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CN220448873U - Feeding and tray recycling system - Google Patents

Feeding and tray recycling system Download PDF

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Publication number
CN220448873U
CN220448873U CN202322133088.1U CN202322133088U CN220448873U CN 220448873 U CN220448873 U CN 220448873U CN 202322133088 U CN202322133088 U CN 202322133088U CN 220448873 U CN220448873 U CN 220448873U
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China
Prior art keywords
tray
lifting
loading
conveying line
pose
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CN202322133088.1U
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Chinese (zh)
Inventor
汪兵兵
彭浩
蔡国钞
杜东
曹善武
王新华
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Zhejiang Dahua Technology Co Ltd
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Zhejiang Dahua Technology Co Ltd
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Priority to CN202322133088.1U priority Critical patent/CN220448873U/en
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Abstract

The utility model provides a feeding and tray recycling system which comprises a conveying device, an AGV, a lifting device and a material taking device, wherein the AGV is arranged on the conveying device; the AGV comprises a first loading part and a second loading part which are used for bearing the tray; the lifting device is positioned at one side of the conveying device, and one end of the upper layer conveying line and one end of the lower layer conveying line are both directed to the lifting device; the AGV is positioned at the other side of the conveying device when stopped at the loading and unloading station, the other end of the upper layer conveying line is in butt joint with the first loading part, and the other end of the lower layer conveying line is in butt joint with the second loading part; the lifting device comprises a lifting guide rail and a receiving and sending mechanism which is connected to the lifting guide rail in a lifting manner, and the receiving and sending mechanism can ascend and butt-joint the upper layer conveying line and can descend and butt-joint the lower layer conveying line; the material taking device can move back and forth between the material taking position and the material feeding position, and the material taking device is positioned above the conveying device or above the receiving mechanism when the material is taken.

Description

Feeding and tray recycling system
Technical Field
The utility model relates to the technical field of automatic production, in particular to a feeding and tray recycling system.
Background
The automatic production field relates to the automatic feeding process, and the automatic feeding is that a large amount of materials need to be taken away one by one and transferred to a split charging line body or other subsequent processing line bodies one by one. In order to facilitate the centralized transportation of large quantities of materials, manufacturers use pallets to carry the materials, which can be stacked for transportation and can protect the materials. Taking the production of a camera device and an intelligent pipeline instrument as an example, an automatic recovery tray is not realized in the related industry at present, and the recovery is completed by manual participation; moreover, for safety reasons, manual recovery of pallets needs to be performed in a stopped state, thus compromising the efficiency and the tact of automated production.
Disclosure of Invention
In view of the above, the utility model provides an automatic feeding device which has a simple structure and smaller occupied space and can carry out material split charging efficiently and accurately.
The utility model provides a feeding and tray recycling system, which comprises a conveying device, an AGV, a lifting device and a material taking device, wherein:
the AGV comprises a first loading part and a second loading part which are used for bearing the tray;
the lifting device is positioned at one side of the conveying device, and one end of the upper layer conveying line and one end of the lower layer conveying line are both directed to the lifting device;
when the AGVs are parked at the loading and unloading sites, the AGVs are positioned at the other side of the conveying device, the other end of the upper conveying line is in butt joint with the first loading part, and the other end of the lower conveying line is in butt joint with the second loading part;
the lifting device comprises a lifting guide rail and a receiving and sending mechanism which is connected to the lifting guide rail in a lifting manner, and the receiving and sending mechanism can ascend and butt-joint the upper layer conveying line and can descend and butt-joint the lower layer conveying line;
the material taking device can move back and forth between the material taking position and the material feeding position, and the material taking device is positioned above the conveying device or above the receiving mechanism when the material is taken.
In one embodiment, the feeding and tray recycling system further comprises an unstacking device arranged on the upper conveying line and a stacking device arranged on the lower conveying line;
the first loading part is used for bearing the material carrying tray group, and the second loading part is used for bearing the empty tray group;
the unstacking device is used for separating the material carrying trays from the bottom of the material carrying tray group one by one, and the stacking device is used for transferring the empty trays to the bottom of the empty tray group one by one;
the material taking device is positioned above the upper layer conveying line or above the receiving and sending mechanism when taking material.
The automatic stacking device has the advantages that the conveying capacity of the upper conveying line and the lower conveying line is improved, stacking trays with larger capacity can be conveyed, the moving frequency of AGV vehicles for supplying the material carrying trays and taking away empty trays is reduced, the AGV vehicles can convey more material carrying trays to the upper conveying line at one time in the same time, and more empty trays can be taken away from the lower conveying line at one time;
the material taking device takes materials from the material carrying tray which is positioned on the upper layer conveying line or the receiving and delivering mechanism, then the lifting device conveys the empty tray to move downwards and conveys the empty tray to the lower layer conveying line, and the lifting device does not bear the tray when lifting, so that the load of the lifting device is reduced, and the lifting driving piece which has smaller power specification, smaller volume and smaller energy consumption and is matched with the receiving and delivering mechanism can be used.
