CN115432426A - Workpiece grabbing device, grabbing module, workpiece transfer device and feeding system - Google Patents

Abstract

The invention discloses a workpiece grabbing device, a grabbing module, a workpiece transferring device and a feeding system, wherein the workpiece grabbing device comprises: a support plate; a drive assembly; the first transmission component is arranged on the supporting plate along a first direction and comprises a first transmission piece and a second transmission piece which rotate synchronously, and the first transmission piece is in transmission connection with the driving component; the second transmission component is arranged on the supporting plate along a second direction and is in transmission connection with the second transmission component so as to convert the rotary motion of the first transmission component into translational motion; the lifting device drives the supporting plate to move along a first direction, the second transmission piece moves synchronously with the supporting plate, and the first transmission piece is in transmission connection with the driving assembly; and the grabbing mechanism is arranged on the second transmission component, and the second transmission component drives the grabbing mechanism to reciprocate along the second direction so as to clamp the workpiece. According to the workpiece grabbing device, the time consumption of manual operation is reduced, the workpiece can be avoided, the work is stable, and the production efficiency is high.

Description

Workpiece gripping device, gripping module, workpiece transfer device and feeding system

technical field

The invention relates to the technical field of automation equipment, and more specifically, to a workpiece grabbing device, a grabbing module, a workpiece transfer device and a feeding system.

Background technique

In related technologies, most of the work of subpackaging and boxing during workpiece production is done manually. It is difficult for manual labor to adapt to the production rhythm, and it is prone to difficult operations, and the operation intensity increases, which takes a long time and reduces production efficiency. lower.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a workpiece grabbing device, which reduces the time-consuming manual operation, can avoid the workpiece, works stably, and has high production efficiency.

Another object of the present invention is to provide a gripping module with the above-mentioned workpiece gripping device.

Another object of the present invention is to provide a workpiece transfer device having the above-mentioned grasping module.

Another object of the present invention is to provide a feeding system with the above workpiece transfer device.

The workpiece grabbing device according to the embodiment of the present invention includes: a support plate; a driving assembly; a first transmission assembly, the first transmission assembly is arranged on the support plate along a first direction, and the first transmission assembly includes synchronous rotation The first transmission member and the second transmission member, the first transmission member is in transmission connection with the drive assembly; the second transmission assembly, the second transmission assembly is arranged on the support plate along the second direction, and the first transmission assembly One direction is perpendicular to the second direction, the second transmission assembly and the second transmission member are in transmission connection to convert the rotational motion of the first transmission member into translational motion; the lifting device drives the The support plate moves along the first direction, and the second transmission member moves synchronously with the support plate, and when the support plate moves, the first transmission member remains in transmission connection with the drive assembly; The grabbing mechanism is arranged on the second transmission assembly, and the second transmission assembly drives the grabbing mechanism to reciprocate along the second direction to clamp the workpiece.

According to the workpiece grabbing device of the embodiment of the present invention, the first transmission assembly is arranged on the support plate along the first direction, the second transmission assembly is arranged on the support plate along the second direction, the first transmission assembly drives the second transmission assembly to move in translation, Realize the reciprocating movement of the grabbing mechanism on the second transmission assembly along the second direction. The grabbing mechanism can clamp the workpiece so that the workpiece can move along the second direction, reducing the time-consuming manual operation and adapting to the efficient production rhythm , to realize the automatic production of the assembly line, and the first transmission component and the second transmission component occupy a small space, which effectively improves the utilization rate of the space; the support plate is driven to move in the first direction through the lifting device, and the second transmission part moves synchronously with the support plate, The first transmission member remains in transmission connection with the drive assembly, so that the second transmission assembly can avoid the workpiece, avoiding damage caused by the collision between the workpiece and the second transmission assembly, ensuring the normal use of the grasping module, and ensuring that the drive assembly is in contact with the first transmission assembly. The transmission part, the second transmission part and the second transmission assembly are always in transmission connection, avoiding problems such as vibration caused by reconnection, the workpiece grasping device works stably, and the grasping module works more efficiently, which is conducive to improving production efficiency.

