202411147A - Material receiving tray mechanism - Google Patents

Material receiving tray mechanism Download PDF

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Publication number
TW202411147A
TW202411147A TW112121114A TW112121114A TW202411147A TW 202411147 A TW202411147 A TW 202411147A TW 112121114 A TW112121114 A TW 112121114A TW 112121114 A TW112121114 A TW 112121114A TW 202411147 A TW202411147 A TW 202411147A
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Taiwan
Prior art keywords
tray
pallet
base frame
driving member
lifting
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TW112121114A
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Chinese (zh)
Inventor
畢向陽
張賢祝
潘小波
李信會
朱萬峰
鄧單單
何良宇
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大陸商立芯精密智造(昆山)有限公司
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Publication of TW202411147A publication Critical patent/TW202411147A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G60/00—Simultaneously or alternatively stacking and de-stacking of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/30—Stacking of articles by adding to the bottom of the stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00—De-stacking of articles
    • B65G59/06—De-stacking from the bottom of the stack

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

The invention belongs to the technical field of automatic production lines and discloses a material receiving tray mechanism. The mechanism includes a frame, a tray feeding mechanism, a loading station, a tray receiving mechanism, and a jacking and carrying mechanism. The tray feeding mechanism is arranged on the frame for storing multiple stacked empty trays. The loading station is set on the frame. The tray receiving mechanism is arranged on the frame for storing multiple stacked trays loaded with materials, and the tray receiving mechanism and the tray feeding mechanism are arranged at intervals. The jacking and carrying mechanism is movably arranged on the frame and capable of carrying the tray. When the jacking and carrying mechanism moves below the tray feeding mechanism, the lowermost tray in the tray feeding mechanism can be taken out. When the jacking and carrying mechanism moves below the tray receiving mechanism, the trays to be stored can be stored in the tray receiving mechanism.

Description

托盤收料機構Pallet receiving mechanism

本發明屬於自動化生產線技術領域，尤指一種托盤收料機構。The invention belongs to the field of automated production line technology, and particularly relates to a pallet receiving mechanism.

在表面組裝技術（Surface Mounted Technology，SMT）生產的過程中，結束一段工藝後，需要將印製電路板（Printed Circuit Board，PCB）放入托盤中，進入下一工藝段。目前已經實現採用自動下料機來完成下料。自動下料機的托盤收料機構提供空的托盤，並對放滿PCB的托盤進行堆垛。In the process of surface mounted technology (SMT) production, after one process is completed, the printed circuit board (PCB) needs to be placed in a tray and enter the next process. Currently, automatic unloading machines are used to complete the unloading. The tray receiving mechanism of the automatic unloading machine provides empty trays and stacks the trays full of PCBs.

目前，相關技術的托盤收料機構提供空的托盤及堆垛滿PCB的托盤分別通過各自的驅動機構進行，使得托盤收料機構的結構複雜，佔用空間大，製造成本高。At present, the tray receiving mechanism of the related technology provides an empty tray and a tray stacked with PCBs respectively through respective driving mechanisms, which makes the tray receiving mechanism complex in structure, occupies a large space and has a high manufacturing cost.

因此，亟需一種托盤收料機構解決上述技術問題。Therefore, a pallet receiving mechanism is needed to solve the above-mentioned technical problems.

本發明提出一種托盤收料機構，用於簡化結構，減少空間佔用，降低製造成本。The present invention provides a tray receiving mechanism, which is used to simplify the structure, reduce space occupation and reduce manufacturing cost.

本發明採用以下技術方案：The present invention adopts the following technical solutions:

托盤收料機構，包括： 基架； 供托盤機構，設置於所述基架上，供托盤機構用於存儲多個疊置的空的托盤； 上料工位，設置於所述基架上； 收托盤機構，設置於所述基架上，用於存儲多個疊置的裝載有物料的所述托盤，所述收托盤機構與所述供托盤機構間隔設置；以及 頂升運載機構，可移動地設置於所述基架，所述頂升運載機構能夠運載所述托盤；當所述頂升運載機構移動至所述供托盤機構的下方時，能夠取出所述供托盤機構內最下方的所述托盤；當所述頂升運載機構移動至所述收托盤機構的下方時，能夠將待存入的所述托盤存入所述收托盤機構內。 The pallet receiving mechanism comprises: a base frame; a pallet supply mechanism, which is arranged on the base frame and used to store a plurality of stacked empty pallets; a loading station, which is arranged on the base frame; a pallet receiving mechanism, which is arranged on the base frame and used to store a plurality of stacked pallets loaded with materials, and the pallet receiving mechanism is arranged at a distance from the pallet supply mechanism; and The lifting and transporting mechanism is movably arranged on the base frame, and the lifting and transporting mechanism can transport the pallet; when the lifting and transporting mechanism moves to the bottom of the pallet supply mechanism, the pallet at the bottom of the pallet supply mechanism can be taken out; when the lifting and transporting mechanism moves to the bottom of the pallet receiving mechanism, the pallet to be stored can be stored in the pallet receiving mechanism.

作為上述托盤收料機構的一種可選技術方案，所述供托盤機構包括： 供托盤倉，設置於所述基架，所述供托盤倉的底部設置有取出口；以及 分料組件，設置於所述取出口處，所述分料組件可選擇地支撐於所述供托盤倉內的任意一個所述托盤的底部，所述頂升運載機構能夠支撐及移出所述供托盤機構內最下方的所述托盤。 As an optional technical solution of the above-mentioned pallet receiving mechanism, the pallet supply mechanism includes: a pallet supply warehouse, which is arranged on the base frame, and a take-out port is arranged at the bottom of the pallet supply warehouse; and a material distribution component, which is arranged at the take-out port, and the material distribution component can be selectively supported at the bottom of any one of the pallets in the pallet supply warehouse, and the lifting and carrying mechanism can support and remove the pallet at the bottom of the pallet supply mechanism.

作為上述托盤收料機構的一種可選技術方案，所述分料組件包括： 第一驅動件，設置於所述基架；以及 支撐件，連接於所述第一驅動件的輸出端，所述第一驅動件能夠驅動所述支撐件在第一方向上往復移動，以使支撐件伸出並抵接於所述托盤的底部或使支撐件從所述托盤的底部縮回，所述第一方向與豎直方向呈夾角。 As an optional technical solution of the above-mentioned tray receiving mechanism, the material distribution assembly includes: A first driving member, arranged on the base frame; and A supporting member, connected to the output end of the first driving member, the first driving member can drive the supporting member to move back and forth in a first direction, so that the supporting member extends and abuts against the bottom of the tray or retracts the supporting member from the bottom of the tray, and the first direction is at an angle to the vertical direction.

作為上述托盤收料機構的一種可選技術方案，所述分料組件還包括： 第二驅動件，設置於所述基架上；以及 安裝板，連接於所述第二驅動件的輸出端，所述第一驅動件安裝於所述安裝板上，所述第二驅動件能夠驅動所述安裝板在豎直方向上往復移動，以帶動所述支撐件上下移動。 As an optional technical solution of the above-mentioned tray receiving mechanism, the material distribution assembly further includes: A second driving member, arranged on the base frame; and A mounting plate, connected to the output end of the second driving member, the first driving member is mounted on the mounting plate, and the second driving member can drive the mounting plate to reciprocate in the vertical direction to drive the support member to move up and down.

作為上述托盤收料機構的一種可選技術方案，所述分料組件還包括導向塊，所述導向塊內開設有導向槽，所述導向槽沿著所述第一方向延伸，所述支撐件至少部分滑動設置於所述導向槽內。As an optional technical solution of the above-mentioned tray receiving mechanism, the material distribution assembly also includes a guide block, a guide groove is opened in the guide block, the guide groove extends along the first direction, and the support member is at least partially slidably arranged in the guide groove.

作為上述托盤收料機構的一種可選技術方案，還包括傳送組件，所述傳送組件設置於所述基架，傳送組件用於傳送所述托盤，所述傳送組件的一端位於所述供托盤機構的下方，另一端為所述上料工位。As an optional technical solution of the above-mentioned pallet receiving mechanism, it also includes a conveying assembly, which is arranged on the base frame and is used to convey the pallet. One end of the conveying assembly is located below the pallet supply mechanism, and the other end is the loading station.

作為上述托盤收料機構的一種可選技術方案，所述傳送組件包括： 至少兩個同步輪，設置於所述基架； 同步帶，繞設於所述同步輪；以及 第三驅動件，設置於所述基架，第三驅動件的輸出端驅動連接於至少一個所述同步輪，能夠驅動與第三驅動件連接的所述同步輪轉動。 As an optional technical solution of the above-mentioned tray receiving mechanism, the transmission assembly includes: At least two synchronous wheels, arranged on the base frame; A synchronous belt, wound around the synchronous wheels; and A third driving member, arranged on the base frame, the output end of the third driving member is drivingly connected to at least one of the synchronous wheels, and can drive the synchronous wheel connected to the third driving member to rotate.

