CN109051764B - Loading and unloading device and pad printing equipment - Google Patents
Loading and unloading device and pad printing equipment Download PDFInfo
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- CN109051764B CN109051764B CN201811026688.5A CN201811026688A CN109051764B CN 109051764 B CN109051764 B CN 109051764B CN 201811026688 A CN201811026688 A CN 201811026688A CN 109051764 B CN109051764 B CN 109051764B
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The application provides a loading and unloading device and pad printing equipment, and relates to the technical field of pad printing equipment. The feeding and discharging device comprises: the angle adjusting mechanism comprises a camera and a hollow rotating shaft, a vacuum suction port is arranged at the top of the hollow rotating shaft, and the hollow rotating shaft is connected with a second driver; the shifting mechanism is used for driving the clamping mechanism to move in the horizontal direction and the vertical direction, the clamping mechanism comprises a first clamping assembly, the first clamping assembly comprises a first driver and a plurality of clamping pieces, the clamping areas are surrounded by the clamping pieces, the first driver drives the clamping pieces to move along the horizontal direction so as to adjust the cross section size of the clamping areas, and flexible limiting pieces are arranged on the clamping pieces. The feeding and discharging device does not need to contact the process surface of the material when the material is transported, can provide downward pressure for the material, reduces the abrasion of the material in the transferring process, and improves the production yield.
Description
Technical Field
The application relates to the technical field of pad printing equipment, in particular to a feeding and discharging device and pad printing equipment.
Background
In the printing processing process of the existing round product, the production process surface (printing surface) cannot be contacted with other media, and the matching difficulty of the positioning angle and the pattern angle of the round product is high, so that the material is difficult to transfer by adopting a traditional loading and unloading device.
For example, in the pad printing process of the round watch glass, if the round watch glass is transferred by adopting a suction cup to suck, the production process surface (printing surface) of the material is contacted with the suction cup, and the suction cup is easy to cause abrasion of the production process surface of the material, so that the production yield is reduced. If other clamps are used for clamping the side surfaces of the materials, on one hand, the round materials are not easy to clamp; on the other hand, when placing the material into the processing station, a certain pressure needs to be applied to the material to place the material into the processing station, and the clamp for clamping the side surface of the material cannot provide downward pressure to enable the material to enter the processing station. In addition, when the round material is subjected to screen printing, the material positioning angle is required to be matched with the pattern angle, and the material is required to be accurately placed in a processing station (such as an acupoint of a pad printing jig), so that the material is required to be positioned before being placed in the processing station.
Therefore, the feeding and discharging device which can transfer the material without contacting the production process surface of the material, can provide the material with downward pressure and can position the material is a technical problem to be solved urgently.
Disclosure of Invention
The application aims to provide a loading and unloading device which aims to solve the technical problems in the prior art.
The feeding and discharging device provided by the application comprises: an angle adjusting mechanism, a shifting mechanism and a clamping mechanism which are connected with each other;
the angle adjusting mechanism comprises a camera and a hollow rotating shaft, a vacuum suction port is arranged at the top of the hollow rotating shaft, the hollow rotating shaft is connected with a second driver, and the second driver is used for driving the hollow rotating shaft to rotate;
the shifting mechanism is used for driving the clamping mechanism to move in the horizontal direction and the vertical direction;
the clamping mechanism comprises a first clamping assembly, the first clamping assembly comprises a first driver and a plurality of clamping pieces connected to the first driver, the clamping pieces are arranged at intervals, a plurality of clamping pieces enclose a clamping area, the first driver drives the clamping pieces to move along the horizontal direction so as to adjust the cross section size of the clamping area, flexible limiting pieces are arranged on the clamping pieces, and at least a part of the flexible limiting pieces are located above the clamping area.
In the above technical solution, further, the cross section of the clamping area is circular, and the first clamping assembly includes three clamping pieces that are uniformly arranged.
In any of the above technical solutions, further, the first driver is an electric three-jaw chuck, the electric three-jaw chuck has three jaws, and the clamping pieces are connected with the jaws in a one-to-one correspondence manner.
