CN113942819B - Article supporting and transferring equipment - Google Patents
Article supporting and transferring equipment Download PDFInfo
- Publication number
- CN113942819B CN113942819B CN202111272297.3A CN202111272297A CN113942819B CN 113942819 B CN113942819 B CN 113942819B CN 202111272297 A CN202111272297 A CN 202111272297A CN 113942819 B CN113942819 B CN 113942819B
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- Prior art keywords
- arm
- tray
- limiting
- bracket
- arms
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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
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/64—Switching conveyors
- B65G47/641—Switching conveyors by a linear displacement of the switching conveyor
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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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an object supporting and transferring device, which comprises a transfer device driven by a driving force to lift and horizontally move along a guide rail, wherein the transfer device comprises: the pair of opposite supporting arms can move oppositely and reversely and synchronously, each supporting arm comprises two opposite rotatable trays, each tray is fixed on a movable sliding block capable of resetting automatically, and a rotatable supporting arm limiting roller is vertically arranged on the outer side axis of each tray; the device comprises a pair of oppositely arranged limiting arms, at least one limiting arm can move under the driving of a driver, each limiting arm comprises a pair of rotatable side limiting rollers, and the axis of each side limiting roller is vertically arranged at the lower part of the limiting arm; and the supporting arm limiting roller and the side limiting roller are used for limiting the object at four sides of the peripheral surface of the object when the tray supports the object. The invention can simultaneously realize the X, Y bidirectional position deviation correction of the object in the horizontal plane when the object is supported and conveyed horizontally, and is convenient to be matched with a material tray on a conveying line.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to an object supporting and transferring device.
Background
When the objects are processed in a factory, the objects need to be conveyed by a lifting roller and/or a conveyor, for example, large-volume lithium batteries are conveyed, for example, the lifting roller is arranged between two conveying chains or between conveying belts of the conveyor, so that the two conveying chains or the conveying belts are matched with each other to convey the objects, the conveyor conveys the objects to the upper part of the lifting roller, and the lifting roller is lifted to receive the objects conveyed by the conveyor to perform subsequent processing procedures.
In the above operation procedures, after the lifting roller bed on one conveyor line lifts up to receive the object, the transfer device is further required to transfer the battery on the tray to the tray on another conveyor line which is adjacently arranged, so that the adjacent conveyor lines of the transfer device need to move back and forth to take and place the battery on the tray for transfer, and meanwhile, the transfer device is ensured to have certain workpiece position deviation correction capability, and the workpiece is ensured to be transferred with high precision. However, there is currently no transfer device that is convenient to use.
Disclosure of Invention
The invention aims to provide an object picking and transferring device aiming at the technical defects in the prior art.
The technical scheme adopted for realizing the purpose of the invention is as follows:
an article picking and transferring apparatus comprising a frame and a transfer device disposed on the frame, the transfer device being driven to move horizontally on the frame along a guide rail, the transfer device comprising:
the device comprises a pair of opposite and spaced bracket arms, wherein the two bracket arms can synchronously move in opposite directions and opposite directions under the driving of a driver, each bracket arm comprises two opposite and spaced rotatable trays, and the outer side axis of each tray is vertically provided with a rotatable bracket arm limiting roller; the tray is rotatably arranged on a movable linear sliding block through a rotating shaft, the linear sliding block is positioned at the bottom of the tray and is in sliding connection with a sliding rail, and one end, close to the supporting arm limiting roller, of the linear sliding block is connected with one end of an elastic device so as to realize a self-resetting function; the elastic device is arranged between the supporting arm limiting roller and the sliding block along the axial direction of the linear sliding block; a spring piece for resetting the tray is arranged on the side surface of the tray facing the supporting arm limiting roller;
a pair of spacing arms arranged in an opposite spaced manner, at least one of the spacing arms being driven to move, each of the spacing arms including a pair of rotatable side spacing rollers, each of the side spacing rollers having an axis perpendicular to and arranged in a lower portion of the spacing arm in an opposite spaced manner;
the supporting arm limiting roller and the side limiting roller are used for limiting the object at four side surfaces of the peripheral surface of the object when the tray supports the object.
