CN113443424B - Limiting device and hoisting conveying mechanism - Google Patents

Limiting device and hoisting conveying mechanism Download PDF

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Publication number
CN113443424B
CN113443424B CN202110715546.5A CN202110715546A CN113443424B CN 113443424 B CN113443424 B CN 113443424B CN 202110715546 A CN202110715546 A CN 202110715546A CN 113443424 B CN113443424 B CN 113443424B
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China
Prior art keywords
workpiece
clamping
taking station
limiting
station
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CN113443424A (en
Inventor
欧阳效文
张瑞俊
黄诚
张锦宙
李厚洪
钟俊
陶择恒
卢政君
刘汉水
左文翔
黄大练
胡杨
唐竞
林长波
展新
冯高山
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Dongfeng Liuzhou Motor Co Ltd
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Dongfeng Liuzhou Motor Co Ltd
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Priority to CN202110715546.5A priority Critical patent/CN113443424B/en
Publication of CN113443424A publication Critical patent/CN113443424A/en
Priority to PCT/CN2022/080968 priority patent/WO2022267567A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a limiting device and a hoisting conveying mechanism, wherein the limiting device is applied to the hoisting conveying mechanism and is provided with a first direction and a second direction which is arranged in a crossing way with the first direction, the limiting device comprises a base and a limiting assembly, and the base is provided with a workpiece taking station; the limiting component is movably arranged on the base in a direction close to and far away from the workpiece taking station, and is used for moving towards the workpiece taking station when the workpiece is lifted to the workpiece taking station by the lifting component so as to limit the workpiece to move along the first direction and the second direction. When the workpiece is hoisted to the workpiece taking station, the workpiece can be rapidly limited, the deviation is avoided, the workpiece is ensured to be at a set position, and the robot gripper can conveniently grasp the workpiece.

Description

Limiting device and hoisting conveying mechanism
Technical Field
The invention relates to the technical field of conveying equipment, in particular to a limiting device and a hoisting conveying mechanism.
Background
The conveyer is used for carrying the equipment that carries to the car work piece, the appearance of conveyer, very big improvement the production efficiency of car work piece, current conveyer is after hoisting the work piece to getting the work station by last work station, can stop the conveyer, wait that the robot tongs of next process will be located behind the work piece of getting the work station and snatch away, start again and carry the next work piece to get the work station, because at the work piece in-process of carrying, the conveyer is constantly started and stopped, and the work piece can take place the skew because the effect of inertia, after arriving to get the work station, the deviation appears in work piece actual position and the position of predetermineeing, the robot tongs can't be centered with the locating hole of work piece, lead to snatching the failure.
Disclosure of Invention
The invention mainly aims to provide a limiting device and a hoisting conveying mechanism, and aims to solve the problem that a robot gripper fails to grasp due to the fact that the position of a workpiece on the conveying mechanism is deviated in the frequent starting process of the conventional conveyor.
In order to achieve the above object, the present invention provides a limiting device applied to a hoisting and conveying mechanism, the limiting device has a first direction and a second direction intersecting with the first direction, the limiting device includes:
the base is provided with a picking station; the method comprises the steps of,
the limiting component is movably arranged on the base in a direction close to and far away from the workpiece taking station, and is used for moving towards the workpiece taking station when the workpiece is lifted to the workpiece taking station by the lifting component so as to limit the workpiece to move along the first direction and the second direction.
Optionally, the limiting assembly includes:
the first limiting assembly is arranged on one side of the workpiece taking station and is movably arranged in a direction approaching to and away from the workpiece taking station so as to be abutted with the side part of the workpiece in the first direction when approaching to the workpiece taking station, so that the movement of the workpiece in the first direction is limited; the method comprises the steps of,
the second limiting component is movably arranged in a direction close to and far away from the workpiece taking station, and is abutted with the side part of the workpiece in the second direction when the second limiting component is close to the workpiece taking station, so that the movement of the workpiece in the second direction is limited.
Optionally, the first limiting component includes two limiting parts, two limiting parts are arranged along the first direction at intervals and are located at two sides of the workpiece taking station, and the two limiting parts are movably arranged along the second direction, so that when the limiting parts are close to the workpiece taking station along the second direction, the two limiting parts are used for being respectively abutted to two opposite side parts of the workpiece in the first direction.
