CN110668168A - Cantilever type conveying mechanism - Google Patents
Cantilever type conveying mechanism Download PDFInfo
- Publication number
- CN110668168A CN110668168A CN201911054499.3A CN201911054499A CN110668168A CN 110668168 A CN110668168 A CN 110668168A CN 201911054499 A CN201911054499 A CN 201911054499A CN 110668168 A CN110668168 A CN 110668168A
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- cylinder
- moving mechanism
- mounting plate
- horizontal
- grabbing
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- 230000007246 mechanism Effects 0.000 title claims abstract description 123
- 230000005012 migration Effects 0.000 claims abstract description 13
- 238000013508 migration Methods 0.000 claims abstract description 13
- 239000000725 suspension Substances 0.000 claims abstract description 4
- 230000007723 transport mechanism Effects 0.000 claims description 2
- 238000003860 storage Methods 0.000 abstract description 7
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H3/00—Storage means or arrangements for workshops facilitating access to, or handling of, work tools or instruments
- B25H3/04—Racks
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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
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a suspension beam type conveying mechanism which comprises a support, a horizontal moving mechanism, a vertical moving mechanism and a grabbing mechanism, wherein the horizontal moving mechanism is horizontally arranged on the support, the vertical moving mechanism is arranged on the horizontal moving mechanism, the horizontal moving mechanism is used for driving the vertical moving mechanism to horizontally move, the grabbing mechanism is arranged on the vertical moving mechanism, the vertical moving mechanism is used for driving the grabbing mechanism to vertically move, and the grabbing mechanism grabs parts. The invention adopts a cantilever beam structure to realize the grabbing and placing of parts in a narrow environment. And a vacuum generator is selected to be matched with the sucker, so that compared with a clamping cylinder, the volume of the suction part is greatly reduced, and the suction part can adapt to a narrower space. Increase storage mechanism to storage mechanism is equipped with two cylinder synchronous drive, improves horizontal migration speed, and then improves production efficiency.
Description
Technical Field
The invention relates to the field of machinery, in particular to a suspension beam type conveying mechanism.
Background
Automation has been achieved in machining, and the use of robotic arms is widely available, however, robotic arms are bulky, require a large range of motion, and are limited in many use environments. Particularly, the processing equipment which is arranged compactly has a limited operable space inside, and the processing equipment often collides with the processing equipment; for example, in a grinding machine disclosed in chinese patent CN206185685U, a grinding wheel, a guide wheel and a supporting plate together form a processing space for processing parts, when loading materials, the grinding wheel retreats to one side, and the guide wheel and the supporting plate lift the parts together, which means that the operation space is very narrow, if a mechanical arm is used, the part needs to be suspended at a higher position right above the supporting plate, so that the part falls into the supporting plate freely; in addition, in a typical machine, a housing is provided on both the grinding wheel and the guide wheel side, so that the robot arm may be completely accessible.
Disclosure of Invention
Aiming at overcoming the defects in the prior art, the invention mainly aims to overcome the defects in the prior art, and discloses a suspended beam type conveying mechanism which comprises a support, a horizontal moving mechanism, a vertical moving mechanism and a grabbing mechanism, wherein the horizontal moving mechanism is horizontally arranged on the support, the vertical moving mechanism is arranged on the horizontal moving mechanism, the horizontal moving mechanism is used for driving the vertical moving mechanism to horizontally move, the grabbing mechanism is arranged on the vertical moving mechanism, the vertical moving mechanism is used for driving the grabbing mechanism to vertically move, and the grabbing mechanism is used for grabbing parts.
Further, snatch the mechanism and include the mounting panel and arrange the setting attraction mechanism on the mounting panel, attraction mechanism includes location portion and sets up the attraction portion of location portion both sides, location portion bottom set up with spare part complex constant head tank.
Furthermore, the positioning part comprises a fixed block, a sliding block and a proximity switch, the sliding block is vertically and slidably arranged on the fixed block, the positioning groove is formed in the bottom of the sliding block, the proximity switch is arranged on the fixed block, the sliding block extends to form an induction part, and when the position of the part is accurate, the induction part is not induced by the proximity switch; when the parts are dislocated, the sliding block moves upwards, so that the proximity switch senses the sensing part.