In addition, the workpiece grabbing device according to the above embodiments of the present invention may also have the following additional technical features:

According to some embodiments of the present invention, the workpiece grasping device, the first transmission assembly further includes: a connecting shaft, the first transmission member and the second transmission member are respectively arranged at two ends of the connection shaft, and the connection shaft The connecting shaft is slidably connected with the first transmission member in the axial direction of the connection shaft, and the second transmission member is fixedly installed on the support plate and moves synchronously with the support plate. With respect to the connecting shaft, both the first transmission member and the second transmission member rotate coaxially with the connecting shaft.

According to some embodiments of the present invention, both the first transmission member and the second transmission member are bevel gears.

According to some embodiments of the present invention, a support is provided on the support plate, and the second transmission assembly includes: a third transmission member, the third transmission member is arranged on the support, and the third transmission member It is connected in transmission with the second transmission member; the fourth transmission member is arranged on the support, and the fourth transmission member and the third transmission member rotate coaxially; the fifth transmission member, The fifth transmission member is in transmission connection with the fourth transmission member to drive the fifth transmission member to reciprocate along the second direction.

According to some embodiments of the present invention, the fourth transmission member is a gear, the fifth transmission member is a rack, and the rotation of the gear drives the rack to reciprocate along the second direction.

According to some embodiments of the present invention, the second transmission assembly further includes: a guide assembly, the guide assembly includes a first guide rail arranged on the support plate and a slider matched with the first guide rail, the first guide rail A guide rail extends along the second direction, and the fifth transmission member is connected with the slider to make the second transmission assembly reciprocate along the second direction.

According to some embodiments of the present invention, the grabbing mechanism includes: a first jaw, the first jaw is provided at one end of the second transmission assembly, and the first jaw is used for orientation to clamp the workpiece.

According to some embodiments of the present invention, there are two support plates, the first transmission assembly, the second transmission assembly, and the grasping mechanism, and two support plates, two second transmission assemblies A transmission assembly, the two second transmission assemblies and the two grasping mechanisms are spaced apart along a third direction, and the third direction is perpendicular to both the first direction and the second direction.

According to some embodiments of the present invention, the drive assembly includes: a first motor; a transmission shaft, the first motor drives the transmission shaft to rotate, a transmission gear is provided on the transmission shaft, and the transmission gear is connected to the transmission shaft. The first transmission member is in transmission connection.

According to some embodiments of the present invention, the workpiece grabbing device further includes: a bottom plate, the support plate is arranged on the bottom plate, and the driving assembly and the lifting device are both arranged on the bottom plate away from the support plate. On one side, the first transmission member is rotatably arranged on the bottom plate, and the lifting device drives the support plate to move relative to the bottom plate along the first direction.

According to some embodiments of the present invention, one of the bottom plate and the support plate is provided with a guide column extending along the second direction, and the other is provided with a guide hole cooperating with the guide column.

The grasping module according to the embodiment of the present invention includes: a material grasping device; according to the workpiece grasping device according to the embodiment of the present invention, the workpiece grasping device is spaced apart from the material grasping device, and the workpiece grasping device used to move the workpiece between a first preset position and a third preset position, and the grasping device is used to move the workpiece between the first preset position and a second preset position , the second preset position, the first preset position and the third preset position are sequentially arranged in the second direction.

According to some embodiments of the present invention, the grasping device includes a translational driving assembly and a clamping assembly, and the translational driving assembly drives the clamping assembly to reciprocate along the second direction.

According to some embodiments of the present invention, when the workpiece grabbing device includes a bottom plate, the support plate and the translation drive assembly are arranged on the same side of the bottom plate, and the material grabbing device further includes: a support seat, the The clamping assembly is arranged on the support base, and the support base is in transmission connection with the translation drive assembly so that the support base reciprocates along the second direction on the bottom plate.

According to some embodiments of the present invention, the translation drive assembly includes: a second motor disposed on the bottom plate; two belts spaced apart from and wound around the pulley in the second direction, and the pulley is rotatably Located on the bottom plate, the second motor is in drive connection with one of the pulleys, and the support seat is arranged on the belt and moves synchronously with the belt.

According to some embodiments of the present invention, the clamping assembly includes: a second clamping jaw for clamping the workpiece in the second direction; a pusher disposed on the The supporting seat, the second jaw is connected with the pusher, and the pusher is used to drive the second jaw to move along the second direction.

