CN113148642A - Automatic get and put material mechanism - Google Patents
Automatic get and put material mechanism Download PDFInfo
- Publication number
- CN113148642A CN113148642A CN202110308395.1A CN202110308395A CN113148642A CN 113148642 A CN113148642 A CN 113148642A CN 202110308395 A CN202110308395 A CN 202110308395A CN 113148642 A CN113148642 A CN 113148642A
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- moving platform
- direction moving
- material taking
- automatic material
- main body
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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
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- 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)
- Manipulator (AREA)
Abstract
The invention provides an automatic material taking and placing mechanism which comprises an X-direction moving platform, a Y-direction moving platform, a Z-direction moving platform, a plurality of lifting cylinders and an adsorption assembly, wherein the X-direction moving platform is arranged on the top of the X-direction moving platform; the Y-direction moving platform is arranged on the X-direction moving platform; the Z-direction moving platform is arranged on the Y-direction moving platform; a plurality of lifting cylinders are adjacently arranged on the Z-direction moving platform; the piston rod of each lifting cylinder is connected with an adsorption component. Move adsorption component to the work piece top to moving platform and Y through X, order about adsorption component through Z to moving platform again and descend fast, lift cylinder orders about adsorption component accuracy and touches the work piece afterwards, live with the work piece absorption, deliver to the assigned position. The whole process is high in automation degree, manual picking and placing are not needed, and production efficiency and safety are greatly improved. Moreover, because the lifting cylinders are mutually independent, all the adsorption components can work synchronously, and individual adsorption components can be controlled independently to take and place materials, so that the device has various combinations.
Description
Technical Field
The invention relates to the field of automation equipment, in particular to an automatic material taking and placing mechanism.
Background
Many electronic components or CNC, stamped, injection molded small workpieces are very small in size and can be processed in large quantities in a batch. At the present stage, the manual material taking and placing is adopted for the small workpieces, the action is repeated and tedious, the time consumed for taking out a batch of workpieces is long, and the workpieces are small in size and cannot be well grabbed when the materials are taken and placed, so that the positions are not easy to align, and the efficiency is very low. Meanwhile, great potential safety hazards exist in material taking in a processing area.
Disclosure of Invention
The invention aims to provide an automatic material taking and placing mechanism to overcome the defects of low efficiency and low safety in the prior art.
The technical scheme adopted by the invention for solving the technical problem is that the invention provides an automatic material taking and placing mechanism, which comprises an X-direction moving platform, a Y-direction moving platform, a Z-direction moving platform, a plurality of lifting cylinders and an adsorption component for sucking workpieces; the Y-direction moving platform is arranged on the X-direction moving platform; the Z-direction moving platform is arranged on the Y-direction moving platform; the plurality of lifting cylinders are adjacently and vertically arranged on the Z-direction moving platform; and the lower part of the piston rod of each lifting cylinder is connected with the adsorption component.
According to the automatic material taking and placing mechanism provided by the invention, the adsorption component is moved to the upper part of the workpiece through the X-direction moving platform and the Y-direction moving platform, then the adsorption component is driven to rapidly descend through the Z-direction moving platform, then the adsorption component is driven to accurately descend to touch the workpiece through the lifting cylinder, and the workpiece is adsorbed by using negative pressure and is sent to a specified position. The whole process is high in automation degree, manual picking and placing are not needed, and production efficiency and safety are greatly improved. Moreover, because the lifting cylinders are mutually independent, all the adsorption components can work synchronously, and individual adsorption components can be controlled independently to take and place materials, so that the device has various combinations.
In some embodiments, the piston rod is connected to the suction assembly by a connector; the adsorption component comprises a suction nozzle main body, a limiting screw and a compression spring; the suction nozzle main body is slidably inserted on the connecting piece, the upper end of the suction nozzle main body is in threaded connection with the limiting screw, and the lower part of the suction nozzle main body is provided with a step; the middle part of the limiting screw is provided with an air passage, and the periphery of the limiting screw is provided with a bulge for preventing the suction nozzle main body from falling off the connecting block; the compression spring is sleeved on the suction nozzle main body, one end of the compression spring abuts against the connecting piece, and the other end of the compression spring abuts against the step.
In some embodiments, the lower end surface of the suction nozzle main body is rectangular, and air holes are formed in four corners of the suction nozzle main body.
In some embodiments, a first pneumatic fitting is mounted on the spacing screw; the automatic material taking and discharging mechanism further comprises a plurality of electromagnetic valves and a plurality of vacuum generators; the electromagnetic valve is connected with the vacuum generator; the vacuum generator is connected with the first pneumatic connector.
