CN114435937A - Material transfer system and application system thereof - Google Patents
Material transfer system and application system thereof Download PDFInfo
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- CN114435937A CN114435937A CN202111632225.5A CN202111632225A CN114435937A CN 114435937 A CN114435937 A CN 114435937A CN 202111632225 A CN202111632225 A CN 202111632225A CN 114435937 A CN114435937 A CN 114435937A
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- 239000000463 material Substances 0.000 title claims abstract description 86
- 238000012546 transfer Methods 0.000 title claims abstract description 62
- 230000003028 elevating effect Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 25
- 239000000758 substrate Substances 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 210000000078 claw Anatomy 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000006872 improvement Effects 0.000 abstract description 2
- 230000032258 transport Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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Abstract
The application provides a material transfer system and an application system thereof, wherein the material transfer system comprises a transverse moving device, a lifting device and a clamping jaw assembly; the transverse moving device is connected with the lifting device, and the lifting device is connected with the clamping jaw assembly; elevating gear removes along the horizontal direction for the sideslip device, and elevating gear is used for driving clamping jaw subassembly and removes along vertical direction, and clamping jaw subassembly is used for snatching the material to the realization is to the transportation of material. The application provides a material transfer system can snatch the material, and drives the material and remove along horizontal direction and vertical direction to the realization is to the transportation of material. The application provides a material transfer system is applied to the air-to-ground of OHS dolly material loading box and transports, and with OHS dolly concurrent operation, can show ground improvement material transfer efficiency.
Description
Technical Field
The application belongs to the automation field, and particularly relates to a material transfer system and an application system thereof.
Background
With the rapid development of automation technology, the trend of using automated machinery to replace human labor in factory production lines is more and more obvious. Among them, the handling system is the most common example of an automated application, which can solve the problem of insufficient manual strength. The conveying system comprises a conveyor belt conveying system, an air transportation system and the like.
Among them, OHS (over Head shuttle) as an air transportation device can save floor space in a semiconductor plant, and how to unload a magazine from an OHS cart during use is a troublesome problem. The conventional method is to lower the trolley together with the guide rail, however, the trolley cannot complete other work, and the material box cannot be directly transferred to the machine table after the trolley is lowered, and an additional robot is required for loading and unloading and carrying, so that the efficiency is low.
Disclosure of Invention
To overcome, at least to some extent, the problems in the related art, the present application provides a material transfer system and a system for use thereof.
According to a first aspect of embodiments herein, there is provided a material transfer system comprising a traversing device, a lifting device and a jaw assembly; the transverse moving device is connected with a lifting device, and the lifting device is connected with the clamping jaw assembly; the lifting device moves along the horizontal direction relative to the transverse moving device, the lifting device is used for driving the clamping jaw assembly to move along the vertical direction, and the clamping jaw assembly is used for grabbing materials so as to transfer the materials.
In the material transfer system, the transverse moving device comprises a guide assembly, a power assembly and an electric control cabinet; the guide assembly and the power assembly are arranged on the same side of the electric control cabinet in parallel, the guide assembly is arranged at one end of the electric control cabinet, the power assembly is arranged at the other end of the electric control cabinet, and the guide assembly, the power assembly and the electric control cabinet form a U-shaped structure; the lifting device is transversely arranged in the U-shaped structure in a sliding manner; the electric control cabinet controls the power assembly to act, and the power assembly drives the lifting device to move towards the direction far away from or close to the electric control cabinet under the guiding action of the guiding assembly.
Further, the guide assembly comprises a first cover shell, a support slide rail and a slide block, and the support slide rail is arranged in the first cover shell along the length direction of the first cover shell; the slider sets up on elevating gear's a side, the slider uses with supporting the slide rail cooperation.
Furthermore, the power assembly comprises a second housing, a linear sliding table, a linear module mounting plate and a drag chain, wherein the linear sliding table is arranged in the second housing along the length direction of the second housing; the linear module mounting plate is arranged on the other side surface of the lifting device and is matched with the linear sliding table for use; the drag chain is arranged on the linear module mounting plate and used for dragging a cable connected with the electric control cabinet and the power assembly.
