CN111285109A

CN111285109A - Transfer equipment

Info

Publication number: CN111285109A
Application number: CN202010226982.1A
Authority: CN
Inventors: 倪晓华
Original assignee: Suzhou Titu Intelligent Equipment Technology Co ltd
Current assignee: Suzhou Titu Intelligent Equipment Technology Co ltd
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2020-06-16

Abstract

The invention relates to transfer equipment which comprises a rack, wherein a feeding and ejecting mechanism, a grabbing and carrying mechanism, a positioning and calibrating mechanism and a tray retracting and releasing mechanism are connected to the rack, and the feeding and ejecting mechanism, the positioning and calibrating mechanism and the tray retracting and releasing mechanism are all within the moving range of the grabbing and carrying mechanism; the positioning and calibrating mechanism comprises a transverse adjusting plate, a longitudinal adjusting plate and a four-claw finger cylinder; the tray receiving and releasing mechanism comprises a tray releasing mechanism, a tray collecting mechanism and a tray moving mechanism, wherein the tray releasing mechanism and the tray collecting mechanism are arranged oppositely, and a limiting slide rail is connected between the tray releasing mechanism and the tray collecting mechanism, and the tray moving mechanism is located below the tray releasing mechanism, the tray collecting mechanism and the limiting slide rail. The transfer equipment can automatically transfer and place products, avoid manual participation, improve efficiency and ensure transfer quality.

Description

Transfer equipment

Technical Field

The invention relates to the field of mechanical production, in particular to transfer equipment.

Background

The transfer equipment is a device for transferring products from one carrier to another carrier; in the field of mechanical production, the arrangement mode of raw materials is different from the feeding mode required by an assembly machine, for example, when the chip heat sink is fed, the raw materials are stacked in a square cylindrical shell, and products required by the assembly machine are required to be placed on a tray according to a 2X5 format.

Current mode is taken out the back from square tube shell with the product one by the manual work, and in the standing groove of tray was placed in the location, wasted time and energy, and inefficiency, when the manual work was placed in addition, often can appear placing the dislocation, then can influence follow-up production.

Disclosure of Invention

The purpose of the invention is: the transfer equipment is provided, products can be automatically transferred and placed, manual participation is avoided, efficiency is improved, and transfer quality is guaranteed.

In order to achieve the above purpose, the present invention provides the following technical solutions:

a transfer device comprises a rack, wherein a feeding and ejecting mechanism, a grabbing and carrying mechanism, a positioning and calibrating mechanism and a tray retracting and releasing mechanism are connected to the rack, and the feeding and ejecting mechanism, the positioning and calibrating mechanism and the tray retracting and releasing mechanism are all within the moving range of the grabbing and carrying mechanism; the positioning and calibrating mechanism comprises a transverse adjusting plate, a longitudinal adjusting plate and a four-claw finger cylinder; the tray receiving and releasing mechanism comprises a tray releasing mechanism, a tray collecting mechanism and a tray moving mechanism, wherein the tray releasing mechanism and the tray collecting mechanism are arranged oppositely, and a limiting slide rail is connected between the tray releasing mechanism and the tray collecting mechanism, and the tray moving mechanism is located below the tray releasing mechanism, the tray collecting mechanism and the limiting slide rail.

Furthermore, the feeding and ejecting mechanism and the tray retracting mechanism are arranged in parallel, the feeding and ejecting mechanism and the grabbing and carrying mechanism are arranged vertically, and the positioning and calibrating mechanism is positioned between the feeding and ejecting mechanism and the tray retracting mechanism.

Furthermore, the tray moving mechanism comprises a first belt linear module, and two ends of a moving platform on the first belt linear module are respectively connected with a clamping cylinder, a first connecting rod, a second connecting rod and a clamping finger; the clamping cylinder is fixed on the moving platform on the first belt linear module, and a piston rod of the clamping cylinder is connected with a pushing block; one end of the first connecting rod is hinged to the moving platform on the first belt linear module, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the pushing block, and the clamping finger is fixed to the second connecting rod.