In one embodiment, the unstacking apparatus comprises:
the first jacking mechanism comprises a first jacking driving piece and a first jacking supporting piece connected to the first jacking driving piece, and the first jacking supporting piece is provided with a first sinking position, a first middle section position and a first lifting position which are sequentially lifted along the vertical direction;
the first lifting mechanism comprises a first lifting driving piece and a first lifting supporting piece connected with the first lifting driving piece, and the first lifting supporting piece can horizontally reciprocate at a first given height so as to separate from or connect with a bottom material carrying tray of the material carrying tray group;
the first jacking supporting piece is not higher than the upper layer conveying line when in the first sinking position, and is higher than the upper layer conveying line when in the first middle section position and the first lifting position; the method comprises the steps of carrying out a first treatment on the surface of the
The stacking device includes:
the second jacking mechanism comprises a second jacking driving piece and a second jacking supporting piece connected to the second jacking driving piece, and the second jacking supporting piece is provided with a second sinking position, a second middle section position and a second lifting position which are sequentially lifted along the vertical direction;
the second lifting mechanism comprises a second lifting driving piece and a second lifting supporting piece connected with the second lifting driving piece, and the second lifting supporting piece can horizontally reciprocate at a second given height so as to leave or be connected with the bottom empty tray of the empty tray group;
the second jacking supporting piece is not higher than the lower conveying line when in the second sinking position, and is higher than the lower conveying line when in the second middle section position and the second lifting position.
In one embodiment, the lifting device further comprises a lifting driving piece, a closed-loop transmission piece, a driving wheel and a driven wheel, wherein the closed-loop transmission piece is wound on the driving wheel and the driven wheel to form a tensioning section, the driving wheel is connected with the lifting driving piece, and the receiving and sending mechanism is connected with the tensioning section.
Because the lifting device ascends to bear no tray in the process of the upper layer conveying line, and the lifting device descends to bear only empty trays in the process of the lower layer conveying line, the load capacity of the driving assembly for driving the pick-up mechanism is reduced, lifting driving parts with lower power specifications can be selected, and the cost of the driving assembly is reduced.
In one embodiment, the tensioning section and the lifting rail both extend in a vertical direction.
In one embodiment, the closed-loop transmission member is a synchronous belt, and the driving wheel and the driven wheel are synchronous pulleys.
In one embodiment, the lifting device further comprises a coupling connected to the drive wheel and detachably connected to the lifting drive member.
By the arrangement, lifting driving parts with different specifications or different forms can be replaced or regulated according to actual factors such as the weight of materials, for example, when the weight of a tray bearing the materials is increased, lifting driving parts with larger specifications can be replaced, and the pick-up device can be ensured to stably convey the tray to a lower conveying line.
In one embodiment, the conveying device further comprises a frame for bearing the upper conveying line, the lower conveying line and the lifting device, the frame comprises a butt joint end and a transfer end, one end of the upper conveying line, which is relatively far away from the lifting device, extends to the butt joint end, one end of the lower conveying line, which is relatively far away from the lifting device, extends to the butt joint end, one end of the upper conveying line, which is directed towards the lifting device, extends to the transfer end, and one end of the lower conveying line, which is directed towards the lifting device, extends to the transfer end; wherein:
the butt joint end is provided with a locking mechanism for fixedly connecting with the AGV.
So set up, locking mechanism's setting has improved material loading and tray recovery system's convenience of use, can stably stop when guaranteeing that one transfer chain of AGV car supplies with carrying the tray and receiving the empty tray that comes from another transfer chain, does not take place to rock, prevents to lead to carrying the position appearance gesture of tray to change because of the unexpected activity of AGV car to prevent to lead to empty tray can't shift to the AGV car smoothly because of the unexpected activity of AGV car.
In one embodiment, the butt joint end is provided with a first regulating mechanism corresponding to the upper layer conveying line, and the first regulating mechanism is used for driving the tray to adjust the position and the posture of the tray; and/or the number of the groups of groups,
the butt joint end is provided with a second regulating mechanism corresponding to the lower conveying line, and the second regulating mechanism is used for driving the tray to adjust the position and the posture of the tray.
The first regulating mechanism can help to adjust the pose deviation of the material carrying tray transferred to the conveying device, so that the material taking device can be ensured to normally and smoothly take away materials; the second regulating mechanism can help to regulate the empty tray, and ensure that the empty tray can be normally and smoothly transferred to the AGV.
In one embodiment, the feeding and tray recycling system further comprises a third regulating mechanism arranged on the receiving and conveying mechanism, wherein the third regulating mechanism comprises a pose detection component and a pose adjusting component, the pose detection component is used for detecting the pose of the tray, and the pose adjusting component is used for driving the tray to adjust the pose of the tray.
So set up, third regular mechanism can help adjusting the position appearance deviation of the empty tray on the mechanism of sending over to make the empty tray that the mechanism of sending over shifted to one of them layer transfer chain have normal position appearance, thereby make the AGV car retrieve empty tray smoothly with high efficiency.
In one embodiment, the number of the pose adjusting assemblies is multiple, and at least two pose adjusting assemblies are respectively arranged in two opposite vertex angle areas of the pick-up mechanism.
By the arrangement, the space tray is subjected to pose error correction in the multiple-degree-of-freedom direction by fewer pose adjusting components.
In one embodiment, the pose adjusting component comprises a pose adjusting cylinder and pose adjusting push blocks connected with the pose adjusting cylinder, the pose adjusting push blocks of the two pose adjusting components are arranged in opposite directions, and the pose adjusting cylinders of the two pose adjusting components can drive the two pose adjusting push blocks to move close to or away from each other.
