CN111285109A - Transfer equipment - Google Patents

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

a transport device

technical field

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

Background technique

Transfer equipment is a device that transports products from one carrier to another; in the field of mechanical production, it often occurs that the placement of raw materials is different from the loading method required by the assembly machine, such as the loading of chip heat sinks At the time, the raw materials are stacked and placed in the square cylindrical shell, and the products required for the assembly equipment need to be placed on the tray according to the 2X5 format.

In the existing method, the products are manually taken out from the square cylindrical shell one by one, and then positioned and placed in the placement slot of the tray, which is time-consuming and labor-intensive, and has low efficiency. In addition, when placing manually, there is often a misplacement, which will affect the follow-up. Production.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a transfer device that can automatically transfer and place products, avoid manual participation, improve efficiency, and ensure the quality of transfer.

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

A transfer equipment includes a rack, on which are connected a material loading and ejecting mechanism, a grabbing and handling mechanism, a positioning calibration mechanism, and a tray retracting mechanism, the loading and ejecting mechanism, the positioning calibration mechanism and the tray retracting mechanism The placing mechanisms are all within the moving range of the grasping and transporting mechanism; the positioning and calibration mechanism includes a lateral adjustment plate, a longitudinal adjustment plate and a four-claw finger cylinder; the pallet storage mechanism includes a pallet lowering mechanism, a pallet collecting mechanism and a pallet moving mechanism The tray lowering mechanism and the tray retrieving mechanism are arranged opposite to each other and a limit slide rail is connected between the tray lowering mechanism and the tray retrieving mechanism, and the tray moving mechanism is located below the tray lowering mechanism, the tray retrieving mechanism and the limit sliding rail.

Further, the loading and ejecting mechanism and the tray retracting mechanism are arranged in parallel, the loading and ejecting mechanism and the grabbing and conveying mechanism are vertically arranged, and the positioning and calibration mechanism is located between the loading and ejecting mechanism and the tray retracting mechanism.

Further, the pallet moving mechanism includes a first belt linear module, and two ends of the moving table on the first belt linear module are respectively connected with a clamping cylinder, a first connecting rod, a second connecting rod and a clamp. Tighten the fingers; the clamping cylinder is fixed on the moving table on the first belt linear module, and the piston rod of the clamping cylinder is connected with a push block; one end of the first connecting rod is hinged on the first belt linear module On the moving table, the other end is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged on the push block, and the clamping fingers are fixed on the second connecting rod.

Further, the lateral adjustment plate is provided with a horizontal slotted hole, the longitudinal adjustment plate is provided with a longitudinal slotted hole, the lateral adjustment plate is connected to the frame through the horizontal slotted hole through the nut assembly, and the longitudinal adjustment is carried out. The plate is connected to the transverse adjustment plate through another nut assembly through the longitudinal slot; there are two of the four-claw finger cylinders, which are respectively connected to the longitudinal adjustment plate at intervals.

Further, a placing plate is connected to the top of the four-claw finger cylinder, and a clapboard is connected to the four clamping claws of the four-claw finger cylinder; two opposite angles of the placing plate are connected with in-position sensors; The inner side of the clapboard is provided with rubber pads.

Further, the feeding and ejecting mechanism includes a bottom plate, the bottom plate is connected to the frame, both ends of the bottom plate are connected with a second belt linear module, and two of the second belt linear modules are arranged in a staggered manner. , the moving platforms of the two second belt linear modules are connected with a plurality of discharging fixtures in a rectangular array; the middle of the bottom surface of the bottom plate is connected with a lifting servo linear module, and the lifting servo linear module One end of two ejector rods is connected to the mobile platform of the group, and the other ends of the two ejector rods pass through the bottom plate and are respectively located in the two discharge fixing frames.

Further, the grasping and transporting mechanism includes a transporting servo linear module, a first grasping group and a second grasping cylinder are connected to the moving table of the transporting servo linear module, and the piston rod of the second grasping cylinder is connected There are two second suction claws arranged at intervals; the first material grasping group includes an adjustment cylinder and two first material grasping cylinders, the piston rods of the two first material grasping cylinders are connected with first suction claws, and the adjustment cylinder And one of the first grabbing cylinders is fixed on the moving table of the conveying servo linear module, and the other first grabbing cylinder is connected with the piston rod of the adjusting cylinder.

Further, an auxiliary positioning mechanism is connected on the frame directly above the two ejector rods; the auxiliary positioning mechanism includes a lower pressing plate, and the lower pressing plate is provided with two reclaiming holes arranged at intervals, and the lower pressing plate is provided with an auxiliary positioning mechanism. Both ends are provided with a lowering cylinder, which is fixedly connected to the frame; the bottom surfaces of the two reclaiming holes are provided with chamfers, and the two reclaiming holes and the two ejecting rods corresponding settings.

The beneficial effects of the present invention are:

1. In the process of grasping and handling, a positioning and calibration mechanism is set up, and the handling is carried out after the calibration and positioning, so as to ensure the accurate discharge position and ensure the quality of the transfer.