作為上述托盤收料機構的一種可選技術方案，所述收托盤機構包括： 收料盤倉，設置於所述基架，所述收料盤倉的底部設置有存入口；以及 止回組件，活動設置於所述存入口處，所述止回組件能夠支撐於所述收料盤倉內的最下方的所述托盤的底部，待存入的所述托盤能夠在所述頂升運載機構的頂升作用下越過所述止回組件，以存入所述收料盤倉內。 As an optional technical solution of the above-mentioned pallet receiving mechanism, the pallet receiving mechanism includes: A pallet receiving warehouse, arranged on the base frame, and a storage port is arranged at the bottom of the pallet receiving warehouse; and A non-return assembly, movably arranged at the storage port, the non-return assembly can support the bottom of the lowest pallet in the pallet receiving warehouse, and the pallet to be stored can pass over the non-return assembly under the lifting action of the lifting and carrying mechanism to be stored in the pallet receiving warehouse.

作為上述托盤收料機構的一種可選技術方案，所述止回組件包括： 安裝塊，連接於所述收料盤倉的底部；以及 止回件，一端轉動連接於所述安裝塊，另一端為自由端，所述止回件在水平狀態時，所述自由端位於所述存入口內並支撐於所述收料盤倉內的最下方的所述托盤的底部，所述止回件能夠向上翻轉至敞開所述存入口。 As an optional technical solution of the above-mentioned tray receiving mechanism, the non-return assembly includes: A mounting block connected to the bottom of the receiving tray bin; and A non-return member, one end of which is rotatably connected to the mounting block and the other end is a free end. When the non-return member is in a horizontal state, the free end is located in the storage port and supported by the bottom of the tray at the bottom of the receiving tray bin. The non-return member can be flipped upward to open the storage port.

作為上述托盤收料機構的一種可選技術方案，所述頂升運載機構包括： 滑移板，滑動設置於所述基架； 第四驅動件，設置於所述滑移板上；以及 吸附件，設置於所述第四驅動件的輸出端，所述第四驅動件能夠驅動所述吸附件在豎直方向上移動，所述吸附件能夠吸附所述托盤。 As an optional technical solution of the above-mentioned pallet receiving mechanism, the lifting and carrying mechanism includes: A sliding plate, slidably arranged on the base frame; A fourth driving member, arranged on the sliding plate; and An adsorption member, arranged at the output end of the fourth driving member, the fourth driving member can drive the adsorption member to move in a vertical direction, and the adsorption member can adsorb the pallet.

本發明提供的托盤收料機構，在工作時，頂升運載機構移動至供托盤機構的下方，取出最下方的空的托盤，將空的托盤移動至上料工位，在上料工位裝入物料，裝滿後移動至收托盤機構的下方，頂升運載機構將托盤頂升入收托盤機構內，完成托盤的堆垛，本發明提供的托盤收料機構利用同一頂升運載機構完成空托盤的供應和滿托盤的堆垛，使得托盤收料機構的結構得以簡化，減少了空間的佔用，降低了製造成本。The pallet receiving mechanism provided by the present invention, when working, has a lifting and transporting mechanism that moves to the bottom of the pallet supply mechanism, takes out the lowest empty pallet, moves the empty pallet to the loading station, loads materials at the loading station, and moves to the bottom of the pallet receiving mechanism after being full, and the lifting and transporting mechanism lifts the pallet into the pallet receiving mechanism to complete the stacking of the pallets. The pallet receiving mechanism provided by the present invention utilizes the same lifting and transporting mechanism to complete the supply of empty pallets and the stacking of full pallets, so that the structure of the pallet receiving mechanism is simplified, the space occupied is reduced, and the manufacturing cost is reduced.

本申請要求在2022年9月13日提交中國專利局、申請號為202211111108.9的中國專利申請的優先權，該申請的全部內容通過引用結合在本申請中。This application claims priority to the Chinese patent application filed with the China Patent Office on September 13, 2022, with application number 202211111108.9, the entire contents of which are incorporated by reference into this application.

在本發明的描述中，除非另有明確的規定和限定，術語「相連」、「連接」、「安裝」應做廣義理解，例如，可以是安裝連接，也可以是可拆卸連接，可以是機械連接，也可以是電連接，可以是直接相連，也可以通過中間媒介間接相連，可以是兩個元件內部的連通或兩個元件的相互作用關係。對於本領域的普通技術人員而言，可以根據情況理解上述術語在本發明中的含義。In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "installed" should be understood in a broad sense, for example, it can be an installed connection, or a detachable connection, it can be a mechanical connection, or it can be an electrical connection, it can be a direct connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the meanings of the above terms in the present invention can be understood according to the circumstances.

在本發明的描述中，除非另有明確的規定和限定，第一特徵在第二特徵之「上」或之「下」可以包括第一特徵和第二特徵直接接觸，也可以包括第一特徵和第二特徵不是直接接觸而是通過它們之間的另外的特徵接觸。而且，第一特徵在第二特徵「之上」、「上方」和「上面」包括第一特徵在第二特徵正上方和斜上方，或僅僅表示第一特徵水平高度高於第二特徵。第一特徵在第二特徵「之下」、「下方」和「下面」包括第一特徵在第二特徵正下方和斜下方，或僅僅表示第一特徵水平高度小於第二特徵。In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature not in direct contact but through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

下面結合圖式並通過具體實施方式來說明本發明的技術方案。The technical solution of the present invention is described below with reference to the drawings and through specific implementation methods.

如圖1所示，本實施例提供了一種托盤收料機構，包括基架5、供托盤機構1、上料工位3、收托盤機構2及頂升運載機構4；供托盤機構1設置於基架5上，用於存儲多個疊置的空的托盤10；上料工位3設置於基架5上；收托盤機構2設置於基架5上，用於存儲多個疊置的裝載有物料的托盤10，收托盤機構2和供托盤機構1相互間隔設置；頂升運載機構4可移動地設置於基架5，頂升運載機構4能夠運載托盤10；當頂升運載機構4移動至供托盤機構1的下方時，能夠取出供托盤機構1內最下方的托盤10；當頂升運載機構4移動至收托盤機構2的下方時，能夠將待存入的托盤10存入收托盤機構2內。As shown in FIG1 , the present embodiment provides a pallet receiving mechanism, comprising a base frame 5, a pallet supply mechanism 1, a loading station 3, a pallet receiving mechanism 2 and a lifting and carrying mechanism 4; the pallet supply mechanism 1 is arranged on the base frame 5, and is used to store a plurality of stacked empty pallets 10; the loading station 3 is arranged on the base frame 5; the pallet receiving mechanism 2 is arranged on the base frame 5, and is used to store a plurality of stacked pallets 10 loaded with materials; The mechanism 2 and the pallet supply mechanism 1 are arranged at intervals from each other; the lifting and transporting mechanism 4 is movably arranged on the base frame 5, and the lifting and transporting mechanism 4 can carry the pallet 10; when the lifting and transporting mechanism 4 moves to the bottom of the pallet supply mechanism 1, it can take out the bottom pallet 10 in the pallet supply mechanism 1; when the lifting and transporting mechanism 4 moves to the bottom of the pallet receiving mechanism 2, it can deposit the pallet 10 to be deposited into the pallet receiving mechanism 2.

本實施例提供的托盤收料機構在工作時，頂升運載機構4移動至供托盤機構1的下方，取出最下方的空的托盤10，將空的托盤10移動至上料工位3，在上料工位3裝入物料，裝滿後移動至收托盤機構2的下方，頂升運載機構4將托盤10頂升入收托盤機構2內，以存入托盤10，完成托盤10的堆垛，本實施例提供的托盤收料機構利用同一頂升運載機構4完成空托盤10的供應和滿托盤10的堆垛，使得托盤收料機構的結構得以簡化，減少了空間的佔用，降低了製造成本。When the pallet receiving mechanism provided in the present embodiment is working, the lifting and transporting mechanism 4 moves to the bottom of the pallet supply mechanism 1, takes out the empty pallet 10 at the bottom, moves the empty pallet 10 to the loading station 3, loads the material at the loading station 3, and moves to the bottom of the pallet receiving mechanism 2 after being filled. The lifting and transporting mechanism 4 lifts the pallet 10 into the pallet receiving mechanism 2 to store the pallet 10 and complete the stacking of the pallets 10. The pallet receiving mechanism provided in the present embodiment uses the same lifting and transporting mechanism 4 to complete the supply of empty pallets 10 and the stacking of full pallets 10, so that the structure of the pallet receiving mechanism is simplified, the space occupied is reduced, and the manufacturing cost is reduced.