In any of the above technical solutions, further, the clamping mechanism further includes a second clamping assembly, the second clamping assembly has the same structure as the first clamping assembly, the first clamping assembly and the second clamping assembly are connected through a rotation shaft and are symmetrically arranged relative to the rotation shaft, and the rotation shaft is used for driving the clamping mechanism to rotate in the horizontal direction.
In any of the above technical solutions, further, the second clamping assembly is connected with the rotating shaft through a sliding table cylinder, and the sliding table cylinder is used for driving the second clamping assembly to move along a vertical direction.
In any of the above technical solutions, the material tray further comprises a material tray, the material tray comprises a supporting frame and a plurality of partition boards, the supporting frame is provided with a plurality of hollow areas, the partition boards are installed on the supporting frame, the partition boards are divided into a plurality of groups, each partition board in each group is arranged at intervals, gaps between adjacent partition boards are opposite to the hollow areas on the supporting frame, and each partition board in each group encloses a material accommodating area.
In any of the above technical solutions, further, a bottom limiting member is connected to the bottom of the clamping member.
In any of the above technical solutions, the device further comprises a positioning mechanism, the positioning mechanism comprises a first positioning component and a second positioning component, the two sides of the tray along the first direction are respectively provided with the first positioning component, the first positioning component comprises a first positioning cylinder and a first positioning block connected with the first positioning cylinder, and the first positioning cylinder drives the first positioning block to move along the first direction; the two sides of the material tray along the second direction are respectively provided with a second positioning assembly, each second positioning assembly comprises a second positioning cylinder and a second positioning block connected with the corresponding second positioning cylinder, and the second positioning cylinders drive the corresponding second positioning blocks to move along the second direction.
Compared with the prior art, the feeding and discharging device has the following advantages:
in the application process of the feeding and discharging device, the shifting mechanism controls the clamping mechanism to enable the clamping mechanism to move in the horizontal direction and the vertical direction, when the clamping mechanism is used for clamping materials, the clamping mechanism is firstly moved to the position right above the materials to be clamped, and each clamping piece is moved through the first driver, so that the section size of a clamping area is slightly larger than the section size of the materials; then controlling the clamping mechanism to descend through the shifting mechanism so that each clamping piece is positioned at the periphery of the material respectively; the first driving mechanism enables each clamping piece to move so as to reduce the cross-sectional size of the clamping area, and the clamping pieces clamp materials.
The displacement mechanism then controls the gripper mechanism to rise and move in a horizontal direction into the next device of the line. When the angle adjustment and the repositioning are needed to be carried out on the material, the next device is the angle adjustment mechanism, namely the shifting mechanism controls the clamping mechanism to place the material at the angle adjustment mechanism, the camera is used for photographing the material to identify the existing angle of the material, so that the required rotation direction and rotation angle of the material are judged, the material is placed on the hollow rotating shaft, the material is fixed through the vacuum suction port, and the second driver drives the material to rotate, so that the angle of the material is adjusted.
After the angle of the material is adjusted, the clamping mechanism clamps the material again and moves the material to the next device. When the next process is a pad printing process, the shifting mechanism moves the clamping mechanism to the upper part of the pad printing jig, and moves the clamping mechanism downwards together with the materials clamped by the clamping mechanism, and the materials are pressed into the processing position of the pad printing jig through the flexible limiting piece on the clamping piece.
Therefore, the feeding and discharging device provided by the application can be clamped on the side wall of a material to avoid clamping on the production process surface of the material, and can provide certain pressure for the material through the flexible limiting piece so that the material smoothly enters the processing position of the pad printing jig; simultaneously, still be provided with angle adjustment mechanism, can carry out angle adjustment to the material through angle adjustment mechanism in order to ensure that material location angle and pattern angle match. In addition, because the clamping assembly comprises a plurality of clamping pieces, each clamping piece is arranged at intervals, different clamping pieces are in contact with a plurality of areas of the side wall of the material, and therefore the clamping assembly is applicable to materials with various cross-sectional shapes, including round materials.
Another object of the present application is to provide a pad printing apparatus, which solves the above-mentioned technical problems in the prior art.
In order to achieve the above purpose, the technical scheme of the application is realized as follows:
a pad printing apparatus comprising: the pad printing jig and the feeding and discharging device according to the technical scheme are used for placing materials on the pad printing jig and taking out the materials on the pad printing jig.