Optionally, the second limiting component includes two clamping arms, each clamping arm has a clamping side towards the setting of getting the work station, two clamping arms are followed the second direction interval is laid, and is located respectively get the both sides of a work station, two clamping arms are at least one is followed the activity of second direction sets up, so that when two clamping arms are close to each other, two clamping sides are used for with the relative both sides portion butt of work piece.
Optionally, one end of each of the two clamping arms is rotatably mounted on the base along the axis of the first direction, so that the other ends of the two clamping arms are close to or far away from each other, and the second limiting assembly further comprises a driving mechanism, wherein the driving mechanism is used for driving the two clamping arms to rotate.
Optionally, the driving mechanism includes two driving cylinders, and two driving cylinders are connected with two clamping arms respectively to drive two clamping arms to abut with the lateral part of work piece successively.
Optionally, two locating parts are located one of them the clamp arm, and in the orientation get the orientation of piece station outstanding in the clamp side, so when the clamp arm orientation get the piece station activity, the clamp arm drives two the locating part orientation get the piece station activity.
Optionally, the limiting component is provided with a plurality of, and a plurality of limiting components are arranged at intervals along the first direction.
The invention also provides a hoisting and conveying mechanism which comprises a hoisting assembly and the limiting device according to the technical scheme, wherein the hoisting and conveying mechanism is provided with a workpiece feeding station, the workpiece feeding station and the workpiece taking station are arranged at intervals along the first direction, and the hoisting assembly is used for hoisting a workpiece from the workpiece feeding station to the workpiece taking station.
Optionally, the hoisting and conveying mechanism further comprises a detection component, wherein the detection component is arranged above the workpiece taking station and is used for detecting position information of the hoisting component positioned at the workpiece taking station.
According to the technical scheme, the limiting device comprises the base and the limiting assembly, the base is provided with the workpiece taking station, the limiting assembly is movably arranged on the base in the direction close to and far away from the workpiece taking station, when the lifting conveying mechanism lifts a workpiece to the workpiece taking station, the limiting assembly moves towards the workpiece taking station to be matched with the workpiece, so that the purpose of limiting the movement of the workpiece along the first direction and the second direction is achieved, the workpiece can be quickly limited when the workpiece is lifted to the workpiece taking station by the aid of the limiting assembly, the workpiece is prevented from being deviated, the workpiece is guaranteed to be located at a set position, and the robot gripper is convenient to grab the workpiece.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of an embodiment of a limiting device of the present invention;
FIG. 2 is a schematic front view of the spacing device and detection assembly of FIG. 1;
FIG. 3 is a schematic perspective view of the spacing assembly of FIG. 1;
FIG. 4 is a schematic front view of the spacing assembly of FIG. 3;
fig. 5 is a schematic perspective view of an embodiment of a conveying mechanism according to the present invention.
Reference numerals illustrate:
reference numerals Name of the name Reference numerals Name of the name
100 Limiting device 221 Clamping arm
1 Base seat 2211 Connecting arm
2 Spacing subassembly 2212 Clamping piece
21 First limiting assembly 222 Driving mechanism
211 Limiting piece 200 Hoisting assembly
22 Second limiting assembly 300 Detection assembly
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The conveyer is used for carrying the equipment that carries to the car work piece, the appearance of conveyer, very big improvement the production efficiency of car work piece, current conveyer is after hoisting the work piece to getting the work station by last work station, can stop the conveyer, wait that the robot tongs of next process will be located behind the work piece of getting the work station and snatch away, start again and carry the next work piece to get the work station, because at the work piece in-process of carrying, the conveyer is constantly started and stopped, and the work piece can take place the skew because the effect of inertia, after arriving to get the work station, the deviation appears in work piece actual position and the position of predetermineeing, the robot tongs can't be centered with the locating hole of work piece, lead to snatching the failure.
In view of this, the present invention provides a limiting device, which aims to solve the problem that the position of a workpiece on a conveying mechanism is deviated during the frequent starting process of the existing conveyor, so that the grabbing of a robot gripper fails, fig. 1 to 4 are an embodiment of the limiting device provided by the present invention, and fig. 5 is an embodiment of the conveying mechanism provided by the present invention.