In the material transfer system, the lifting device comprises a shell, and a motor, a speed reducer, a first belt pulley group and a second belt pulley group which are arranged in the shell; two belt pulleys in the first belt pulley set are connected through a first transmission shaft, and two belt pulleys in the second belt pulley set are connected through a second transmission shaft; the first transmission shaft and the second transmission shaft are arranged in parallel;
the output shafts of the motor and the speed reducer are connected with the first transmission shaft; one end of the first transmission shaft close to the motor and the speed reducer is connected with one end of the second transmission shaft close to the motor and the speed reducer through the synchronous belt;
and flat cables are wound on the belt pulleys, and the extending ends of the flat cables are used for connecting the clamping jaw assemblies.
Furthermore, fracture detection assemblies are arranged on one side of the first belt pulley set, which is far away from the second belt pulley set, and one side of the second belt pulley set, which is far away from the first belt pulley set, respectively, and an extending end of the flat cable penetrates out of the fracture detection assemblies and then is connected with the clamping jaw assembly; the fracture detection assembly is used for detecting whether the flat cable is fractured or not.
Still further, the fracture detection assembly includes a guide wheel bracket, a first guide wheel, a second guide wheel, and a third guide wheel; the guide wheel bracket comprises two side plates and a top plate, the two side plates are vertically connected to the bottom surface of the top plate, and the two side plates are arranged in parallel;
the first guide wheel is rotatably arranged between the two side plates, and the second guide wheel is arranged between the two side plates and is positioned below the first guide wheel; the guide shafts are positioned on the outer sides of the two side plates, and the side surfaces of the two side plates are provided with the guide shafts in parallel; the third guide wheel is rotatably connected between the two guide shafts in the direction perpendicular to the two guide shafts;
the first guide wheel, the second guide wheel and the third guide wheel are arranged in parallel, and a preset interval is reserved between the curved surface of the first guide wheel and the curved surface of the third guide wheel; the curved surface of the second guide wheel is in contact with the curved surface of the third guide wheel; and a spring is arranged on the guide shaft.
In the material transfer system, the clamping jaw assembly comprises a mounting substrate and an electric jaw, the extending end of the flat cable is fixedly connected with the mounting substrate, and the electric jaw is arranged on the mounting substrate;
the electric claw comprises a clamping claw arm and a clamping claw finger; the clamping jaw arm is arranged at the top of the mounting substrate, and two clamping jaw fingers are arranged at the bottom of the mounting substrate along the telescopic direction of the clamping jaw arm; one of the clamping jaw fingers is connected with one end of the clamping jaw arm, and the other clamping jaw finger is connected with the other end of the clamping jaw arm.
Furthermore, the extending end of the flat cable is fixedly connected with the mounting substrate through a cable adjusting mechanism;
the cable adjusting mechanism comprises clamping plates and an adjusting plate, the clamping plates are L-shaped plates, and two clamping plate backrests are arranged on the adjusting plate and used for clamping the extending end of the flat cable; the adjusting plate is fixedly arranged on the mounting substrate.
Furthermore, a positioning mechanism is further arranged on the bottom surface of the mounting substrate and comprises a first positioning pin and a first positioning sleeve, and the extending end of the first positioning pin is inserted into the first positioning sleeve.
In the material transfer system, the clamping jaw assembly comprises an electric jaw, a clamping jaw cover plate, a first box body and a second box body; the electric claw is fixedly arranged on the clamping jaw cover plate, and the first box body and the second box body are respectively arranged on two sides of the electric claw; the first box body and the second box body are internally provided with a cable adjusting mechanism; the clamping jaw cover plate is arranged on the top surfaces of the first box body and the second box body.
Further, the cable adjusting mechanism comprises a clamping plate, a bottom plate, a bracket and a rotating shaft; the bottom plate is provided with two lug plates, and the bottom end of the bracket is connected between the two lug plates through a pin shaft; the rotating shaft is arranged on the bracket along the direction vertical to the pin shaft connected with the bottom end of the bracket, and the two clamping plates are arranged above the rotating shaft; the two clamping plates are used for clamping the flat cable; and the extending end of the flat cable is fixedly connected with one of the clamping plates after bypassing the rotating shaft.
Furthermore, an installation support is arranged above the clamping jaw arm, and the installation support is arranged along the telescopic direction of the clamping jaw arm; the mounting bracket is provided with a second positioning pin, the lifting device is provided with a locking component, and the second positioning pin is matched with the locking component and used for guiding, positioning, locking and fixing the clamping jaw assembly.
Furthermore, the locking component comprises a second positioning sleeve and a joint band-type brake electromagnet, and the joint band-type brake electromagnet is arranged on the side wall of the second positioning sleeve along the radial direction of the second positioning sleeve; the second positioning sleeve is of a T-shaped hollow structure.