The pad printing device and the feeding and discharging device have the same advantages compared with the prior art, and are not described in detail herein.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a loading and unloading device according to an embodiment of the present application at a first view angle;
fig. 2 is a schematic structural diagram of a loading and unloading device according to an embodiment of the present application at a second view angle;
fig. 3 is a schematic structural diagram of a loading and unloading device according to a third view angle provided by an embodiment of the present application;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
fig. 5 is a schematic structural diagram of a first clamping assembly in the feeding and discharging device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a clamping member in a feeding and discharging device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a tray in the feeding and discharging device according to an embodiment of the present application.
In the figure: 10-a displacement mechanism; 11, rotating a shaft; 12-locking the shaft; 20-a first clamping assembly; 21-an electric three-jaw chuck; 22-clamping piece; 221-flexible limiting piece; 222-a bottom stop; 223-clamping part; 30-a second clamping assembly; 40-a slipway cylinder; 50-an angle adjusting mechanism; 51-a hollow rotating shaft; 52-a second driver; 53-CCD camera; 54-a horizontal mounting plate; 55-a vertical mounting plate; 56-a photographing hole; 60-material trays; 61-a support frame; 611-a grid-like chassis; 612-supporting ribs; 613-a support ring; 614-hollowed-out area; 62-a separator; 71-a first positioning cylinder; 72-a first positioning block; 73-a second positioning cylinder; 74-a second positioning block; 80-pad printing jig; 81-boss; 90-material.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Example 1
As shown in fig. 1 to fig. 6, the feeding and discharging device provided by the embodiment of the application includes: an angle adjustment mechanism 50, and a displacement mechanism 10 and a clamping mechanism connected to each other, wherein:
the angle adjusting mechanism 50 includes a camera and a hollow rotating shaft 51, a vacuum suction port is provided at the top of the hollow rotating shaft 51, the hollow rotating shaft 51 is connected with a second driver 52, and the second driver 52 is used for driving the hollow rotating shaft 51 to rotate.
The shifting mechanism 10 is used for driving the clamping mechanism to move in the horizontal direction and the vertical direction, the clamping mechanism comprises a first clamping component 20, the first clamping component 20 comprises a first driver and a plurality of clamping pieces 22 connected to the first driver, the clamping pieces 22 are arranged at intervals, a clamping area is surrounded by the clamping pieces 22, the first driver drives the clamping pieces 22 to move in the horizontal direction so as to adjust the cross section size of the clamping area, flexible limiting pieces 221 are arranged on the clamping pieces 22, and at least part of the area of the flexible limiting pieces 221 is located above the clamping area. In particular, the flexible limiting member 221 may be made of silica gel.
In the application process of the feeding and discharging device of the embodiment of the application, the shifting mechanism 10 controls the clamping mechanism so that the clamping mechanism moves in the horizontal direction and the vertical direction, the shifting mechanism 10 controls the clamping mechanism to move in the vertical direction to approach the material 90 to finish the process of taking and placing the material 90, and the shifting mechanism 10 controls the clamping mechanism to move in the horizontal direction to move the material 90 between the material tray 60 and the equipment of the next process flow.
When the clamping mechanism is used for clamping the material 90, the clamping mechanism is firstly moved to be right above the material 90 to be clamped, and each clamping piece 22 is moved through the first driver, so that the cross-sectional size of the clamping area is slightly larger than that of the material 90; then the clamping mechanism is controlled to descend through the shifting mechanism 10, so that each clamping piece 22 is respectively positioned at the periphery of the material 90; each of the clamping members 22 is moved by the first drive mechanism to reduce the cross-sectional size of the clamping area so that the clamping members 22 clamp the material 90.
The displacement mechanism 10 then controls the gripper mechanism to rise and move in a horizontal direction into the next device of the line. When the angle of the material 90 needs to be adjusted and repositioned, the next device is the angle adjusting mechanism 50, that is, the shifting mechanism 10 controls the clamping mechanism to place the material 90 at the angle adjusting mechanism 50, the camera is used for photographing the material 90 to identify the existing angle of the material 90, so as to judge the required rotation direction and rotation angle of the material 90, the material 90 is placed on the hollow rotating shaft 51, the material 90 is fixed through the vacuum suction port, and the second driver 52 drives the material 90 to rotate, so that the angle of the material 90 is adjusted.