According to the object supporting and transferring equipment, the supporting arm is matched with the limiting arm, so that the object can be supported to be horizontally conveyed, the peripheral surface of the object cannot be damaged by contact, the positioning effect is good, and the object supporting and transferring equipment can be conveniently matched with a material tray on a conveying line.
Drawings
Fig. 1 is an overall front view schematically illustrating an article picking and transferring apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic top view of an article picking and transferring apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic cross-sectional view taken along the direction C-C in fig. 2.
FIG. 4 is a perspective view of a bracket according to an embodiment of the present invention.
Fig. 5 is a schematic cross-sectional view taken along the direction D-D in fig. 1.
Fig. 6 is a schematic view of a trailing arm driving mechanism according to an embodiment of the present invention.
Fig. 7 is a schematic view of a check arm drive mechanism according to an embodiment of the present invention.
Fig. 8 is an enlarged view of an installation structure of the tray according to the embodiment of the present invention.
Fig. 9 is a perspective view of the tray according to the embodiment of the present invention.
Fig. 10 is a top view of a tray according to an embodiment of the present invention.
Fig. 11 is a cross-sectional view taken along the line N-N of fig. 10.
Fig. 12 is a cross-sectional view taken along line P-P of fig. 10.
Fig. 13 is a side view of a tray of an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an article picking and transferring apparatus according to an embodiment of the present invention includes:
a frame 200 and a transfer device 100 arranged on the frame, wherein the transfer device 100 is driven to be lifted and lowered and can reciprocate horizontally on the frame 200 along a guide rail, and the transfer device comprises:
the device comprises a pair of opposite and spaced bracket arms 1, wherein the two bracket arms 1 can be driven to move oppositely and reversely and synchronously, each bracket arm comprises two opposite and spaced rotatable trays 12, and a rotatable bracket arm limiting roller 11 is vertically arranged on the outer side axis of each tray 12;
the tray 12 is rotatably arranged on a movable linear sliding block 6 through a rotating shaft 122, the linear sliding block is positioned at the bottom of the tray 12 and is in sliding connection with a sliding rail 7, and one end, close to the supporting arm limiting roller, of the linear sliding block 6 is connected with one end of an elastic device 5 so as to realize a self-resetting function; the elastic device 5 is arranged between the supporting arm limiting roller and the linear sliding block along the axial direction of the linear sliding block; the side surface of the tray 12 facing the supporting arm limiting roller is provided with a spring piece 8 for resetting the tray 12;
a pair of spacing arms 2 which are oppositely arranged in a spacing way, one of the two spacing arms 2 is a movable spacing arm which can be driven to move, the other one is a fixed spacing arm, each spacing arm comprises a pair of rotatable side spacing rollers 20, the axis of each side spacing roller 20 is vertical, and the spacing arms are arranged at the lower part of the spacing arm 2 in a spacing way;
the supporting arm limiting rollers 11 and the side limiting rollers 20 are used for limiting the object at four side surfaces of the peripheral surface of the object when the tray 12 supports the object.
The tray 12 is rotatably connected to the rotating shaft 122, the bottom end of the rotating shaft 122 is fixed to the linear slider, and the tray can rotate around the rotating shaft 122.
As an alternative embodiment, a self-lubricating plate 120 is disposed below the tray 12, a slider connecting plate 123 is disposed below the self-lubricating plate 120, a central hole of the protruding part with a shaft hole is formed in a central surface of the slider connecting plate facing one side of the tray, the protruding part is inserted into the central hole of the self-lubricating plate to form a rotary connection with the self-lubricating plate, and the rotary shaft passes through the shaft hole of the protruding part and then is connected with the central hole of the tray.
The rotating shaft 122 may be connected to the tray by a nut sleeve provided at an end thereof, and the nut sleeve is mounted on an end of the rotating shaft through a center hole of the tray.
As an alternative embodiment, the spring plate 8 includes a flat portion 81 parallel to the outer side surfaces of the tray and the self-lubricating plate facing the side-stopper rollers, the flat portion being disposed near the outer side surfaces and forming a gap with the outer side surfaces, the flat portion 81 being connected to a fixing portion 82 distant from the outer side surfaces by a connecting portion, and the fixing portion 82 being connected and fixed to the slider connecting plate 123.