In some embodiments, the automatic material taking and placing mechanism further comprises a connecting plate and a fixing block; the connecting plate is connected with the Z-direction moving platform; the fixed block is transversely and fixedly arranged on the connecting plate; and a plurality of cylinder bodies of the lifting cylinders are all arranged on the fixed block.
In some embodiments, the connector comprises a first connector block and a second connector block; the upper end of the first connecting block is connected with the piston rod, and the lower end of the first connecting block is provided with a T-shaped notch; the upper end of the second connecting block is provided with a T-shaped inserting block matched with the T-shaped notch, and the T-shaped inserting block is inserted into the T-shaped notch; the lower end of the second connecting block extends outwards to form a boss; the suction nozzle main body can be inserted on the lug boss in a vertically sliding mode.
In some embodiments, the connecting plate is further provided with a longitudinal sliding rail; and the second connecting block is arranged on the longitudinal sliding rail.
In some embodiments, the lift cylinder is a double acting cylinder; each lifting cylinder is provided with two second pneumatic connectors capable of adjusting air pressure.
In some embodiments, the automatic material taking and placing mechanism further comprises a transverse sliding rail parallel to the X-direction moving platform; one end of the Y-direction moving platform is in transmission connection with the X-direction moving platform, and the other end of the Y-direction moving platform is in sliding connection with the transverse sliding rail.
In some embodiment modes, the automatic material taking and placing mechanism further comprises a first vertical plate and a second vertical plate which are different in height; the first vertical plate is arranged below the X-direction moving platform; the second vertical plate is arranged below the transverse sliding rail.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic perspective view of a workpiece according to an embodiment of the invention;
FIG. 2 is a schematic perspective view of an automatic material taking and placing mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic plane structure diagram of an automatic material taking and placing mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic plan view of a lift cylinder according to an embodiment of the present invention;
FIG. 5 is a schematic perspective view of a lift cylinder according to an embodiment of the present invention;
FIG. 6 is a schematic view of the operation of the adsorption assembly according to the embodiment of the present invention;
FIG. 7 is a schematic perspective view of a suction assembly according to an embodiment of the present invention;
FIG. 8 is a schematic view of an exploded state of a sorbent assembly in accordance with an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a nozzle body according to an embodiment of the present invention.
The reference numerals are explained below:
100-a workpiece; 1-X direction moving platform; 2-Y direction moving platform; 3-Z-direction moving platform; 4-a lifting cylinder; 5-an adsorption component; 51-a nozzle body; 511-steps; 512-air holes; 52-a limit screw; 521-a bump; 53-compression spring; 6-transverse sliding rails; 7-a connector; 71-a first connection block; 72-a second connection block; 8-an electromagnetic valve; 9-a vacuum generator; 10-a first pneumatic joint; 11-a connecting plate; 12-fixing blocks; 13-longitudinal sliding rail; 14-second pneumatic connection.
Detailed Description
Exemplary embodiments that embody features and advantages of the invention are described in detail below in the specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.
Referring to fig. 1 to 6, the automatic material taking and placing mechanism provided in this embodiment includes an X-direction moving platform 1, a Y-direction moving platform 2, a Z-direction moving platform 3, a plurality of lifting cylinders 4, and an adsorption assembly 5. The Y-direction moving platform 2 is arranged on the X-direction moving platform 1, and the X-direction moving platform 1 can drive the Y-direction moving mechanism to move back and forth along the X direction. The Z-direction moving platform 3 is arranged on the Y-direction moving platform 2, and the Y-direction moving platform 2 can drive the Z-direction moving platform 3 to move back and forth along the Y direction. A plurality of lifting cylinders 4 are arranged on the Z-direction moving platform 3 adjacently and vertically, and an adsorption component 5 for adsorbing the workpiece 100 is connected below a piston rod of each lifting cylinder 4.
Move adsorption component 5 to the top of work piece 100 to moving platform 2 through X to moving platform 1 and Y, rethread Z orders about adsorption component 5 to moving platform 3 and descends fast, orders about adsorption component 5 through lift cylinder 4 afterwards and descends to touching work piece 100 accurately to utilize the negative pressure to live with work piece 100 adsorbs, send to the assigned position. The whole process is high in automation degree, manual picking and placing are not needed, and production efficiency and safety are greatly improved. Moreover, since the lifting cylinders 4 are independent of each other, all the suction units 5 can be operated in synchronization, and the respective suction units 5 can be controlled individually to perform the material loading and unloading operation, and various combinations are provided.
Specifically, referring to fig. 1, the workpiece 100 of the present embodiment is a substantially rectangular parallelepiped sheet-like structure having an annular projection in the middle.