According to some embodiments of the present invention, the grasping module includes: a support assembly, two support assemblies are arranged on both sides of the movement direction of the material grasping device, the support assembly includes a support and multiple A support wheel, a plurality of support wheels are rotatably arranged on the support member and arranged at intervals along the second direction.

According to some embodiments of the present invention, the workpiece is provided with a positioning member, and the grasping module includes: a positioning guide assembly, the positioning guide assembly includes a guide groove for accommodating the positioning member, and the guide groove Extending along the second direction, the positioning guide assembly includes two vertical plates arranged at intervals, and the gap between the two vertical plates forms the guide groove.

The workpiece transfer device according to the embodiment of the present invention includes: a base; a lifting mechanism, the lifting mechanism is arranged on the base; according to the embodiment of the present invention, the grabbing module is arranged on the lifting mechanism to adjust the height of the gripping module; the manipulator is used to transfer the workpiece from the lifting mechanism or transfer the workpiece to the lifting mechanism.

According to some embodiments of the present invention, the lifting mechanism includes: a pallet, the grasping module is arranged on the pallet; a power assembly is arranged on the base for driving the pallet along the The first direction reciprocates.

According to some embodiments of the present invention, the power assembly includes: a third motor, the third motor is arranged on the base; a lead screw, the lead screw extends along the first direction, and one end of the lead screw It is connected to the third motor through transmission, the screw nut is provided on the screw, and the supporting plate is connected to the screw nut; and/or, the base is provided with a first Three guide rails, the third guide rail extends along the first direction.

According to some embodiments of the present invention, the manipulator includes: a mechanical arm; a mechanical gripper, the mechanical gripper is arranged at one end of the mechanical arm, and the mechanical gripper includes a mounting plate, a linear drive device and two grippers block, the two clamping blocks are movably arranged on the mounting plate in the direction of approaching each other and away from each other, the linear drive device is located on the mounting plate and drives the clamping block to move, the two clamping blocks Blocks are used to grip or release the workpiece.

According to some embodiments of the present invention, a clamping mechanism is provided on the clamping block, and the clamping mechanism is used to clamp the workpiece, and the clamping mechanism includes: a first pressing device, the first pressing device The tightening device is arranged on the clamping block and includes a first cylinder and a first pressing block, and the first cylinder can drive the first pressing block to move; a second pressing device, the second pressing device is located on The clamping block also includes a second air cylinder and a second pressing block, the second air cylinder can drive the second pressing block to rotate around the second air cylinder, the first pressing block and the second pressing block are perpendicular to the two The clamping blocks are arranged in the direction of the arrangement direction to clamp the workpiece.

According to some embodiments of the present invention, a clamping mechanism is provided on the clamping block, and the clamping mechanism is used to clamp the workpiece, and the clamping mechanism includes: a support block, two clamping blocks on the clamping block The supporting blocks are respectively located on the sides of the two clamping blocks close to each other; the first pressing device, the first pressing devices on the two clamping blocks are respectively located on the sides of the two clamping blocks One side of each other includes a first air cylinder and a first pressing block, and the first air cylinder can drive the first pressing block to move toward or away from the support block to clamp the workpiece.

According to some embodiments of the present invention, the manipulator includes: a visual detection device, the visual detection device is located on the mounting plate and is used for detecting the workpiece.

According to some embodiments of the present invention, the workpiece transfer device further includes: a placement platform, the placement platform is arranged on the base and higher than the upper end surface of the lifting mechanism, and the placement platform is used for temporarily storing the workpiece .

According to some embodiments of the present invention, the workpiece transfer device further includes: a walking assembly, the walking assembly is arranged at the bottom of the base.

The feeding system according to the embodiment of the present invention includes: a temporary storage platform for storing the workpieces to be processed and/or processed workpieces; a silo platform for storing storage bin, the workpiece is suitable for being placed in the bin; according to the workpiece transfer device according to the embodiment of the present invention, the workpiece transfer device transfers the workpiece between the temporary storage platform and the bin platform artifact.