Furthermore, a transverse straight hole is formed in the transverse adjusting plate, a longitudinal straight hole is formed in the longitudinal adjusting plate, the transverse adjusting plate penetrates through the transverse straight hole through a nut assembly to be connected with the rack, and the longitudinal adjusting plate penetrates through the longitudinal straight hole through another nut assembly to be connected with the transverse adjusting plate; the four-claw finger cylinder is specifically two, and the four-claw finger cylinder is connected on the longitudinal adjusting plate at intervals respectively.

Furthermore, the top end of the four-claw finger cylinder is connected with a placing plate, and four clamping jaws of the four-claw finger cylinder are connected with clappers; in-place sensors are connected to two opposite included angles of the placing plate; rubber pads are arranged on the inner sides of the four clapboards.

Furthermore, the feeding and ejecting mechanism comprises a bottom plate, the bottom plate is connected to the rack, two ends of the bottom plate are connected with second belt linear modules, one ends of the two second belt linear modules, which are in contact with each other, are arranged in a staggered mode, and a plurality of rectangular-array feeding fixing frames are connected to moving tables of the two second belt linear modules; the middle of the bottom surface of the bottom plate is connected with a jacking servo linear module, one ends of two ejector rods are connected to a moving platform of the jacking servo linear module, and the other ends of the two ejector rods penetrate through the bottom plate and are respectively located in the two discharging fixing frames.

Furthermore, the grabbing and carrying mechanism comprises a carrying servo linear module, a moving platform of the carrying servo linear module is connected with a first grabbing group and a second grabbing cylinder, and a piston rod of the second grabbing cylinder is connected with two second suction claws arranged at intervals; the first material group of grabbing includes that actuating cylinder and two are first to grab the material cylinder, and two first piston rods of grabbing the material cylinder all are connected with first claw of inhaling, and actuating cylinder and one of them first material cylinder of grabbing are fixed on the mobile station of the servo sharp module of transport, and another first material cylinder of grabbing is connected with actuating cylinder's piston rod.

Furthermore, an auxiliary positioning mechanism is connected to the rack right above the two ejector rods; the auxiliary positioning mechanism comprises a lower pressing plate, two material taking holes are formed in the lower pressing plate at intervals, lower pressing cylinders are arranged at two ends of the lower pressing plate, and the lower pressing cylinders are fixedly connected to the rack; the bottom surface of two the hole of getting all is equipped with the chamfer, two the hole of getting is with two the ejector beam corresponds the setting.

The invention has the beneficial effects that:

1. in the process of grabbing and carrying, a positioning and calibrating mechanism is arranged, and after calibration and positioning, carrying is carried out, so that the accuracy of the material placing position is ensured, and the transfer quality is ensured.

2. An auxiliary positioning mechanism is adopted to position the feeding pipe fitting, so that the phenomenon that the operation of a second belt linear module generates deviation to influence the material grabbing of the suction claw is avoided; adopt two sets of second belt straight line modules to drive the blowing mount and carry out the material loading that misplaces, reduce the interval time that the material loading produced, raise the efficiency.

3. Adopt tray jack to carry out placing and collecting of tray, avoid artifical the participation, reduce intensity of labour.

Drawings

FIG. 1 is an isometric view of a transfer device of the present invention;

FIG. 2 is a partial block diagram of a transfer apparatus according to the present invention;

FIG. 3 is a first angular view of the material loading and ejecting mechanism of the present invention;

FIG. 4 is a second angular view of the material loading and ejecting mechanism of the present invention;

FIG. 5 is an isometric view of the grasping and handling mechanism of the present invention;

FIG. 6 is an isometric view of a registration calibration mechanism according to the present invention;

FIG. 7 is an isometric view of the tray retraction mechanism of the present invention;

FIG. 8 is an isometric view of a tray moving mechanism according to the present invention;

FIG. 9 is an enlarged view of portion A of FIG. 8;

