CN113387180B - Snatch handling device - Google Patents
Snatch handling device Download PDFInfo
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- CN113387180B CN113387180B CN202110873596.6A CN202110873596A CN113387180B CN 113387180 B CN113387180 B CN 113387180B CN 202110873596 A CN202110873596 A CN 202110873596A CN 113387180 B CN113387180 B CN 113387180B
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- power equipment
- grabbing
- carrying
- grabbing mechanism
- lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention discloses a grabbing and carrying device which comprises a grabbing mechanism, lifting power equipment and carrying power equipment, wherein a machine body of the carrying power equipment is arranged on a fixed rack, a power output end of the carrying power equipment is connected with a transition supporting plate, the grabbing mechanism is connected to the transition supporting plate in a lifting mode, the grabbing mechanism is further correspondingly provided with an elastic component for driving the grabbing mechanism to ascend and a first linkage mechanism for driving the grabbing mechanism to descend, the lifting power equipment corresponds to material taking and placing stations one by one, the machine body of the lifting power equipment is arranged on the fixed rack, and the power output end of the lifting power equipment is further correspondingly provided with a second linkage mechanism matched with the first linkage mechanism for use. According to the invention, the lifting power equipment is not required to be arranged on the transition support plate, the structure is delicate, simple and practical, the equipment investment, the occupied space and the weight of the grabbing and carrying device can be reduced, and more importantly, the winding of the line is prevented.
Description
Technical Field
The invention belongs to the technical field of product carrying, and particularly relates to a grabbing and carrying device.
Background
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is already known to a person skilled in the art.
With the development of society, the increase of labor cost and the rise of automation industry, the wide use of automation equipment has become a trend of no alternatives. In the product handling process, the product needs to be picked up and carried to a standard operation position for further processing, and a grabbing and carrying device is needed at the moment. The grabbing and carrying device in the prior art generally comprises a grabbing mechanism for grabbing a product, a lifting power device for driving the grabbing mechanism to lift and a carrying power device for driving the grabbing mechanism to move between different stations, a machine body for carrying the power device is mounted on a fixed rack, a power output end of the carrying power device is connected with a transition support plate, a machine body of the lifting power device is mounted on the transition support plate, the grabbing mechanism is connected with a power output end of the lifting power device, the lifting power device needs to be provided with a plurality of circuits, and when the grabbing and carrying power device drives the grabbing mechanism to move, the lifting power device can also move together. Every snatchs mechanism is equipped with a lift power equipment among the prior art, and lift power equipment installs in the transition backup pad, not only needs to invest a large amount of equipment funds, and it is big to snatch handling device occupation space moreover, and weight is big, appears the winding problem of circuit easily.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is how to reduce the equipment investment, occupied space and weight of the grabbing and carrying device, and more importantly, the problem of preventing the winding of the line is solved.
In order to solve the technical problems, the invention provides a grabbing and carrying device which comprises a grabbing mechanism for grabbing products, lifting power equipment for driving the grabbing mechanism to lift and carrying power equipment for driving the grabbing mechanism to pass through a material taking and placing station and a non-material taking and placing station, wherein a machine body of the carrying power equipment is arranged on a fixed rack, and a power output end of the carrying power equipment is connected with a transition support plate;
the grabbing mechanism is connected to the transition supporting plate in a lifting mode, the grabbing mechanism is further correspondingly provided with an elastic component for driving the grabbing mechanism to ascend and a first linkage mechanism for driving the grabbing mechanism to descend, the lifting power equipment corresponds to the material taking and placing stations one by one, the body of the lifting power equipment is installed on the fixed rack, and the power output end of the lifting power equipment is further correspondingly provided with a second linkage mechanism matched with the first linkage mechanism for use;
the carrying power equipment drives a certain grabbing mechanism to pass through a certain grabbing mechanism, when the grabbing station is taken, under a first working state, the lifting power equipment corresponding to the grabbing station drives a second linkage mechanism corresponding to the grabbing mechanism to contact with a first linkage mechanism corresponding to the grabbing mechanism and form a cam mechanism, the cam mechanism transmits the motion of the lifting power equipment corresponding to the grabbing station to the certain grabbing mechanism and drives the certain grabbing mechanism to grab a product after descending, under a second working state, the lifting power equipment corresponding to the grabbing station drives the second linkage mechanism corresponding to the grabbing mechanism to separate from the first linkage mechanism corresponding to the grabbing mechanism, and the certain grabbing mechanism ascends under the action of the resetting force of an elastic component corresponding to the grabbing mechanism.