After the angle of the material 90 is adjusted, the clamping mechanism again clamps the material 90 and moves the material 90 to the next apparatus. When the next process is a pad printing process, the shifting mechanism 10 moves the clamping mechanism above the pad printing jig 80, and moves the clamping mechanism downwards together with the material 90 clamped by the clamping mechanism, and the material 90 is pressed into the processing station of the pad printing jig 80 through the flexible limiting piece 221 on the clamping piece 22, so that the feeding process is realized. Because the flexible limiting piece 221 has flexibility, a certain buffering effect is achieved in the process of pressing the material 90 into the processing station, and the surface of the material 90 is prevented from being damaged. After the material 90 is processed, the displacement mechanism 10 drives the clamping mechanism to descend to approach the processing station and take out the material 90, thereby realizing the blanking process.
In summary, the feeding and discharging device provided in this embodiment can be clamped on the side wall of the material 90 to avoid clamping on the production process surface of the material 90, and can provide a certain pressure for the material 90 through the flexible limiting member 221 to enable the material 90 to smoothly enter the processing station of the pad printing jig 80; meanwhile, an angle adjusting mechanism 50 is further arranged, and the angle of the material 90 can be adjusted through the angle adjusting mechanism 50 so as to ensure that the positioning angle of the material 90 is matched with the pattern angle. In addition, since the clamping assembly includes a plurality of clamping members 22, each clamping member 22 is spaced apart, different clamping members 22 are in contact with multiple areas of the sidewall of the material 90, and thus are adaptable to a variety of different cross-sectional shapes of the material 90, including circular materials 90.
In the above technical solution, further, the angle adjusting mechanism 50 further includes a controller, where the controller may be a PLC (Programmable Logic Controller ), and the camera may be a CCD (charge coupled device ) camera. In the process of angle adjustment, the shifting mechanism 10 moves the material 90 clamped by the clamping mechanism to the position above the CCD camera 53, and after the CCD camera 53 photographs the material 90, the clamping mechanism places the material 90 on the hollow rotating shaft 51, and the hollow rotating shaft 51 fixes the material 90 through the vacuum suction port. The CCD camera 53 transmits an image signal to the PLC, and the PLC judges the required rotation direction and rotation angle of the material 90 according to the transmitted image signal and controls the hollow rotating shaft 51 to rotate the material 90 so as to adjust the angle of the material 90. After the angle of the material 90 is adjusted, the clamping mechanism clamps the material 90 again and moves the material 90 to the pad printing jig 80.
Specifically, the CCD camera 53 and the hollow rotating shaft 51 are mounted on a mounting bracket, the mounting bracket comprises a horizontal mounting plate 54 and a vertical mounting plate 55 connected below one end of the horizontal mounting plate 54, the CCD camera 53 is mounted on the vertical mounting plate 55, a shooting hole 56 is formed in the horizontal mounting plate 54, and a lens of the CCD camera 53 faces the shooting hole 56. The second driver 52 is mounted below the horizontal mounting plate 54, the top end of the hollow rotating shaft 51 extends out of the horizontal mounting plate 54, and the vacuum suction hole is positioned at the top of the hollow rotating shaft 51. The second driver 52 may employ a servo motor.
When two clamping members 22 are included in the clamping assembly, the two clamping members 22 are disposed opposite each other and move in opposite directions, and the two clamping members 22 can be used to clamp a rectangular plate-shaped material 90 or a profile material 90 having two opposite parallel sides.
When the inner wall section of the clamping portion 223 of the clamping member 22 is arc-shaped, a clamping assembly having two clamping members 22 may also be used to clamp the round material 90.