According to a second aspect of the embodiments of the present application, there is also provided an application system of a material transfer system, comprising a material transfer system, an OHS cart, a track, and a machine; the OHS vehicle traveling on the track, the OHS vehicle for transporting material; the material transfer system is arranged above the track; the material transfer system is used for transferring materials on the OHS trolley to the machine table.
According to the above embodiments of the present application, at least the following advantages are obtained: the application provides a material transfer system can snatch the material, and drives the material and remove along horizontal direction and vertical direction to the realization is to the transportation of material. The application provides a material transfer system is applied to the air-to-ground of OHS dolly material loading box and transports, with OHS dolly concurrent operation, can show ground improvement material transfer efficiency. In addition, the structure of the material transfer system provided by the application is clear, convenient and practical, and low in cost.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of a material transportation system according to an embodiment of the present disclosure.
Fig. 2 is a bottom view of a material transfer system according to an embodiment of the present disclosure.
Fig. 3 is a schematic structural diagram of a guide assembly in a material transfer system according to an embodiment of the present disclosure.
Fig. 4 is a schematic structural diagram of a power module in a material transfer system according to an embodiment of the present disclosure.
Fig. 5 is a schematic diagram of an internal structure of a lifting device in a material transfer system according to an embodiment of the present disclosure.
Fig. 6 is a plan view of the lifting device shown in fig. 5.
Fig. 7 is a schematic structural diagram of a fracture detection assembly in a material handling system according to an embodiment of the present application.
Fig. 8 is a schematic structural diagram of a jaw assembly in a material transfer system according to an embodiment of the present disclosure.
Figure 9 is a schematic view of the internal structure of the jaw assembly shown in figure 8.
Fig. 10 is a schematic structural diagram of a cable adjusting mechanism in a material transfer system according to an embodiment of the present disclosure.
Fig. 11 is a schematic structural diagram of a positioning mechanism in a material transfer system according to an embodiment of the present application.
Fig. 12 is a second schematic structural diagram of a jaw assembly in a material transfer system according to an embodiment of the present invention.
Figure 13 is a schematic view of the internal structure of the jaw assembly shown in figure 12.
Fig. 14 is a second schematic structural diagram of a cable adjusting mechanism in a material transfer system according to a second embodiment of the present disclosure.
Fig. 15 is a cross-sectional view of a locking member of a material transfer system according to an embodiment of the present disclosure.
Fig. 16 is a schematic state diagram of an application system of a material transportation system according to an embodiment of the present application.
Description of reference numerals:
1. a traversing device;
11. a guide assembly; 111. a first housing; 112. supporting the slide rail; 113. a slider;
12. a power assembly; 121. a second housing; 122. a linear sliding table; 123. a linear module mounting plate; 124. a drag chain;
13. an electric control cabinet; 14. a fixing plate;
2. a lifting device;
21. a housing;
213. a locking member; 2131. a second positioning sleeve; 2132. a joint band-type brake electromagnet; 2133. a photoelectric switch;
22. a motor and a speed reducer; 23. a first pulley set; 24. a second pulley set; 25. mounting a plate; 26. a first drive shaft; 27. a second drive shaft; 28. a synchronous belt; 29. a flat cable;
3. a jaw assembly;
31. a mounting substrate; 311. a second proximity switch; 312. a positioning mechanism; 3121. a first positioning pin; 3122. a first positioning sleeve;
32. an electric claw; 321. a gripper arm; 322. a jaw finger;
33. a cable adjustment mechanism; 331. a clamping plate; 332. an adjusting plate; 333. a base plate; 334. a bracket; 335. a rotating shaft;
34. a clamping jaw housing;
35. a clamping jaw cover plate; 36. a first case; 37. a second box body;
38. mounting a bracket; 381. a second positioning pin; 3811. adjusting a rod;
4. a fracture detection assembly;
41. a guide wheel bracket; 411. a side plate; 412. a top plate;
42. a first guide wheel; 43. a second guide wheel; 44. a third guide wheel; 45. a guide shaft; 451. a spring;
10. an OHS vehicle; 20. a track; 30. a machine station.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The material transfer system that this application embodiment provided mainly used solves the empty problem of transporting to the ground of OHS dolly material loading box.