2. The auxiliary positioning mechanism is used to position the feeding pipe fittings, so as to avoid the deviation in the operation of the second belt linear module, which will affect the suction claw grasping material; two sets of second belt linear modules are used to drive the discharge fixing frame to perform dislocation feeding, reducing the The interval time generated by the feeding improves the efficiency.

3. Use the tray storage mechanism to place and collect the tray, avoid manual participation and reduce labor intensity.

Description of drawings

Fig. 1 is the axonometric view of a kind of transport equipment of the present invention;

Fig. 2 is a partial structure diagram of a kind of transport equipment of the present invention;

Fig. 3 is the first angle view of the material feeding and ejecting mechanism of the present invention;

Fig. 4 is the second angle view of the material feeding and ejecting mechanism of the present invention;

FIG. 5 is an axonometric view of the grabbing and conveying mechanism according to the present invention;

Fig. 6 is the axonometric view of the positioning calibration mechanism of the present invention;

Fig. 7 is the axonometric view of the tray retracting mechanism of the present invention;

Fig. 8 is the axonometric view of the pallet moving mechanism of the present invention;

Fig. 9 is the enlarged view of A part of Fig. 8;

Figure 10 is an axonometric view of the auxiliary positioning mechanism according to the present invention;

In the picture: 1. Rack; 2. Feeding and ejecting mechanism; 21. Bottom plate; 22. Second belt linear module; 23. Unwinding fixing frame; 24. Lifting servo linear module; 241. Ejecting rod 3. Grabbing and handling mechanism; 31. Handling servo linear module; 32. Second grasping cylinder; 321. Second suction claw; 33. Adjusting cylinder; 34. First grasping cylinder; 341. First suction claw ;4, positioning and calibration mechanism; 41, horizontal adjustment plate; 411, horizontal slot; 42, vertical adjustment plate; 421, vertical slot; 43, four-claw finger cylinder; 44, placing plate; 45, clapper; 46 , In-position sensor; 5. Tray retracting mechanism; 51, Tray lowering mechanism; 52, Tray taking mechanism; 53, Tray moving mechanism; 531, First belt linear module; 532, Clamping cylinder; 533, First connecting rod ; 534, the second connecting rod; 535, clamping finger; 54, limit slide rail; 6, auxiliary positioning mechanism; 61, lower pressure plate;

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Referring to FIGS. 1 to 10 , a transfer equipment includes a rack 1, and the rack 1 is connected with a loading and ejecting mechanism 2, a grabbing and handling mechanism 3, a positioning and calibration mechanism 4, and a pallet retracting mechanism 5. The above-mentioned feeding and ejecting mechanism 2, positioning and calibration mechanism 4 and tray storage mechanism 5 are all within the moving range of the grabbing and conveying mechanism 3; the positioning and calibration mechanism 4 includes a lateral adjustment plate 41, a longitudinal adjustment plate 42 and four claws. Finger cylinder 43; the tray receiving mechanism 5 includes 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 arranged opposite to each other and the tray lowering mechanism 51 and the tray collecting mechanism 52 A limit slide rail 54 is connected therebetween, and the tray moving mechanism 53 is located below the tray lowering mechanism 51 , the tray collecting mechanism 52 and the limit slide rail 54 .

The loading and ejecting mechanism 2 and the tray retracting mechanism 5 are arranged in parallel, the loading and ejecting mechanism 2 and the grabbing and conveying mechanism 3 are vertically arranged, and the positioning and calibration mechanism 4 is located between the loading and ejecting mechanism 2 and the tray retracting mechanism 5. between.

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

The tray lowering mechanism 51 and the tray collecting mechanism 52 are both in the prior art (patent number CN209160959U, a continuous automatic tray receiving and placing mechanism of a detection device has been summarized in detail), which are used for automatic unloading and collection of trays; The moving mechanism 53 is used to drive the pallet to move from the pallet lowering mechanism 51 to the pallet collecting mechanism 52; the clamping cylinder 532 is used to extend and drive the clamping fingers 535 to form an arc along the second link 534 and the first link 533 The first belt linear module 531 is used to drive the pallet to move.

The horizontal adjustment plate 41 is provided with a horizontal slot 411, the longitudinal adjustment plate 42 is provided with a vertical slot 421, and the lateral adjustment plate 41 passes through the horizontal slot 411 and the frame 1 through a nut assembly. Connection, the longitudinal adjustment plate 42 is connected to the transverse adjustment plate 41 through another nut assembly through the longitudinal slot 421;

The top of the four-claw finger cylinder 43 is connected with a placing plate 44, and the four clamping claws of the four-claw finger cylinder 43 are connected with a clap plate 45; the two opposite angles of the placing plate 44 are connected with an in-position sensor 46; The inner sides of the four clapper plates 45 are all provided with rubber pads.

