CN110077847A - Loading and unloading system and its charging and discharging mechanism - Google Patents
Loading and unloading system and its charging and discharging mechanism Download PDFInfo
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- CN110077847A CN110077847A CN201910483971.9A CN201910483971A CN110077847A CN 110077847 A CN110077847 A CN 110077847A CN 201910483971 A CN201910483971 A CN 201910483971A CN 110077847 A CN110077847 A CN 110077847A
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- plate body
- charging
- plate
- discharging mechanism
- turnover device
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of loading and unloading system and its charging and discharging mechanism, loading and unloading system includes manipulator and the charging and discharging mechanism that is installed on manipulator.Wherein, charging and discharging mechanism includes the first plate body, the second plate body, adsorbent equipment and turnover device, turnover device is set between the first plate body and the second plate body, turnover device selectively drives between the first plate body and the second plate body overturning to the first position being mutually merged or the second position being mutually unfolded, and is respectively provided with adsorbent equipment on the lateral surface of the first plate body and the second plate body.Compared with prior art, turnover device drives the second plate body to switch to intersection arrangement from parallel, therefore it can be realized itself overturning by charging and discharging mechanism of the invention, when to be used cooperatively with manipulator, the overturning number of manipulator can be reduced, to can avoid the manipulator using large volume and complexity, to reduce the space requirement to place and reduce production cost, also make loading and unloading process coherent.
Description
Technical field
The present invention relates to the transfers of workpiece to clamp field more particularly to a kind of loading and unloading system and its charging and discharging mechanism.
Background technique
With the development of science and technology with humane progress, since manipulator can replace the heavy labor of people to realize the machine of production
Tool and automation can operate under hostile environment to protect personal safety, thus be widely used in machine-building, metallurgy, electricity
The fields such as son, light industry and atomic energy.
Currently, manipulator can reach the freedom degree of multiaxis, the number of axle of manipulator is more, and the cost of manipulator is higher, and right
The operating space demand of manipulator is big.Normally, manipulator is furnished with matched fixture, grabs for carrying out positioning to workpiece
It takes, from workpiece feeding, is fabricated into the process of final products blanking, be all that carry out a series of overturning by mechanical hand-motion fixture dynamic
Make to achieve the purpose that transfer.But since such fixture itself does not have turnover mechanism, therefore the requirement to manipulator is high, right
The space requirement of workplace is big, therefore such fixture exacerbates production cost.
Therefore, it is badly in need of that one kind is wanted itself can to realize overturning and reduce the charging and discharging mechanism of production cost and there is the mechanism
Loading and unloading system overcome drawbacks described above.
Summary of the invention
The purpose of the present invention is to provide a kind of charging and discharging mechanisms that itself can realize overturning and reduction production cost.
Another object of the present invention is to provide a kind of loading and unloading systems that can reduce production cost.
To achieve the above object, charging and discharging mechanism of the invention includes the first plate body, the second plate body, adsorbent equipment and overturning
Device, the turnover device are set between first plate body and second plate body, and the turnover device selectively drives
Overturning is to the first position being mutually merged or the second position being mutually unfolded between first plate body and the second plate body, and described the
The adsorbent equipment is respectively provided on the lateral surface of one plate body and second plate body.
Preferably, being overturn between the end of second plate body and the end of first plate body by the turnover device
Connection, between first plate body and the second plate body overturning to the first position when be parallel to each other, first plate body and the
It is mutually perpendicular to when overturning to the second position between two plate bodys.
Preferably, the turnover device includes linear actuator, the rack gear that connect with the output end of the linear actuator
And the gear with the rack gear engaged transmission, the linear actuator are installed on first plate body, the gear is installed on
On second plate body.
Preferably, the turnover device further includes the pivot for being placed through both first plate body and second plate body,
The gear is placed on the pivot.
Preferably, second plate body includes the second plate body ontology and pivotal mounting plate, the pivotal mounting plate is fixed to be connected
The second plate body ontology is connected to towards the side of first plate body, the gear and the pivotal mounting plate or the pivot
It is fixedly connected.
Preferably, charging and discharging mechanism of the invention further includes limited block, the limited block is set to second plate body
And on one of described first plate body, the limited block is when second plate body is overturn to the second position with described second
The other of plate body and the first plate body abut.
Preferably, the pivotal mounting plate is stacked on the second plate body ontology, the pivotal mounting plate is also towards the
The direction of one plate body protrudes from the second plate body ontology.