The X-direction moving platform 1, the Y-direction moving platform 2, and the Z-direction moving platform 3 are also referred to as a linear motor module, a linear sliding table, and the like. Referring to fig. 2 and 3, the X-direction moving platform 1 is mounted on the first vertical plate. In order to improve the smoothness in the moving process, the mechanism also comprises a transverse sliding rail 6 which is parallel to the X-direction moving platform 1. The transverse slide rail 6 is arranged on the second vertical plate and is as high as the X-direction moving platform 1.
With continued reference to fig. 2 and 3, one end of the Y-direction moving platform 2 is mounted on the X-direction moving platform 1, and the other end is mounted on the transverse slide rail 6. The Z-direction moving platform 3 is vertically arranged on the Y-direction moving platform 2 through a mounting frame.
Referring to fig. 4 to 6, a row of lifting cylinders 4 is mounted on the Z-direction moving platform 3. The piston rod of each lifting cylinder 4 is connected with the adsorption component 5 through a connecting piece 7. The workpiece 100 is sucked by the end of the suction member 5 (see fig. 6).
Referring to fig. 7 to 9, the suction assembly 5 of the present embodiment includes a nozzle main body 51, a limit screw 52, and a compression spring 53. Wherein, the suction nozzle main body 51 is tubular and can be inserted on the connecting piece 7 in a sliding way. The upper end of the suction nozzle main body 51 is connected with a limit screw 52 by screw threads, and the lower part is provided with a step 511. An air passage is formed in the middle of the limit screw 52, and a protrusion 521 for preventing the suction nozzle main body 51 from falling off from the connecting block is formed in the periphery of the limit screw. The compression spring 53 is sleeved on the suction nozzle main body 51, and the upper end abuts against the connecting piece 7 and the lower end abuts against the step 511.
By providing the compression spring 53, when the end of the suction nozzle main body 51 touches the workpiece 100, the compression spring 53 is compressed, and the elastic force acts as a buffer to prevent the workpiece 100 from being crushed. When the suction nozzle is lifted, the suction nozzle main body 51 can be popped up and reset through elasticity, and the lifting device is ingenious.
Referring to fig. 6 to 9, the lower end surface of the suction nozzle main body 51 is rectangular and is matched with the wheel of the workpiece 100, and the four corners of the suction nozzle main body are provided with air holes 512, so that the four corners of the workpiece 100 are balanced in stress, and stable adsorption is realized.
With continued reference to fig. 2 and 3, the automatic material taking and placing mechanism further comprises a plurality of electromagnetic valves 8 and a plurality of vacuum generators 9. Wherein, one end of the electromagnetic valve 8 is connected with an air source (not shown), and the other end is connected with a vacuum generator 9 through an air pipe. The vacuum generator 9 is connected to the first pneumatic connector 10 mounted on the stop screw 52 by means of an air tube. The first pneumatic connector 10 in this embodiment is a conventional connector which communicates with the air passage of the limit screw 52.
Further, the automatic material taking and placing mechanism of the embodiment further comprises a connecting plate 11 and a fixing block 12. Wherein, the connecting plate 11 is installed on the Z-direction moving platform 3, and the Z-direction moving platform 3 drives the connecting plate 11 and the structure thereon to move up and down. Fixed block 12 transversely sets firmly on connecting plate 11, and the cylinder body of a plurality of lift cylinders 4 is all vertical to be installed on this fixed block 12.
With continued reference to fig. 5, the above-described connecting member 7 includes a first connecting block 71 and a second connecting block 72. Wherein, the upper end of the first connecting block 71 is connected with the piston rod, and the lower end is provided with a T-shaped notch. The upper end of the second connecting block 72 is provided with a T-shaped inserting block matched with the T-shaped notch, and the T-shaped inserting block is inserted into the T-shaped notch. The lower end of the second connecting block 72 extends outwards to form a boss, namely, the shape of an L. The nozzle body 51 is inserted on the boss. In order to improve the accuracy of the descending position of the suction module 5, the connecting plate 11 of the present embodiment is further provided with a plurality of parallel and spaced longitudinal slide rails 13. The second connecting block 72 is mounted on the longitudinal slide 13.
Because the first connecting block 71 and the second connecting block 72 are connected in an inserting mode, the front and back positions of the first connecting block 71 and the second connecting block 72 can be adjusted, the second connecting block 72 can be replaced quickly, and the adsorption assemblies 5 with different specifications can be installed.
Still referring to fig. 5, in the present embodiment, five sets of lifting cylinders 4 are mounted on the fixed block 12. Wherein, these lift cylinders 4 are double-acting cylinder, all install two adjustable atmospheric pressure's second pneumatic joint 14 on every lift cylinder 4 to can change the flexible speed and the dynamics of piston rod.