The feeding and ejecting mechanism 2 includes a bottom plate 21, the bottom plate 21 is connected to the frame 1, and both ends of the bottom plate 21 are connected with a second belt linear module 22, and the two second belt linear modules 22 are in phase with each other. The contact ends are staggered, and the moving stages of the two second belt linear modules 22 are connected with a plurality of discharge holders 23 in a rectangular array. The discharge holders 23 in this embodiment are in a 2×5 rectangular array. Setting; the middle of the bottom surface of the bottom plate 21 is connected with a jacking servo linear module 24, and the mobile platform of the jacking servo linear module 24 is connected with one end of two ejector rods 241, and the other end of the two ejector rods 241. One end passes through the bottom plate 21 and is located in the two discharging fixing frames 23 respectively.

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

The frame 1 is connected with an auxiliary positioning mechanism 6 directly above the two ejector rods 241; the auxiliary positioning mechanism 6 includes a lower pressing plate 61, and the lower pressing plate 61 is provided with two reclaiming holes arranged at intervals 62. Both ends of the lower pressing plate 61 are provided with lower pressing cylinders 63, and the lower pressing cylinders 63 are fixedly connected to the frame 1; The material holes 62 are arranged corresponding to the two ejector rods 241 .

Working principle: The feeding and topping mechanism 2 sequentially feeds the two square cylindrical shells to directly below the auxiliary positioning mechanism 6, and the auxiliary positioning mechanism 6 positions the two square cylindrical shells, and the feeding and topping mechanism 2 The products are ejected in turn, and the first grabbing group on the grabbing and handling mechanism 3 grabs the material and adjusts the position of the cylinder to carry it to the positioning and calibration mechanism 4 for calibration. At the same time, the second grabbing cylinder 32 drives the two second grabbers. The second suction claws 321 position and transport the calibrated product on the original positioning and calibration mechanism 4 to the tray groove located on the limit slide rail 54 on the tray storage mechanism 5, and the trays are automatically stacked to complete the transfer action.

In the tray retracting mechanism 5, the tray lowering mechanism 51 lowers the trays one by one onto the moving table of the first belt linear module 531 of the tray moving mechanism 53, and the clamping cylinders 532 at both ends of the moving table retract to drive the first connecting rod 533 And the second link 534 is turned up, so that the clamping fingers 535 clamp the tray, and then the first belt linear module 531 gradually moves along the slide rail to cooperate with the grasping and handling mechanism 3 to collect materials, and finally moves to the tray collecting mechanism 52. , the clamping cylinders 532 at both ends of the moving table extend to drive the first connecting rod 533 and the second connecting rod 534 to turn down, so that the clamping fingers 535 release the tray, and the tray storage mechanism 5 stacks the trays.

Among them, in the feeding and ejecting mechanism 2, the two second belt linear modules 22 carry out alternate feeding: one of the second belt linear modules 22 drives the discharge fixing frame 23 to move to the outside, and the square tube-shaped The shells are respectively placed on the unloading fixed frame 23 for feeding. At the same time, another second belt linear module 22 drives the unloading fixed frame 23 carrying the full square cylindrical shell to move to the auxiliary positioning mechanism 6, the lower pressing cylinder 63 retracts to drive the lower pressing plate 61 to move downward, so that the two reclaiming holes 62 are sleeved on the top of the two square cylindrical shells according to the chamfer 621 of the bottom surface, and the square cylindrical shell is formed. body positioning, to avoid the movement deviation and unable to take out the product, and then the lift servo linear module 24 drives the two ejector rods 241 to move upward through the bottom plate 21, respectively located in the square cylindrical shell, and lift the products inside them to grab the products in turn. Predetermined location.

In the grabbing and handling mechanism 3, the conveying servo linear module 31 drives the first grabbing group and the second grabbing cylinder 32 to move at the same time. When the first grabbing group is located above the auxiliary positioning mechanism 6, the adjustment cylinder 33 retracts to drive the A first gripping cylinder 34 moves, thereby expanding the distance between the two first suction claws 341, and then gripping the product in the square cylindrical shell. When the first gripping group moves to the positioning and calibration mechanism 4, the adjusting cylinder 33 extends It drives one of the first grabbing cylinders 34 to move, thereby narrowing the distance between the two first suction claws 341 , so as to be easily placed on the top surface of the two four-claw finger cylinders 43 in the positioning and calibration mechanism 4 , and the second grabbing cylinder 32 is used to drive the two second suction claws 321 to grab the product from the positioning and calibration mechanism 4 and place it into the tray.

The positioning and calibration mechanism 4 adjusts the horizontal position of the two four-claw finger cylinders 43 by changing the installation position of the horizontal adjustment plate 41 through the horizontal slot 411, and changes the installation position of the vertical adjustment plate 42 through the vertical slot 421, and adjusts the two four-claw finger cylinders 43. The longitudinal position of the claw finger cylinder 43 ensures that the installation positions of the two four claw finger cylinders 43 are accurate; the product is placed in the placing plate 44, the in-position sensor 46 detects the presence of the product, and the four claw finger cylinder 43 drives the four said clapper plates 45 to The internal movement is carried out while calibrating the product position.

In the present invention, unless otherwise expressly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

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

Claims (8)

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.

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