Preferably, first plate body includes the first plate body ontology and outer cover plate, the outer cover plate and first plate body
Ontology or the linear actuator are fixedly connected, and the outer cover plate has hollow structure, and the outer cover plate covers in the overturning dress
It sets.
Preferably, the adsorbent equipment includes being formed in first plate body or the intracorporal vacuum chamber of the second plate, being installed on
The vacuum slot of first plate body or the second plate body lateral surface and set on the medial surface of first plate body or the second plate body
Vacuum adapter, the vacuum slot, vacuum chamber and the vacuum adapter three are interconnected.
To achieve the above object, loading and unloading system of the invention includes manipulator and charging and discharging mechanism above-mentioned, it is described on
Cutting agency is installed on the manipulator.
Compared with prior art, charging and discharging mechanism of the invention is by the first plate body, the second plate body, turnover device and absorption
The mutual cooperation of device, due to being respectively provided with adsorbent equipment on the lateral surface of the first plate body and the second plate body, therefore when feeding, You Yuben
The charging and discharging mechanism that the mechanical hand-motion of the charging and discharging mechanism connection of invention is of the invention moves to horizontality, at this time by the first plate
Adsorbent equipment on body sucks the upper materials and parts to feeding；When manipulator drives charging and discharging mechanism of the invention to move to vertical state
When, upper materials and parts are put into the preceding mould of mold by the adsorbent equipment on the first plate body under the cooperation of manipulator at this time, then, second
Adsorbent equipment on plate body siphons away the lower materials and parts in the rear mold of mold under the cooperation of manipulator；At this point, again in turnover device
Under the action of, drive the first plate body and the second plate body to overturn to the second position of expansion, so that the absorption on the second plate body be made to fill
It sets adsorbed lower materials and parts and is in horizontality, in order to blanking, therefore can be realized itself by charging and discharging mechanism of the invention
Overturning, so that the overturning number of manipulator can be reduced when being used cooperatively with manipulator, thus can avoid using large volume and
Complicated manipulator also makes loading and unloading process coherent to reduce the space requirement to place and reduce production cost.Therefore
The purpose that loading and unloading system of the invention is realized by charging and discharging mechanism of the invention reduces production cost and loading and unloading link up.
Detailed description of the invention
Fig. 1 is the schematic perspective view that charging and discharging mechanism of the present invention is located at feeding station.
Fig. 2 is the schematic perspective view that charging and discharging mechanism of the present invention is located at processing stations.
Fig. 3 is the schematic perspective view that charging and discharging mechanism of the present invention is located at discharge station.
Fig. 4 is stereochemical structure signal of the charging and discharging mechanism of the present invention when the first plate body and the second plate body are arranged parallel
Figure.
Fig. 5 is stereochemical structure signal of the charging and discharging mechanism of the present invention when the first plate body and the second plate body are mutually perpendicular to arrangement
Figure.
Fig. 6 is the structure diagram that charging and discharging mechanism of the present invention hides exposing turnover device after outer cover plate.
Specific embodiment
For the technology contents that the present invention will be described in detail, construction feature, below in conjunction with embodiment and cooperate attached drawing make into
One step explanation.
It please refers to Fig.1 to Fig.3, loading and unloading system 1000 of the invention includes manipulator 200 and charging and discharging mechanism 100, machine
Tool hand 200 drives charging and discharging mechanism 100 to switch between feeding station, processing stations and discharge station, so that charging & discharging machine
Structure 100 siphons away the upper materials and parts at feeding platform 300 when feeding station, then upper materials and parts transfer to the mold at processing stations
In 400, then the blanking transport platform 500 at discharge station is taken and be placed in the lower materials and parts that mold 400 is molded away,
In, mold 400 includes preceding mould 401 and rear mold 402.Therefore during loading and unloading system 1000 works, charging and discharging mechanism 100 exists
The upper materials and parts at feeding platform 300 are siphoned away under the action of manipulator 200 and before being put into mould 401, then charging and discharging mechanism 100 is again
It stays after being opened mold 400 under the action of manipulator 200 and is siphoned away in the lower materials and parts in rear mold 402, then be placed in blanking conveying
At platform 500, to realize the purpose of continuous loading and unloading.