Preferably, the fixing portion 82 is arranged in parallel with the planar portion 81, a side surface of the fixing portion 82 connected to the upper end surface of the slider connecting portion 123 faces outward, and then extends downward to form an L-shaped portion 83 with a bolt hole, the L-shaped portion 83 is attached to and covers the outer side of the connecting hole 121 of the elastic device on the side surface of the slider connecting portion 123 from top to bottom, and then the fixing portion 82 is fixed to the outer side of the connecting hole 121 by a fixing bolt of the elastic device after being fixed to the connecting hole 121.
As an alternative embodiment, the elastic means 5 comprises at least one spring, one end of which is connected with the fixing plate 51 arranged on the horizontal supporting portion through a bolt, and the other end of which is connected with the connecting hole 121 on the corresponding end of the slider connecting plate 123 through a bolt, and preferably, the two springs are arranged on both sides of the sliding rail 7 in the axial direction in a relatively spaced and axially parallel manner.
In the embodiment of the invention, one of the two limit arms 2 is a movable limit arm, the other one is a fixed limit arm, as shown in fig. 1, the left limit arm is a fixed limit arm, and the right movable limit arm can realize deviation correction in the length direction of an object by matching the movable limit arm and the fixed limit arm. Of course, both of the two stop arms may be movable.
The tray 12 is arranged at the upper end of the rotating shaft and can rotate, so that the tray can rotate along with the movement of the object when the object is supported, the friction on the contact surface of the object is reduced, the surface of the object is prevented from being damaged, and the diagonal rotation deviation of the object is corrected; in addition, the tray is installed on the linear sliding block, and the whole position of the object in the width direction can be corrected by the linear sliding block moving along the length direction of the sliding rail.
Preferably, the tray 12 may be a rubber tray, or a rubber pad may be disposed on the surface of the tray, or a flexible material that is not easily damaged.
As an alternative embodiment, the supporting arm limiting roller 11 and the side limiting roller 20 may be rubber rollers, or protective layers formed by covering the outer surfaces of non-rubber rollers with corresponding protective materials made of rubber materials may be used to damage the surfaces of objects.
According to the embodiment of the invention, two supporting arm limiting rollers are arranged on each supporting arm, and two side limiting rollers are respectively arranged on the other group of opposite side surfaces, so that the object can be limited and clamped on two groups of opposite side surfaces of the peripheral surface of the object, particularly the rectangular object, and the roller body can rotate, and the contact surface of the roller body and the object is made of rubber materials, so that the peripheral surface of the object cannot be damaged.
And because the moving mode of the supporting arm adopts synchronous opposite movement towards the center to position the object, the positioning effect is more accurate.
As an alternative embodiment, each of the support arms 1 includes a horizontal support portion 10, the tray and the support arm limiting roller are rotatably disposed on the horizontal support portion 10, the tray is disposed near a free end of the horizontal support portion, and the support arm limiting roller is disposed far from the free end of the horizontal support portion.
As an alternative embodiment, each of the support arms includes a vertical portion, the horizontal support portion is connected with the vertical portion and is substantially L-shaped, and the vertical portion is connected with the support arm driving mechanism.
As an alternative embodiment, the top of the frame 200 has two rails 41 arranged oppositely and spaced apart in the width direction, and the two rails are used for the transfer device 100 to move and travel through the driving wheels 42 and the driven wheels of the traveling mechanism thereof, the driving wheels 42 are two, one is arranged on each rail, each rail 41 is arranged with at least one driven wheel, the driving wheels 42 are connected with the third motor reducer 4 through a driving shaft, and the third motor reducer provides power to control the transfer device 100 to travel linearly on the rails 41.
As an alternative embodiment, the lifting of the transfer device 100 can be controlled by the cross arm lifting mechanism 3, the bottom plate 31 of the cross arm lifting mechanism 3 is provided with a bracket arm and a limit arm, and the upper part of the cross arm lifting mechanism 3 can be connected with the running mechanism through the top plate 32.
In the above embodiment, the cross arm lifting mechanism 3 may be driven by hydraulic pressure and/or by a motor, a gear and a rack, and is not limited specifically.