To facilitate gripping of round material 90, the cross-section of the gripping area enclosed between the gripping members 22 within the gripping assembly is circular. When the cross section of the clamping portion 223 of the clamping member 22 is rectangular or circular, in order to stably clamp the circular material 90, the first clamping assembly 20 at least includes three clamping members 22, the connecting lines of the center points of the three clamping members 22 form an isosceles triangle or an equilateral triangle, the three clamping members 22 are located on the same circular ring line, the moving direction of the three clamping members 22 is along the radial direction of the circular ring line where the three clamping members 22 are located, when the three clamping members 22 move along the radial direction away from the center of the circular ring line, the cross section of the circular area enclosed by the three clamping members 22 is increased, and when the three clamping members 22 move along the radial direction close to the center of the circular ring line, the cross section of the circular area enclosed by the three clamping members 22 is decreased.
When the number of the clamping members 22 included in the clamping assembly is greater than three, the clamping members 22 are arranged in a similar manner to the three clamping members. The plurality of clamping members 22 are all located on the same circular ring line and move radially along the circular ring line to expand or contract the circumference of the circular ring line, thereby expanding or contracting the cross-sectional area of the clamping area to clamp or unclamp the circular material 90.
When the number of the clamping members 22 in the clamping assembly is three, the first driver may employ an electric three-jaw chuck 21, the electric three-jaw chuck 21 having three jaws, and the clamping members 22 are connected in one-to-one correspondence with the jaws. When the electric three-jaw chuck 21 controls each jaw to move, each jaw drives the clamping piece 22 connected with the jaw to move.
In any of the above technical solutions, further, the shifting mechanism 10 has a rotation shaft 11, the rotation shaft 11 is used for driving the clamping mechanism to rotate in the horizontal direction, the clamping mechanism further includes a second clamping assembly 30, the second clamping assembly 30 has the same structure as the first clamping assembly 20, the first clamping assembly 20 and the second clamping assembly 30 are respectively connected to two sides of the rotation shaft 11 and symmetrically arranged relative to the rotation shaft 11, the rotation shaft 11 is used for driving the clamping mechanism to rotate in the horizontal direction, that is, the rotation shaft 11 is used for driving the first clamping assembly 20 and the second clamping assembly 30 to rotate in the horizontal direction.
Specifically, when the first clamping assembly 20 includes the electric three-jaw chuck 21, and the three clamping members 22 connected to the electric three-jaw chuck 21, the second clamping assembly 30 also includes the electric three-jaw chuck 21, and the three clamping members 22 connected to the electric three-jaw chuck 21. The first clamping assembly 20 has the same structure and the same working principle as the second clamping assembly 30. In use, the first clamping assembly 20 is used to remove material 90 to be processed from the tray 60 and to place the material 90 to be processed into a processing station; the second clamp assembly 30 is used to remove the processed material 90 from the processing station and return the processed material 90 to the tray 60.
In the working process of the feeding and discharging device without the second clamping assembly 30, the first clamping assembly 20 needs to wait for the processing of the material 90 at the processing station, and take out and transport the processed material 90 back to the tray 60, then the next material 90 to be processed can be clamped. In the working process of the loading and unloading device provided with the second clamping assembly 30, the first clamping assembly 20 does not need to wait for the material 90 of the processing station to be processed, the material 90 to be processed can be returned to the material tray 60 to clamp and take out the next material 90 to be processed after being placed into the processing station, when the next material 90 to be processed is conveyed to the processing station, the material 90 of the processing station is taken out through the second clamping assembly 30, and then the material 90 to be processed on the first clamping assembly 20 is placed into the processing station, so that the time is saved, the loading and unloading efficiency is improved, and the overall transfer efficiency of a batch of materials 90 is also improved.
When the clamping mechanism is moved to processing equipment of the next process flow, firstly, the processed material 90 on the processing equipment is taken out through the second clamping assembly 30, then the clamping mechanism is rotated, the material 90 clamped on the first clamping assembly 20 is rotated to the position above the processing position of the processing equipment, the material 90 is pressed down to the processing position, finally, the clamping mechanism is moved to the position of the material tray 60, and the processed material 90 clamped on the second clamping assembly 30 is placed in the material tray 60.