Referring to fig. 1 to 2, the limiting device 100 is applied to a hoisting and conveying mechanism, the limiting device 100 has a first direction and a second direction intersecting with the first direction, the limiting device 100 includes a base 1 and a limiting assembly 2, and the base 1 has a pick-up station; the limiting component 2 is movably installed on the base 1 in a direction close to and far away from the workpiece taking station, and the limiting component 2 is used for moving towards the workpiece taking station when the workpiece is lifted to the workpiece taking station by the lifting component 200 so as to limit the workpiece to move along the first direction and the second direction.
According to the technical scheme, when the workpiece is hoisted to the workpiece taking station by the hoisting assembly 200 in the hoisting conveying mechanism, the limiting assembly 2 moves towards the workpiece taking station to be matched with the workpiece, so that the purpose of limiting the movement of the workpiece along the first direction and the second direction is achieved, the workpiece can be quickly limited by arranging the limiting assembly 2 when the workpiece is hoisted to the workpiece taking station, the deviation is avoided, the workpiece is ensured to be in a set position, and the robot gripper is convenient to grasp the workpiece.
Referring to fig. 3 to fig. 4, the specific form of the limiting assembly 2 is not limited, as long as the limiting assembly 2 can limit the movement of the workpiece along the first direction and the second direction at the workpiece taking station, in this embodiment, the limiting assembly 2 includes a first limiting assembly 21 and a second limiting assembly 22, the first limiting assembly 21 is disposed on one side of the workpiece taking station, and is movably disposed in a direction approaching and separating from the workpiece taking station, so as to abut against a side portion of the workpiece in the first direction when approaching the workpiece taking station, so as to limit the movement of the workpiece in the first direction; the second limiting component 22 is movably arranged in a direction approaching and separating from the workpiece taking station, so as to be abutted with the side part of the workpiece in the second direction when approaching the workpiece taking station, so as to limit the movement of the workpiece in the second direction. The setting is so that the workpiece can be rapidly limited under the condition of not interfering with the hoisting of the workpiece.
Further, the first limiting component 21 includes two limiting members 211, where the two limiting members 211 are arranged at intervals along the first direction and are located at two sides of the workpiece taking station, and the two limiting members 211 are movably arranged along the second direction, so that when the workpiece taking station is approached along the second direction, the two limiting members 211 are used for respectively abutting against two opposite side portions of the workpiece in the first direction.
Further, the second limiting component 22 includes two clamping arms 221, each clamping arm 221 has a clamping side facing the workpiece taking station, the two clamping arms 221 are arranged at intervals along the second direction and are respectively located at two sides of the workpiece taking station, and at least one of the two clamping arms 221 is movably arranged along the second direction, so that when the two clamping arms 221 are close to each other, the two clamping sides are used for abutting against two opposite side parts of the workpiece.
One ends of the two clamping arms 221 are rotatably mounted on the base 1 along the axis of the first direction, so that the other ends of the two clamping arms 221 are close to or far away from each other, and the second limiting assembly 22 further comprises a driving mechanism 222, wherein the driving mechanism 222 is used for driving the two clamping arms 221 to rotate. By the arrangement, the volume of the device can be reduced, and the space is saved.
Specifically, the driving mechanism 222 includes two driving cylinders, and the two driving cylinders are respectively connected to the two clamping arms 221 to drive the two clamping arms 221 to abut against the side portion of the workpiece. When the workpiece is lifted to the workpiece taking station, one of the clamping arms 221 moves towards the workpiece direction to be in butt joint with the side face of the workpiece to be limited, and then the other clamping arm 221 moves towards the workpiece direction to be in butt joint with the other side face of the workpiece to be limited, and the workpiece is clamped and fixed.
The driving cylinder may be an arm pressing cylinder, and the arm pressing cylinder has an output shaft extending along the first direction, the output shaft is rotatably disposed along the axis of the first direction, and the output shaft is fixedly connected with the clamping arm 221, so that the clamping arm 221 is driven to rotate by the output shaft.
Further, the clamping arm 221 includes a connecting arm 2211 and a clamping member 2212, one end of the connecting arm 2211 is connected with the output shaft, the clamping member 2212 is provided with a clamping side towards the pick-up station, and the clamping member 2212 is mounted on the other end of the connecting arm 2211 through a screw and a locating pin.