示例性地，如圖2所示，供托盤機構1包括供托盤倉11及分料組件12，供托盤倉11設置於基架5，用於容置托盤10，供托盤倉11的底部設置有取出口111；分料組件12設置於取出口111處，分料組件12可選擇地支撐於供托盤倉11內的任意一個托盤10的底部，頂升運載機構4能夠支撐及移出供托盤機構1內最下方的托盤10。在未進行取托盤10作業時，分料組件12支撐於供托盤倉11內最下方的托盤10的底部，從而將供托盤倉11內全部的托盤10限位於供托盤倉11內；在進行取托盤10作業時，頂升運載機構4移動至供托盤倉11的下方，支撐於供托盤機構1內最下方的托盤10，以限制住供托盤倉11內全部托盤10的位置，分料組件12支撐於倒數第二個托盤10的底部，此時，最下方的托盤10只受到頂升運載機構4的支撐，因此，頂升運載機構4移動時同時帶動最下方的托盤10移動，從而將最下方的托盤10從供托盤倉11內取出，移動至上料工位3，完成供托盤作業。Exemplarily, as shown in Figure 2, the tray supply mechanism 1 includes a tray supply warehouse 11 and a material distribution assembly 12. The tray supply warehouse 11 is arranged on the base frame 5, and is used to accommodate the tray 10. The bottom of the tray supply warehouse 11 is provided with an outlet 111; the material distribution assembly 12 is arranged at the outlet 111, and the material distribution assembly 12 can be selectively supported on the bottom of any tray 10 in the tray supply warehouse 11, and the lifting and transporting mechanism 4 can support and move out the lowest tray 10 in the tray supply mechanism 1. When the tray 10 is not being taken out, the material distribution assembly 12 is supported at the bottom of the lowest tray 10 in the tray supply warehouse 11, thereby limiting all the trays 10 in the tray supply warehouse 11; when the tray 10 is being taken out, the lifting and transporting mechanism 4 moves to the bottom of the tray supply warehouse 11 and supports the lowest tray 10 in the tray supply mechanism 1 to limit the tray supply. The positions of all the pallets 10 in the warehouse 11 are determined, and the material distribution assembly 12 is supported on the bottom of the second-to-last pallet 10. At this time, the lowest pallet 10 is only supported by the lifting and transporting mechanism 4. Therefore, when the lifting and transporting mechanism 4 moves, the lowest pallet 10 is also moved, so that the lowest pallet 10 is taken out of the pallet supply warehouse 11 and moved to the loading station 3 to complete the pallet supply operation.

示例性地，繼續參見圖2，供托盤倉11包括四個第一角鋼112，第一角鋼112的底端固定連接於基架5，頂端向上延伸，四個第一角鋼112分佈於一個矩形的四個角部，圍成一個立方體狀空間，該立方體狀空間用於容置多個疊置的托盤10，四個第一角鋼112的底端圍成取出口111，供托盤倉11內的托盤10通過取出口111出倉，相應地，四個第一角鋼112的頂端圍成進入口，托盤10通過進入口入倉。如此設置既節省材料，又便於製造，而且便於工作人員觀察到內部托盤10的存儲情況。Exemplarily, referring to FIG. 2 , the pallet warehouse 11 includes four first angle steels 112, the bottom ends of the first angle steels 112 are fixedly connected to the base frame 5, and the top ends extend upward. The four first angle steels 112 are distributed at the four corners of a rectangle to form a cubic space, and the cubic space is used to accommodate multiple stacked pallets 10. The bottom ends of the four first angle steels 112 form an outlet 111, and the pallets 10 in the pallet warehouse 11 can be taken out of the warehouse through the outlet 111. Correspondingly, the top ends of the four first angle steels 112 form an entrance, and the pallets 10 can enter the warehouse through the entrance. Such arrangement not only saves materials, is convenient for manufacturing, but also facilitates the staff to observe the storage condition of the inner tray 10.

示例性地，繼續參見圖2，第一角鋼112的內壁的頂端設置有導入斜面1121，對托盤10的入倉起到導向作用。For example, referring to FIG. 2 , the top of the inner wall of the first angle steel 112 is provided with an introduction slope 1121, which guides the tray 10 into the warehouse.

可選地，繼續參見圖2，供托盤倉11的側壁上從上向下順次設置有第一滿倉感測器113和上托盤提醒感測器114，在供托盤倉11內托盤10堆垛的高度達到第一滿倉感測器113的高度處時，第一滿倉感測器113被觸發，發出訊號，表示供托盤倉11內已存滿；在供托盤倉11內托盤10堆垛的高度低於上托盤提醒感測器114的高度時，上托盤提醒感測器114被觸發，發出訊號，表示供托盤倉11內的托盤10快要用完，提醒及時存入托盤10。第一滿倉感測器113和上托盤提醒感測器114可以為紅外線感測器、壓力感測器或視覺感測器等，感測器的類型可以根據實際情況進行選擇，在此不做限定。Optionally, referring to FIG. 2 , a first full warehouse sensor 113 and an upper pallet reminder sensor 114 are provided on the side wall of the supply pallet warehouse 11 in sequence from top to bottom. When the height of the stack of pallets 10 in the supply pallet warehouse 11 reaches the height of the first full warehouse sensor 113, the first full warehouse sensor 113 is triggered to send out a signal, indicating that the supply pallet warehouse 11 is full; when the height of the stack of pallets 10 in the supply pallet warehouse 11 is lower than the height of the upper pallet reminder sensor 114, the upper pallet reminder sensor 114 is triggered to send out a signal, indicating that the pallets 10 in the supply pallet warehouse 11 are about to run out, and reminding to deposit pallets 10 in time. The first full warehouse sensor 113 and the upper tray reminder sensor 114 can be infrared sensors, pressure sensors or visual sensors, etc. The type of sensor can be selected according to the actual situation and is not limited here.

示例性地，收托盤機構2、供托盤機構1及上料工位3在水平方向上兩兩間隔設置。如此設置，三者之間互不干涉。如圖1所示，在本實施例中，收托盤機構2、供托盤機構1及上料工位3在第二方向排列分佈，有利於簡化托盤收料機構的結構。For example, the tray receiving mechanism 2, the tray supply mechanism 1 and the loading station 3 are arranged in pairs in the horizontal direction. In this way, the three do not interfere with each other. As shown in FIG1 , in this embodiment, the tray receiving mechanism 2, the tray supply mechanism 1 and the loading station 3 are arranged in the second direction, which is conducive to simplifying the structure of the tray receiving mechanism.

示例性地，如圖3所示，分料組件12包括第一驅動件121和支撐件122，第一驅動件121設置於基架5；支撐件122連接於第一驅動件121的輸出端，第一驅動件121能夠驅動支撐件122在第一方向上往復移動，以使支撐件122伸出並抵接於托盤10的底部或使支撐件122從托盤10的底部縮回，第一方向與豎直方向呈夾角。在未進行取托盤10作業時，支撐件122伸入供托盤倉11的空間內，抵接於供托盤倉11內最下方的托盤10的底部，支撐住全部的托盤10；在進行取托盤10作業時，頂升運載機構4抵接於最下方的托盤10的底部，以支撐住全部的托盤10，第一驅動件121驅動支撐件122從最下方托盤10的底部縮回，再將支撐件122伸入倒數第二個托盤10的底部，支撐住倒數第二個和之上的托盤10，也即，最下方的托盤10只受到頂升運載機構4的支撐，從而隨著頂升運載機構4的移動而將最下方的托盤10移出供托盤倉11外。在本實施例中，第一方向位於水平面內，且與第二方向相互垂直。Exemplarily, as shown in FIG3 , the material distribution assembly 12 includes a first driving member 121 and a supporting member 122. The first driving member 121 is disposed on the base frame 5; the supporting member 122 is connected to the output end of the first driving member 121. The first driving member 121 can drive the supporting member 122 to reciprocate in a first direction so that the supporting member 122 extends out and abuts against the bottom of the tray 10 or retracts the supporting member 122 from the bottom of the tray 10. The first direction forms an angle with the vertical direction. When the tray 10 is not being taken out, the support member 122 extends into the space of the tray supply warehouse 11 and abuts against the bottom of the lowest tray 10 in the tray supply warehouse 11 to support all the trays 10; when the tray 10 is being taken out, the lifting and transporting mechanism 4 abuts against the bottom of the lowest tray 10 to support all the trays 10, and the first driving member 121 drives The movable support member 122 is retracted from the bottom of the lowest tray 10, and then the support member 122 is extended into the bottom of the penultimate tray 10 to support the penultimate tray and the trays 10 above, that is, the lowest tray 10 is only supported by the lifting and carrying mechanism 4, so that the lowest tray 10 is moved out of the tray supply warehouse 11 as the lifting and carrying mechanism 4 moves. In this embodiment, the first direction is located in the horizontal plane and is perpendicular to the second direction.