Further, the suction part includes a vacuum generator and a suction cup.
Further, the horizontal movement mechanism comprises a toothed belt type electric cylinder.
Further, the vertical moving mechanism comprises a cylinder support, a guide pillar, a first cylinder and a connecting piece, the first cylinder is arranged on the first cylinder support, a guide hole is formed in the cylinder support, the guide pillar is arranged in the guide hole in a sliding mode, the connecting piece is arranged on the guide pillar and the first cylinder, and the connecting piece is used for installing the grabbing mechanism.
Further, still include storage mechanism, storage mechanism includes that second cylinder, third cylinder, mounting panel and range set up storage portion on the mounting panel, the third cylinder sets up on the second cylinder, the mounting panel sets up on the third cylinder, utilize the second cylinder with third cylinder synchronous drive mounting panel horizontal migration.
Further, the two storing mechanisms are arranged, and the horizontal moving direction of the two storing mechanisms is back-to-back movement.
The invention has the following beneficial effects:
the invention adopts a cantilever beam structure to realize the grabbing and placing of parts in a narrow environment. And a vacuum generator is selected to be matched with the sucker, so that compared with a clamping cylinder, the volume of the suction part is greatly reduced, and the suction part can adapt to a narrower space. Increase storage mechanism to storage mechanism is equipped with two cylinder synchronous drive, improves horizontal migration speed, and then improves production efficiency.
Drawings
FIG. 1 is a schematic structural view of a component;
FIG. 2 is a schematic structural diagram of a cantilever type conveying mechanism according to the present invention;
FIG. 3 is a schematic mechanical view of the grasping mechanism;
FIG. 4 is a schematic structural diagram of the positioning part;
FIG. 5 is a schematic view of the suction part;
FIG. 6 is a schematic structural view of a horizontal movement mechanism;
FIG. 7 is a schematic structural view of a vertical moving mechanism;
fig. 8 is a schematic structural view of the magazine mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The utility model provides a hanging beam formula transport mechanism, includes support 1, horizontal migration mechanism 2, vertical moving mechanism 3 and snatchs mechanism 4, horizontal migration mechanism 2 level sets up on support 1, vertical moving mechanism 3 sets up on horizontal migration mechanism 2, utilize horizontal migration mechanism 2 drive vertical moving mechanism 3 along X axle horizontal migration, snatch mechanism 4 and set up on vertical moving mechanism 3, utilize vertical moving mechanism 3 drive to snatch mechanism 4 and reciprocate along the Y axle, snatch mechanism 4 and snatch part 5. In the mechanism, the horizontal moving mechanism 2 and the vertical moving mechanism 3 are installed above the equipment when being installed, so that the equipment is prevented from being in direct contact with the equipment, and the grabbing mechanism 4 is driven to enter the equipment only through the vertical moving mechanism 3.
In one embodiment, as shown in fig. 3, the grasping mechanism 4 includes a mounting plate 41 and a plurality of suction mechanisms 42 arranged on the mounting plate 41, the suction mechanisms 42 grasp the components 5, and the plurality of suction mechanisms 42 are arranged to simultaneously suck the plurality of components 5, thereby improving grasping efficiency. The suction mechanism 42 includes a positioning portion 421 and suction portions 422 disposed on both sides of the positioning portion 421, and a positioning groove 423 engaged with the component 5 is disposed at the bottom of the positioning portion 421. As shown in fig. 1, the component is a schematic structural diagram, and the structure is cylindrical, so that the positioning groove 423 has an arc-shaped structure matching with the side wall of the component 5. The vertical moving mechanism 3 drives the grabbing mechanism 4 to move downwards, so that the component 5 is placed in the positioning groove 423, the component 5 is positioned, and then the component 5 is grabbed through the suction mechanism 42.