FIG. 10 is an isometric view of an auxiliary positioning mechanism of the present invention;

in the figure: 1. a frame; 2. a feeding and ejecting mechanism; 21. a base plate; 22. a second belt linear module; 23. a material placing fixing frame; 24. jacking the servo linear module; 241. a lifter bar; 3. a grabbing and carrying mechanism; 31. carrying the servo linear module; 32. a second grabbing cylinder; 321. a second suction claw; 33. an adjusting cylinder; 34. a first material grabbing cylinder; 341. a first suction claw; 4. positioning and calibrating the mechanism; 41. a transverse adjusting plate; 411. a transverse straight hole; 42. a longitudinal adjusting plate; 421. a longitudinal straight hole; 43. a four-claw finger cylinder; 44. placing the plate; 45. clapping the board; 46. an in-position sensor; 5. a tray retracting mechanism; 51. a tray lowering mechanism; 52. a tray take-up mechanism; 53. a tray moving mechanism; 531. a first belt linear module; 532. a clamping cylinder; 533. a first link; 534. a second link; 535. clamping fingers; 54. a limiting slide rail; 6. an auxiliary positioning mechanism; 61. a lower pressing plate; 62. a material taking hole; 621. chamfering; 63. and pressing the cylinder.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below 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.

Referring to fig. 1 to 10, a transfer apparatus includes a frame 1, a feeding and ejecting mechanism 2, a grabbing and carrying mechanism 3, a positioning and calibrating mechanism 4, and a tray retracting and releasing mechanism 5 are connected to the frame 1, and the feeding and ejecting mechanism 2, the positioning and calibrating mechanism 4, and the tray retracting and releasing mechanism 5 are all within the moving range of the grabbing and carrying mechanism 3; the positioning and calibrating mechanism 4 comprises a transverse adjusting plate 41, a longitudinal adjusting plate 42 and a four-claw finger cylinder 43; the tray receiving and releasing mechanism 5 comprises a tray lowering mechanism 51, a tray collecting mechanism 52 and a tray moving mechanism 53, the tray lowering mechanism 51 and the tray collecting mechanism 52 are oppositely arranged, a limiting slide rail 54 is connected between the tray lowering mechanism 51 and the tray collecting mechanism 52, and the tray moving mechanism 53 is located below the tray lowering mechanism 51, the tray collecting mechanism 52 and the limiting slide rail 54.

The feeding and ejecting mechanism 2 and the tray retracting and releasing mechanism 5 are arranged in parallel, the feeding and ejecting mechanism 2 and the grabbing and carrying mechanism 3 are arranged vertically, and the positioning and calibrating mechanism 4 is positioned between the feeding and ejecting mechanism 2 and the tray retracting and releasing mechanism 5.

The tray moving mechanism 53 comprises a first belt linear module 531, and two ends of a moving table on the first belt linear module 531 are respectively connected with a clamping cylinder 532, a first connecting rod 533, a second connecting rod 534 and a clamping finger 535; the clamping cylinder 532 is fixed on a moving table on the first belt linear module 531, and a piston rod of the clamping cylinder 532 is connected with a pushing block; one end of the first link 533 is hinged to the mobile station on the first belt linear module 531, the other end of the first link is hinged to one end of the second link 534, the other end of the second link 534 is hinged to the pushing block, and the clamping finger 535 is fixed on the second link 534.

The tray lowering mechanism 51 and the tray collecting mechanism 52 are both in the prior art (a continuous automatic tray collecting and releasing mechanism of a detection device is disclosed in detail in patent No. CN 209160959U), and are used for automatic feeding and collecting of trays; the tray moving mechanism 53 is used for driving the tray to move from the tray lowering mechanism 51 to the tray collecting mechanism 52; the clamping cylinder 532 is used for extending to drive the clamping finger 535 to move downwards along the second connecting rod 534 and the first connecting rod 533 in an arc shape, and retracting to drive the clamping finger 535 to move upwards along the second connecting rod 534 and the first connecting rod 533 in an arc shape; the first belt linear module 531 is used for driving the tray to move.