可選地，在其他實施例中，第一驅動件121固定連接於基架5，即支撐件122在豎直方向上的高度不能改變，只能在第一方向上伸縮。在進行取托盤10作業時，頂升運載機構4抵接於最下方的托盤10的底部，支撐住全部的托盤10，第一驅動件121驅動支撐件122從最下方托盤10的底部縮回，頂升運載機構4回縮，帶動全部托盤10下移，直至最下方的托盤10和倒數第二個托盤10之間的間隙與支撐件122位於同一水平面內，此時，第一驅動件121驅動支撐件122伸長，伸入最下方的托盤10和倒數第二個托盤10之間，從而支撐於倒數第二個托盤10的底部。Optionally, in other embodiments, the first driving member 121 is fixedly connected to the base frame 5, that is, the height of the supporting member 122 in the vertical direction cannot be changed and can only be extended and contracted in the first direction. When taking out the tray 10, the lifting and transporting mechanism 4 abuts against the bottom of the lowest tray 10 to support all the trays 10, and the first driving member 121 drives the supporting member 122 to retract from the bottom of the lowest tray 10, and the lifting and transporting mechanism 4 retracts, driving all the trays 10 to move downward until the gap between the lowest tray 10 and the second-to-last tray 10 is in the same horizontal plane as the supporting member 122. At this time, the first driving member 121 drives the supporting member 122 to extend, extending between the lowest tray 10 and the second-to-last tray 10, thereby supporting the bottom of the second-to-last tray 10.

示例性地，在本實施例中，如圖3所示，分料組件12還包括第二驅動件123和安裝板124，第二驅動件123設置於基架5上；安裝板124連接於第二驅動件123的輸出端，第一驅動件121安裝於安裝板124上，第二驅動件123能夠驅動安裝板124在豎直方向上往復移動，以帶動支撐件122上下移動。如此設置，支撐件122在豎直方向上的高度可以改變，通過調節支撐件122的高度，將支撐件122從最下方的托盤10的底部移動至最下方的托盤10和倒數第二個托盤10之間。示例性地，在進行取托盤10作業時，頂升運載機構4抵接於最下方的托盤10的底部，支撐住全部的托盤10，第一驅動件121驅動支撐件122從最下方托盤10的底部縮回，第二驅動件123驅動支撐件122上移，直至支撐件122的高度位於最下方的托盤10和倒數第二個托盤10之間，此時，第一驅動件121驅動支撐件122伸長，伸入最下方的托盤10和倒數第二個托盤10之間，從而支撐於倒數第二個托盤10的底部。頂升運載機構4帶動最下方的托盤10下移，將該托盤10移出，之後，第二驅動件123驅動支撐件122下移歸位，則完成了供托盤10作業。For example, in this embodiment, as shown in FIG3 , the material distribution assembly 12 further includes a second driving member 123 and a mounting plate 124. The second driving member 123 is arranged on the base frame 5; the mounting plate 124 is connected to the output end of the second driving member 123, the first driving member 121 is mounted on the mounting plate 124, and the second driving member 123 can drive the mounting plate 124 to move back and forth in the vertical direction to drive the supporting member 122 to move up and down. In this way, the height of the supporting member 122 in the vertical direction can be changed. By adjusting the height of the supporting member 122, the supporting member 122 is moved from the bottom of the lowest tray 10 to between the lowest tray 10 and the second to last tray 10. Exemplarily, when taking out the tray 10, the lifting and transporting mechanism 4 abuts against the bottom of the lowest tray 10 to support all the trays 10, the first driving member 121 drives the supporting member 122 to retract from the bottom of the lowest tray 10, and the second driving member 123 drives the supporting member 122 to move upward until the height of the supporting member 122 is between the lowest tray 10 and the second to last tray 10. At this time, the first driving member 121 drives the supporting member 122 to extend and extend between the lowest tray 10 and the second to last tray 10, thereby supporting the bottom of the second to last tray 10. The lifting and transporting mechanism 4 drives the lowermost tray 10 to move downward and remove the tray 10. After that, the second driving member 123 drives the supporting member 122 to move downward and return to its original position, thus completing the operation of supplying the tray 10.

在本實施例中，第一驅動件121和第二驅動件123均為氣缸。In this embodiment, the first driving member 121 and the second driving member 123 are both cylinders.

示例性地，如圖3所示，第二驅動件123通過第一連接板126連接於基架5。Exemplarily, as shown in FIG. 3 , the second driving member 123 is connected to the base frame 5 via the first connecting plate 126 .

示例性地，繼續參見圖3，分料組件12還包括導向塊125，導向塊125內開設有導向槽1251，導向槽1251沿著第一方向延伸，支撐件122至少部分滑動設置於導向槽1251內。導向塊125對支撐件122的移動起到導向作用。For example, referring to FIG. 3 , the material distribution assembly 12 further includes a guide block 125, a guide groove 1251 is provided in the guide block 125, the guide groove 1251 extends along the first direction, and the support member 122 is at least partially slidably disposed in the guide groove 1251. The guide block 125 guides the movement of the support member 122.

在本實施例中，分料組件12設置有兩個，兩個分料組件12沿著第一方向間隔設置，分別支撐於托盤10的相對兩邊，提高了對托盤10支撐的穩定性。In this embodiment, two material distribution components 12 are provided. The two material distribution components 12 are spaced apart along the first direction and supported on opposite sides of the tray 10 respectively, thereby improving the stability of the support for the tray 10.

如圖2和圖3所示，分料組件12包括兩個第一驅動件121、兩個支撐件122、兩個導向塊125、一個第二驅動件123、一個安裝板124及一個第一連接板126，安裝板124上安裝有兩個第一驅動件121，兩個第一驅動件121沿著第二方向間隔設置，每個第一驅動件121對應連接一個支撐件122，每個支撐件122對應設置一個導向塊125。如此設置，提高了對托盤10支撐的穩定性。As shown in FIG2 and FIG3, the material distribution assembly 12 includes two first driving members 121, two supporting members 122, two guide blocks 125, a second driving member 123, a mounting plate 124 and a first connecting plate 126. The mounting plate 124 is provided with two first driving members 121, the two first driving members 121 are arranged at intervals along the second direction, each first driving member 121 is connected to a supporting member 122, and each supporting member 122 is provided with a guide block 125. Such an arrangement improves the stability of the support of the tray 10.

可選地，在其他實施例中，頂升運載機構4從供托盤機構1中取出托盤10後沿著基架5移動到上料工位3，將托盤10運送到上料工位3。Optionally, in other embodiments, the lifting and transporting mechanism 4 takes out the tray 10 from the tray supply mechanism 1 and moves along the base frame 5 to the loading station 3 to transport the tray 10 to the loading station 3.

示例性地，如圖1和圖4所示，在本實施例中，托盤收料機構還包括傳送組件6，傳送組件6設置於基架5，傳送組件6用於傳送托盤10，傳送組件6的一端位於供托盤機構1的下方，另一端為上料工位3。頂升運載機構4從供托盤機構1中取出托盤10後，將托盤10放置於傳送組件6上，傳送組件6將托盤10傳送到上料工位3。For example, as shown in FIG. 1 and FIG. 4 , in this embodiment, the tray receiving mechanism further includes a conveying assembly 6, which is disposed on the base frame 5 and is used to convey the tray 10. One end of the conveying assembly 6 is located below the tray supply mechanism 1, and the other end is the loading station 3. After the lifting and carrying mechanism 4 takes out the tray 10 from the tray supply mechanism 1, the tray 10 is placed on the conveying assembly 6, and the conveying assembly 6 conveys the tray 10 to the loading station 3.

示例性地，如圖4所示，傳送組件6包括至少兩個同步輪61、同步帶62及第三驅動件63，同步輪61設置於基架5；同步帶62繞設於同步輪61；第三驅動件63設置於基架5，第三驅動件63的輸出端驅動連接於至少一個同步輪61，第三驅動件63能夠驅動與第三驅動件63連接的同步輪61轉動，從而帶動同步帶62傳動。示例性地，頂升運載機構4從供托盤機構1中取出托盤10後，帶動托盤10下移，當托盤10放置於同步帶62上時，頂升運載機構4繼續回縮脫離托盤10，托盤10在同步帶62的傳送下移動至上料工位3，繼而在上料工位3完成上料作業。Exemplarily, as shown in FIG. 4 , the transmission assembly 6 includes at least two synchronous wheels 61, a synchronous belt 62 and a third driving member 63. The synchronous wheel 61 is arranged on the base frame 5; the synchronous belt 62 is wound around the synchronous wheel 61; the third driving member 63 is arranged on the base frame 5, and the output end of the third driving member 63 is drivingly connected to at least one synchronous wheel 61. The third driving member 63 can drive the synchronous wheel 61 connected to the third driving member 63 to rotate, thereby driving the synchronous belt 62 to transmit. Illustratively, after the lifting and transporting mechanism 4 takes out the pallet 10 from the pallet supply mechanism 1, it drives the pallet 10 to move downward. When the pallet 10 is placed on the synchronous belt 62, the lifting and transporting mechanism 4 continues to retract and disengage from the pallet 10. The pallet 10 moves to the loading station 3 under the transmission of the synchronous belt 62, and then completes the loading operation at the loading station 3.