The two pose adjusting push blocks can move in opposite directions or far away from each other under the driving of the two pose adjusting air cylinders, so that the interval distance between the two pose adjusting push blocks can be changed, the two pose adjusting components can clamp and release the empty tray positioned on the pick-up mechanism, and the two pose adjusting components coordinate with each other, so that pose deviation of the empty tray can be eliminated more quickly and accurately.
In one embodiment, the pose adjusting push blocks of the two pose adjusting assemblies are respectively provided with a V-shaped limiting groove, and the openings of the V-shaped limiting grooves of the two pose adjusting push blocks are arranged in opposite directions.
So set up, two position adjustment ejector pad can be used for the edge of adaptation and centre gripping tray respectively, prevents that the tray from taking place to slide for position adjustment ejector pad to can carry out spacing fixed to the tray in the mechanism of sending out descends the in-process better.
Compared with the prior art, the feeding and tray recycling system has the following beneficial effects:
1) The whole process automation of feeding and tray recovery is realized, manual participation is not needed, the labor cost is saved, the feeding and tray recovery can be continuously and efficiently carried out, the feeding and tray recovery is not limited to be carried out when the equipment is stopped, the production cost can be reduced, the production benefit is improved, and the production beat is shortened;
2) The occupied area of the feeding and tray recycling system in a factory building is reduced, the space of the factory building is efficiently utilized, the transportation of the loading tray and the transportation of the empty tray occupy the same ground surface, and the AGV can stay on the same ground surface to send out the loading tray and receive the empty tray, so that the factory using the feeding and tray recycling system can more easily optimize the space layout in the factory building;
3) The feeding and the tray recovery realize automation, so that the potential safety hazard problem of manual recovery is not needed to be considered, the feeding and the tray recovery are not influenced by the running conditions of the feeding and tray recovery system, the feeding and the recovery can be carried out when the system is stopped, and the feeding and the recovery can be carried out when the system is running;
4) Based on the nature that the AGV can be removed according to preset cruising track, the automatic feeding and the automatic recovery of tray of the compatible multiple material of material loading and tray recovery system, the AGV can load different year material trays from different feed bins successively to remove to material loading and tray recovery system according to corresponding pay-off cruising track, the AGV can leave material loading and tray recovery system according to different recovery cruising track successively after obtaining empty tray, and returns corresponding feed bin, has reduced the operation of manual sorting tray.
Drawings
FIG. 1 is a schematic perspective view of a loading and tray recycling system according to an embodiment of the present utility model;
FIG. 2 is a schematic view of a part of a feeding and tray recycling system according to an embodiment of the present utility model;
FIG. 3 is a schematic view of a part of the unstacking apparatus according to an embodiment of the present utility model;
fig. 4 is a schematic perspective view of a lifting device according to an embodiment of the utility model;
fig. 5 is a schematic diagram of an automatic packaging line according to an embodiment of the present utility model in a top view.
Reference numerals illustrate:
100. a feeding and tray recycling system; 10. a lower layer conveying line; 11. the AGV lower end; 12. a transfer lower joint; 13. an unstacking device; 131. a first lifting mechanism; 1311. a first jack-up driving member; 1312. a first jacking support; 132. a first lifting mechanism; 1321. a first lift drive; 1322. a first lifting support; 20. an upper layer conveying line; 21. the AGV upper end; 22. a transfer upper terminal; 23. a stacking device; 30. a lifting device; 31. lifting the guide rail; 32. a pick-up mechanism; 33. a lifting driving member; 34. a closed loop transmission member; 341. a tensioning section; 35. a driving wheel; 36. driven wheel; 37. a coupling; 38. a lifting frame; 40. a material taking device; 50. a frame; 51. a butt joint end; 52. a transfer end; 60. a third normalization mechanism; 62. a pose adjusting component; 621. a pose adjusting cylinder; 622. a pose adjusting pushing block; 70. separating a wire body; 80. a transfer mechanical arm; 90. AGV stopping area; 200. a tray; 201. a loading tray set; 2011. a loading tray; 202. an empty tray group; 2021. an empty tray.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.
The present utility model provides a loading and pallet recycling system 100 for an automated production line, which functions to sequentially feed materials to production lines such as a product processing line, an assembly line, a packaging line, etc., which may be collectively referred to as a downstream production line, the materials may be components to be assembled, parts to be processed, products to be packaged, the materials are placed in pallets 200, and the pallets 200 are recycled after the materials are transferred to the downstream production line, so that a material supplier can reuse the pallets 200 to carry the materials.
The feeding and tray recycling system 100 of the present utility model is suitable for automatic feeding operations of various types of materials, such as camera housings, intelligent water meter bodies, etc., which are individually dispersed in different trays 200, each tray 200 carrying one material. For convenience of description, the tray 200 loaded with the material will be referred to as a loading tray 2011, and the tray 200 not loaded with the material will be referred to as an empty tray 2021. The loading trays 2011 are retrieved by the loading and tray recycling system 100 in a layer-by-layer stack, and the empty trays 2021 are recycled in a layer-by-layer stack.