While the present invention has been described with reference to the exemplary embodiments described above, it is understood that the terms used are words of description and illustration, rather than words of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (10)
1. An automatic material taking and placing mechanism is characterized by comprising an X-direction moving platform, a Y-direction moving platform, a Z-direction moving platform, a plurality of lifting cylinders and an adsorption assembly for sucking a workpiece; the Y-direction moving platform is arranged on the X-direction moving platform; the Z-direction moving platform is arranged on the Y-direction moving platform; the plurality of lifting cylinders are adjacently and vertically arranged on the Z-direction moving platform; and the lower part of the piston rod of each lifting cylinder is connected with the adsorption component.
2. The automatic material taking and discharging mechanism of claim 1, wherein the piston rod is connected with the adsorption component through a connecting piece; the adsorption component comprises a suction nozzle main body, a limiting screw and a compression spring;
the suction nozzle main body is slidably inserted on the connecting piece, the upper end of the suction nozzle main body is in threaded connection with the limiting screw, and the lower part of the suction nozzle main body is provided with a step;
the middle part of the limiting screw is provided with an air passage, and the periphery of the limiting screw is provided with a bulge for preventing the suction nozzle main body from falling off the connecting block;
the compression spring is sleeved on the suction nozzle main body, one end of the compression spring abuts against the connecting piece, and the other end of the compression spring abuts against the step.
3. The automatic material taking and discharging mechanism according to claim 2, wherein the lower end surface of the suction nozzle main body is rectangular, and air holes are formed in four corners of the suction nozzle main body.
4. The automatic material taking and discharging mechanism of claim 2, wherein a first pneumatic connector is mounted on the limit screw; the automatic material taking and discharging mechanism further comprises a plurality of electromagnetic valves and a plurality of vacuum generators; the electromagnetic valve is connected with the vacuum generator; the vacuum generator is connected with the first pneumatic connector.
5. The automatic material taking and placing mechanism according to any one of claims 2 to 4, wherein the automatic material taking and placing mechanism further comprises a connecting plate and a fixing block; the connecting plate is connected with the Z-direction moving platform; the fixed block is transversely and fixedly arranged on the connecting plate; and a plurality of cylinder bodies of the lifting cylinders are all arranged on the fixed block.
6. The automatic material taking and discharging mechanism according to claim 5, wherein the connecting piece comprises a first connecting block and a second connecting block;
the upper end of the first connecting block is connected with the piston rod, and the lower end of the first connecting block is provided with a T-shaped notch;
the upper end of the second connecting block is provided with a T-shaped inserting block matched with the T-shaped notch, and the T-shaped inserting block is inserted into the T-shaped notch; the lower end of the second connecting block extends outwards to form a boss; the suction nozzle main body can be inserted on the lug boss in a vertically sliding mode.
7. The automatic material taking and discharging mechanism of claim 6, wherein the connecting plate is further provided with a longitudinal slide rail; and the second connecting block is arranged on the longitudinal sliding rail.
8. The automatic material taking and discharging mechanism of claim 5, wherein the lifting cylinder is a double-acting cylinder; each lifting cylinder is provided with two second pneumatic connectors capable of adjusting air pressure.
9. The automatic material taking and placing mechanism according to claim 1, further comprising a transverse slide rail parallel to the X-direction moving platform; one end of the Y-direction moving platform is in transmission connection with the X-direction moving platform, and the other end of the Y-direction moving platform is in sliding connection with the transverse sliding rail.
10. The automatic material taking and placing mechanism of claim 9, further comprising a first vertical plate and a second vertical plate with different heights; the first vertical plate is arranged below the X-direction moving platform; the second vertical plate is arranged below the transverse sliding rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110308395.1A CN113148642A (en) | 2021-03-23 | 2021-03-23 | Automatic get and put material mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110308395.1A CN113148642A (en) | 2021-03-23 | 2021-03-23 | Automatic get and put material mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113148642A true CN113148642A (en) | 2021-07-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110308395.1A Pending CN113148642A (en) | 2021-03-23 | 2021-03-23 | Automatic get and put material mechanism |
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| Country | Link |
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| CN (1) | CN113148642A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102089A (en) * | 2021-12-15 | 2022-03-01 | 湖南沁峰机器人有限公司 | Optical rivet inserting equipment |
-
2021
- 2021-03-23 CN CN202110308395.1A patent/CN113148642A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114102089A (en) * | 2021-12-15 | 2022-03-01 | 湖南沁峰机器人有限公司 | Optical rivet inserting equipment |
| CN114102089B (en) * | 2021-12-15 | 2022-08-12 | 湖南沁峰机器人有限公司 | Optical rivet inserting equipment |
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