As further improvement, snatch handling device and snatch handling device for the carousel formula multistation, the transition backup pad is the carousel, transport power equipment is the motor, transport power equipment drives the carousel is rotatory, install on the carousel and center on a plurality of the rotation center line equipartition of carousel sets up snatch the mechanism.
As a further improvement, eight grabbing mechanisms are mounted on the rotary table.
As a further improvement, the outer side edge of the rotary disc is provided with a notch groove for accommodating the grabbing mechanism.
As a further improvement, the carrying power equipment drives each grabbing mechanism to pass through a plurality of material taking and placing stations, and the fixed rack is provided with a plurality of lifting power equipment.
As a further improvement, the carrying power equipment drives each grabbing mechanism to pass through three material taking and placing stations.
As a further improvement, the carrying power equipment drives each non-taking and placing station through which the grabbing mechanism passes to be a photographing station.
As a further improvement, the first linkage mechanism is a driven part fixed relative to the grabbing mechanism, the second linkage mechanism is a disc cam, and the lifting power equipment is a motor.
As a further improvement, the first linkage mechanism and the second linkage mechanism are arranged above the transition support plate.
As a further improvement, the gripping mechanism is a suction nozzle mechanism.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1) According to the grabbing and carrying device disclosed by the invention, the lifting force of the grabbing mechanism is provided by the resetting acting force of the elastic part, the descending force of the grabbing mechanism is provided by the cooperation of the carrying power equipment, the lifting power equipment and the cam mechanism, and the lifting power equipment does not need to be arranged on the transition support plate, so that the structure is delicate, simple and practical;
2) According to the grabbing and carrying device disclosed by the invention, the grabbing and carrying device is set to be the rotary disc type multi-station grabbing and carrying device, multi-station synchronous work can be realized, and the production efficiency is improved;
3) According to the grabbing and carrying device disclosed by the invention, the first linkage mechanism and the second linkage mechanism are arranged above the transition support plate, so that the work of the grabbing mechanism is not influenced, and the whole grabbing and carrying device is more compact and reasonable in structure;
4) According to the grabbing and carrying device disclosed by the invention, the material taking station, the material placing station and the photographing station are arranged, so that the working requirements of the grabbing and carrying device when used for product detection are met.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application, and the description of the exemplary embodiments and illustrations of the application are intended to explain the application and are not intended to limit the application.
FIG. 1 is an isometric view of one of the angles of the grasping and handling device of the present disclosure;
fig. 2 is a front view of the gripping and carrying device disclosed in the present invention.
Wherein, 1, a grabbing mechanism; 2. lifting power equipment; 3. carrying power equipment; 4. fixing the frame; 5. a transition support plate; 51. a notch groove; 52. an L-shaped fixing plate; 6. a first linkage mechanism; 7. a second linkage mechanism.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further improvements to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, elements, and/or combinations thereof, unless the context clearly indicates otherwise. In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure. In the present disclosure, terms such as "fixedly connected," "connected," and the like should be understood broadly, and mean that they may be fixedly connected, integrally connected, or detachably connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by a person skilled in the art and should not be construed as limiting the present disclosure.
The following is a preferred embodiment of the present invention, but is not intended to limit the scope of the present invention.