The clamping arm 221 is further provided with an elastic member, the elastic member is disposed between the clamping member 2212 and the connecting arm 2211, two ends of the elastic member are respectively abutted to the clamping member 2212 and the connecting arm 2211, so that the clamping member 2212 is elastically disposed in the second direction, and a certain buffer is reserved when the clamping member 2212 is abutted to a workpiece, so that the two clamping members 2212 are prevented from being clamped to damage the workpiece.
Because the structures of the workpieces of different types are different, in order to limit the workpieces of different types in the second direction, the clamping member 2212 is movably mounted at the other end of the connecting arm 2211 along the length direction of the connecting arm 2211, so that the position of the clamping member 2212 in the length direction of the connecting arm 2211 can be adjusted, and the positions of the clamping member 2212 in the length direction of the connecting arm 2211 can be correspondingly adjusted according to the types of the workpieces.
The connecting arm 2211 is provided with a plurality of installation parts at intervals along the length direction, the clamping piece 2212 is provided with a matching part matched with the installation parts, and the clamping piece 2212 can be installed by selecting different installation parts, so that the position of the clamping piece 2212 in the length direction of the connecting arm 2211 is adjustable.
In this embodiment, the mounting portion includes threaded holes of the connecting arms 2211 spaced apart in the length direction; the clamping member 2212 is provided with a screw that mates with the threaded hole, and the clamping member 2212 can be selectively mounted with different threaded holes such that the position of the clamping member 2212 in the length direction of the connecting arm 2211 is adjustable.
The adjustment mode of the clamping piece 2212 can be that the connecting arm 2211 is provided with a chute along the length direction, the chute is in a T-shaped arrangement, the clamping piece 2212 is provided with a sliding block matched with the chute, the sliding block is slidably mounted in the chute, the sliding block is further provided with a locking screw facing the bottom of the chute, and after the sliding block slides to a required position, the sliding block is abutted to the bottom of the chute through the locking screw so as to achieve the purpose of fixing the sliding block.
In some embodiments, two limiting members 211 are disposed on one of the clamping arms 221 and protrude from the clamping side in a direction toward the pick-up station, so that when the clamping arms 221 move toward the pick-up station, the clamping arms 221 drive the two limiting members 211 to move toward the pick-up station. That is, the two limiting members 211 are mounted on the connecting arm 2211 and/or the clamping member 2212, and in the direction towards the clamping station, the two limiting members 211 protrude from the clamping member 2212, when the clamping arm 221 moves towards the workpiece, the two limiting members 211 are firstly abutted against the side part of the workpiece along the first direction, then the clamping arm 221 is abutted against the side part of the workpiece along the second direction, so that the two limiting members 211 and the clamping arm 221 can be simultaneously driven to move by one driving mechanism 222, the number of the driving mechanisms 222 is reduced, and the cost is saved.
Specifically, in order to limit workpieces of different types in the first direction, the two limiting members 211 may be adjustable in an up-down direction, so as to adjust the positions of the limiting members 211 according to workpieces of different shapes.
In this embodiment, the limiting member 211 is mounted on the clamping member 2212, so that the limiting member 211 is driven to move by the movement of the clamping member 2212 along the length direction of the connecting arm 2211; or, the connecting arm 2211 is provided with a plurality of connecting portions, the connecting portions are distributed at intervals along the length direction of the connecting arm 2211, the limiting piece 211 is provided with a connecting matching portion matched with the connecting portions, and the limiting piece 211 can be installed at different connecting portions according to use conditions, so that the limiting piece 211 can be adjusted up and down.
In order to accurately limit the workpieces, the limiting assemblies 2 are arranged in a plurality, the limiting assemblies 2 are distributed at intervals along the first direction, and the limiting assemblies 2 can limit the workpieces at different positions so as to achieve a good limiting effect, and in the embodiment, the limiting assemblies 2 are arranged in three groups according to the shapes of the workpieces.
Specifically, the limiting component 2 is movably mounted on the base 1 along the first direction, so that the limiting component 2 can be arranged in an adjustable manner along the first direction, and the position of the limiting component can be adjusted according to the actual use condition, so that more different models can be applied, and the application range is enlarged.