The transverse adjusting plate 41 is provided with a transverse straight hole 411, the longitudinal adjusting plate 42 is provided with a longitudinal straight hole 421, the transverse adjusting plate 41 passes through the transverse straight hole 411 through a nut component to be connected with the rack 1, and the longitudinal adjusting plate 42 passes through the longitudinal straight hole 421 through another nut component to be connected with the transverse adjusting plate 41; the number of the four-claw finger cylinders 43 is two, and the two four-claw finger cylinders are respectively connected to the longitudinal adjusting plate 42 at intervals.

The top end of the four-claw finger cylinder 43 is connected with a placing plate 44, and the four clamping jaws of the four-claw finger cylinder 43 are connected with clapper plates 45; in-place sensors 46 are connected to two opposite included angles of the placing plate 44; rubber pads are arranged on the inner sides of the four clapboards 45.

The feeding and ejecting mechanism 2 comprises a bottom plate 21, the bottom plate 21 is connected to the rack 1, two ends of the bottom plate 21 are connected with second belt linear modules 22, one ends of the two second belt linear modules 22, which are in contact, are arranged in a staggered manner, a plurality of rectangular-array discharging fixing frames 23 are connected to moving tables of the two second belt linear modules 22, and the discharging fixing frames 23 in the embodiment are arranged in a 2X5 rectangular array manner; the middle of the bottom surface of the bottom plate 21 is connected with a jacking servo linear module 24, the moving platform of the jacking servo linear module 24 is connected with one ends of two jacking rods 241, and the other ends of the two jacking rods 241 penetrate through the bottom plate 21 and are respectively positioned in the two discharging fixing frames 23.

The grabbing and carrying mechanism 3 comprises a carrying servo linear module 31, a moving platform of the carrying servo linear module 31 is connected with a first grabbing group and a second grabbing cylinder 32, and a piston rod of the second grabbing cylinder 32 is connected with two second sucking claws 321 arranged at intervals; the first material grabbing group comprises an adjusting cylinder 33 and two first material grabbing cylinders 34, piston rods of the two first material grabbing cylinders 34 are connected with a first absorbing claw 341, the adjusting cylinder 33 and one of the first material grabbing cylinders 34 are fixed on a moving platform of the servo linear module 31 for carrying, and the other first material grabbing cylinder 34 is connected with a piston rod of the adjusting cylinder 33.

An auxiliary positioning mechanism 6 is connected to the rack 1 above the two ejector rods 241; the auxiliary positioning mechanism 6 comprises a lower pressing plate 61, two material taking holes 62 arranged at intervals are formed in the lower pressing plate 61, lower pressing cylinders 63 are arranged at two ends of the lower pressing plate 61, and the lower pressing cylinders 63 are fixedly connected to the rack 1; two the bottom surface of getting material hole 62 all is equipped with chamfer 621, two get material hole 62 and two ejector beam 241 corresponds the setting.

The working principle is as follows: the feeding and ejecting mechanism 2 sequentially feeds two square tubular shells to the position under the auxiliary positioning mechanism 6, the auxiliary positioning mechanism 6 positions the two square tubular shells, the feeding and ejecting mechanism 2 sequentially ejects products, the position of an adjusting cylinder is adjusted after the first material grabbing group on the grabbing and carrying mechanism 3 grabs the materials and carries the materials to the positioning and calibrating mechanism 4 for calibration, meanwhile, the second grabbing cylinder 32 drives two second suction claws 321, the products calibrated on the original positioning and calibrating mechanism 4 are positioned and carried to a tray groove on the tray collecting and releasing mechanism 5 and located at a limiting slide rail 54, trays are automatically stacked, and the transfer action is completed.

In the tray retracting mechanism 5, the tray lowering mechanism 51 lowers the trays one by one to the moving table of the first belt linear module 531 of the tray moving mechanism 53, the clamping cylinders 532 at the two ends of the moving table retract to drive the first connecting rod 533 and the second connecting rod 534 to turn upwards, so that the clamping fingers 535 clamp the trays, then the first belt linear module 531 moves gradually along the slide rail to cooperate with the grabbing and carrying mechanism 3 to receive the materials, and finally moves to the tray collecting mechanism 52, the clamping cylinders 532 at the two ends of the moving table stretch out to drive the first connecting rod 533 and the second connecting rod 534 to turn downwards, so that the clamping fingers 535 loosen the trays, and the tray retracting mechanism 5 retracts to stack the stacked trays.