In a specific implementation manner of this embodiment, the displacement mechanism 10 adopts a SCARA (Selective Compliance Assembly Robot Arm, a robot arm applied to assembly operation), a spline screw is mounted on the SCARA, the spline screw is a rotating shaft 11 of the SCARA robot, the spline screw is connected with the clamping mechanism, the spline screw is driven by the SCARA to move in horizontal and vertical directions of the clamping mechanism, and the clamping mechanism is driven to rotate in the horizontal direction by controlling the rotation of the spline screw.
Further, the clamping mechanism is connected with a spline screw through a locking shaft 12. The first clamping assembly 20 and the second clamping assembly 30 are mounted to opposite sides of the locking shaft 12, respectively.
In order to facilitate adjustment of the height difference between the second clamping assembly 30 and the first clamping assembly 20, in one specific implementation of the present embodiment, the second clamping assembly 30 is connected to the rotating shaft 11 through a sliding table cylinder 40, and the sliding table cylinder 40 is used to drive the second clamping assembly 30 to move in the vertical direction. Specifically, the second clamping assembly 30 is mounted on a fixed plate that is connected to the moving end of the slide cylinder 40.
So configured, when the first clamping assembly 20 clamps the material 90 in the tray 60, the second clamping assembly 30 is moved upward by a certain distance, such that the second clamping assembly 30 is located at a position higher than the first clamping assembly 20, so as to avoid the clamping mechanism of the second clamping assembly 30 contacting the tray 60; when the second clamping assembly 30 is to remove the processed material 90, the second clamping assembly 30 is moved downward a distance such that the second clamping assembly 30 is positioned lower than the first clamping assembly 20 to avoid the first clamping assembly 20 contacting the processing equipment.
For example, in one implementation, when the first clamping assembly 20 clamps the material 90 in the tray 60, the sliding table cylinder 40 is in the retracted state, and the clamping member 22 of the second clamping assembly 30 is located 20mm higher than the clamping member 22 of the first clamping assembly 20; when the second clamping assembly 30 is used for taking out the processed material 90, the sliding table cylinder 40 is in an extending state, and the clamping piece 22 of the second clamping assembly 30 is positioned 20mm lower than the clamping piece 22 of the first clamping assembly 20.
As shown in fig. 1 and 7, the loading and unloading apparatus further includes a specially adapted tray 60 for gripping the material 90 in the tray 60. The tray 60 comprises a supporting frame 61 and a plurality of partition boards 62, the supporting frame 61 is provided with a plurality of hollowed-out areas 614, the partition boards 62 are arranged on the supporting frame 61, the partition boards 62 are divided into a plurality of groups, each partition board 62 in each group is arranged at intervals, gaps between adjacent partition boards 62 are opposite to the hollowed-out areas 614 on the supporting frame 61, and each partition board 62 in each group encloses a material 90 accommodating area.
In any of the above embodiments, further, a bottom limiting member 222 is connected to the bottom of the clamping member 22. The bottom limiting piece 222 is located in the bottom area of the clamping piece 22, and a part of the bottom limiting piece 222 is located below the clamping area, so that the bottom limiting piece 222 and the flexible limiting piece 221 are arranged on the upper side and the lower side of the clamping area respectively to limit the material 90, and the bottom limiting piece 222 can prevent the material 90 from sliding off the bottom of the clamping piece 22.
When the material 90 is contained in the tray 60, during the process of clamping the material 90 by using the clamping member 22, the bottom area of the clamping member 22 passes through the gap between the adjacent partition plates 62 and extends into the hollowed-out area 614 on the support frame 61, so that the side wall of the clamping portion 223 of the clamping member 22 can be better contacted with the material 90, and especially when the clamping member 22 includes the bottom limiting member 222, the bottom limiting member 222 can extend into the hollowed-out area 614, so as to avoid the bottom limiting member 222 from contacting with the material 90.