Further, the limiting component 2 further comprises a mounting seat, the two clamping arms 221 are rotatably mounted on the mounting seat along the axis of the first direction, the mounting seat is provided with a threaded hole along the first direction, the limiting device 100 further comprises a screw rod, the screw rod is rotatably mounted on the base 1 and extends along the first direction, the screw rod is in threaded fit with the mounting seat, the mounting seat is driven to move along the first direction by rotating the screw rod, and therefore the position of the limiting component 2 in the first direction is adjusted.
Further, the specific form of driving the screw to rotate is not limited, and may be a manual driving manner, that is, the limiting device 100 further includes a hand wheel, and the hand wheel is connected with one end of the screw. Alternatively, the limiting device 100 may further include a driving motor, where the driving motor is connected to one end of the screw rod.
In this embodiment, since the workpiece is integrally T-shaped, the two limiting members 211 may be respectively disposed on the clamping arms 221 of the two sets of the second limiting assemblies 22, so as to respectively limit two sides of the workpiece along the first direction.
Referring to fig. 5, the present invention further provides a lifting and conveying mechanism, where the lifting and conveying mechanism includes a lifting assembly 200 and the limiting device 100 according to the above technical solution, the lifting and conveying mechanism has a workpiece loading station, the workpiece loading station and the workpiece taking station are arranged at intervals along the first direction, and the lifting assembly 200 is used to lift a workpiece from the workpiece loading station to the workpiece taking station. When the workpiece lifting device is specifically used, the workpiece is hung on the lifting assembly 200 at the workpiece loading station, then the workpiece is lifted to the workpiece taking station by the lifting assembly 200, the first limiting assembly 21 and the second limiting assembly 22 move towards the workpiece direction respectively so as to limit the workpiece, after the standby robot gripper accurately grabs the workpiece, the first limiting assembly 21 and the second limiting assembly 22 move towards the direction away from the workpiece respectively, the limitation on the workpiece is relieved, and the robot gripper moves the workpiece to the next procedure.
Specifically, the lifting conveying mechanism further comprises a detection assembly 300, the detection assembly 300 is arranged above the workpiece taking station, and the detection assembly 300 is used for detecting position information of the lifting assembly 200 located at the workpiece taking station.
Further, the lifting assembly 200 includes a positioning pin extending in the second direction, the positioning pin is used for being matched with a through hole in the workpiece so as to lift the workpiece through the positioning pin, the detecting assembly 300 includes a support and a shaft sleeve, the support is fixedly mounted on the base 1, the support is provided with a through hole matched with the shaft sleeve, when the lifting assembly 200 is located at the workpiece taking station and stops, the shaft sleeve passes through the through hole and is matched with the positioning pin, when the shaft sleeve can be sleeved on the periphery of the positioning pin, the position of the positioning pin is in a preset position, and when the shaft sleeve cannot be sleeved on the periphery of the positioning pin, the positioning pin is judged to deviate from the preset position, and the position of the positioning pin needs to be manually adjusted. The positioning pin is arranged in the positioning device, the positioning pin can be rapidly detected, and the positioning device is simple in structure, easy to operate and low in cost.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (3)

1. The utility model provides a stop device is applied to hoist and mount conveying mechanism, its characterized in that, stop device have a first direction and with the second direction that first direction alternately set up, stop device includes:
the base is provided with a picking station; the method comprises the steps of,
the limiting component is movably arranged on the base in the direction of approaching to and separating from the workpiece taking station, and is used for moving towards the workpiece taking station when the workpiece is hoisted to the workpiece taking station by the hoisting component so as to limit the workpiece to move along the first direction and the second direction; wherein,,
the spacing subassembly includes:
the first limiting assembly is arranged on one side of the workpiece taking station and is movably arranged in a direction approaching to and away from the workpiece taking station so as to be abutted with the side part of the workpiece in the first direction when approaching to the workpiece taking station, so that the movement of the workpiece in the first direction is limited; the first limiting assembly comprises two limiting pieces which are distributed at intervals along the first direction and are positioned at two sides of the workpiece taking station, and the two limiting pieces are movably arranged along the second direction so that when approaching the workpiece taking station along the second direction, the two limiting pieces are used for respectively abutting against two opposite side parts of a workpiece in the first direction; the method comprises the steps of,