Fig. 4 to Fig. 5 is please referred to, charging and discharging mechanism 100 of the invention includes the first plate body 1, the second plate body 2, adsorbent equipment 3
And turnover device 4, turnover device 4 are set between the first plate body 1 and the second plate body 2, turnover device 4 selectively drives the first plate
Between body 1 and the second plate body 2 overturning to the first position (as shown in Figure 4) being mutually merged or the second position being mutually unfolded (such as
Shown in Fig. 5), adsorbent equipment 3 is respectively provided on the lateral surface of the first plate body 1 and the second plate body 2.Specifically, the absorption of the first plate body
Device 3 is for adsorbing upper materials and parts to be processed at feeding station, and the adsorbent equipment 3 of the second plate body is for adsorbing at processing stations
The lower materials and parts processed, therefore adsorbent equipment 3 is all had by two sides, the structure that manipulator 200 is overturn back and forth can be reduced, thus
Simplify the structure of manipulator 200, reduce space expenditure, improve the efficiency of absorption and reduces production cost.The end of second plate body 2
By the overturning connection of turnover device 4 between portion and the end of the first plate body 1, overturn between first plate body 1 and the second plate body 2
It is parallel to each other when to the first position, mutually hangs down when overturning to the second position between the first plate body 1 and the second plate body 2
Directly, to more reasonably expect lower materials and parts in the blanking transport platform 500 at station downwards.Certainly, in other embodiments, root
According to the needs of actual conditions, when after the overturning of the second plate body 2 to the second position with the first plate body 1 is at an acute angle or arrangement of obtuse angle, therefore
It is not limited.More specifically, as follows:
Fig. 4 to fig. 6 is please referred to, turnover device 4 includes linear actuator 41, connect with the output end of linear actuator 41
Rack gear 42 and gear 43 with the engaged transmission of rack gear 42, linear actuator 41 are installed on the first plate body 1, and gear 43 is installed on the
On two plate bodys 2.Therefore when turnover device 4 works, the output end drive rack 42 of linear actuator 41 is mobile, to make rack gear 42
It is engaged with gear 43, drives the second plate body 2 to overturn by the gear 43 rotated.Specifically, turnover device 4 further includes a pivot 5, tooth
Wheel 43 is fixedly placed on pivot 5, and pivot 5 is placed through the first plate body 1.It is preferably that charging and discharging mechanism 100 of the invention also wraps
Bearing (not shown) is included, in this present embodiment, bearing is installed between the first plate body 1 and pivot 5, when gear 43 rotates, pivot
Axis 5 and the second plate body 2 are with the rotation of gear 43；Certainly, according to the needs of actual conditions, bearing is mountable to gear 43 and pivot
Between 5, when gear 43 rotates, pivot 5 is not rotated with it, and can also realize the purpose that the second plate body 2 is rotated with gear 43, therefore
It is not limited.
Fig. 4 to fig. 6 is please referred to, the second plate body 2 includes the second plate body ontology 21 and pivotal mounting plate 22, pivotal mounting plate 22
The second plate body ontology 21 is fixedly connected on towards the side of the first plate body 1, gear 43 is fixedly connected with pivotal mounting plate 22, therefore is worked as
When gear 43 moves, pivotal mounting plate 22 is driven to move by the gear rotated, so that the second plate body 2 be driven to do flip-flop movement；When
So, according to the needs of actual conditions, pivot 5 is fixedly connected with gear 43, and pivotal mounting plate 22 is fixedly installed on pivot 5, by
The gear 43 of rotation drives pivot 5 that pivotal mounting plate 22 is then driven to rotate, therefore is not limited.
Fig. 4 to fig. 6 is please referred to, charging and discharging mechanism 100 further includes limited block 6, and limited block 6 is set on the second plate body 2,
Limited block 6 is abutted when the second plate body 2 is switched to the second position with the first plate body 1；Certainly, in other embodiments, limit
Block 6 is set on the first plate body 1, and limited block 6 is abutted when the second plate body 2 is switched to the second position with the second plate body 1, therefore not
As limit.By the limited block 6, the second plate body 2 is enabled to be switched to the second position, the second plate body 2 is prevented to be pivoted past
Degree.In this fact Example, the second position is the upright position with the first plate body 1；Certainly, the second position may be configured as other positions
It sets, the position of acute angle or obtuse angle as mentioned above, therefore is not limited.Specifically, pivotal mounting plate 22 is stacked at the second plate
The second plate body ontology 21 is protruded from body ontology 21 and towards the direction of the first plate body 1, pivotal mounting plate 22 protrudes from the second plate
The part of body ontology 21 forms limited block 6, and it is structurally reasonable which is conducive to charging and discharging mechanism 100 of the invention, empty
Between using reasonable.Certainly, the set-up mode of limited block 6 is not limited.