Referring to fig. 1 and 5, the loading and tray recycling system 100 includes a conveyor, an AGV (not shown) configured to mate with the conveyor, a lifting device 30, and a take out device 40. The conveying device and the lifting device 30 together form a composite conveying line for conveying the carrying tray 2011 and the empty tray 2021, and providing a buffer space for accommodating more carrying trays 2011 and empty trays 2021; the function of the AGV car is to take a loading tray 2011 from a material storage point and transport it to the conveyor, and to pick up an empty tray 2021 from the conveyor and return it to the tray 200 storage point; the material taking device 40 can move back and forth between a given material taking position and a material feeding position, the material taking device 40 can take the material in the tray 200 from the composite conveying line formed by the conveying device and the lifting device 30 when being positioned at the material taking position, then the material taking device 40 carries the material to move towards the material feeding position, and the material is released when reaching the material feeding position so as to enable the material to fall into a downstream production line.
The conveying device comprises a frame 50, an upper layer conveying line 20 mounted on the frame 50 and a lower layer conveying line 10 mounted on the frame 50, wherein the upper layer conveying line 20 and the lower layer conveying line 10 extend side by side and are arranged at intervals in the vertical direction, the frame 50 comprises a butt joint end 51 and a transfer end 52, one end of each of the upper layer conveying line 20 and the lower layer conveying line 10 extends to the butt joint end 51, and the butt joint end and the transfer end are respectively an AGV upper joint end 21 of the upper layer conveying line 20 and an AGV lower joint end 11 of the lower layer conveying line 10; the other ends of the upper conveyor line 20 and the lower conveyor line 10 extend to the transit end 52, which are the transit upper end 22 of the upper conveyor line 20 and the transit lower end 12 of the lower conveyor line 10, respectively.
The upper conveyor line 20 and the lower conveyor line 10 may be roller bed conveyor lines or belt conveyor lines. One of the upper conveyor line 20 and the lower conveyor line 10 is used for conveying the carrier tray 2011 so that the carrier tray 2011 is close to the lifting device 30, the other is used for conveying the empty tray 2021 so that the empty tray 2021 is far away from the lifting device 30, the lifting device 30 reciprocates up and down, the empty tray 2021 is acquired from one of the upper conveyor line 20 and the lower conveyor line 10, and the empty tray 2021 is conveyed to the other.
Optionally, the AGV upper connector 21 and the AGV lower connector 11 are disposed at intervals in the vertical direction, and the transfer upper connector 22 and the transfer lower connector 12 are disposed at intervals in the vertical direction.
Alternatively, the upper layer conveyor line 20 extends in the horizontal direction, and the lower layer conveyor line 10 extends in the horizontal direction. The level of the upper conveyor line 20 is parallel to the level of the lower conveyor line 10.
The AGV car includes first loading portion and the second loading portion that sets up along vertical direction interval, promptly when the AGV car cruises along ground and removes, first loading portion and second loading portion set up along vertical direction interval, and the vertical interval of two is the interval that upper conveying line 20 is located high level and lower conveying line 10 is located. One of the first loading portion and the second loading portion is used for carrying a loading tray 2011, and the other is used for carrying an empty tray 2021. A loading and pallet recovery system 100 is provided at the deployment site where the AGV needs to stay in order to interface with the transport mechanism. The AGV car is disposed adjacent the docking end 51 of the frame 50 when parked at the loading and unloading station, with the AGV upper end 21 docking the first loading portion and the AGV lower end 11 docking the second loading portion. Referring to FIG. 5, the AGV stop zone 90 shown in FIG. 5 is shown as a loading and unloading station for the AGV to stop.
The lifting device 30 is arranged adjacent to the middle rotating end 52, comprises a lifting guide rail 31 and a receiving and delivering mechanism 32 which is connected with the lifting guide rail 31 in a lifting manner, wherein the lifting guide rail 31 extends along the vertical direction and is fixed relative to the frame 50, and is used for guiding the receiving and delivering mechanism 32 to slide along a preset lifting track; the pick-up mechanism 32 is capable of ascending along the lifting rail 31 and abutting the transit upper run 22 of the upper conveyor line 20, and is capable of descending along the lifting rail 31 and abutting the transit lower run 12 of the lower conveyor line 10. Referring to fig. 4, the pick-up mechanism 32 includes a pick-up plate having a rectangular plate structure, and further includes a docking and conveying portion mounted on the pick-up plate, where the docking and conveying portion may be a roller bed conveying assembly or a belt conveying assembly.
The material taking device 40 may be located above the conveying device or above the receiving mechanism 32 in the material taking position, that is, the material taking device 40 may take material from the material carrying tray 2011 located in the conveying device or from the material carrying tray 2011 located in the receiving mechanism 32. Taking the case where the material taking device 40 takes a material from the material carrying tray 2011 located in the conveying device as an example:
the loading tray 2011 located on one of the upper conveyor line 20 or the lower conveyor line 10 is taken out by the material taking device 40 and then leaves the conveyor device, then the empty tray 2021 is led to reach the pick-up mechanism 32 by the guiding function of the docking conveyor portion, then the pick-up mechanism 32 conveys the empty tray 2021 to the other of the upper conveyor line 20 or the lower conveyor line 10 by lifting movement, and the empty tray 2021 is retrieved by the conveyor device and then the pick-up mechanism 32 performs resetting movement, that is, returns to the upper conveyor line 20 or the lower conveyor line 10 again, so as to obtain the next empty tray 2021.