As shown in fig. 1 and 2, the material transfer system provided in the embodiment of the present application is used in a scenario where there is a horizontal deviation and/or a vertical height difference between a track on which an OHS vehicle is located and a machine table, and includes a traverse device 1, a lifting device 2, and a jaw assembly 3. Wherein, the traversing device 1 is connected with the lifting device 2, and the lifting device 2 is connected with the clamping jaw assembly 3. Lifting device 2 removes along the direction that the horizontal direction is to being close to or keeping away from the OHS dolly for sideslip device 1, and lifting device 2 is used for driving clamping jaw subassembly 3 and removes to the direction of being close to or keeping away from the board along vertical direction, and clamping jaw subassembly 3 is used for snatching the magazine to on transporting the magazine to the board from the OHS dolly.
In the present embodiment, as shown in fig. 1 and 2, the traverse device 1 includes a guide assembly 11, a power assembly 12, and an electric control cabinet 13. Wherein, direction subassembly 11 and power component 12 parallel arrangement are in same one side of automatically controlled cabinet 13, and direction subassembly 11 sets up the one end at automatically controlled cabinet 13, and power component 12 sets up the other end at automatically controlled cabinet 13, and direction subassembly 11 and power group and automatically controlled cabinet 13 constitute a U type structure. The lifting device 2 is arranged in a U-shaped structure in a transverse sliding mode. The electric control cabinet 13 controls the power assembly 12 to move, and the power assembly 12 drives the lifting device 2 to move towards the direction far away from or close to the electric control cabinet 13 under the guiding action of the guiding assembly 11 so as to avoid the track where the OHS trolley below the traverse device 1 is located.
In some embodiments, as shown in FIGS. 1 and 2, the traversing device 1 further comprises a fixing plate 14 disposed on top of the guide assembly 11, the power assembly 12 and the electric control cabinet 13 for fixing the traversing device 1 at a ceiling or roof level. The top surface of the fixing plate 14 is also provided with heat dissipation holes.
In some specific embodiments, as shown in fig. 3, the guide assembly 11 includes a first housing 111, a support rail 112, and a slider 113, and the support rail 112 is disposed in the first housing 111 along a length direction of the first housing 111. The slider 113 is disposed on one side of the lifting device 2, and the slider 113 is used in cooperation with the support rail 112.
As shown in fig. 4, the power assembly 12 includes a second housing 121, a linear slide table 122, a linear module mounting plate 123, and a drag chain 124, the linear slide table 122 being disposed in the second housing 121 along a length direction of the second housing 121. The straight line module mounting panel 123 sets up on elevating gear 2's another side, and straight line module mounting panel 123 uses with sharp slip table 122 cooperation. The drag chain 124 is arranged on the linear module mounting plate 123 and is used for dragging the cable connected between the electric control cabinet 13 and the power assembly 12, so that the cable can move transversely relative to the electric control cabinet 13 along with the lifting device 2.
In the present embodiment, as shown in fig. 5 and 6, the lifting device 2 includes a housing 21, and a motor and speed reducer 22, a first pulley group 23, and a second pulley group 24 provided in the housing 21. The motor and the speed reducer 22 are arranged on the mounting plate 25, two belt pulleys in the first belt pulley set 23 are connected through a first transmission shaft 26, and two belt pulleys in the second belt pulley set 24 are connected through a second transmission shaft 27. The first transmission shaft 26 is disposed in parallel with the second transmission shaft 27. The output shaft of the motor and reducer 22 is connected to a first drive shaft 26 by a bearing. One end of the first transmission shaft 26 close to the motor and speed reducer 22 is connected with one end of the second transmission shaft 27 close to the motor and speed reducer 22 through a synchronous belt 28.
Specifically, the first transmission shaft 26 may be disposed perpendicular to the direction in which the lifting device 2 moves relative to the traverse device 1.
As shown in fig. 5, a flat cable 29 is wound around each pulley, and the extended end of the flat cable 29 is used for connecting the jaw assembly 3.
When the lifting device 2 moves above the machine table relative to the traverse device 1, the motor and the speed reducer 22 drive the first belt pulley set 23 to rotate through the first transmission shaft 26, and the second belt pulley set 24 rotates synchronously with the first belt pulley set 23 under the action of the synchronous belt 28, so that the flat cable 29 drives the clamping jaw assembly 3 to lift along the vertical direction.
The flat cable 29 is supplied with an electric signal, and the presence or absence of the electric signal can be used to determine whether the flat cable 29 is broken.