Wherein in material loading liftout mechanism 2, two second belt straight line modules 22 carry out the material loading in turn: wherein a second belt linear module 22 drives the discharging fixing frame 23 to move to the outside, the square tubular shells loaded with the products are respectively placed on the discharging fixing frame 23 for feeding, meanwhile, the other second belt linear module 22 drives the discharging fixing frame 23 loaded with the full-material square cylindrical shell to move to the position right below the auxiliary positioning mechanism 6, the lower pressing cylinder 63 retracts to drive the lower pressing plate 61 to move downwards, so that the two discharging holes 62 are sleeved at the top ends of two of the square cylindrical shells according to the chamfer 621 of the bottom surface to position the square cylindrical shells, and the products cannot be discharged due to movement deviation is avoided, then the jacking servo linear module 24 drives the two jacking rods 241 to move upwards to penetrate through the bottom plate 21 and respectively locate in the square cylindrical shell, and the products in the square cylindrical shell are sequentially jacked to the preset grabbing positions.

Wherein snatch among the transport mechanism 3, the servo straight line module 31 of transport drives first material group of grabbing and the simultaneous movement of second snatching cylinder 32, first material group of grabbing is located auxiliary positioning mechanism 6 top, adjusting cylinder 33 retracts and drives one of them first material cylinder 34 of grabbing to remove, and then enlarge the interval of two first claws 341, and then snatch the product in the square tube casing, when first material group of grabbing removes to location calibration mechanism 4, adjusting cylinder 33 stretches out and drives one of them first material cylinder 34 of grabbing to remove, and then dwindles the interval of two first claws 341, and then be convenient for place the top surface of two four claws finger cylinder 43 in the location calibration mechanism 4, second snatchs cylinder 32 and is used for driving two second claws 321, snatch the product from location calibration mechanism 4 and place in the tray.

The positioning and calibrating mechanism 4 changes the installation position of the transverse adjusting plate 41 through the transverse straight hole 411 to adjust the transverse positions of the two four-claw finger cylinders 43, changes the installation position of the longitudinal adjusting plate 42 through the longitudinal straight hole 421 to adjust the longitudinal positions of the two four-claw finger cylinders 43, and further ensures the accurate installation positions of the two four-claw finger cylinders 43; the product is placed in the placing plate 44, the in-place sensor 46 detects that the product exists, and the four-claw finger cylinder 43 drives the four clapboards 45 to move inwards to calibrate the position of the product.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The above examples are intended to further illustrate the present invention, but are not intended to limit the invention to these specific embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.

Claims

1. A transfer device, characterized in that: the automatic feeding and carrying device comprises a rack (1), wherein a feeding and ejecting mechanism (2), a grabbing and carrying mechanism (3), a positioning and calibrating mechanism (4) and a tray retracting and releasing mechanism (5) are connected to the rack (1), and the feeding and ejecting mechanism (2), the positioning and calibrating mechanism (4) and the tray retracting and releasing mechanism (5) are all within the moving range of the grabbing and carrying mechanism (3); the positioning and calibrating mechanism (4) comprises a transverse adjusting plate (41), a longitudinal adjusting plate (42) and a four-claw finger cylinder (43); tray receiving and releasing mechanism (5) transfer mechanism (51), tray and collect mechanism (52) and tray moving mechanism (53) including the tray, tray transfer mechanism (51) and tray collect mechanism (52) set up and tray transfer mechanism (51) and tray collect and be connected with spacing slide rail (54) between mechanism (52), and tray moving mechanism (53) are located the below that mechanism (51), tray collected mechanism (52) and spacing slide rail (54) were transferred to the tray.