The above-mentioned process is repeated, and material loading and tray recovery system 100 just can constantly carry out material loading and tray 200 recovery, and in this in-process upper conveying line 20 and lower floor's conveying line 10 all can bear a part of tray 200 and regard as interim buffer memory tray 200, can reduce the removal frequency of AGV car, avoid conveyor to appear crowding because of waiting the AGV car to arrive to avoid whole system to pause the operation.
Optionally, the feeding and tray recycling system 100 further includes a transferring mechanical arm 80, where the end of the transferring mechanical arm 80 can reciprocate to the material taking position and the material feeding position, and the material taking device 40 is installed at the end of the transferring mechanical arm 80.
Referring to fig. 5, in some embodiments, the loading and tray recycling system 100 is disposed adjacent to the split line 70 with a transfer robot 80 therebetween, and the take-out device 40 is located vertically above the split line 70 when the transfer robot 80 brings the take-out device 40 to the loading position.
In some embodiments, a first loading section is used to load the loading trays 2011 and supply the loading trays 2011 to the upper layer conveyor line 20, the upper layer conveyor line 20 is used to transport the loading trays 2011, the lower layer conveyor line 10 is used to transport the empty trays 2021, and a second loading section is used to take the empty trays 2021 from the lower layer conveyor line 10 and carry the empty trays 2021. The pick-up mechanism 32 is docked with the transfer upper end 22 to obtain a carrying tray 2011 to be picked up, the pick-up device 40 is located above the pick-up mechanism 32 when located at the pick-up position, that is, the pick-up device 40 picks up the material from the carrying tray 2011 located at the pick-up mechanism 32, then the pick-up mechanism 32 descends along the lifting rail 31 to convey the empty tray 2021 to the lower conveyor line 10, the tray 2021 is transferred to the lower conveyor line 10 when the pick-up mechanism 32 is docked with the transfer lower end 12, and then the pick-up mechanism 32 ascends to reset and docks with the transfer upper end 22 again.
Further, the loading and tray recycling system 100 further includes an unstacking device 13 mounted on the upper conveyor line 20, and a stacking device 23 mounted on the lower conveyor line 10, referring to fig. 1 and 2, the loading trays 2011 are loaded on the first loading portion in a stacked form and are transported by the upper conveyor line 20 in a stacked form, and the unstacking device 13 is used for splitting the loading tray group 201, so as to split the loading trays 2011 into a plurality of loading trays 2011, so that the loading trays 2011 can be successively transferred to the pick-up mechanism 32 one by one. When the transfer mechanism 32 transfers the lower end 12 to the butt joint, the empty trays 2021 are supplied to the lower conveyor line 10 one by one, and the stacking device 23 stacks the empty trays 2021 again to form the empty tray group 202, and the lower conveyor line 10 transfers the empty tray group 202 to the second loading section.
The unstacking device 13 separates out the loading trays 2011 one by one from the bottom of the loading tray group 201, and the stacking device 23 sequentially supplements the empty trays 2021 one by one to the bottom of the empty tray group 202 so that the empty trays 2021 are stacked to form the empty tray group 202.
Referring to fig. 2 and 3, the unstacking device 13 includes a first lifting mechanism 131 capable of outputting a vertical displacement motion, and a first lifting mechanism 132 capable of outputting a horizontal displacement motion. The first jacking mechanism 131 includes a first jacking driving member 1311, and a first jacking supporting member 1312 connected to the first jacking driving member 1311, where the first jacking supporting member 1312 has a first sinking position, a first middle position and a first lifting position that are sequentially raised in the vertical direction, and the first jacking supporting member 1312 is located at the first sinking position not higher than the upper conveyor line 20, and is located at the first middle position and the first lifting position not higher than the upper conveyor line 20; the first lifting mechanism 132 includes a first lifting drive 1321, a first lifting support 1322 connected to the first lifting drive 1321, the first lifting support 1322 being capable of horizontal reciprocation at a first given height so as to leave or connect to a loading tray 2011 at the bottom of the loading tray set 201.
The stacking device 23 comprises a second jacking mechanism capable of outputting vertical displacement movement and a second lifting mechanism capable of outputting horizontal displacement, wherein the second jacking mechanism comprises a second jacking driving piece and a second jacking supporting piece connected with the second jacking driving piece, the second jacking supporting piece is provided with a second sinking position, a second middle section position and a second lifting position which are sequentially lifted along the vertical direction, the second jacking supporting piece is not higher than the lower layer conveying line 10 when being positioned at the second sinking position, and is higher than the lower layer conveying line 10 when being positioned at the second middle section position and the second lifting position; the second lift mechanism includes a second lift drive, a second lift support coupled to the second lift drive, the second lift support capable of horizontal reciprocation at a second given height to clear or couple to an empty tray 2021 at the bottom of the empty tray stack 202.
When the first jacking support 1312 is at the first middle position, one end of the first jacking support 1312, which is relatively far from the ground, is lower than the first given height; when the second jacking supporting piece is at the second middle section position, one end of the second jacking supporting piece, which is relatively far away from the ground, is lower than a second given height; when the first lifting support 1312 is at the first lifting position, an end of the first lifting support 1312, which is relatively far from the ground, is located at a first given height; when the second jacking support is at the second lifting position, one end of the second jacking support, which is relatively far away from the ground, is located at a second given height.