In some embodiments, as shown in fig. 5 and 6, a breakage detecting member 4 is disposed on a side of the first pulley set 23 away from the second pulley set 24, and a side of the second pulley set 24 away from the first pulley set 23, and the extended end of the flat cable 29 wound around the pulley is passed out of the breakage detecting member 4 and then connected to the jaw assembly 3. The breakage detecting assembly 4 can be used to detect whether the flat cable 29 is broken.
Specifically, as shown in fig. 7, the breakage detecting assembly 4 includes a guide wheel bracket 41, a first guide wheel 42, a second guide wheel 43, and a third guide wheel 44, wherein the guide wheel bracket 41 includes two side plates 411 and a top plate 412, the two side plates 411 are vertically connected to a bottom surface of the top plate 412, and the two side plates 411 are disposed in parallel.
The first guide wheel 42 is disposed between the two side plates 411 through a pin, and the second guide wheel 43 is disposed between the two side plates 411 and below the first guide wheel 42. The guide shafts 45 are provided in parallel on the side surfaces of the two side plates 411 at the outer sides of the two side plates 411. The third guide pulley 44 is disposed between the two guide shafts 45 in a direction perpendicular to the two guide shafts 45, and is connected to the guide shafts 45 by a pin shaft.
The first guide wheel 42, the second guide wheel 43 and the third guide wheel 44 are all arranged in parallel, and a preset interval is reserved between the curved surface of the first guide wheel 42 and the curved surface of the third guide wheel 44 so that the flat cable 29 can pass through the interval. The curved surface of the second guide wheel 43 contacts the curved surface of the third guide wheel 44. The guide shaft 45 is provided with a spring 451, and the interval between the curved surface of the second guide wheel 43 and the curved surface of the third guide wheel 44 is adjustable by the elastic force of the spring 451, so that the flat cable 29 can pass between the curved surface of the second guide wheel 43 and the curved surface of the third guide wheel 44.
The outer side surfaces of the two side plates 411 are provided with first proximity switches, and the first proximity switches are used for detecting whether the flat cable 29 passing through is broken or not. It is understood that if the flat cable 29 is broken, the flat cable 29 is biased toward one of the side plates 411. The first proximity switch detects whether the flat cable 29 is broken by detecting the distance between it and the flat cable 29.
In some specific embodiments, a first obstacle avoidance sensor and a second obstacle avoidance sensor are disposed on the side surface of the housing 21. The first obstacle avoidance sensor is used for detecting obstacles of the lifting device 2 in the transverse moving direction, and the second obstacle avoidance sensor is used for detecting the obstacles of the lifting device 2 in the vertical direction.
In one embodiment, as shown in fig. 8 and 9, the jaw assembly 3 includes a mounting substrate 31 and an electric jaw 32, the protruding end of the flat cable 29 is fixedly connected to the mounting substrate 31, and the electric jaw 32 is disposed on the mounting substrate 31. Wherein the electric jaw 32 comprises a jaw arm 321 and a jaw finger 322. The gripper arm 321 is disposed on the top of the mounting substrate 31, and two gripper fingers 322 are disposed on the bottom of the mounting substrate 31 along the retractable direction of the gripper arm 321. One of the fingers 322 is connected to one end of the arm 321, and the other finger 322 is connected to the other end of the arm 321.
Before the magazine needs to be grabbed, the clamping jaw arm 321 extends outwards to drive the clamping jaw finger 322 to open. When grabbing the magazine, the clamping jaw arm 321 contracts inwards to drive the clamping jaw finger 322 to close, so as to complete grabbing of the magazine.
Specifically, the electric jaw 32 may be an existing finished electric jaw.
In the present embodiment, specifically, as shown in fig. 9 and 10, the protruding end of the flat cable 29 can be fixedly connected to the mounting substrate 31 by the cable adjusting mechanism 33. The cable adjusting mechanism 33 includes a clamping plate 331 and an adjusting plate 332, the clamping plate 331 is an L-shaped plate, and the two clamping plates 331 are disposed back-to-back on the adjusting plate 332 for clamping the extending end of the flat cable 29. The adjustment plate 332 is fixed to the mounting substrate 31 by screws and nuts.