示例性地，如圖4所示，傳送組件6還包括兩個傳送安裝架64，傳送安裝架64連接於基架5上，傳送安裝架64沿著第二方向延伸，兩個傳送安裝架64在第一方向上間隔設置，每個傳送安裝架64上設置有至少兩個同步輪61、一個同步帶62及一個第三驅動件63，托盤10能夠放置於兩個同步帶62上，以隨著兩個同步帶62同步傳送。如此設置，保證了兩個同步帶62之間具有通道，以供托盤10穿過。在本實施例中，第三驅動件63為馬達。傳送安裝架64通過L型連接件65連接於基架5。Exemplarily, as shown in FIG4 , the conveying assembly 6 further includes two conveying mounting frames 64, which are connected to the base frame 5 and extend along the second direction. The two conveying mounting frames 64 are arranged at intervals in the first direction. Each conveying mounting frame 64 is provided with at least two synchronous wheels 61, a synchronous belt 62 and a third driving member 63. The pallet 10 can be placed on the two synchronous belts 62 to be synchronously conveyed along the two synchronous belts 62. Such an arrangement ensures that there is a channel between the two synchronous belts 62 for the pallet 10 to pass through. In this embodiment, the third driving member 63 is a motor. The conveying mounting frame 64 is connected to the base frame 5 via an L-shaped connector 65.

示例性地，在本實施例中，如圖4所示，分料組件12中的第一連接板126固定連接於傳送安裝架64的側部。第一角鋼112的底端通過第一連接座115固定連接於基架5上，第一連接座115位於傳送安裝架64的側方，第一角鋼112位於傳送安裝架64的上方。For example, in this embodiment, as shown in FIG4 , the first connecting plate 126 in the material dividing assembly 12 is fixedly connected to the side of the conveying mounting frame 64. The bottom end of the first angle steel 112 is fixedly connected to the base frame 5 through the first connecting seat 115, the first connecting seat 115 is located on the side of the conveying mounting frame 64, and the first angle steel 112 is located above the conveying mounting frame 64.

示例性地，如圖1和圖5所示，收托盤機構2包括收料盤倉21和止回組件22，收料盤倉21設置於基架5，收料盤倉21的底部設置有存入口211；止回組件22活動設置於存入口211處，止回組件22能夠支撐於收料盤倉21內的最下方的托盤10的底部，待存入的托盤10能夠在頂升運載機構4的頂升作用下越過止回組件22，以存入收料盤倉21內。托盤10在上料工位3裝滿物料後，由頂升運載機構4運載到收料盤倉21的下方，繼而在頂升運載機構4的頂升作用下越過止回組件22進入收料盤倉21，托盤10由止回組件22支撐，限制在收料盤倉21內，完成堆垛托盤10的作業。Exemplarily, as shown in Figures 1 and 5, the pallet receiving mechanism 2 includes a pallet receiving warehouse 21 and a non-return assembly 22. The pallet receiving warehouse 21 is arranged on the base frame 5, and a storage entrance 211 is arranged at the bottom of the pallet receiving warehouse 21; the non-return assembly 22 is movably arranged at the storage entrance 211, and the non-return assembly 22 can support the bottom of the lowest pallet 10 in the pallet receiving warehouse 21. The pallet 10 to be stored can pass over the non-return assembly 22 under the lifting action of the lifting and transporting mechanism 4 to be stored in the pallet receiving warehouse 21. After the pallet 10 is filled with materials at the loading station 3, it is transported to the bottom of the receiving tray warehouse 21 by the lifting and transporting mechanism 4, and then passes over the non-return assembly 22 and enters the receiving tray warehouse 21 under the lifting action of the lifting and transporting mechanism 4. The pallet 10 is supported by the non-return assembly 22 and confined in the receiving tray warehouse 21, completing the operation of stacking the pallets 10.

示例性地，如圖5所示，收料盤倉21包括四個第二角鋼214，第二角鋼214的底端固定連接於基架5，頂端向上延伸，四個第二角鋼214分佈於一個矩形的四個角部，圍成一個立方體狀空間，該立方體狀空間用於容置多個疊置的裝有物料的托盤10，四個第二角鋼214的底端圍成存入口211，待存入的托盤10通過存入口211入倉，相應地，四個第二角鋼214的頂端圍成出倉口，托盤10通過出倉口出倉。如此設置既節省材料，又便於製造，而且便於工作人員觀察到內部托盤10的存儲情況。Exemplarily, as shown in FIG5 , the receiving tray warehouse 21 includes four second angle steels 214, the bottom ends of the second angle steels 214 are fixedly connected to the base frame 5, and the top ends extend upward, and the four second angle steels 214 are distributed at the four corners of a rectangle to form a cubic space, which is used to accommodate multiple stacked trays 10 filled with materials, and the bottom ends of the four second angle steels 214 form a storage port 211, and the trays 10 to be stored enter the warehouse through the storage port 211, and correspondingly, the top ends of the four second angle steels 214 form an exit port, and the trays 10 exit the warehouse through the exit port. Such arrangement not only saves materials, is convenient for manufacturing, but also facilitates the staff to observe the storage condition of the inner tray 10.

示例性地，繼續參見圖5，每個第二角鋼214通過一個第二連接座215固定連接於基架5上。第二連接座215包括立板2151和L型固定件2152，立板2151豎直設置於基架5上，立板2151的頂端連接於第二角鋼214，底端抵接於基架5；L型固定件2152的一端通過緊固件連接於立板2151的側部，另一端通過緊固件連接於基架5。在本實施例中，每個立板2151對應兩個L型固定件2152。緊固件為螺栓或螺釘等零部件。For example, referring to FIG. 5 , each second angle steel 214 is fixedly connected to the base frame 5 via a second connecting seat 215. The second connecting seat 215 includes a vertical plate 2151 and an L-shaped fixing member 2152. The vertical plate 2151 is vertically arranged on the base frame 5. The top end of the vertical plate 2151 is connected to the second angle steel 214, and the bottom end is abutted against the base frame 5. One end of the L-shaped fixing member 2152 is connected to the side of the vertical plate 2151 via a fastener, and the other end is connected to the base frame 5 via a fastener. In this embodiment, each vertical plate 2151 corresponds to two L-shaped fixing members 2152. The fasteners are components such as bolts or screws.

在本實施例中，第一連接座115的結構與第二連接座215類似，在此不再贅述。In this embodiment, the structure of the first connection socket 115 is similar to that of the second connection socket 215 and will not be described in detail herein.

示例性地，繼續參見圖5，收料盤倉21的側壁上從上向下順次設置有第二滿倉感測器212和下料提醒感測器213，在收料盤倉21內托盤10堆垛的高度達到第二滿倉感測器212的高度處時，第二滿倉感測器212被觸發，發出訊號，表示收料盤倉21內已存滿，無法再存入托盤10；在收料盤倉21內托盤10堆垛的高度達到下料提醒感測器213的高度處時，下料提醒感測器213被觸發，發出訊號，表示收料盤倉21內托盤10快要存滿，提醒及時進行移出托盤10作業，第二滿倉感測器212和下料提醒感測器213可以為紅外線感測器、壓力感測器或視覺感測器等，感測器的類型可以根據實際情況進行選擇，在此不作限定。For example, referring to FIG. 5 , a second full warehouse sensor 212 and a material unloading reminder sensor 213 are arranged on the side wall of the receiving tray warehouse 21 from top to bottom. When the height of the stack of trays 10 in the receiving tray warehouse 21 reaches the height of the second full warehouse sensor 212, the second full warehouse sensor 212 is triggered to send out a signal, indicating that the receiving tray warehouse 21 is full and no more trays 10 can be stored; when ... When the height of the stack reaches the height of the unloading reminder sensor 213, the unloading reminder sensor 213 is triggered and sends a signal, indicating that the tray 10 in the receiving tray warehouse 21 is almost full, reminding to remove the tray 10 in time. The second full warehouse sensor 212 and the unloading reminder sensor 213 can be infrared sensors, pressure sensors or visual sensors, etc. The type of sensor can be selected according to the actual situation and is not limited here.