When the material 90 is a round material 90, as shown in fig. 7, the tray 60 may be disposed as follows: the support frame 61 includes a lattice-shaped chassis 611, in each lattice of the lattice-shaped chassis 611, a set of support ribs 612 and a support ring 613 are provided, the number of the support ribs 612 is the same as that of the inner partitions 62 of each set, one end of the support ribs 612 is connected to the support ring 613, and the other end is connected to the lattice-shaped chassis 611. In fig. 1, three supporting ribs 612 are disposed in each grid, the included angles between the three supporting ribs 612 and the adjacent supporting ribs 612 are 120 °, each of the three supporting ribs 612 is provided with a partition plate 62, the partition plates 62 are arc-shaped, a circle surrounded by the three partition plates 62 and the supporting ring 613 are concentric circles, a material 90 accommodating area is disposed between the three partition plates 62, and the diameter of the circular material 90 which can be accommodated is smaller than the diameter of the inner ring of the circular ring surrounded by the three partition plates 62 and larger than the diameter of the inner ring of the supporting ring 613.
In any of the above technical solutions, further comprising a positioning mechanism, wherein the positioning mechanism comprises a first positioning assembly and a second positioning assembly, the two sides of the tray 60 along the first direction are respectively provided with a first positioning assembly, the first positioning assembly comprises a first positioning cylinder 71 and a first positioning block 72 connected with the first positioning cylinder 71, and the first positioning cylinder 71 drives the first positioning block 72 to move along the first direction; the two sides of the tray 60 along the second direction are respectively provided with a second positioning assembly, the second positioning assembly comprises a second positioning cylinder 73 and a second positioning block 74 connected with the second positioning cylinder 73, and the second positioning cylinder 73 drives the second positioning block 74 to move along the second direction. The first direction is perpendicular to the second direction.
In the directions shown in fig. 1, the first direction is a left-right direction, the second direction is an up-down direction, a first positioning component is arranged on the left side of the tray 60, and another first positioning component is arranged in a region corresponding to the right side of the tray 60; a second positioning component is arranged above the material tray 60, and another second positioning component is arranged at a corresponding position below the material tray 60. It should be noted that the left-right direction and the up-down direction in this paragraph are only the left-right direction and the up-down direction in the direction shown in fig. 1, and are not the left-right direction and the up-down direction when the tray 60 is in the use state.
So set up, through two first locating component and two second locating component, fix a position charging tray 60 in four directions to with charging tray 60 fixed, avoid charging tray 60 to appear the displacement.
Specifically, the first positioning cylinder 71 in the first positioning assembly drives the first positioning blocks 72 connected with the first positioning cylinder to move along the first direction, the moving directions of the two first positioning blocks 72 are opposite, and after the two first positioning blocks 72 move towards the direction close to the tray 60, the two first positioning blocks 72 are respectively contacted with two sides of the first direction of the tray 60, so that the position of the tray 60 in the first direction is defined; the second positioning cylinders 73 in the two second positioning assemblies drive the second positioning holes connected with the second positioning cylinders to move along the second direction, the moving directions of the two second positioning holes are opposite, and after the two second positioning holes move towards the direction close to the tray 60, the two second positioning blocks 74 are respectively contacted with two sides of the second direction of the tray 60, so that the position of the tray 60 in the second direction is defined.
Example two
As shown in fig. 1 to 5, a second embodiment of the present application provides a pad printing apparatus, including: the pad printing jig 80 and the feeding and discharging device provided in the first embodiment are used for placing the material 90 on the pad printing jig 80 and taking out the material 90 on the pad printing jig 80.
Further, a processing station is arranged on the pad printing jig 80, the processing station comprises a plurality of bosses 81, an area surrounded by the bosses 81 is the processing station, gaps exist between the adjacent bosses 81, and when the clamping piece 22 in the feeding and discharging device puts the material 90 into the processing station, the bottom area of the clamping piece 22 stretches into the gaps between the bosses 81.