In other embodiments, as shown in fig. 8, the mounting substrate 31 and the clamping jaw arm 321 are provided with a clamping jaw housing 34, a groove is formed at the bottom of the casing 21 of the lifting device 2 toward the top thereof, and a portion of the clamping jaw housing 34 corresponding to the clamping jaw arm 321 is arranged to match with the groove, so that the first positioning pin 341 above the clamping jaw arm 321 can be locked and fixed with a locking device provided in the casing 21.
In other embodiments, as shown in fig. 9, a second proximity switch 311 is disposed on the mounting substrate 31, and the second proximity switch 311 is used for detecting the magazine to determine whether the gripper fingers 322 have gripped the magazine.
In the above embodiment, as shown in fig. 11, the positioning mechanism 312 is further provided on the bottom surface of the mounting substrate 31, the positioning mechanism 312 includes the first positioning pin 3121 and the first positioning sleeve 3122, and the protruding end of the first positioning pin 3121 is inserted into the first positioning sleeve 3122. In the process that the lifting device 2 descends the clamping jaw assembly 3 to the machine table through the flat cable 29, the clamping jaw assembly 3 and the material box have the problem of shaking back and forth. Through setting up positioning mechanism 312 can fix a position fast when clamping jaw subassembly 3 and magazine descend to the machine platform, improve the transportation efficiency of magazine.
In another embodiment, as shown in fig. 12 and 13, the jaw assembly 3 includes an electrical jaw 32, a jaw cover plate 35, a first box 36 and a second box 37. The electric claw 32 is fixedly arranged on the claw cover plate 35, and a first box 36 and a second box 37 are arranged on two sides of the electric claw 32. Specifically, two cable adjustment mechanisms 33 may be provided in each of the first and second cases 36 and 37. The jaw housing plate 35 is provided on the top surfaces of the first case 36 and the second case 37. The jaw housing 35 integrates the electric jaws 32, the first box 36 and the second box 37.
In the present embodiment, as shown in fig. 13, the positioning mechanism 312 may be provided in the first container 36 and the second container 37.
In the present embodiment, as shown in fig. 14, the cable adjusting mechanism 33 includes a clamping plate 331, a bottom plate 333, a bracket 334, and a rotating shaft 335. Two ear plates are arranged on the bottom plate 333, and the bottom end of the bracket 334 is connected between the two ear plates through a pin shaft, so that the constraint on the freedom degree of the flat cable 29 can be reduced. A rotating shaft 335 is provided on the bracket 334 in a direction perpendicular to a pin shaft connected to the bottom end of the bracket 334, and two clamping plates 331 are provided above the rotating shaft 335. The two clamping plates 331 are used to clamp the flat cable 29. The extended end of the flat cable 29 is passed around the rotating shaft 335 and is fixedly connected to one of the clamping plates 331. Specifically, the clamping plate 331 may be a rectangular plate.
In the above embodiments, as shown in fig. 13, the mounting bracket 38 is provided above the gripper arm 321, and the mounting bracket 38 may be provided along the extending and contracting direction of the gripper arm 321. The mounting bracket 38 is provided with a second positioning pin 381, the lifting device 2 is provided with a locking component 213, and the second positioning pin 381 is matched with the locking component 213 for guiding, positioning, locking and fixing the clamping jaw assembly 3.
Because elevating gear 2 passes through clamping jaw assembly 3 and drives the magazine when removing on sideslip device 1, if only suspend clamping jaw assembly 3 in midair through flat cable 29, the problem that clamping jaw assembly 3 rocked can appear, consequently through setting up second locating pin 381 and locking device, makes elevating gear 2 and clamping jaw assembly 3 relatively fixed, can avoid appearing the problem that clamping jaw assembly 3 rocked, improves security and stability.
Specifically, as shown in fig. 15, the locking member 213 includes a second positioning sleeve 2131 and an articulated band-type brake electromagnet 2132, and the articulated band-type brake electromagnet 2132 is disposed on a side wall of the second positioning sleeve 2131 in a radial direction of the second positioning sleeve 2131. The second positioning sleeve 2131 is of a T-shaped hollow structure.
When the clamping jaw assembly 3 grabs the magazine, the electromagnet in the joint band-type brake electromagnet 2132 retracts in the radial direction of the second positioning sleeve 2131 to avoid a cavity in the second positioning sleeve 2131, and the second positioning pin 381 can extend into the cavity in the second positioning sleeve 2131 to be locked and fixed.