According to some embodiments of the present invention, the workpiece transfer device includes: a first transfer device for transferring the workpiece to or from the temporary storage platform; A transfer device, the second transfer device is used to transfer the silo to or from the silo platform.

According to some embodiments of the present invention, both the first transfer device and the second transfer device include a traveling assembly and a transfer table provided on the travel assembly, and the transfer table is used to transfer the workpiece or the silo.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is a schematic structural view of a loading and unloading system according to an embodiment of the present invention;

2 is a top view of a loading and unloading system according to an embodiment of the present invention;

Fig. 3 is a schematic structural view of a feeding system according to an embodiment of the present invention;

Fig. 4 is a schematic structural view of processing equipment, a loading and unloading device, and a bin transfer device according to an embodiment of the present invention;

5 is a schematic structural view of a workpiece transfer device according to an embodiment of the present invention;

Fig. 6 is a structural schematic view of an angle of the grasping module according to an embodiment of the present invention;

Fig. 7 is a structural schematic diagram of another angle of the grasping module according to an embodiment of the present invention;

Fig. 8 is a cross-sectional view of a grasping module according to an embodiment of the present invention;

Fig. 9 is a schematic diagram of an enlarged structure at A, circled in Fig. 8;

Fig. 10 is a schematic structural view of a workpiece grabbing device according to an embodiment of the present invention;

Fig. 11 is a partial structural schematic diagram of a workpiece grabbing device according to an embodiment of the present invention;

Fig. 12 is a schematic structural view of a grabbing device according to an embodiment of the present invention;

Fig. 13 is a schematic structural diagram of a lifting mechanism according to an embodiment of the present invention;

Fig. 14 is a schematic structural view of a mechanical gripper according to some embodiments of the present invention;

Fig. 15 is a schematic structural view of mechanical grippers according to other embodiments of the present invention;

Fig. 16 is a schematic structural view of a loading and unloading device according to an embodiment of the present invention;

Fig. 17 is a structural schematic diagram of an angle of a positioning platform according to an embodiment of the present invention;

Fig. 18 is a structural schematic view of another angle of the positioning platform according to an embodiment of the present invention;

Fig. 19 is a schematic diagram of a partial structure of a positioning platform according to an embodiment of the present invention;

Fig. 20 is a schematic structural view of a bin transfer device according to an embodiment of the present invention;

Fig. 21 is a schematic structural view of a workpiece according to an embodiment of the present invention.

Reference signs:

Workpiece grabbing device 100; grabbing module 200; workpiece transfer device 300; feeding system 400; loading and unloading device 500; loading and unloading system 600; processing equipment 700;

Support plate 10; Support 101; Guide hole 102;

Drive assembly 11; first motor 111; transmission shaft 112; transmission gear 113;

The first transmission assembly 12; the first transmission member 121; the second transmission member 122; the connecting shaft 123;

The second transmission assembly 13; the third transmission member 131; the fourth transmission member 132; the fifth transmission member 133; the guide assembly 134; the first guide rail 135; the slider 136; the connecting member 167;

lifting device 14;

Grab mechanism 15; first jaw 151;

Base plate 16; guide column 161; guide bearing 162; second guide rail 163;

Grabbing device 20;

Translation drive assembly 21; second motor 211; pulley 212; belt 213;

Clamping assembly 22; second jaw 221; pusher 222; adapter plate 223;

Support seat 23; Fixture 231;

Support assembly 24; Support member 241; Support wheel 242;

Positioning guide assembly 25; guide groove 251; vertical plate 252;

Base 30; third guide rail 31; placing platform 32;

Lifting mechanism 40; supporting plate 41; power assembly 42; third motor 421; lead screw 422; lead screw nut 423;

Manipulator 50; mechanical arm 51; mechanical gripper 52; mounting plate 53; linear drive device 54; clamp block 55; visual detection device 56; fourth motor 541; screw assembly 542; first gear 543; second gear 544; Beam 551;

Clamping mechanism 60; first pressing device 61; second pressing device 62; supporting block 63; platen device 64; first cylinder 611; Four guide rails 631; the third cylinder 641; the third pressing block 642;

Temporary storage platform 71; bin platform 72; first transfer device 73; second transfer device 74; bin transfer device 75; workpiece 711; 751;

Support platform 80; placement space 81;

positioning platform 90; positioning base plate 91;

Clamping device 92; first air clamp 921; second air clamp 922;

Transmission device 93 ; drive motor 931 ; transmission member 932 ; output shaft 933 ; coupling 934 .

detailed description

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and therefore should not be construed as limitations on the invention.