The stacking means 23 is substantially identical in construction to the unstacking means 13, so that the unstacking action of the unstacking means 13 and the stacking action of the stacking means 23 can be regarded as a set of actions of opposite timing. The unstacking action process is as follows:
1) The first lifting support 1312 at the first sinking position is lifted by a first stroke under the drive of the first lifting drive 1311 to reach the first middle position, and the loading tray group 201 is lifted by the first lifting support 1312;
2) The first lifting driving piece 1321 drives the first lifting supporting piece 1322 to horizontally extend towards the material carrying tray set 201 until the first lifting supporting piece 1322 is fixedly connected to a second material carrying tray 2011 of the material carrying tray set 201 from the bottom, so that all the rest material carrying trays 2011 except the bottom in the material carrying tray set 201 are temporarily supported by the first lifting supporting piece 1322;
3) The first jacking support 1312 returns to the first sinking position from the first middle position, so that the lowest carrying tray 2011 of the carrying tray group 201 is driven to return to the upper conveying line 20, the upper conveying line 20 conveys the split carrying tray 2011 to the transfer upper connecting end 22, and the split carrying tray 2011 leaves from the bottoms of the rest carrying trays 2011;
4) The first lifting support 1312 continuously lifts up by a first stroke and a second stroke under the driving of the first lifting driving member 1311, and directly lifts up from the first sinking position to the first lifting position, then the first lifting support 1322 horizontally retracts and leaves the loading tray 2011, and finally the first lifting support 1312 supports the loading tray 2011 at the bottom of the loading tray set 201;
5) The first lifting support 1312 descends for a second stroke, returns from the first lifting position to the first middle position, and the first lifting drive 1321 drives the first lifting support 1322 to horizontally extend again until the first lifting support 1322 is fixedly connected to the second loading tray 2011 from the bottom of the loading tray set 201.
Repeating the steps 3) to 5) until the loading tray 2011 is completely detached.
Further, referring to fig. 4, the lifting device 30 further includes a lifting frame 38 fixedly connected to the frame 50, a lifting driving member 33 fixedly mounted on the lifting frame 38, a driving wheel 35 and a driven wheel 36 mounted on the lifting frame 38, and a closed-loop transmission member 34 wound around the driving wheel 35 and the driven wheel 36. The driving wheel 35 is connected to the lifting driving member 33, the closed loop driving member 34 is wound around the driving wheel 35 and the driven wheel 36 to form a tensioning section 341 extending in the vertical direction, and the receiving and sending mechanism 32 is connected to the tensioning section 341. The lifting drive member 33 can drive the tensioning section 341 to reciprocate, and the pickup mechanism 32 is lifted or lowered by the tensioning section 341.
When the upper conveyor line 20 is used for conveying the loading tray 2011 and the lower conveyor line 10 is used for conveying the empty tray 2021, the lifting device 30 has the task of moving the empty tray 2021 downwards and carrying the empty tray 2021 towards the middle lower joint 12 after the material taking device 40 takes the material, so that the lower conveyor line 10 takes the empty tray 2021, and after the empty tray 2021 is conveyed to the lower conveyor line 10, the weight is not required when the pickup mechanism 32 is lifted and reset. Obviously, the load of the pickup mechanism 32 is reduced, so that the lifting device 30 can be reduced in weight and the load capacity requirement for the lifting drive 33 can be reduced.
Optionally, the closed-loop transmission member 34 is a synchronous belt, and the driving wheel 35 and the driven wheel 36 are synchronous pulleys.
Optionally, the lifting device 30 further includes a coupling 37, the lifting driving member 33 is detachably mounted on the lifting frame 38, and the coupling 37 is connected to the driving wheel 35 and is detachably connected to the lifting driving member 33.
The coupling 37 is provided and the lifting driving member 33 is detachably mounted, so that the lifting driving member 33 can be replaced according to the requirement, or the lifting driving member 33 with other power specifications can be used instead.
In some embodiments, the docking end 51 is provided with a locking mechanism (not shown) for fixedly connecting the AGV, and when the AGV is parked at the loading/unloading station, the locking mechanism fixedly connects the rack 50 and the AGV, so that the loading tray 2011 can be ensured to be smoothly transferred to the conveying device, and the empty tray 2021 is ensured to be smoothly transferred to the AGV, so that the position and posture of the loading tray 2011 are prevented from being changed due to the unstable parking of the AGV, or the empty tray 2021 is difficult to be smoothly received.
Further, the docking end 51 is provided with a first regulating mechanism (not shown) corresponding to the upper layer conveying line 20 and a second regulating mechanism corresponding to the lower layer conveying line 10, wherein the first regulating mechanism is used for slightly driving the trays 200 positioned on the upper layer conveying line 20 so as to adjust the positions of the trays 200 and correct the position errors of the trays 200; the second alignment mechanism is used for slightly driving the trays 200 positioned on the lower conveying line 10 so as to adjust the positions and postures of the trays 200 and correct the position and posture errors of the trays 200. When the upper conveyor line 20 conveys the loading tray 2011 and the lower conveyor line 10 conveys the empty tray 2021, the pose error correction of the first normalization mechanism can enable the loading tray 2011 to be taken by the material taking device 40 under the correct pose condition, and the pose error correction of the second normalization mechanism can enable the empty tray 2021 to be transferred to the second loading part of the AGV under the correct pose condition.