In addition, the locking unit 213 further includes an optoelectronic switch 2133, and the optoelectronic switch 2133 is disposed on a side wall of the second positioning sleeve 2131 along the radial direction of the second positioning sleeve 2131. An end of the second positioning pin 381, which is used to extend into the second positioning sleeve 2131, is provided with an adjusting rod 3811. The photoelectric switch 2133 is matched with the adjusting rod 3811, and detects the adjusting rod 3811 to determine whether the second positioning pin 381 extends to a preset position in the second positioning sleeve 2131. If the locking mechanism extends to a preset position in the second positioning sleeve 2131, the electromagnet in the joint contracting brake electromagnet 2132 is triggered to extend in the radial direction of the second positioning sleeve 2131 so as to lock the second positioning pin 381 and the second positioning sleeve 2131.
Based on the material transfer system provided by the embodiment of the present application, as shown in fig. 16, the embodiment of the present application further provides an application system of the material transfer system, which includes a material transfer system, an OHS cart, a track and a machine. Wherein the OHS-trolley runs on a track and the OHS-trolley is used for transporting material. The material transfer system is arranged above the track. The track and the machine platform can be positioned on the same horizontal plane or different horizontal planes. The material transfer system is used for transferring materials on the OHS trolley to the machine table.
The material transfer system that this application embodiment provided can with the parallel operation of OHS dolly, can show and improve material transfer efficiency. In addition, the material transfer system that this application embodiment provided's structure is clear, convenient and practical, and is with low costs.
The foregoing is merely an illustrative embodiment of the present application, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application shall fall within the protection scope of the present application.
Claims (15)
1. A material transfer system is characterized by comprising a transverse moving device, a lifting device and a clamping jaw assembly; the transverse moving device is connected with a lifting device, and the lifting device is connected with the clamping jaw assembly; the lifting device moves along the horizontal direction relative to the transverse moving device, the lifting device is used for driving the clamping jaw assembly to move along the vertical direction, and the clamping jaw assembly is used for grabbing materials so as to transfer the materials.
2. The material transfer system of claim 1, wherein the traversing device comprises a guide assembly, a power assembly, and an electronic control cabinet; the guide assembly and the power assembly are arranged on the same side of the electric control cabinet in parallel, the guide assembly is arranged at one end of the electric control cabinet, the power assembly is arranged at the other end of the electric control cabinet, and the guide assembly, the power assembly and the electric control cabinet form a U-shaped structure; the lifting device is transversely arranged in the U-shaped structure in a sliding manner; the electric control cabinet controls the power assembly to act, and the power assembly drives the lifting device to move towards the direction far away from or close to the electric control cabinet under the guiding action of the guiding assembly.
3. The material transfer system of claim 2, wherein the guide assembly includes a first housing, a support track, and a slide, the support track disposed in the first housing along a length of the first housing; the slider sets up on elevating gear's a side, the slider uses with supporting the slide rail cooperation.
4. The material transfer system of claim 3, wherein the power assembly includes a second housing, a linear slide, a linear module mounting plate, and a drag chain, the linear slide disposed in the second housing along a length of the second housing; the linear module mounting plate is arranged on the other side surface of the lifting device and is matched with the linear sliding table for use; the drag chain is arranged on the linear module mounting plate and used for dragging a cable connected with the electric control cabinet and the power assembly.
5. The material transfer system of claim 1 or 2, wherein the lifting device comprises a housing and a motor and reducer, a first pulley set and a second pulley set disposed in the housing; two belt pulleys in the first belt pulley set are connected through a first transmission shaft, and two belt pulleys in the second belt pulley set are connected through a second transmission shaft; the first transmission shaft and the second transmission shaft are arranged in parallel;
the output shafts of the motor and the speed reducer are connected with the first transmission shaft; one end of the first transmission shaft close to the motor and the speed reducer is connected with one end of the second transmission shaft close to the motor and the speed reducer through the synchronous belt;
and flat cables are wound on the belt pulleys, and the extending ends of the flat cables are used for connecting the clamping jaw assemblies.
6. The material transfer system of claim 5, wherein a breakage detection assembly is disposed on a side of the first pulley set away from the second pulley set, and a side of the second pulley set away from the first pulley set, and the extended end of the flat cable is connected to the clamping jaw assembly after passing through the breakage detection assembly; the fracture detection assembly is used for detecting whether the flat cable is fractured or not.