In the description of the present invention, "first feature" and "second feature" may include one or more of these features, "multiple" means two or more, and the first feature is included in the second feature " "Above" or "under" may include that the first and second features are in direct contact, and may also include that the first and second features are not in direct contact but are in contact with another feature between them, and that the first feature is in contact with the second feature. "Above", "above" and "above" include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

A workpiece gripping device 100 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

Referring to FIGS. 5-11 , the grabbing module 200 according to the embodiment of the present invention includes a grabbing device 20 and a workpiece grabbing device 100 according to an embodiment of the present invention, and the workpiece grabbing device 100 is spaced apart from the grabbing device 20 , the workpiece grabbing device 100 is used to move the workpiece 711 between the first preset position and the third preset position, and the grabbing device 20 is used to move the workpiece 711 between the first preset position and the second preset position Moving, the second preset position, the first preset position and the third preset position are sequentially arranged in the second direction (for example, the left-right direction shown in FIG. 6 ). Thus, the workpiece 711 can be moved respectively by the workpiece grasping device 100 and the material grasping device 20, so as to meet the different movement requirements of the workpiece 711 at the second preset position, the first preset position and the third preset position. It is beneficial to reduce the occupied space required by the grasping module 200 to directly move the workpiece 711 from the third preset position to the second preset position.

The workpiece grabbing device 100 according to the embodiment of the present invention may include: a support plate 10 , a driving assembly 11 , a first transmission assembly 12 , a second transmission assembly 13 and a grabbing mechanism 15 .

Specifically, the first transmission assembly 12 is arranged on the support plate 10 along a first direction (such as the up-and-down direction shown in FIG. 8 ), and the first transmission assembly 12 includes a first transmission member 121 and a second transmission member 122 that rotate synchronously. , the first transmission member 121 is in transmission connection with the drive assembly 11 , so that the drive assembly 11 can drive the first transmission assembly 12 to move. The second transmission assembly 13 is arranged on the support plate 10 along the second direction, the first direction is perpendicular to the second direction, the second transmission assembly 13 and the second transmission member 122 are connected by transmission, and can convert the rotational motion of the first transmission member 121 into Translational movement, and the grabbing mechanism 15 is arranged on the second transmission assembly 13, so that the second transmission assembly 13 can drive the grabbing mechanism 15 to reciprocate along the second direction, and the grabbing mechanism 15 can clamp the workpiece 711, so that the workpiece 711 It can move along the second direction, and it is beneficial to reduce the occupied space required by the first transmission assembly 12 and the second transmission assembly 13, and effectively improve the utilization rate of space.

Thus, when the drive assembly 11 is working, the drive assembly 11 can drive the first transmission member 121 to rotate, the first transmission member 121 and the second transmission member 122 rotate synchronously to drive the second transmission member 122 to rotate, and the second transmission member 122 and the second transmission member 122 rotate. The transmission connection of the two transmission components 13 drives the second transmission component 13 to move along the second direction, thereby driving the grasping mechanism 15 on the second transmission component 13 to reciprocate along the second direction, so that the grasping mechanism 15 can reciprocate along the second direction Clamping the workpiece 711 and realizing the movement of the workpiece 711 along the second direction reduces the time-consuming manual operation, can adapt to the efficient production rhythm, realizes the automatic production of the assembly line, and is conducive to improving production efficiency and reducing production costs.

In addition, as shown in FIGS. 5-8 , the workpiece grabbing device 100 may further include a lifting device 14, and the lifting device 14 drives the support plate 10 to move along the first direction, so that the second transmission assembly 13 located on the support plate 10 can follow the The support plate 10 moves along the first direction. When the grabbing device 20 drives the workpiece 711 to move, the second transmission assembly 13 can move along with the support plate 10 in the first direction, and the second transmission assembly 13 can avoid the workpiece 711 to prevent the workpiece 711 from colliding with the second transmission assembly 13 If damage is caused, the normal use of the grasping module 200 is guaranteed. For example, the lifting device 14 may be an air cylinder, an electric cylinder, or a hydraulic cylinder.