the second limiting component is movably arranged in the direction approaching to and separating from the workpiece taking station and is abutted with the side part of the workpiece in the second direction when approaching to the workpiece taking station so as to limit the movement of the workpiece in the second direction; the second limiting assembly comprises two clamping arms, each clamping arm is provided with a clamping side which faces the workpiece taking station, the two clamping arms are distributed at intervals along the second direction and are respectively positioned at two sides of the workpiece taking station, at least one of the two clamping arms is movably arranged along the second direction, and when the two clamping arms are mutually close, the two clamping sides are used for abutting against two opposite side parts of a workpiece;
one ends of the two clamping arms are rotatably arranged on the base along the first direction axis so that the other ends of the two clamping arms are close to or far away from each other, and the second limiting assembly further comprises a driving mechanism which is used for driving the two clamping arms to rotate;
the driving mechanism comprises two driving air cylinders, and the two driving air cylinders are respectively connected with the two clamping arms so as to drive the two clamping arms to be sequentially abutted with the side parts of the workpiece;
the driving cylinder is an arm pressing cylinder, the arm pressing cylinder is provided with an output shaft extending along the first direction, the output shaft is arranged in a rotating mode along the axis of the first direction, and the output shaft is fixedly connected with the clamping arm so as to drive the clamping arm to rotate through the output shaft;
the clamping arm comprises a connecting arm and a clamping piece, one end of the connecting arm is connected with the output shaft, the clamping piece faces the pick-up station and is provided with a clamping side, and the clamping piece is mounted at the other end of the connecting arm through a screw and a locating pin;
the clamping arm is further provided with an elastic piece, the elastic piece is arranged between the clamping piece and the connecting arm, and two ends of the elastic piece are respectively abutted with the clamping piece and the connecting arm, so that the clamping piece is elastically arranged in the second direction;
the two limiting pieces are arranged on one clamping arm and protrude out of the clamping side in the direction facing the workpiece taking station, so that when the clamping arm moves towards the workpiece taking station, the clamping arm drives the two limiting pieces to move towards the workpiece taking station, and when the clamping arm moves towards the workpiece taking station, the two limiting pieces protrude out of the clamping piece, and when the clamping arm moves towards the workpiece, the two limiting pieces are firstly abutted with the side part of the workpiece in the first direction, and then the clamping arm is abutted with the side part of the workpiece in the second direction;
the hoisting conveying mechanism further comprises a detection assembly and a hoisting assembly, wherein the detection assembly is arranged above the workpiece taking station and is used for detecting position information of the hoisting assembly positioned at the workpiece taking station;
the lifting assembly comprises a locating pin which is arranged in the second direction in an extending mode, the locating pin is used for being matched with a through hole in a workpiece so as to enable the workpiece to be lifted through the locating pin, the detection assembly comprises a support and a shaft sleeve, the support is fixedly mounted on the base, the support is provided with a through hole matched with the shaft sleeve, the shaft sleeve penetrates through the through hole to be matched with the locating pin when the lifting assembly is located at the pick-up station and stops, the shaft sleeve can be sleeved on the periphery of the locating pin, the position of the locating pin is located at a preset position, and when the shaft sleeve cannot be sleeved on the periphery of the locating pin, the fact that the locating pin is deviated from the preset position is judged, and the position of the locating pin needs manual adjustment.
2. The spacing device of claim 1 wherein a plurality of said spacing assemblies are provided, a plurality of said spacing assemblies being spaced apart along said first direction.
3. A hoisting and conveying mechanism, characterized in that the hoisting and conveying mechanism comprises a hoisting assembly and a limiting device according to any one of claims 1-2, the hoisting and conveying mechanism is provided with a workpiece feeding station, the workpiece feeding station and the workpiece taking station are arranged at intervals along the first direction, and the hoisting assembly is used for hoisting a workpiece from the workpiece feeding station to the workpiece taking station.
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PCT/CN2022/080968 WO2022267567A1 (en) 2021-06-25 2022-03-15 Limiting apparatus and hoisting conveying mechanism

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