As an alternative embodiment, the bracket driving mechanism may be driven by a belt and a motor reducer, a first motor reducer 13 is used to drive two belts 14 and two belt pulleys 16 to drive the two brackets 1 to move synchronously, the upper portion of each bracket 1 away from the tray 12 is fixed to a corresponding belt 14 by a belt clamp 15 fixed to the upper portion, the top of each bracket 1 is connected to two bracket rails 17 arranged oppositely and spaced apart by a horizontal structural portion, and when driven by the belt 14, each bracket rail 1 moves along the corresponding bracket rail 17, as shown in fig. 6, each two bracket rails 17 are mounted on one bracket rail mounting rack 18, two belt pulleys 16 are fixed to the bottom of the corresponding bracket rail mounting rack 18, the two bracket rail mounting racks 18 are arranged oppositely and spaced apart, opposite ends are fixed to the first motor reducer mounting rack, and the two bracket rail reducers 18 and the first motor reducer 13 are mounted on the bottom plate 31 of the cross arm lifting mechanism 3.
As an alternative embodiment, the movable limiting arm is connected to its driving mechanism and driven by its driving mechanism, and the movable limiting arm moves relative to the fixed limiting arm, as an alternative embodiment, the driving mechanism of the movable limiting arm includes a second motor reducer 24, a driving gear 26 at the output end of the second motor reducer is meshed with a rack 25 to form a rack-and-pinion driving mechanism, so as to control the movable limiting arm to move relative to the fixed limiting arm along a limiting arm guide rail 21, the two limiting arm guide rails 21 are fixed on a bottom plate 31 of a lifting mechanism of the transfer device in a relatively spaced manner, a slider 23 of the limiting arm guide rail and the rack-and-pinion driving mechanism, and the second motor reducer is arranged on the top of the movable limiting arm and supported by a top frame, as shown in fig. 7, the limiting arm driving mechanism is not limited to the rack-and may also be a belt driving mechanism, an air cylinder or an electric cylinder, etc., and is not limited in particular.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. Article ask to get transfer apparatus, including the frame and arrange the transfer device in the frame, the transfer device is driven can go up and down and can be in the frame along guide rail horizontal migration, its characterized in that, the transfer device includes: the device comprises a pair of opposite and spaced bracket arms, wherein the two bracket arms can synchronously move in opposite directions and opposite directions under the driving of a driving force, each bracket arm comprises two opposite and spaced rotatable trays, and a rotatable bracket arm limiting roller is vertically arranged on the outer side axis of each tray; the tray is rotatably arranged on a movable linear sliding block through a rotating shaft, the linear sliding block is positioned at the bottom of the tray and is in sliding connection with a sliding rail, and one end, close to the supporting arm limiting roller, of the linear sliding block is connected with one end of an elastic device so as to realize a self-resetting function; the elastic device is arranged between the supporting arm limiting roller and the linear sliding block along the axial direction of the linear sliding block; a spring piece for resetting the tray is arranged on the side surface of the tray facing the supporting arm limiting roller;
a pair of spacing arms arranged in an opposite spaced manner, at least one of the spacing arms being driven to move, each of the spacing arms including a pair of rotatable side spacing rollers, each of the side spacing rollers having an axis perpendicular to and arranged in a lower portion of the spacing arm in an opposite spaced manner;
the supporting arm limiting roller and the side limiting roller are used for limiting the object at four side surfaces of the peripheral surface of the object when the tray supports the object;
the tray is characterized in that a self-lubricating plate is arranged below the tray, a sliding block connecting plate is arranged below the self-lubricating plate, a convex part with a shaft hole is formed on the central surface of the sliding block connecting plate facing one side of the tray, the convex part is inserted into the central hole of the self-lubricating plate and is in rotary connection with the self-lubricating plate, and the rotating shaft penetrates through the shaft hole of the convex part and then is connected with the central hole of the tray.
2. The object picking and transferring apparatus according to claim 1, wherein each of the support arms includes a horizontal support portion, the tray and the support arm position restricting roller are rotatably disposed on the horizontal support portion, the tray is disposed near a free end of the horizontal support portion, the support arm position restricting roller is disposed away from a free end of the horizontal support portion, and the other end of the elastic means is fixed to the horizontal support portion.
3. The object picking and transferring device of claim 2, wherein the upper portion of the bracket is connected to a bracket drive mechanism and a bracket rail, and is driven by the bracket drive mechanism to move along the bracket rail, and each bracket is connected to two of the bracket rails which are arranged in a spaced apart relationship.