At the same time, the second transmission member 122 can move synchronously with the support plate 10, so that the second transmission member 122 can remain in transmission connection with the second transmission assembly 13, and when the support plate 10 moves, the first transmission member 121 can remain in contact with the drive assembly 11. Drive connection. Thus, when the support plate 10 moves, it is ensured that the driving assembly 11 and the first transmission member 121, the second transmission member 122 and the second transmission assembly 13 are always in transmission connection, avoiding problems such as vibration caused by reconnection, and ensuring a reliable transmission connection , the workpiece grasping device 100 works stably, and the second transmission assembly 13 and the lifting device 14 can work simultaneously, so that the grasping module 200 works more efficiently and is conducive to improving production efficiency.

It should be noted that the third preset position is the initial position where the workpiece 711 is located, the first preset position is the position after the workpiece grabbing device 100 has moved the workpiece 711, and the second preset position is the position where the gripping device 20 is located at the second position. A preset position where the workpiece 711 moves.

In addition, for the convenience of description, the orientations of "upper", "lower", "left", "right", "front" and "back" in the present invention are based on the orientation relationship shown in the drawings, rather than actual application process The limitation of the middle position.

According to the workpiece grabbing device 100 of the embodiment of the present invention, the first transmission assembly 12 is arranged on the support plate 10 along the first direction, the second transmission assembly 13 is arranged on the support plate 10 along the second direction, and the first transmission assembly 12 drives the second The translational movement of the second transmission assembly 13 realizes the reciprocating movement of the grasping mechanism 15 on the second transmission assembly 13 along the second direction, and the grasping mechanism 15 can clamp the workpiece 711 so that the workpiece 711 can move along the second direction, reducing the The time-consuming manual operation can adapt to the efficient production rhythm and realize the automatic production of the assembly line, and the first transmission assembly 12 and the second transmission assembly 13 occupy a small space, which effectively improves the utilization of space; the support plate 10 is driven by the lifting device 14 Moving along the first direction, the second transmission member 122 moves synchronously with the support plate 10, and the first transmission member 121 remains in transmission connection with the drive assembly 11, so that the second transmission assembly 13 can avoid the workpiece 711, avoiding the workpiece 711 and the second The transmission assembly 13 is damaged due to a collision, ensuring the normal use of the grasping module 200, and ensuring that the drive assembly 11 and the first transmission member 121, the second transmission member 122 and the second transmission assembly 13 are always in transmission connection, avoiding reconnection and Vibration and other problems are caused, the workpiece grabbing device 100 works stably, and the grabbing module 200 works more efficiently, which is conducive to improving production efficiency.

Since the workpiece grasping device 100 according to the embodiment of the present invention has the above-mentioned beneficial technical effects, the grasping module 200 according to the embodiment of the present invention is arranged on the support plate 10 along the first direction through the first transmission assembly 12, and the second The transmission assembly 13 is arranged on the support plate 10 along the second direction, and the first transmission assembly 12 drives the second transmission assembly 13 to move in translation, so as to realize the reciprocating movement of the grasping mechanism 15 on the second transmission assembly 13 along the second direction, and the grasping mechanism 15 The workpiece 711 can be clamped so that the workpiece 711 can move along the second direction, which reduces the time-consuming manual operation, can adapt to the efficient production rhythm, and realizes the automatic production of the assembly line, and the first transmission assembly 12 and the second transmission assembly 13 It occupies a small space and effectively improves the utilization rate of space; the support plate 10 is driven to move in the first direction through the lifting device 14, the second transmission member 122 moves synchronously with the support plate 10, and the first transmission member 121 remains in transmission connection with the drive assembly 11 , so that the second transmission assembly 13 can avoid the workpiece 711, avoid the collision between the workpiece 711 and the second transmission assembly 13 and cause damage, ensure the normal use of the grasping module 200, and ensure that the driving assembly 11 and the first transmission member 121, The second transmission member 122 and the second transmission assembly 13 are always in transmission connection to avoid problems such as vibration caused by reconnection, the workpiece grasping device 100 works stably, and the grasping module 200 works more efficiently, which is conducive to improving production efficiency.