7. The material transfer system of claim 6, wherein the break detection assembly includes an idler bracket, a first idler, a second idler, and a third idler; the guide wheel bracket comprises two side plates and a top plate, the two side plates are vertically connected to the bottom surface of the top plate, and the two side plates are arranged in parallel;
the first guide wheel is rotatably arranged between the two side plates, and the second guide wheel is arranged between the two side plates and is positioned below the first guide wheel; the guide shafts are positioned on the outer sides of the two side plates, and the side surfaces of the two side plates are provided with the guide shafts in parallel; the third guide wheel is rotatably connected between the two guide shafts in the direction perpendicular to the two guide shafts;
the first guide wheel, the second guide wheel and the third guide wheel are arranged in parallel, and a preset interval is reserved between the curved surface of the first guide wheel and the curved surface of the third guide wheel; the curved surface of the second guide wheel is in contact with the curved surface of the third guide wheel; and a spring is arranged on the guide shaft.
8. The material transfer system of claim 1 or 2, wherein the jaw assembly comprises a mounting base plate to which the extended end of the flat cable is fixedly connected and an electric jaw provided on the mounting base plate;
the electric claw comprises a clamping claw arm and a clamping claw finger; the clamping jaw arm is arranged at the top of the mounting substrate, and two clamping jaw fingers are arranged at the bottom of the mounting substrate along the telescopic direction of the clamping jaw arm; one of the clamping jaw fingers is connected with one end of the clamping jaw arm, and the other clamping jaw finger is connected with the other end of the clamping jaw arm.
9. The material transfer system of claim 8, wherein the extended end of the flat cable is fixedly connected to the mounting substrate via a cable adjustment mechanism;
the cable adjusting mechanism comprises clamping plates and an adjusting plate, the clamping plates are L-shaped plates, and two clamping plate backrests are arranged on the adjusting plate and used for clamping the extending end of the flat cable; the adjusting plate is fixedly arranged on the mounting substrate.
10. The material transfer system of claim 8, wherein a positioning mechanism is further disposed on the bottom surface of the mounting base plate, the positioning mechanism includes a first positioning pin and a first positioning sleeve, and an extending end of the first positioning pin is inserted into the first positioning sleeve.
11. The material transfer system of claim 1 or 2, wherein the jaw assembly comprises an electrical jaw, a jaw cover plate, a first cassette, and a second cassette; the electric claw is fixedly arranged on the clamping jaw cover plate, and the first box body and the second box body are respectively arranged on two sides of the electric claw; the first box body and the second box body are internally provided with a cable adjusting mechanism; the clamping jaw cover plate is arranged on the top surfaces of the first box body and the second box body.
12. The material transfer system of claim 11, wherein the cable adjustment mechanism comprises a clamping plate, a base plate, a bracket, and a shaft; the bottom plate is provided with two lug plates, and the bottom end of the bracket is connected between the two lug plates through a pin shaft; the rotating shaft is arranged on the bracket along the direction vertical to the pin shaft connected with the bottom end of the bracket, and the two clamping plates are arranged above the rotating shaft; the two clamping plates are used for clamping the flat cable; and the extending end of the flat cable is fixedly connected with one of the clamping plates after bypassing the rotating shaft.
13. The material transfer system of claim 8, wherein a mounting bracket is disposed above the gripper arm, the mounting bracket being disposed along a direction of extension and retraction of the gripper arm; the mounting bracket is provided with a second positioning pin, the lifting device is provided with a locking component, and the second positioning pin is matched with the locking component and used for guiding, positioning, locking and fixing the clamping jaw assembly.
14. The material transfer system of claim 13, wherein the locking component comprises a second positioning sleeve and a joint band-type brake electromagnet, and the joint band-type brake electromagnet is arranged on a side wall of the second positioning sleeve along a radial direction of the second positioning sleeve; the second positioning sleeve is of a T-shaped hollow structure.
15. An application system of a material transfer system is characterized by comprising the material transfer system, an OHS trolley, a track and a machine table; the OHS vehicle traveling on the track, the OHS vehicle for transporting material; the material transfer system is arranged above the track; the material transfer system is used for transferring materials on the OHS trolley to the machine table.
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| CN202111632225.5A CN114435937B (en) | 2021-12-29 | 2021-12-29 | Material transfer system and application system thereof |
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| CN202111632225.5A CN114435937B (en) | 2021-12-29 | 2021-12-29 | Material transfer system and application system thereof |
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|---|---|
| CN114435937B (en) | 2024-09-24 |
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