Fig. 3 to Fig. 5 is please referred to, the first plate body 1 includes the first plate body ontology 11 and outer cover plate 12, and outer cover plate 12 and straight line drive
Dynamic device 41 is fixedly connected, and outer cover plate 12 has hollow structure, and outer cover plate 12 covers in turnover device 4, is turned over by the covering of outer cover plate 12
Rotary device 4, so that on the other hand interference of the turnover device 4 from external environment, ensure that so that turnover device 4 is reliable for operation
Beauty of the invention.Certainly, according to the needs of actual conditions, outer cover plate 12 can be fixedly connected with the first plate body ontology 11, still
It can achieve the purpose for covering turnover device 4, therefore be not limited.Specifically, pivot 5 is placed through in outer cover plate 12, therefore advantageous
It is gone in hollow structure in by the space of pivot 5, to make the gear being placed on pivot 5 43 have the space of rotation, to avoid
Gear 43 is unreasonable without turning due to insufficient space or space setting.
Please refer to Fig. 4 to Fig. 5, adsorbent equipment 3 includes the vacuum chamber that is formed in the first plate body 1 or the second plate body 2 (in figure
Do not show), be installed on 2 lateral surface of the first plate body 1 or the second plate body vacuum slot 31 and be set to the first plate body 1 or the second plate body 2
Medial surface vacuum adapter 32, vacuum slot 31, vacuum chamber and 32 three of vacuum adapter are interconnected.Where vacuum slot 31
One side for drawing materials and parts or lower materials and parts, vacuum adapter 32 is used to connect with extraneous vacuum evacuation device, since vacuum connects
First 32 are known to those skilled in the art dawn with the connection type of extraneous vacuum evacuation device, and therefore, not repeat them here.It needs to illustrate
, for the adsorbent equipment 3 being set on the first plate body 1.Vacuum chamber is formed at the first plate body 1, vacuum slot 31 is pacified
Lateral surface loaded on the first plate body 1, vacuum adapter 32 are set to the medial surface of the first plate body 1；For the suction being set on the second plate body 2
For adsorption device 3.Vacuum chamber is formed at the second plate body 2, vacuum slot 31 is installed on the lateral surface of the second plate body 2, and vacuum connects
First 32 are set to the medial surface of the second plate body 2.
It is worth noting that, the medial surface of the first plate body 1 or the second plate body 2 refers to the first plate body 1 and 2 phase of the second plate body
The lateral surface of the one side faced, the first plate body 1 or the second plate body 2 refers to the first plate body 1 and the second plate body 2 opposite facing one
Face.
In conjunction with attached drawing, the working principle of loading and unloading system 1000 and charging and discharging mechanism 100 of the invention is illustrated: when
When mold 400 completes one-pass molding, the preceding mould 401 of mold 400 is separated with 402 phase of rear mold at this time, so that lower materials and parts stay Yu Houmo
At 402, at this point, manipulator 200 drives the entire overturning of charging and discharging mechanism 100 to the first plate body 1 towards the feeding on feeding platform 300
Part, state is as shown in Figure 1；Then, adsorbent equipment 3 sucks upper materials and parts under manipulator 200 downwards driving, and manipulator 200 is again
Charging and discharging mechanism 100 is transferred to processing stations, and overturns entire charging and discharging mechanism 100, to make materials and parts towards mold
400, state is as shown in Figure 2；Then, manipulator 200 makes entire charging and discharging mechanism 100 toward sliding at rear mold 402, to make second
The adsorbent equipment 3 of plate body 2 takes out the lower materials and parts in rear mold 402；Finally, manipulator 200 is again by charging and discharging mechanism 100 and blanking
Part is transferred to discharge station together, at this point, turnover device 4 works, to make that the second plate body 2 is driven to overturn to lower materials and parts downwards
Expect transport platform 500, state as shown in Figure 3, to make adsorbent equipment that lower materials and parts to be offloaded in blanking transport platform 5.Constantly repeat
Above-mentioned step, it can complete coherent loading and unloading process.