When the pad printing jig 80 is used for carrying out pad printing operation on the round material 90, three arc-shaped bosses 81 are arranged on the pad printing jig 80, circular processing stations are arranged between the three arc-shaped bosses 81 in a surrounding manner, gaps exist between the adjacent arc-shaped bosses 81, and when the clamping piece 22 in the feeding and discharging device is used for placing the material 90 in the processing positions, part of the area of the clamping piece 22 stretches into the gaps between the arc-shaped bosses 81.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (8)
1. Feeding and discharging device, characterized by comprising: an angle adjusting mechanism, a shifting mechanism and a clamping mechanism which are connected with each other;
the angle adjusting mechanism comprises a camera and a hollow rotating shaft, the camera and the hollow rotating shaft are mounted on a mounting bracket, a vacuum suction port is arranged at the top of the hollow rotating shaft, the hollow rotating shaft is connected with a second driver, and the second driver is used for driving the hollow rotating shaft to rotate;
the shifting mechanism is used for driving the clamping mechanism to move in the horizontal direction and the vertical direction;
the clamping mechanism comprises a first clamping assembly, the first clamping assembly comprises a first driver and a plurality of clamping pieces connected to the first driver, the clamping pieces are arranged at intervals, a clamping area is defined by the clamping pieces, the first driver drives the clamping pieces to move along the horizontal direction so as to adjust the cross section of the clamping area, flexible limiting pieces are arranged on the clamping pieces, and at least a part of the flexible limiting pieces are located above the clamping area;
the clamping mechanism further comprises a second clamping assembly, the second clamping assembly and the first clamping assembly are identical in structure, the first clamping assembly and the second clamping assembly are connected through a rotating shaft and are symmetrically arranged relative to the rotating shaft, and the rotating shaft is used for driving the clamping mechanism to rotate in the horizontal direction.
2. The loading and unloading device of claim 1, wherein the cross section of the clamping area is circular, and the first clamping assembly comprises three clamping pieces which are uniformly arranged.
3. The loading and unloading device according to claim 2, wherein the first driver is an electric three-jaw chuck, the electric three-jaw chuck is provided with three jaws, and the clamping pieces are connected with the jaws in a one-to-one correspondence manner.
4. The loading and unloading device of claim 1, wherein the second clamping assembly is connected to the rotating shaft through a sliding table cylinder, and the sliding table cylinder is used for driving the second clamping assembly to move in a vertical direction.
5. The feeding and discharging device according to claim 1, further comprising a tray, wherein the tray comprises a supporting frame and a plurality of partition boards, the supporting frame is provided with a plurality of hollow areas, the partition boards are installed on the supporting frame, the partition boards are divided into a plurality of groups, the partition boards in each group are arranged at intervals, gaps between adjacent partition boards are opposite to the hollow areas on the supporting frame, and each partition board in each group encloses a material accommodating area.
6. The loading and unloading device of claim 5, wherein a bottom limiting member is connected to a bottom of the clamping member.
7. The feeding and discharging device according to claim 5, further comprising a positioning mechanism, wherein the positioning mechanism comprises a first positioning assembly and a second positioning assembly, the two sides of the material tray along the first direction are respectively provided with a first positioning assembly, the first positioning assembly comprises a first positioning cylinder and a first positioning block connected with the first positioning cylinder, and the first positioning cylinder drives the first positioning block to move along the first direction; the two sides of the material tray along the second direction are respectively provided with a second positioning assembly, each second positioning assembly comprises a second positioning cylinder and a second positioning block connected with the corresponding second positioning cylinder, and the second positioning cylinders drive the corresponding second positioning blocks to move along the second direction.
8. A pad printing apparatus, comprising: pad printing jig and the loading and unloading device according to any one of claims 1-7, wherein the loading and unloading device is used for placing materials on the pad printing jig and taking out the materials on the pad printing jig.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811026688.5A CN109051764B (en) | 2018-09-04 | 2018-09-04 | Loading and unloading device and pad printing equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811026688.5A CN109051764B (en) | 2018-09-04 | 2018-09-04 | Loading and unloading device and pad printing equipment |
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| CN109051764A CN109051764A (en) | 2018-12-21 |
| CN109051764B true CN109051764B (en) | 2023-09-26 |
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| CN201811026688.5A Active CN109051764B (en) | 2018-09-04 | 2018-09-04 | Loading and unloading device and pad printing equipment |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110950088B (en) * | 2020-02-25 | 2020-06-30 | 蓝思智能机器人(长沙)有限公司 | Loading and unloading equipment |
| CN115123792B (en) * | 2022-07-25 | 2023-07-25 | 苏州富强科技有限公司 | Workpiece transferring and conveying mechanism |
| CN117184899A (en) * | 2023-08-21 | 2023-12-08 | 宁波丞达精机股份有限公司 | Lens feeding device |
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