4. The apparatus according to claim 3, wherein said carrier arm driving mechanism includes a first motor reducer, two driven pulleys drivingly connected to pulleys on an output side of said first motor reducer by two belts, said two driven pulleys being disposed in a spaced opposed relationship in a radial direction of said driven pulleys, and each of said carrier arms being fixed to one of said belts by a belt clamp.
5. The apparatus for picking up and transferring objects as claimed in claim 1 or 4, wherein the upper portion of the movable check arm is connected to a check arm driving mechanism and a check arm guide rail slider, and moves along the check arm guide rail under the driving of the check arm driving mechanism, and the two check arm guide rails are oppositely spaced and arranged at the opposite sides of the check arm driving mechanism.
6. The article picking and transferring apparatus of claim 5, wherein the spacing arm drive mechanism comprises a rack and pinion drive mechanism, the rack and pinion drive mechanism comprising a gear and a rack engaged with the gear, the gear being mounted at an output of a second motor reducer.
7. The article picking and transferring apparatus according to claim 6, wherein said transferring means includes a lifting mechanism employing a cross arm lifting mechanism; the limiting arm and the supporting arm are arranged at the bottom of the lifting mechanism.
8. The apparatus for picking up and transferring objects as claimed in claim 7, wherein the upper part of the lifting mechanism is connected to a traveling mechanism, the traveling mechanism is connected to the guide rails through two driving wheels and two driven wheels, the two driving wheels are arranged on one guide rail and connected to a third motor reducer through a driving shaft, and at least one driven wheel is arranged on each guide rail.
9. An article picking and transferring apparatus as claimed in claim 1 or claim 8, in which the resilient means comprises at least one spring.
10. The apparatus for picking up and transferring an object as claimed in claim 1, wherein the spring plate includes a flat portion parallel to the outer side surfaces of the tray and the self-lubricating plate facing the side-restricting rollers, the flat portion being disposed near the outer side surfaces and forming a gap with the outer side surfaces, the flat portion being connected to a fixing portion remote from the outer side surfaces by a connecting portion, the fixing portion being connected and fixed to the slider connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111272297.3A CN113942819B (en) | 2021-10-29 | 2021-10-29 | Article supporting and transferring equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111272297.3A CN113942819B (en) | 2021-10-29 | 2021-10-29 | Article supporting and transferring equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113942819A CN113942819A (en) | 2022-01-18 |
| CN113942819B true CN113942819B (en) | 2023-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111272297.3A Active CN113942819B (en) | 2021-10-29 | 2021-10-29 | Article supporting and transferring equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113942819B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424267B (en) * | 2011-09-30 | 2014-04-09 | 中汽昌兴（洛阳）机电设备工程有限公司 | Lifting arm, lifting appliance using same and lifting conveyor line using lifting appliance |
| US20170260011A1 (en) * | 2016-03-14 | 2017-09-14 | Analytik Jena Ag | Cartesian Transport Device |
| CN206105850U (en) * | 2016-10-20 | 2017-04-19 | 重庆哈渝机器人有限公司 | A truss robot for unloading in automation |
| CN211644331U (en) * | 2019-12-20 | 2020-10-09 | 中国汽车工业工程有限公司 | Adjustable wheelbase formula hoist lift |
| CN111252534B (en) * | 2020-01-15 | 2022-07-26 | 广东博智林机器人有限公司 | Carrying manipulator and carrying robot |
| CN213738437U (en) * | 2020-10-21 | 2021-07-20 | 机械工业第四设计研究院有限公司 | Lifting appliance lifter with rotary supporting arm |
| CN213621946U (en) * | 2020-10-30 | 2021-07-06 | 南京苏星智能装备有限公司 | Automatic mould transportation working device who changes |
| CN112320570B (en) * | 2020-11-30 | 2022-12-27 | 奇瑞商用车（安徽）有限公司 | Adjusting device suitable for automobile general assembly chassis lifting appliance |
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2021
- 2021-10-29 CN CN202111272297.3A patent/CN113942819B/en active Active
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| Publication number | Publication date |
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| CN113942819A (en) | 2022-01-18 |
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