In the above-described embodiment, as shown in fig. 2 to 4, if the component 5 is largely displaced and the component 5 cannot be forked into the positioning groove 423, the bottom of the positioning portion 421 directly impacts the component 5, possibly damaging the positioning portion 421. Therefore, in a preferred embodiment, the positioning portion 421 includes a fixed block 4211, a sliding block 4212 and a proximity switch 4213, the sliding block 4212 is vertically slidably disposed on the fixed block 4211, the positioning groove 423 is disposed at the bottom of the sliding block 4212, the proximity switch 4213 is disposed on the fixed block 4211, and the sliding block 4212 extends to provide the sensing portion 4214; when the slider 4212 is used, the slider is always positioned at the bottommost end under the action of the weight of the slider 4212; when the vertical moving mechanism 3 drives the grabbing mechanism 4 to move downwards, if the position of the part 5 is accurate or slight deviation exists, the sliding block applies downward pressure to the part 5, so that the part 5 is righted along the positioning groove 423, and the proximity switch 4213 does not sense the sensing part 4214; when the position deviation of the component 5 is large, the sliding block 5 is blocked by the component 5, the sliding block 4212 cannot move downwards continuously, and meanwhile, the fixed block 4211 moves downwards continuously, so that the proximity switch 4213 approaches the sensing portion 4214, and the proximity switch 4213 senses the sensing portion 4214.
In a preferred embodiment, as shown in fig. 3 and 5, the suction portion 422 includes a vacuum generator 4221 and a suction cup 4222. The solenoid valve is controlled to be opened through the PLC, so that negative pressure is generated in the vacuum generator 4221, the surface of the part 5 is attached through the sucking disc 4222, and the part 5 is sucked. By the cooperation of the vacuum generator 4221 and the suction cup 4222, the width of the grasping portion 422 is reduced, thereby making the grasping mechanism 4 suitable for a more compact processing apparatus.
In one embodiment, the horizontal moving mechanism 2 comprises a toothed belt type electric cylinder 21, and the horizontal moving of the vertical moving mechanism 3 is realized by driving the toothed belt type electric cylinder 21 through a servo motor 22. The toothed belt type electric cylinder is selected, so that the horizontal movement is more stable.
In one embodiment, the vertical moving mechanism 3 includes a cylinder bracket 31, a guide pillar 32, a first cylinder 33 and a connecting member 34, the first cylinder 33 is disposed on the first cylinder bracket 31, the output end of the first cylinder is connected to the grasping mechanism 4 through the connecting member 34, a guide hole is disposed on the cylinder bracket 31, the guide pillar 32 is slidably disposed in the guide hole, and one end of the guide pillar is fixedly disposed on the connecting member 34. Through increasing guide pillar 32, reduce and snatch the rocking of mechanism 4 in the in-process that reciprocates, and then provide vertical movement mechanism 3 driven stability. Generally, two guide posts 32 are provided, and correspondingly, two guide holes are provided, and the guide posts 32 are arranged on two sides of the connecting piece 34 in parallel and symmetrically.
In one embodiment, as shown in fig. 8, the magazine mechanism 6 is further included, the magazine mechanism 6 includes a second cylinder 61, a third cylinder 62, a mounting plate 63, and a magazine portion 64 arranged on the mounting plate 63, the third cylinder 62 is arranged on the second cylinder 61, the mounting plate 63 is arranged on the third cylinder 62, and the mounting plate 63 is driven to move horizontally by the second cylinder 61 and the third cylinder 62 synchronously. The horizontal moving speed of the mounting plate 63 is improved by arranging two cylinders leading to the movement; further, the mounting plate 63 is moved to a large space, and the component 5 is placed in the magazine 64 by the robot. Preferably, two storing mechanisms 6 are arranged, and the horizontal moving direction of the two storing mechanisms 6 is a backward movement; namely, the driving directions of the storing mechanism 6 are positive and negative directions of the Z axis, respectively.