In some embodiments of the present invention, as shown in FIG. 8 and FIG. 9 , the first transmission assembly 12 further includes a connecting shaft 123, and the first transmission member 121 and the second transmission member 122 are respectively arranged at both ends of the connection shaft 123, Both the first transmission member 121 and the second transmission member 122 rotate coaxially with the connecting shaft 123 to ensure reliable rotation of the first transmission member 121 and the second transmission member 122 , and the structure is simple. The connecting shaft 123 passes through the supporting plate 10, and the connecting shaft 123 moves synchronously with the supporting plate 10. The connecting shaft 123 and the first transmission member 121 are in the axial direction of the connecting shaft 123 (such as the up and down direction shown in FIG. 8 ). Slidably connected, the second transmission member 122 is fixed on the connecting shaft 123 . Thus, when the support plate 10 moves along the first direction, the second transmission member 122 is fixed on the connecting shaft 123 to maintain the transmission connection between the second transmission member 122 and the driving assembly 11, and the connecting shaft 123 can drive the first transmission member 121 along the Moving in the first direction keeps the transmission connection between the first transmission member 121 and the second transmission assembly 13, ensures that the transmission connection between the drive assembly 11 and the first transmission member 121, the second transmission member 122 and the second transmission assembly 13 is reliable, and avoids repeated separation and contact. Vibration caused by the connection is beneficial to prolong the service life of the driving assembly 11 , the first transmission assembly 12 and the second transmission assembly 13 , and the workpiece grabbing device 100 works stably and has a simple structure, which is beneficial to reduce production costs.

In some embodiments, the connecting shaft 123 can be a special-shaped shaft, and the first transmission member 121 is provided with a special-shaped hole matching the special-shaped shaft, and the special-shaped shaft can be matched with the special-shaped hole to ensure reliable connection between the connecting shaft 123 and the first transmission member 121 , and ensure that the connecting shaft 123 slides in the axial direction of the connecting shaft 123 , the structure is simple, which is beneficial to reduce the production cost of the workpiece grabbing device 100 . For example, the connecting shaft 123 may be a spline shaft, a flat key shaft, or a half-round key shaft, etc. FIG.

According to some embodiments of the present invention, as shown in FIGS. 6-11 , the first transmission member 121 and the second transmission member 122 can both be bevel gears, so that the first transmission assembly 12 along the first direction and the first transmission assembly 12 along the second direction The transmission connection of the second transmission assembly 13 is conducive to reducing the occupied space required by the first transmission assembly 12 and the second transmission assembly 13, and effectively improving the utilization rate of space. In addition, the meshing transmission of bevel gears can make the first transmission assembly 12 and the second transmission assembly 13 work stably, ensuring that the second transmission assembly 13 moves reliably and has low noise.

In some embodiments, as shown in FIGS. 8-11 , the support plate 10 is provided with a support 101 , and the second transmission assembly 13 includes a third transmission member 131 , a fourth transmission member 132 and a fifth transmission member 133 . The three transmission parts 131 and the fourth transmission part 132 can be arranged on the support 101, which is convenient for fixing the positions of the third transmission part 131 and the fourth transmission part 132, and avoiding the movement of the third transmission part 131 and the fourth transmission part 132. Cause problems such as movement instability. The third transmission member 131 is in transmission connection with the second transmission member 122 , the fourth transmission member 132 and the third transmission member 131 rotate coaxially, and the fifth transmission member 133 is in transmission connection with the fourth transmission member 132 . Thus, when the second transmission member 122 rotates, the second transmission member 122 is connected to the third transmission member 131 to drive the third transmission member 131 to rotate, and the third transmission member 131 and the fourth transmission member 132 coaxially rotate to drive the fourth transmission member 131. The transmission member 132 rotates, and the fourth transmission member 132 is connected to the fifth transmission member 133, thereby driving the fifth transmission member 133 to reciprocate along the second direction, so as to realize the reciprocating movement of the grasping mechanism 15 along the second direction, so as to facilitate the workpiece 711 Clamping enables the workpiece 711 to move along the second direction, and the second transmission assembly 13 has a simple structure and reliable transmission, which is beneficial to reduce the production cost of the workpiece grasping device 100 . For example, the third transmission member 131 and the fourth transmission member 132 may be coaxially connected bevel gears and circular gears.