Example one
Referring to fig. 1 and 2, as shown in the legend, a grabbing and carrying device includes a grabbing mechanism 1 for grabbing a product, a lifting power device 2 for driving the grabbing mechanism 1 to lift, and a carrying power device 3 for driving the grabbing mechanism 1 to pass through a material taking and placing station and a non-material taking and placing station, a body of the carrying power device 3 is mounted on a fixed frame 4, and a power output end of the carrying power device 3 is connected with a transition support plate 5;
the grabbing mechanism 1 is connected to the transition supporting plate 5 in a lifting manner, the grabbing mechanism 1 is further correspondingly provided with an elastic component (not shown in the figure) for driving the grabbing mechanism to ascend and a first linkage mechanism 6 for driving the grabbing mechanism to descend, the lifting power equipment 2 corresponds to the material taking and placing stations one by one, the body of the lifting power equipment 2 is mounted on a fixed rack 4, and the power output end of the lifting power equipment 2 is further correspondingly provided with a second linkage mechanism 7 matched with the first linkage mechanism 6 for use;
when the carrying power equipment 3 drives a certain grabbing mechanism 1 to pass through a certain grabbing and placing station, in a first working state, the lifting power equipment 2 corresponding to the certain grabbing and placing station drives the corresponding second linkage mechanism 7 to contact with the first linkage mechanism 6 corresponding to the certain grabbing mechanism 1 to form a cam mechanism, the cam mechanism transmits the motion of the lifting power equipment 2 corresponding to the certain grabbing and placing station to the certain grabbing mechanism 1 and drives the certain grabbing mechanism 1 to descend and then grab a product, in a second working state, the lifting power equipment 2 corresponding to the certain grabbing and placing station drives the corresponding second linkage mechanism 7 to be separated from the first linkage mechanism 6 corresponding to the certain grabbing mechanism 1, and the certain grabbing mechanism 1 moves upwards under the action of the resetting force of the corresponding elastic component.
In the above, the lifting force of the grabbing mechanism is provided by the reset acting force of the elastic part, the descending force of the grabbing mechanism is provided by the cooperation of the carrying power equipment, the lifting power equipment and the cam mechanism, the lifting power equipment is not required to be arranged on the transition supporting plate, the structure is delicate, the lifting device is simple and practical, the equipment investment, the occupied space and the weight of the grabbing and carrying device can be reduced, and more importantly, the line winding is prevented.
The working principle of the cam mechanism is briefly described, and the cam mechanism is generally a high-pair mechanism consisting of a cam, a driven piece and a frame. The cam usually rotates continuously at a constant speed, and the driven member is designed to obtain a certain regular movement according to the use requirement. Cam mechanisms can achieve complex motion requirements, are widely used in various automated and semi-automated mechanical devices, and almost any motion can be generated by the mechanism. The cam may be defined as a member having a curved surface or a curved groove, which is oscillated or rotated to provide a predetermined movement to the follower, which is another component. The path of the slave is largely confined within a chute to obtain a reciprocating motion. In the return stroke, the weight of the device is sometimes relied on, but some mechanisms usually use a spring as the return force to obtain a definite action, and some use a guide groove to make the device move on a specific path.
Preferred embodiment in this embodiment, above-mentioned grabbing handling device is carousel formula multistation grabbing handling device, and transition backup pad 5 is the carousel, and transport power equipment 3 is the motor, and transport power equipment 3 drives the carousel rotation, installs a plurality of mechanisms 1 that snatch that the center line of rotation equipartition that centers on the carousel set up on the carousel.
In the above, through snatching the handling device and setting up to the carousel formula multistation and snatch the handling device, can realize multistation synchronous working, improved production efficiency.
In the preferred embodiment of the present embodiment, eight gripping mechanisms 1 are mounted on the turntable.
In the foregoing, every snatchs the mechanism and all can set up to a station, and expansibility is great.
In the preferred embodiment of the present embodiment, the outer side of the turntable is provided with a notch 51 for accommodating the gripping mechanism 1.