示例性地，如圖5和圖6所示，止回組件22包括安裝塊221和止回件222，安裝塊221連接於收料盤倉21的底部；止回件222的一端轉動連接於安裝塊221，另一端為自由端，止回件222在水平狀態時，自由端位於存入口211內並支撐於收料盤倉21內的最下方的托盤10的底部，止回件222能夠向上翻轉至敞開存入口211。在未進行存入托盤10作業時，止回件222處於水平狀態，自由端阻擋於存入口211處，支撐住內部的所有托盤10；在進行存入托盤10作業時，頂升運載機構4頂升外部待存入的托盤10，托盤10向上頂靠止回件222的自由端，以使止回件222向上翻轉至敞開存入口211，此時，待存入的托盤10能夠順利通過存入口211進入收料盤倉21內，托盤10進入後脫離對止回件222的抵接，此時止回件222能夠恢復到水平狀態，從而再次對內部的托盤10進行支撐，則完成托盤10的存入作業。在本實施例中，安裝塊221通過螺栓或螺釘等緊固件固定連接於立板2151上。Exemplarily, as shown in Figures 5 and 6, the check assembly 22 includes a mounting block 221 and a check piece 222. The mounting block 221 is connected to the bottom of the receiving tray bin 21; one end of the check piece 222 is rotatably connected to the mounting block 221, and the other end is a free end. When the check piece 222 is in a horizontal state, the free end is located in the storage port 211 and supported on the bottom of the lowest tray 10 in the receiving tray bin 21. The check piece 222 can flip upward to the open storage port 211. When the pallet 10 is not being deposited, the check member 222 is in a horizontal state, and the free end blocks the depositing port 211, supporting all the pallets 10 inside. When the pallet 10 is being deposited, the lifting and transporting mechanism 4 lifts the pallet 10 to be deposited outside, and the pallet 10 is pushed upward against the free end of the check member 222, so that the check member 222 The tray 10 to be stored can be smoothly passed through the storage entrance 211 into the receiving tray bin 21. After the tray 10 enters, it is disengaged from the abutment of the check piece 222. At this time, the check piece 222 can be restored to a horizontal state, thereby supporting the tray 10 inside again, and the storage operation of the tray 10 is completed. In this embodiment, the mounting block 221 is fixedly connected to the vertical plate 2151 by fasteners such as bolts or screws.

示例性地，在安裝塊221和止回件222的轉動連接處設置有扭簧223。扭簧223的設置使得止回件222向上翻轉並脫離托盤10的向上作用力後，能夠自動恢復到水平狀態。Exemplarily, a torsion spring 223 is provided at the rotation connection between the mounting block 221 and the non-return member 222. The provision of the torsion spring 223 enables the non-return member 222 to automatically return to a horizontal state after flipping upward and breaking away from the upward force of the tray 10.

如圖7所示，安裝塊221的頂端的邊緣開設有安裝槽2211，安裝槽2211的兩個相對的內壁之間連接有轉軸2212，轉軸2212轉動穿設於止回件222的一端，實現了安裝塊221和止回件222的轉動連接，扭簧223套設於轉軸2212上，扭簧223的一個轉臂抵接於安裝槽2211的內壁，另一轉臂抵接於止回件222。安裝槽2211的朝上的內壁對止回件222的轉動起到限位作用，避免止回件222向下轉動，只允許向上轉動，從而保證了對收料盤倉21內托盤10的支撐作用。As shown in FIG7 , a mounting groove 2211 is provided at the edge of the top of the mounting block 221. A rotating shaft 2212 is connected between two opposite inner walls of the mounting groove 2211. The rotating shaft 2212 is rotatably penetrated through one end of the check piece 222, realizing the rotatable connection between the mounting block 221 and the check piece 222. The torsion spring 223 is sleeved on the rotating shaft 2212. One rotating arm of the torsion spring 223 abuts against the inner wall of the mounting groove 2211, and the other rotating arm abuts against the check piece 222. The upward inner wall of the mounting groove 2211 limits the rotation of the check piece 222, preventing the check piece 222 from rotating downward and only allowing it to rotate upward, thereby ensuring the support for the tray 10 in the receiving tray bin 21.

示例性地，繼續參見圖7，止回件222的自由端的底面為傾斜面2221，傾斜面2221朝向背離安裝塊221的方向傾斜設置。如此設置，便於驅使止回件222向上翻轉。止回件222的頂面為平面，當該平面處於水平面內時止回件222處於水平狀態，能夠穩定支撐收料盤倉21內的托盤10。For example, referring to FIG. 7 , the bottom surface of the free end of the check member 222 is an inclined surface 2221, and the inclined surface 2221 is inclined in a direction away from the mounting block 221. This arrangement facilitates driving the check member 222 to flip upward. The top surface of the check member 222 is a plane, and when the plane is in a horizontal plane, the check member 222 is in a horizontal state, and can stably support the tray 10 in the receiving tray bin 21.

如圖5所示，在本實施例中，每個第二角鋼214對應設置一個止回組件22，保證了對托盤10支撐的穩定性。As shown in FIG. 5 , in this embodiment, a non-return assembly 22 is provided corresponding to each second angle steel 214 to ensure the stability of the support for the tray 10.

示例性地，如圖8和圖9所示，頂升運載機構4包括滑移板41、第四驅動件42及吸附件43，滑移板41滑動設置於基架5；第四驅動件42設置於滑移板41上；吸附件43設置於第四驅動件42的輸出端，第四驅動件42能夠驅動吸附件43在豎直方向上移動，吸附件43能夠吸附托盤10。第四驅動件42的驅動實現了吸附件43的上下移動，以實現對托盤10的頂升；吸附件43的吸附及滑移板41的滑動，實現了對托盤10的運載。在本實施例中，第四驅動件42為氣缸。Exemplarily, as shown in FIG8 and FIG9, the lifting and carrying mechanism 4 includes a sliding plate 41, a fourth driving member 42 and a suction member 43. The sliding plate 41 is slidably arranged on the base frame 5; the fourth driving member 42 is arranged on the sliding plate 41; the suction member 43 is arranged at the output end of the fourth driving member 42, and the fourth driving member 42 can drive the suction member 43 to move in the vertical direction, and the suction member 43 can suction the tray 10. The driving of the fourth driving member 42 realizes the up and down movement of the suction member 43 to realize the lifting of the tray 10; the suction of the suction member 43 and the sliding of the sliding plate 41 realize the transportation of the tray 10. In this embodiment, the fourth driving member 42 is a cylinder.

在本實施例中，如圖1和圖8所示，基架5上還設置有初始位置7，托盤10在上料工位3裝滿物料後，頂升運載機構4吸附住托盤10將托盤10移出上料工位3並移動至初始位置7，再滑動至收料盤倉21的下方，將托盤10存入收料盤倉21內。而且，該托盤收料機構在未工作狀態時，頂升運載機構4處於初始位置7處。如圖8所示，收托盤機構2、供托盤機構1、上料工位3及初始位置7在第二方向上依次排列設置。In this embodiment, as shown in FIG. 1 and FIG. 8 , an initial position 7 is further provided on the base frame 5. After the tray 10 is filled with materials at the loading station 3, the lifting and carrying mechanism 4 absorbs the tray 10 and moves the tray 10 out of the loading station 3 and to the initial position 7, and then slides to the bottom of the receiving tray warehouse 21 to store the tray 10 in the receiving tray warehouse 21. Moreover, when the tray receiving mechanism is not in operation, the lifting and carrying mechanism 4 is at the initial position 7. As shown in FIG. 8 , the receiving tray mechanism 2, the supply tray mechanism 1, the loading station 3 and the initial position 7 are arranged in sequence in the second direction.

示例性地，基架5的下方設置有滑軌安裝板81，滑軌安裝板81和基架5之間具有間隔，滑軌安裝板81上設置有兩個沿著第二方向延伸的滑軌82，兩個滑軌82沿著第一方向間隔設置，滑軌82的一端位於初始位置7的下方，另一端延伸至收托盤機構2的下方，滑移板41的兩端通過滑塊83分別滑動連接於兩個滑軌82，第四驅動件42穿過滑軌安裝板81，並位於兩個滑軌82之間。滑軌安裝板81、滑軌82及滑塊83的設置實現了頂升運載機構4和基架5的滑動連接。Exemplarily, a slide rail mounting plate 81 is disposed below the base frame 5, with a gap between the slide rail mounting plate 81 and the base frame 5, and two slide rails 82 extending along the second direction are disposed on the slide rail mounting plate 81, and the two slide rails 82 are spaced apart along the first direction, one end of the slide rail 82 is located below the initial position 7, and the other end extends to the bottom of the tray receiving mechanism 2, and the two ends of the sliding plate 41 are respectively slidably connected to the two slide rails 82 through the slider 83, and the fourth driving member 42 passes through the slide rail mounting plate 81 and is located between the two slide rails 82. The arrangement of the slide rail mounting plate 81, the slide rail 82 and the slider 83 realizes the sliding connection between the lifting and carrying mechanism 4 and the base frame 5.

示例性地，滑軌安裝板81上還設有滑移驅動組件9，滑移驅動組件9的輸出端連接於一個滑塊83，滑移驅動組件9能夠驅動滑塊83沿著滑軌82滑動，從而帶動頂升運載機構4滑動。Exemplarily, a sliding drive assembly 9 is also provided on the slide rail mounting plate 81, and the output end of the sliding drive assembly 9 is connected to a slider 83. The sliding drive assembly 9 can drive the slider 83 to slide along the slide rail 82, thereby driving the lifting and transporting mechanism 4 to slide.