2. A transfer device according to claim 1, wherein: the feeding and ejecting mechanism (2) and the tray retracting and releasing mechanism (5) are arranged in parallel, the feeding and ejecting mechanism (2) and the grabbing and carrying mechanism (3) are arranged vertically, and the positioning and calibrating mechanism (4) is located between the feeding and ejecting mechanism (2) and the tray retracting and releasing mechanism (5).

3. A transfer device according to claim 1 or 2, wherein: the tray moving mechanism (53) comprises a first belt linear module (531), and two ends of a moving table on the first belt linear module (531) are respectively connected with a clamping cylinder (532), a first connecting rod (533), a second connecting rod (534) and a clamping finger (535); the clamping cylinder (532) is fixed on a moving table on the first belt linear module (531), and a piston rod of the clamping cylinder (532) is connected with a pushing block; one end of the first connecting rod (533) is hinged to the moving platform on the first belt linear module (531), the other end of the first connecting rod is hinged to one end of the second connecting rod (534), the other end of the second connecting rod (534) is hinged to the pushing block, and the clamping finger (535) is fixed on the second connecting rod (534).

4. A transfer device according to claim 3, wherein: the transverse adjusting plate (41) is provided with a transverse straight hole (411), the longitudinal adjusting plate (42) is provided with a longitudinal straight hole (421), the transverse adjusting plate (41) penetrates through the transverse straight hole (411) through a nut component to be connected with the rack (1), and the longitudinal adjusting plate (42) penetrates through the longitudinal straight hole (421) through another nut component to be connected with the transverse adjusting plate (41); the number of the four-claw finger cylinders (43) is two, and the four-claw finger cylinders are respectively connected to the longitudinal adjusting plate (42) at intervals.

5. A transfer device according to claim 4, wherein: the top end of the four-claw finger cylinder (43) is connected with a placing plate (44), and four clamping jaws of the four-claw finger cylinder (43) are connected with clapper plates (45); in-place sensors (46) are connected to two opposite included angles of the placing plate (44); rubber pads are arranged on the inner sides of the four clapboards (45).

6. A transfer device according to claim 5, wherein: the feeding and ejecting mechanism (2) comprises a bottom plate (21), the bottom plate (21) is connected to the rack (1), two ends of the bottom plate (21) are connected with second belt linear modules (22), one ends of the two second belt linear modules (22) which are in contact with each other are arranged in a staggered mode, and a plurality of discharging fixing frames (23) in a rectangular array are connected to moving tables of the two second belt linear modules (22); the middle of the bottom surface of the bottom plate (21) is connected with a jacking servo linear module (24), one ends of two jacking rods (241) are connected to a moving platform of the jacking servo linear module (24), and the other ends of the two jacking rods (241) penetrate through the bottom plate (21) and are respectively located in the two discharging fixing frames (23).

7. A transfer device according to claim 6, wherein: the grabbing and carrying mechanism (3) comprises a carrying servo linear module (31), a first grabbing group and a second grabbing cylinder (32) are connected to a moving platform of the carrying servo linear module (31), and a piston rod of the second grabbing cylinder (32) is connected with two second suction claws (321) arranged at intervals; the first material grabbing group comprises an adjusting cylinder (33) and two first material grabbing cylinders (34), piston rods of the two first material grabbing cylinders (34) are connected with a first suction claw (341), the adjusting cylinder (33) and one of the first material grabbing cylinders (34) are fixed on a moving platform of the servo linear module (31) for carrying, and the other first material grabbing cylinder (34) is connected with a piston rod of the adjusting cylinder (33).

8. A transfer device according to claim 7, wherein: an auxiliary positioning mechanism (6) is connected to the rack (1) right above the two ejector rods (241); the auxiliary positioning mechanism (6) comprises a lower pressing plate (61), two material taking holes (62) which are arranged at intervals are formed in the lower pressing plate (61), lower pressing cylinders (63) are arranged at two ends of the lower pressing plate (61), and the lower pressing cylinders (63) are fixedly connected to the rack (1); two the bottom surface of getting material hole (62) all is equipped with chamfer (621), two get material hole (62) and two material ejection pole (241) correspond the setting.