In the preferred embodiment of this embodiment, the carrying power equipment 3 drives each grabbing mechanism 1 to pass through a plurality of material taking and placing stations, and the fixed frame 4 is provided with a plurality of lifting power equipment 2.
In the preferred embodiment of this embodiment, the carrying power device 3 drives each grabbing mechanism 1 to pass through two material taking and placing stations.
In the preferred embodiment of this embodiment, the carrying power device 3 drives each non-material taking and placing station through which the grabbing mechanism 1 passes to be a photographing station.
In the above, through setting up material taking station, blowing station and the station of shooing, satisfy the work requirement that snatchs handling device is used for product detection time.
In a preferred embodiment of the present embodiment, the first linkage 6 is a driven member fixed relative to the gripping mechanism 1, the second linkage 7 is a disc cam, and the lifting power device 2 is a motor.
In the above, the transition support plate is provided with the L-shaped fixing plate 52, the grabbing mechanism 1 is connected to the L-shaped fixing plate 52 through the vertical guide rail, one flat plate portion of the L-shaped fixing plate 52 is fixed to the transition support plate 5, the other flat plate portion is provided with the guide rail, the disc cam is a cam which has radial profile dimension change and rotates around the axis of the cam, the driven member is an L-shaped driven member, one flat plate portion of the L-shaped driven member is connected to the guide rail, and the other flat plate portion is connected to the grabbing mechanism.
In the preferred embodiment of the present embodiment, the first linkage 6 and the second linkage 7 are provided above the transition support plate 5. The lifting power equipment 2 is arranged on the gantry-shaped frame.
In the above, the first linkage mechanism and the second linkage mechanism are arranged above the transition support plate, so that the operation of the grabbing mechanism is not influenced, and the whole mechanism is more compact and reasonable in structure. The fixed frame 4 is a gantry frame, the gantry frame comprises a first upright, a second upright, a third upright, a first cross beam and a second cross beam, the first upright, the second upright and the third upright surround the outer side of the transition support plate 5, the two ends of the first cross beam are separately connected with the first upright and the second upright, the two ends of the second cross beam are respectively connected with the top end of the third upright and the middle section position of the first cross beam, and the lifting power equipment and the rotating power equipment are installed on the first upright, the second upright and the third upright. The fixed frame structure is very stable.
In the preferred embodiment of the present embodiment, the gripping mechanism 1 is a suction nozzle mechanism.
The operation of one of the gripping mechanisms in the preferred embodiment of the gripping and handling device is described below:
(1) The turntable drives the grabbing mechanism to rotate to the material taking station and stop;
(2) The lifting power equipment at the material taking station drives the cam to rotate, the cam is contacted with the driven piece after rotating to drive the driven piece to move downwards, the grabbing mechanism is driven to adsorb the product after moving downwards, the cam is separated from the driven piece after continuing to rotate, the grabbing mechanism moves upwards under the action of the reset force of the elastic part, and the grabbing mechanism adsorbs the product and then moves upwards;
(3) The turntable drives the grabbing mechanism to rotate to a photographing station to stop, and the camera photographs the product;
(4) The turntable drives the grabbing mechanism to rotate to the material placing station and stop;
(5) The lifting power equipment at the discharging station drives the cam to rotate, the cam is contacted with the driven piece after rotating to drive the driven piece to move downwards, the grabbing mechanism is driven to release the product after moving downwards, the cam is separated from the driven piece after continuing rotating, the grabbing mechanism moves upwards under the action of the resetting force of the elastic component, and the step (1) is returned.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, including any reference to the above-mentioned embodiments. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A grabbing and carrying device comprises a grabbing mechanism for grabbing a product, lifting power equipment for driving the grabbing mechanism to lift and carrying power equipment for driving the grabbing mechanism to pass through a material taking and placing station and a non-material taking and placing station, wherein a machine body of the carrying power equipment is arranged on a fixed rack, and a power output end of the carrying power equipment is connected with a transition supporting plate;