可選地，在其他實施例中，滑移驅動組件9包括絲杠螺母結構及驅動絲杠轉動的馬達，結構可參考相關技術，在此不再贅述。Optionally, in other embodiments, the sliding drive assembly 9 includes a screw-nut structure and a motor that drives the screw to rotate. The structure can be referred to in related technologies and will not be described in detail here.

示例性地，在本實施例中，滑移驅動組件9包括兩個皮帶輪92、繞設於兩個皮帶輪92上的皮帶（圖中未示出）、驅動皮帶輪92轉動的第五驅動件91，兩個皮帶輪92沿著第二方向間隔設置，一個滑塊83連接於皮帶。第五驅動件91驅動皮帶輪92轉動，帶動皮帶傳動，從而帶動滑塊83及頂升運載機構4沿著滑軌82滑動。For example, in this embodiment, the sliding drive assembly 9 includes two pulleys 92, a belt (not shown) wound around the two pulleys 92, and a fifth drive member 91 driving the pulleys 92 to rotate. The two pulleys 92 are arranged at intervals along the second direction, and a slider 83 is connected to the belt. The fifth drive member 91 drives the pulleys 92 to rotate, drives the belt to transmit, and thereby drives the slider 83 and the lifting and transporting mechanism 4 to slide along the slide rail 82.

如圖9所示，第四驅動件42通過多個連接柱44和第二連接板47安裝於滑移板41。示例性地，第二連接板47連接於第四驅動件42，連接柱44的底端連接於第二連接板47，連接柱44的頂端連接於滑移板41。在本實施例中，連接柱44設置有兩個。As shown in FIG9 , the fourth driving member 42 is mounted on the sliding plate 41 via a plurality of connecting posts 44 and a second connecting plate 47. For example, the second connecting plate 47 is connected to the fourth driving member 42, the bottom end of the connecting post 44 is connected to the second connecting plate 47, and the top end of the connecting post 44 is connected to the sliding plate 41. In this embodiment, two connecting posts 44 are provided.

繼續參見圖9，吸附件43通過多個連接桿45和第三連接板48連接於第四驅動件42的輸出端。示例性地，第三連接板48連接於第四驅動件42的輸出端，連接桿45的底端連接於第三連接板48，連接桿45的頂端連接於吸附件43。在本實施例中，由於滑移板41位於吸附件43和第三連接板48之間，因此，連接桿45需要穿過滑移板41，為此，如圖9所示，連接桿45活動穿設於滑移板41。為了保證連接桿45的順利升降，在連接桿45和滑移板41之間設置有線性軸承46。在本實施例中，連接桿45設置有四個。吸附件43為真空吸盤。Continuing to refer to FIG9 , the adsorption member 43 is connected to the output end of the fourth drive member 42 through a plurality of connecting rods 45 and a third connecting plate 48. Exemplarily, the third connecting plate 48 is connected to the output end of the fourth drive member 42, the bottom end of the connecting rod 45 is connected to the third connecting plate 48, and the top end of the connecting rod 45 is connected to the adsorption member 43. In this embodiment, since the sliding plate 41 is located between the adsorption member 43 and the third connecting plate 48, the connecting rod 45 needs to pass through the sliding plate 41. For this purpose, as shown in FIG9 , the connecting rod 45 is movably provided in the sliding plate 41. In order to ensure the smooth lifting and lowering of the connecting rod 45, a linear bearing 46 is provided between the connecting rod 45 and the sliding plate 41. In this embodiment, four connecting rods 45 are provided. The suction member 43 is a vacuum suction cup.

10:托盤 1:供托盤機構 11:供托盤倉 111:取出口 112:第一角鋼 1121:導入斜面 113:第一滿倉感測器 114:上托盤提醒感測器 115:第一連接座 12:分料組件 121:第一驅動件 122:支撐件 123:第二驅動件 124:安裝板 125:導向塊 1251:導向槽 126:第一連接板 2:收托盤機構 21:收料盤倉 211:存入口 212:第二滿倉感測器 213:下料提醒感測器 214:第二角鋼 215:第二連接座 2151:立板 2152:L型固定件 22:止回組件 221:安裝塊 2211:安裝槽 2212:轉軸 222:止回件 2221:傾斜面 223:扭簧 3:上料工位 4:頂升運載機構 41:滑移板 42:第四驅動件 43:吸附件 44:連接柱 45:連接桿 46:線性軸承 47:第二連接板 48:第三連接板 5:基架 6:傳送組件 61:同步輪 62:同步帶 63:第三驅動件 64:傳送安裝架 65:L型連接件 7:初始位置 81:滑軌安裝板 82:滑軌 83:滑塊 9:滑移驅動組件 91:第五驅動件 92:皮帶輪 10: Pallet 1: Pallet supply mechanism 11: Pallet supply warehouse 111: Removal port 112: First angle steel 1121: Introducing ramp 113: First full warehouse sensor 114: Upper pallet reminder sensor 115: First connecting seat 12: Material distribution assembly 121: First drive member 122: Support member 123: Second drive member 124: Mounting plate 125: Guide block 1251: Guide groove 126: First connecting plate 2: Pallet collection mechanism 21: Material collection warehouse 211: Storage port 212: Second full warehouse sensor 213: Material unloading reminder sensor 214: Second angle steel 215: Second connecting seat 2151: Vertical plate 2152: L-shaped fixing piece 22: Check assembly 221: Mounting block 2211: Mounting groove 2212: Rotating shaft 222: Check piece 2221: Inclined surface 223: Torsion spring 3: Loading station 4: Lifting and transporting mechanism 41: Sliding plate 42: Fourth driving piece 43: Adsorption piece 44: Connecting column 45: Connecting rod 46: Linear bearing 47: Second connecting plate 48: Third connecting plate 5: Base frame 6: Transmission assembly 61: Synchronous wheel 62: Synchronous belt 63: Third driving piece 64: Conveyor mounting frame 65: L-type connector 7: Initial position 81: Slide rail mounting plate 82: Slide rail 83: Slide block 9: Slide drive assembly 91: Fifth drive member 92: Pulley

圖1是本發明實施例提供的托盤收料機構的一個視角的結構示意圖； 圖2是本發明實施例提供的供托盤機構的結構示意圖； 圖3是本發明實施例提供的分料組件的結構示意圖； 圖4是本發明實施例提供的托盤收料機構的部分結構示意圖； 圖5是本發明實施例提供的收托盤機構的結構示意圖； 圖6是本發明實施例提供的止回組件的結構示意圖； 圖7是本發明實施例提供的止回組件的分解結構示意圖； 圖8是本發明實施例提供的托盤收料機構的另一個視角的結構示意圖； 圖9是本發明實施例提供的頂升運載機構的結構示意圖。 Figure 1 is a structural schematic diagram of a pallet receiving mechanism provided by an embodiment of the present invention from one viewing angle; Figure 2 is a structural schematic diagram of a pallet supply mechanism provided by an embodiment of the present invention; Figure 3 is a structural schematic diagram of a material distribution assembly provided by an embodiment of the present invention; Figure 4 is a partial structural schematic diagram of a pallet receiving mechanism provided by an embodiment of the present invention; Figure 5 is a structural schematic diagram of a pallet receiving mechanism provided by an embodiment of the present invention; Figure 6 is a structural schematic diagram of a non-return assembly provided by an embodiment of the present invention; Figure 7 is a decomposed structural schematic diagram of a non-return assembly provided by an embodiment of the present invention; Figure 8 is a structural schematic diagram of another viewing angle of a pallet receiving mechanism provided by an embodiment of the present invention; Figure 9 is a structural schematic diagram of a lifting and carrying mechanism provided by an embodiment of the present invention.