Further, the feeding and tray recycling system 100 further includes a third calibration mechanism 60 mounted on the receiving mechanism 32, the third calibration mechanism 60 includes a pose detection assembly and a pose adjustment assembly 62, the pose detection assembly is used for detecting the pose of the tray 200 located on the receiving mechanism 32, the pose adjustment assembly 62 is used for applying force to the tray 200 located on the receiving mechanism 32, and the pose error of the tray 200 is adjusted and corrected by driving the tray 200 to move slightly.
Specifically, the pose detection component may be a laser detection module; the number of pose adjustment assemblies 62 is plural, and at least two pose adjustment assemblies 62 are respectively mounted on two oppositely disposed vertex angle areas of the pick-up mechanism 32, specifically, may be mounted on two oppositely disposed vertex angle areas of the pick-up plate.
It will be appreciated that in other embodiments, the pose detection assembly may be omitted, and only the pose adjustment assembly 62 may be retained, that is, no matter whether the pose of the tray 200 reaching the pick-up mechanism 32 is correct, a certain force may be applied by the pose adjustment assembly 62, and the pose of the tray 200 is correct after the stress is applied.
Optionally, the pose adjusting assembly 62 includes a pose adjusting cylinder 621, and pose adjusting push blocks 622 connected to the pose adjusting cylinder 621, where the two pose adjusting push blocks 622 are disposed opposite to each other along a connecting line of two opposite vertex angles of the pick-up mechanism 32, the pose adjusting cylinder 621 can drive the pose adjusting push blocks 622 to move, and the two pose adjusting cylinders 621 can respectively drive the two pose adjusting push blocks 622 to move close to or far away from each other along the connecting line of two opposite vertex angles of the pick-up mechanism 32.
So set up, realized carrying out comparatively abundant position appearance to tray 200 with relative few position appearance adjustment subassembly 62 and adjusted the ejector pad 622 when two position appearance and adjusted the ejector pad and move in opposite directions along two apex angle lines of pick-up mechanism 32, both can exert pressure to tray 200 in the length direction of pick-up mechanism 32, also can exert pressure to tray 200 in the width direction of pick-up mechanism 32, the length direction of pick-up mechanism 32 and the width direction of pick-up mechanism 32 are the horizontal direction.
Optionally, the two pose adjustment push blocks 622 are respectively provided with a V-shaped limiting groove, and the openings of the V-shaped limiting grooves of the two pose adjustment push blocks 622 are opposite.
So set up, pose adjustment push block 622 through V-arrangement spacing groove adaptation and joint tray 200's edge, can exert bigger holding power to tray 200 and can not cause tray 200 to appear pose error and unexpected rocking.
The technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
It will be appreciated by persons skilled in the art that the above embodiments have been provided for the purpose of illustrating the utility model and are not to be construed as limiting the utility model, and that suitable modifications and variations of the above embodiments are within the scope of the utility model as claimed.

Claims (10)

1. Feeding and tray recovery system, its characterized in that includes conveyor, AGV car, elevating gear (30) and extracting device (40), wherein:
the conveying device comprises an upper layer conveying line (20) and a lower layer conveying line (10) which extend side by side and are arranged at intervals in the vertical direction;
the AGV comprises a first loading part and a second loading part which are used for bearing a tray (200);
the lifting device (30) is positioned at one side of the conveying device, and one end of the upper conveying line (20) and one end of the lower conveying line (10) are both pointed to the lifting device (30);
when the AGV is parked at the loading and unloading station, the AGV is positioned at the other side of the conveying device, the other end of the upper conveying line (20) is in butt joint with the first loading part, and the other end of the lower conveying line (10) is in butt joint with the second loading part;
the lifting device (30) comprises a lifting guide rail (31) and a receiving and delivering mechanism (32) which is connected to the lifting guide rail (31) in a lifting manner, wherein the receiving and delivering mechanism (32) can ascend and butt against the upper layer conveying line (20) and can descend and butt against the lower layer conveying line (10);
the material taking device (40) can move back and forth between a material taking position and a material feeding position, and the material taking device (40) is positioned above the conveying device or above the receiving and sending mechanism (32) when the material taking position is obtained.
2. The feeding and tray recycling system according to claim 1, characterized in that the lifting device (30) further comprises a lifting driving member (33), a closed-loop transmission member (34), a driving wheel (35) and a driven wheel (36), the closed-loop transmission member (34) is wound around the driving wheel (35) and the driven wheel (36) and forms a tensioning section (341), the driving wheel (35) is connected with the lifting driving member (33), and the pick-up mechanism (32) is connected with the tensioning section (341).
3. The feeding and tray recycling system according to claim 2, characterized in that the tensioning section (341) and the lifting rail (31) both extend in a vertical direction; and/or the number of the groups of groups,
the closed-loop transmission part (34) is a synchronous belt, and the driving wheel (35) and the driven wheel (36) are synchronous belt wheels; and/or the number of the groups of groups,
the lifting device (30) further comprises a coupling (37), and the coupling (37) is connected to the driving wheel (35) and detachably connected to the lifting driving piece (33).