When the automatic component placing device is used, as shown in fig. 1-8, the second air cylinder 61 and the third air cylinder 62 drive the mounting plate 63 to move outwards along the Z axis, then the components 5 are placed in the material storing part 64 one by one through the mechanical arm, then the second air cylinder 61 and the third air cylinder 62 are reset, the horizontal moving mechanism 2 drives the grabbing mechanism 4 to move right above the material storing mechanism 6, the vertical moving mechanism 3 drives the grabbing mechanism 4 to move downwards to the lowest position, and then the notification is carried out, and if the positions of the components 5 are accurate, the positions of the sliding block 4212 and the fixed block 4211 are relatively static; if the position deviation of the part 5 is large, the sliding block 4212 is blocked by the part 5 and moves upwards, so that the proximity switch 4213 senses the sensing part 4214, the PLC controls the electromagnetic valve to close the air source, so that the suction part 422 cannot suck the part 5, and other parts are normally sucked.
The above are merely preferred embodiments of the present invention, and are not intended to limit the scope of the invention; it is intended that the following claims be interpreted as including all such alterations, modifications, and equivalents as fall within the true spirit and scope of the invention.
Claims (8)
1. The utility model provides a hanging beam formula transport mechanism, its characterized in that includes support, horizontal migration mechanism, vertical movement mechanism and snatchs the mechanism, the horizontal migration mechanism level sets up on the support, vertical movement mechanism sets up on the horizontal migration mechanism, utilize horizontal migration mechanism drive vertical movement mechanism horizontal migration, it sets up to snatch the mechanism vertical movement mechanism is last, utilize vertical movement mechanism drive snatch the mechanism and reciprocate, it snatchs the spare part to snatch the mechanism.
2. The cantilever type conveying mechanism according to claim 1, wherein the grabbing mechanism comprises a mounting plate and a suction mechanism arranged on the mounting plate, the suction mechanism comprises a positioning portion and suction portions arranged on two sides of the positioning portion, and a positioning groove matched with the component is arranged at the bottom of the positioning portion.
3. The cantilever type conveying mechanism of claim 2, wherein the positioning part comprises a fixed block, a sliding block and a proximity switch, the sliding block is vertically and slidably arranged on the fixed block, the positioning groove is arranged at the bottom of the sliding block, the proximity switch is arranged on the fixed block, the sliding block is extended to form a sensing part, and when the position of the part is accurate, the sensing part is not sensed by the proximity switch; when the parts are dislocated, the sliding block moves upwards, so that the proximity switch senses the sensing part.
4. The cantilever beam transfer mechanism of claim 2, wherein the suction portion comprises a vacuum generator and a suction cup.
5. The cantilever beam transfer mechanism of claim 1, wherein the horizontal movement mechanism comprises a toothed belt electric cylinder.
6. The suspension beam type conveying mechanism according to claim 1, wherein the vertical moving mechanism comprises a cylinder bracket, a guide post, a first cylinder and a connecting piece, the first cylinder is arranged on the first cylinder bracket, a guide hole is arranged on the cylinder bracket, the guide post is arranged in the guide hole in a sliding manner, the connecting piece is arranged on the guide post and the first cylinder, and the connecting piece is used for installing the grabbing mechanism.
7. The suspension beam type conveying mechanism according to claim 1, further comprising a storing mechanism, wherein the storing mechanism comprises a second air cylinder, a third air cylinder, a mounting plate and a storing part arranged on the mounting plate, the third air cylinder is arranged on the second air cylinder, the mounting plate is arranged on the third air cylinder, and the mounting plate is driven to move horizontally by the second air cylinder and the third air cylinder synchronously.