10:托盤 10: Tray

1:供托盤機構 1: Pallet supply mechanism

2:收托盤機構 2: Pallet collection agency

3:上料工位 3: Loading station

4:頂升運載機構 4: Lifting and transporting mechanism

5:基架 5: Base frame

6:傳送組件 6:Transmission components

Claims (10)

一種托盤收料機構，包括： 基架（5）； 供托盤機構（1），設置於所述基架（5）上，供托盤機構（1）用於存儲多個疊置的空的托盤（10）； 上料工位（3），設置於所述基架（5）上； 收托盤機構（2），設置於所述基架（5）上，用於存儲多個疊置的裝載有物料的所述托盤（10），所述收托盤機構（2）與所述供托盤機構（1）間隔設置；以及 頂升運載機構（4），可移動地設置於所述基架（5），所述頂升運載機構（4）能夠運載所述托盤（10）；當所述頂升運載機構（4）移動至所述供托盤機構（1）的下方時，能夠取出所述供托盤機構（1）內最下方的所述托盤（10）；當所述頂升運載機構（4）移動至所述收托盤機構（2）的下方時，能夠將待存入的所述托盤（10）存入所述收托盤機構（2）內。 A pallet receiving mechanism comprises: a base frame (5); a pallet supply mechanism (1), which is arranged on the base frame (5), and the pallet supply mechanism (1) is used to store a plurality of stacked empty pallets (10); a material loading station (3), which is arranged on the base frame (5); a pallet receiving mechanism (2), which is arranged on the base frame (5), and is used to store a plurality of stacked pallets (10) loaded with materials, and the pallet receiving mechanism (2) is spaced apart from the pallet supply mechanism (1); and The lifting and transporting mechanism (4) is movably arranged on the base frame (5), and the lifting and transporting mechanism (4) can carry the tray (10); when the lifting and transporting mechanism (4) moves to the bottom of the tray supply mechanism (1), the tray (10) at the bottom of the tray supply mechanism (1) can be taken out; when the lifting and transporting mechanism (4) moves to the bottom of the tray collection mechanism (2), the tray (10) to be stored can be stored in the tray collection mechanism (2). 如請求項1所述的托盤收料機構，其中所述供托盤機構（1）包括： 供托盤倉（11），設置於所述基架（5），所述供托盤倉（11）的底部設置有取出口（111）；以及 分料組件（12），設置於所述取出口（111）處，所述分料組件（12）可選擇地支撐於所述供托盤倉（11）內的任意一個所述托盤（10）的底部，所述頂升運載機構（4）能夠支撐及移出所述供托盤機構（1）內最下方的所述托盤（10）。 A pallet receiving mechanism as described in claim 1, wherein the pallet supply mechanism (1) comprises: a pallet supply warehouse (11), arranged on the base frame (5), the bottom of the pallet supply warehouse (11) being provided with a take-out port (111); and a material distribution component (12), arranged at the take-out port (111), the material distribution component (12) being selectively supported on the bottom of any one of the pallets (10) in the pallet supply warehouse (11), the lifting and carrying mechanism (4) being capable of supporting and removing the pallet (10) at the bottom in the pallet supply mechanism (1). 如請求項2所述的托盤收料機構，其中所述分料組件（12）包括： 第一驅動件（121），設置於所述基架（5）；以及 支撐件（122），連接於所述第一驅動件（121）的輸出端，所述第一驅動件（121）能夠驅動所述支撐件（122）在第一方向上往復移動，以使所述支撐件（122）伸出並抵接於所述托盤（10）的底部或使所述支撐件（122）從所述托盤（10）的底部縮回，所述第一方向與豎直方向呈夾角。 A tray receiving mechanism as described in claim 2, wherein the material distribution assembly (12) comprises: a first driving member (121), arranged on the base frame (5); and a supporting member (122), connected to the output end of the first driving member (121), wherein the first driving member (121) can drive the supporting member (122) to move back and forth in a first direction, so that the supporting member (122) extends out and abuts against the bottom of the tray (10) or retracts the supporting member (122) from the bottom of the tray (10), and the first direction forms an angle with the vertical direction. 如請求項3所述的托盤收料機構，其中所述分料組件（12）還包括： 第二驅動件（123），設置於所述基架（5）上；以及 安裝板（124），連接於所述第二驅動件（123）的輸出端，所述第一驅動件（121）安裝於所述安裝板（124）上，所述第二驅動件（123）能夠驅動所述安裝板（124）在豎直方向上往復移動，以帶動所述支撐件（122）上下移動。 The tray receiving mechanism as described in claim 3, wherein the material distribution assembly (12) further comprises: a second driving member (123), which is arranged on the base frame (5); and a mounting plate (124), which is connected to the output end of the second driving member (123), the first driving member (121) is mounted on the mounting plate (124), and the second driving member (123) can drive the mounting plate (124) to move back and forth in the vertical direction to drive the support member (122) to move up and down. 如請求項3所述的托盤收料機構，其中所述分料組件（12）還包括導向塊（125），所述導向塊（125）內開設有導向槽（1251），所述導向槽（1251）沿著所述第一方向延伸，所述支撐件（122）至少部分滑動設置於所述導向槽（1251）內。A pallet receiving mechanism as described in claim 3, wherein the material distribution assembly (12) further includes a guide block (125), a guide groove (1251) is provided in the guide block (125), the guide groove (1251) extends along the first direction, and the support member (122) is at least partially slidably disposed in the guide groove (1251). 如請求項1所述的托盤收料機構，其中還包括傳送組件（6），所述傳送組件（6）設置於所述基架（5），傳送組件（6）用於傳送所述托盤（10），所述傳送組件（6）的一端位於所述供托盤機構（1）的下方，所述傳送組件（6）的另一端為所述上料工位（3）。The pallet receiving mechanism as described in claim 1 further comprises a conveying assembly (6), wherein the conveying assembly (6) is arranged on the base frame (5), and the conveying assembly (6) is used to convey the pallet (10), one end of the conveying assembly (6) is located below the pallet supply mechanism (1), and the other end of the conveying assembly (6) is the loading station (3). 如請求項6所述的托盤收料機構，其中所述傳送組件（6）包括： 至少兩個同步輪（61），設置於所述基架（5）； 同步帶（62），繞設於所述同步輪（61）；以及 第三驅動件（63），設置於所述基架（5），第三驅動件（63）的輸出端驅動連接於至少一個所述同步輪（61），能夠驅動與第三驅動件（63）連接的所述同步輪（61）轉動。 The pallet receiving mechanism as described in claim 6, wherein the conveying assembly (6) comprises: At least two synchronous wheels (61), arranged on the base frame (5); A synchronous belt (62), wound around the synchronous wheels (61); and A third driving member (63), arranged on the base frame (5), wherein the output end of the third driving member (63) is drivingly connected to at least one of the synchronous wheels (61), and can drive the synchronous wheel (61) connected to the third driving member (63) to rotate. 如請求項1所述的托盤收料機構，其中所述收托盤機構（2）包括： 收料盤倉（21），設置於所述基架（5），所述收料盤倉（21）的底部設置有存入口（211）；以及 止回組件（22），活動設置於所述存入口（211）處，所述止回組件（22）能夠支撐於所述收料盤倉（21）內的最下方的所述托盤（10）的底部，待存入的所述托盤（10）能夠在所述頂升運載機構（4）的頂升作用下越過所述止回組件（22），以存入所述收料盤倉（21）內。 A pallet receiving mechanism as described in claim 1, wherein the pallet receiving mechanism (2) comprises: a pallet receiving warehouse (21), arranged on the base frame (5), the bottom of the pallet receiving warehouse (21) being provided with a storage port (211); and a non-return assembly (22), movably arranged at the storage port (211), the non-return assembly (22) being able to support the bottom of the lowest pallet (10) in the pallet receiving warehouse (21), the pallet (10) to be stored being able to pass over the non-return assembly (22) under the lifting action of the lifting and transporting mechanism (4) to be stored in the pallet receiving warehouse (21). 如請求項8所述的托盤收料機構，其中所述止回組件（22）包括： 安裝塊（221），連接於所述收料盤倉（21）的底部；以及 止回件（222），止回件（222）的一端轉動連接於所述安裝塊（221），止回件（222）的另一端為自由端，所述止回件（222）在水平狀態時，所述自由端位於所述存入口（211）內並支撐於所述收料盤倉（21）內的最下方的所述托盤（10）的底部，所述止回件（222）能夠向上翻轉至敞開所述存入口（211）。 The tray receiving mechanism as described in claim 8, wherein the non-return assembly (22) comprises: a mounting block (221) connected to the bottom of the receiving tray bin (21); and a non-return member (222), one end of which is rotatably connected to the mounting block (221), and the other end of which is a free end. When the non-return member (222) is in a horizontal state, the free end is located in the storage port (211) and supported on the bottom of the lowest tray (10) in the receiving tray bin (21), and the non-return member (222) can be flipped upward to open the storage port (211). 如請求項1-9任一項所述的托盤收料機構，其中所述頂升運載機構（4）包括： 滑移板（41），滑動設置於所述基架（5）； 第四驅動件（42），設置於所述滑移板（41）上；以及 吸附件（43），設置於所述第四驅動件（42）的輸出端，所述第四驅動件（42）能夠驅動所述吸附件（43）在豎直方向上移動，所述吸附件（43）能夠吸附所述托盤（10）。 A pallet receiving mechanism as described in any one of claims 1 to 9, wherein the lifting and transporting mechanism (4) comprises: a sliding plate (41) slidably disposed on the base frame (5); a fourth driving member (42) disposed on the sliding plate (41); and an adsorption member (43) disposed at the output end of the fourth driving member (42), wherein the fourth driving member (42) can drive the adsorption member (43) to move in a vertical direction, and the adsorption member (43) can adsorb the pallet (10).
TW112121114A 2022-09-13 2023-06-06 Material receiving tray mechanism TW202411147A (en)

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CN202211111108.9A CN115448045A (en) 2022-09-13 2022-09-13 Tray receiving agencies

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