Compared with prior art, charging and discharging mechanism of the invention by the first plate body 1, the second plate body 2, turnover device 4 and
The mutual cooperation of adsorbent equipment 3, due to being respectively provided with adsorbent equipment 3 on the lateral surface of the first plate body 1 and the second plate body 2, therefore feeding
When, drive charging and discharging mechanism 100 of the invention to move to water by the manipulator 200 connecting with charging and discharging mechanism 100 of the invention
Level state is sucked the upper materials and parts to feeding by the adsorbent equipment 3 on the first plate body 1 at this time；When manipulator 200 drive it is of the invention
When charging and discharging mechanism 100 moves to vertical state, the adsorbent equipment 3 on the first plate body 1 will be upper under the cooperation of manipulator at this time
Materials and parts are put into the preceding mould 401 of mold 400, and then, the adsorbent equipment 3 on the second plate body 2 is under the cooperation of manipulator 200 by mould
Lower materials and parts in the rear mold 402 of tool 400 siphon away；At this point, driving the first plate body 1 and the second plate again under the action of turnover device 4
The overturning of body 2 is to the second position of expansion, so that the adsorbed lower materials and parts of adsorbent equipment 3 on the second plate body 2 be made to be in horizontal
State in order to blanking, therefore can be realized itself overturning by charging and discharging mechanism 100 of the invention, to match with manipulator 200
It closes in use, the overturning number of manipulator 200 can be reduced, thus can avoid the manipulator using large volume and complexity, thus
It reduces the space requirement to place and reduces production cost, and keep loading and unloading process coherent.Therefore loading and unloading system of the invention
Reduction production cost and the purpose that loading and unloading link up are realized by charging and discharging mechanism of the invention.
The above disclosure is only a preferred example of the present invention, and the scope of the invention cannot be limited thereby,
Therefore equivalent changes made in accordance with the claims of the present invention belong to the range that the present invention is covered.
Claims (10)
1. a kind of charging and discharging mechanism, it is characterised in that: described including the first plate body, the second plate body, adsorbent equipment and turnover device
Turnover device is set between first plate body and second plate body, and the turnover device selectively drives first plate
It is overturn between body and the second plate body to the first position being mutually merged or the second position being mutually unfolded, first plate body and institute
It states and is respectively provided with the adsorbent equipment on the lateral surface of the second plate body.
2. charging and discharging mechanism according to claim 1, which is characterized in that the end of second plate body and first plate
By turnover device overturning connection between the end of body, overturn between first plate body and the second plate body to described first
It is parallel to each other when position, is mutually perpendicular to when overturning to the second position between first plate body and the second plate body.
3. charging and discharging mechanism according to claim 1, which is characterized in that the turnover device include linear actuator, with
The rack gear that the output end of the linear actuator connects and the gear with the rack gear engaged transmission, the linear actuator installation
In on first plate body, the gear is installed on second plate body.
4. charging and discharging mechanism according to claim 3, which is characterized in that the turnover device further includes being placed through described
The pivot of both one plate body and second plate body, the gear are placed on the pivot.
5. charging and discharging mechanism according to claim 4, which is characterized in that second plate body include the second plate body ontology and
Pivotal mounting plate, the pivotal mounting plate are fixedly connected on the inside of the second plate body ontology, the gear and the pivot
Mounting plate or the pivot are fixedly connected.
6. charging and discharging mechanism according to claim 5, which is characterized in that further include limited block, the limited block is set
In on one of second plate body and first plate body, the limited block is overturn in second plate body to second
It is abutted when setting with the other of second plate body and the first plate body.
7. charging and discharging mechanism according to claim 6, which is characterized in that the pivotal mounting plate is stacked at second plate
On body ontology, the pivotal mounting plate also protrudes from the second plate body ontology towards the direction of the first plate body.
8. charging and discharging mechanism according to claim 4, which is characterized in that first plate body include the first plate body ontology and
Outer cover plate, the outer cover plate are fixedly connected with the first plate body ontology or the linear actuator, during the outer cover plate has
Hollow structure, the outer cover plate cover in the turnover device.
9. charging and discharging mechanism according to claim 1, which is characterized in that the adsorbent equipment includes being formed in described first
Plate body or the intracorporal vacuum chamber of the second plate are installed on the vacuum slot of first plate body or the second plate body lateral surface and are set to institute
State the vacuum adapter of the medial surface of the first plate body or the second plate body, the vacuum slot, vacuum chamber and the vacuum adapter three
It is interconnected.
10. a kind of loading and unloading system, which is characterized in that including manipulator and such as the described in any item loading and unloading of claim 1-9
Mechanism, the charging and discharging mechanism are installed on the manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910483971.9A CN110077847A (en) | 2019-06-03 | 2019-06-03 | Loading and unloading system and its charging and discharging mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910483971.9A CN110077847A (en) | 2019-06-03 | 2019-06-03 | Loading and unloading system and its charging and discharging mechanism |
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| CN110077847A true CN110077847A (en) | 2019-08-02 |
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| CN201910483971.9A Pending CN110077847A (en) | 2019-06-03 | 2019-06-03 | Loading and unloading system and its charging and discharging mechanism |
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