8. The suspended beam type conveying mechanism as claimed in claim 7, wherein the two stockers are provided, and the horizontal moving direction of the two stockers is a backward movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911054499.3A CN110668168A (en) | 2019-10-31 | 2019-10-31 | Cantilever type conveying mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911054499.3A CN110668168A (en) | 2019-10-31 | 2019-10-31 | Cantilever type conveying mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110668168A true CN110668168A (en) | 2020-01-10 |
Family
ID=69085316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911054499.3A Pending CN110668168A (en) | 2019-10-31 | 2019-10-31 | Cantilever type conveying mechanism |
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| Country | Link |
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| CN (1) | CN110668168A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201464014U (en) * | 2009-03-26 | 2010-05-12 | 北京兆维电子(集团)有限责任公司 | Manipulator cantilever weighing device |
| CN102152964A (en) * | 2010-12-13 | 2011-08-17 | 亿和精密工业（苏州）有限公司 | Manipulator transportation line |
| CN103538074A (en) * | 2013-10-22 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm capable of preventing screw rolling during conveying |
| CN104176498A (en) * | 2014-08-07 | 2014-12-03 | 日照海恩锯业有限公司 | Device and method for automatic feeding and discharging of stone slabs |
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| CN108393523A (en) * | 2018-03-23 | 2018-08-14 | 珠海格力智能装备有限公司 | Seek position mechanism and have its flange processing equipment |
| CN108687756A (en) * | 2018-07-16 | 2018-10-23 | 华普电子（常熟）有限公司 | A kind of arm apparatus of crawl U-tube |
| CN108807596A (en) * | 2018-06-13 | 2018-11-13 | 太仓鸿海精密机械有限公司 | A kind of solar battery sheet integrally places glass panel device |
| CN208179278U (en) * | 2018-05-07 | 2018-12-04 | 南京立顶智能科技有限公司 | A kind of grinding machine charging and discharging manipulator |
| CN109051800A (en) * | 2018-08-14 | 2018-12-21 | 中国建材国际工程集团有限公司 | Glass rotary vane device and method |
| CN208413239U (en) * | 2018-06-06 | 2019-01-22 | 宁波朗沃矿业技术有限公司 | A kind of rapid material-feeding device of cylindrical blank |
| KR20190049229A (en) * | 2017-11-01 | 2019-05-09 | 주식회사 와이씨이엔지 | Hose fastening band automatic assembling device and its process |
| CN210735522U (en) * | 2019-10-31 | 2020-06-12 | 海瑞恩精密技术（太仓）有限公司 | Cantilever type conveying mechanism |
-
2019
- 2019-10-31 CN CN201911054499.3A patent/CN110668168A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201464014U (en) * | 2009-03-26 | 2010-05-12 | 北京兆维电子(集团)有限责任公司 | Manipulator cantilever weighing device |
| CN102152964A (en) * | 2010-12-13 | 2011-08-17 | 亿和精密工业（苏州）有限公司 | Manipulator transportation line |
| CN103538074A (en) * | 2013-10-22 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm capable of preventing screw rolling during conveying |
| CN104176498A (en) * | 2014-08-07 | 2014-12-03 | 日照海恩锯业有限公司 | Device and method for automatic feeding and discharging of stone slabs |
| CN106827462A (en) * | 2017-04-01 | 2017-06-13 | 苏州星贝尔中空成型科技股份有限公司 | Finished product bottle for blow molding machine moves bottle |
| KR20190049229A (en) * | 2017-11-01 | 2019-05-09 | 주식회사 와이씨이엔지 | Hose fastening band automatic assembling device and its process |
| CN108393523A (en) * | 2018-03-23 | 2018-08-14 | 珠海格力智能装备有限公司 | Seek position mechanism and have its flange processing equipment |
| CN208179278U (en) * | 2018-05-07 | 2018-12-04 | 南京立顶智能科技有限公司 | A kind of grinding machine charging and discharging manipulator |
| CN208413239U (en) * | 2018-06-06 | 2019-01-22 | 宁波朗沃矿业技术有限公司 | A kind of rapid material-feeding device of cylindrical blank |
| CN108807596A (en) * | 2018-06-13 | 2018-11-13 | 太仓鸿海精密机械有限公司 | A kind of solar battery sheet integrally places glass panel device |
| CN108687756A (en) * | 2018-07-16 | 2018-10-23 | 华普电子（常熟）有限公司 | A kind of arm apparatus of crawl U-tube |
| CN109051800A (en) * | 2018-08-14 | 2018-12-21 | 中国建材国际工程集团有限公司 | Glass rotary vane device and method |
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