the automatic material taking and placing device is characterized in that the grabbing mechanism is connected to the transition supporting plate in a lifting mode, the grabbing mechanism is further correspondingly provided with an elastic part for driving the grabbing mechanism to ascend and a first linkage mechanism for driving the grabbing mechanism to descend, the lifting power equipment corresponds to the material taking and placing stations one by one, the body of the lifting power equipment is mounted on the fixed rack, and the power output end of the lifting power equipment is further correspondingly provided with a second linkage mechanism matched with the first linkage mechanism for use;
when the carrying power equipment drives a certain grabbing mechanism to pass through a certain grabbing and placing station, under a first working state, the lifting power equipment corresponding to the certain grabbing and placing station drives the corresponding second linkage mechanism to contact with the corresponding first linkage mechanism of the certain grabbing mechanism to form a cam mechanism, the cam mechanism transmits the motion of the lifting power equipment corresponding to the certain grabbing and placing station to the certain grabbing mechanism and drives the certain grabbing mechanism to descend so as to grab a product, under a second working state, the lifting power equipment corresponding to the certain grabbing and placing station drives the corresponding second linkage mechanism to be separated from the corresponding first linkage mechanism of the certain grabbing mechanism, and the certain grabbing mechanism moves upwards under the action of the resetting force of the corresponding elastic component;
the first linkage mechanism is a driven piece fixed relative to the grabbing mechanism, the second linkage mechanism is a disc cam, and the lifting power equipment is a horizontally placed motor;
the fixed frame is a gantry-shaped frame, and the carrying power equipment and the lifting power equipment are both arranged above the transition support plate.
2. The gripping and carrying device according to claim 1, wherein the gripping and carrying device is a turntable type multi-station gripping and carrying device, the transition support plate is a turntable, the carrying power equipment is a motor, the carrying power equipment drives the turntable to rotate, and the turntable is provided with a plurality of gripping mechanisms uniformly distributed around a rotation center line of the turntable.
3. The grasping and handling device according to claim 2, wherein eight of the grasping mechanisms are mounted on the turntable.
4. The apparatus according to claim 2, wherein the outer side of the turntable is provided with a notch groove for receiving the gripping mechanism.
5. The grasping and carrying device according to claim 1 wherein the carrying power device drives each grasping mechanism to pass through a plurality of the material taking and placing stations, and a plurality of the lifting power devices are mounted on the fixed frame.
6. The grasping and handling device according to claim 5, wherein said handling power equipment moves each of said grasping mechanisms through three of said picking and placing stations.
7. The grasping and carrying device according to claim 1, wherein the carrying power device drives each grasping mechanism to pass through a non-material taking and placing station as a photographing station.
8. The grasping and handling device according to claim 1, wherein the first linkage and the second linkage are disposed above the transition support plate.
9. The device of claim 1, wherein the grasping mechanism is a suction nozzle mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110873596.6A CN113387180B (en) | 2021-07-30 | 2021-07-30 | Snatch handling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110873596.6A CN113387180B (en) | 2021-07-30 | 2021-07-30 | Snatch handling device |
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| Publication Number | Publication Date |
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| CN113387180A CN113387180A (en) | 2021-09-14 |
| CN113387180B true CN113387180B (en) | 2022-12-16 |
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| CN202110873596.6A Active CN113387180B (en) | 2021-07-30 | 2021-07-30 | Snatch handling device |
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Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101520347B (en) * | 2008-02-26 | 2010-10-27 | 界鸿科技股份有限公司 | Electronic element-takeout and placing device with pressure detecting function and pressure detecting method |
| JP6140086B2 (en) * | 2014-02-06 | 2017-05-31 | 東洋自動機株式会社 | Bag transfer device |
| CN108946157B (en) * | 2018-08-15 | 2024-04-02 | 苏州富强科技有限公司 | Multi-station cam carrying mechanism |
| CN109625961A (en) * | 2019-01-25 | 2019-04-16 | 江苏信息职业技术学院 | Rotating disc type IC chip handling device vacuum distribution module and handling device |
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