4. The feeding and pallet recycling system according to claim 1, characterized in that it further comprises a unstacking device (13) mounted on the upper conveyor line (20), a stacking device (23) mounted on the lower conveyor line (10);
the first loading part is used for bearing a material loading tray group (201), and the second loading part is used for bearing an empty tray group (202);
the unstacking device (13) is used for separating the carrying trays (2011) from the bottom of the carrying tray group (201) one by one, and the stacking device (23) is used for replenishing empty trays (2021) to the bottom of the empty tray group (202) one by one;
the take-off position is located above the upper conveyor line (20) or above the pick-up mechanism (32) when the take-off position is at the take-off position.
5. The loading and pallet recycling system according to claim 4, characterized in that said unstacking device (13) comprises:
the first jacking mechanism (131) comprises a first jacking driving piece (1311) and a first jacking supporting piece (1312) connected to the first jacking driving piece (1311), wherein the first jacking supporting piece (1312) is provided with a first sinking position, a first middle section position and a first lifting position which are sequentially lifted along the vertical direction;
a first lifting mechanism (132) comprising a first lifting drive (1321), a first lifting support (1322) connected to the first lifting drive (1321), the first lifting support (1322) being capable of reciprocating horizontally at a first given height to leave or connect a loading tray (2011) at the bottom of the loading tray set (201);
the first jacking support (1312) is not higher than the upper conveyor line (20) in the first submerged position and is higher than the upper conveyor line (20) in the first intermediate position and the first lifted position;
the stacking device (23) comprises:
the second jacking mechanism comprises a second jacking driving piece and a second jacking supporting piece connected to the second jacking driving piece, and the second jacking supporting piece is provided with a second sinking position, a second middle section position and a second lifting position which are sequentially lifted along the vertical direction;
a second lifting mechanism comprising a second lifting drive, a second lifting support connected to the second lifting drive, the second lifting support being capable of horizontal reciprocation at a second given height to leave or connect an empty tray (2021) at the bottom of the empty tray group (202);
the second jacking support is not higher than the lower conveying line when in the second sinking position, and is higher than the lower conveying line when in the second middle section position and the second lifting position.
6. The loading and pallet recycling system according to claim 1, characterized in that the conveyor further comprises a frame (50) carrying the upper conveyor line (20), the lower conveyor line (10) and the lifting device (30), the frame (50) comprising a butt end (51) and a middle turning end (52), the upper conveyor line (20) extending relatively far from the lifting device (30) to the butt end (51), the lower conveyor line (10) extending relatively far from the lifting device (30) to the butt end (51), the upper conveyor line (20) extending to the middle turning end (52) towards the end of the lifting device (30), the lower conveyor line (10) extending to the middle turning end (52) towards the end of the lifting device (30); wherein:
the butt joint end (51) is provided with a locking mechanism for fixedly connecting the AGV; and/or the number of the groups of groups,
the butt joint end (51) is provided with a first regulating mechanism corresponding to the upper conveying line (20), and the first regulating mechanism is used for driving the tray (200) to adjust the position and the posture of the tray (200); and/or the number of the groups of groups,
the butt joint end (51) is provided with a second regulating mechanism corresponding to the lower conveying line (10), and the second regulating mechanism is used for driving the tray (200) to adjust the position and the posture of the tray (200).
7. The feeding and tray recycling system according to claim 1, further comprising a third regulating mechanism (60) mounted on the pick-up mechanism (32), wherein the third regulating mechanism (60) comprises a pose detection assembly and a pose adjusting assembly (62), the pose detection assembly is used for detecting the pose of the tray (200), and the pose adjusting assembly (62) is used for driving the tray (200) to adjust the pose of the tray (200).
8. The feeding and tray recycling system according to claim 7, characterized in that the number of the pose adjusting assemblies (62) is plural, and at least two pose adjusting assemblies (62) are respectively installed in two opposite vertex angle areas of the pick-up mechanism (32).
9. The feeding and tray recycling system according to claim 8, wherein the pose adjusting assembly (62) comprises a pose adjusting cylinder (621), pose adjusting pushing blocks (622) connected to the pose adjusting cylinder (621), the pose adjusting pushing blocks (622) of the two pose adjusting assemblies (62) are arranged opposite to each other, and the pose adjusting cylinders (621) of the two pose adjusting assemblies (62) can drive the two pose adjusting pushing blocks (622) to move close to or away from each other.
10. The feeding and tray recycling system according to claim 8, wherein the pose adjusting push blocks (622) of the pose adjusting assembly (62) are respectively provided with V-shaped limiting grooves, and the openings of the V-shaped limiting grooves of the two pose adjusting push blocks (622) are arranged in opposite directions.
CN202322133088.1U 2023-08-08 2023-08-08 Feeding and tray recycling system Active CN220448873U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202322133088.1U CN220448873U (en) 2023-08-08 2023-08-08 Feeding and tray recycling system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202322133088.1U CN220448873U (en) 2023-08-08 2023-08-08 Feeding and tray recycling system

Publications (1)

Publication Number Publication Date
CN220448873U true CN220448873U (en) 2024-02-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202322133088.1U Active CN220448873U (en) 2023-08-08 2023-08-08 Feeding and tray recycling system

Country Status (1)

Country Link
CN (1) CN220448873U (en)

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