In some embodiments of the present invention, as shown in FIG. 9 and FIG. 11 , the fourth transmission member 132 can be a gear, and the fifth transmission member 133 can be a rack, and the rotation of the gear can drive the rack to reciprocate in the second direction. It is convenient to convert the rotational motion of the first transmission member 121 into translational motion. The fourth transmission member 132 and the fifth transmission member 133 are simple in structure and reliable in transmission connection, which is beneficial to reduce the production cost of the workpiece grasping device 100 .

In some embodiments, as shown in FIGS. 6, 8-11, the second transmission assembly 13 further includes a guide assembly 134, the guide assembly 134 includes a first guide rail 135 and a slider 136, and the first guide rail 135 is arranged on the support plate 10. The slider 136 cooperates with the first guide rail 135, the first guide rail 135 extends along the second direction, the fifth transmission member 133 is connected with the slider 136, when the second transmission assembly 13 reciprocates along the second direction, the second transmission The assembly 13 can define the moving direction of the second transmission assembly 13 through the cooperation of the slider 136 and the first guide rail 135, so as to ensure that the movement of the fifth transmission member 133 is not prone to deviation, and the grabbing mechanism 15 can move reliably in the second direction.

In some embodiments, as shown in FIG. 8 and FIG. 9, the fifth transmission member 133 and the slider 136 can be connected through a connecting member 167, which is beneficial to reduce the complexity of the structure of the fifth transmission member 133 and the slider 136, and reduce the number of workpieces. The production cost of the gripping device 100 .

According to some embodiments of the present invention, as shown in Fig. 6-Fig. Because the workpiece 711 is clamped in the second direction, it is convenient to clamp the workpiece 711 to ensure reliable clamping of the workpiece 711 and the workpiece 711 is not easy to fall.

In the embodiment of the present invention, the specific structure of the first jaw 151 can be set according to actual conditions.

For example, in some embodiments, the first clamping jaw 151 may include a clamping jaw cylinder, which is used to control the clamping and opening of the clamping jaws, so as to realize the clamping and releasing of the workpiece 711 . The jaw cylinder is connected with a push-pull rod, and the push-pull rod is respectively provided with a first transmission rod and a second transmission rod. One end of the first transmission rod and the second transmission rod are connected with the push-pull rod, and the first transmission rod and the second transmission rod The other ends of the transmission rods extend away from each other, and the push-pull rod and the first transmission rod, and the push-pull rod and the second transmission rod are all hinged, and the other ends of the first transmission rod and the second transmission rod are respectively provided with jaws . When the jaw cylinder pulls the push-pull rod to move linearly in the direction close to the jaw cylinder, since the push-pull rod is hinged with the first transmission rod and the second transmission rod, in order to meet the linear movement, the two jaws will move towards the closer Move in the direction of each other, so as to realize the clamping of the workpiece 711 by the first jaw 151; when the jaw cylinder pushes the push-pull rod to move linearly away from the direction of the jaw cylinder, in order to meet the movement in the linear direction, the two jaws will move away from each other. The direction of each other moves, so that the first clamping jaw 151 is released from the workpiece 711 .

In some embodiments, as shown in Fig. 6, Fig. 7, Fig. 10 and Fig. 11, the first jaw 151 may include multiple sets (greater than or equal to two) of jaw cylinders to facilitate grabbing the workpiece 711, ensuring that the workpiece 711 Mobile and reliable.

In some embodiments of the present invention, as shown in Fig. 6-Fig. The support plate 10, the two first transmission assemblies 12, the two second transmission assemblies 13 and the two grasping mechanisms 15 are all spaced apart along a third direction (for example, the front-rear direction shown in FIG. 8 ), and the third direction is separated from the first The first direction and the second direction are both vertical, and the workpiece 711 is easily clamped by the two grabbing mechanisms 15, and the two support plates 10 can support and move the two second transmission components 13, ensuring that the workpiece 711 is firmly clamped , the workpiece 711 moves reliably.

According to some embodiments of the present invention, as shown in FIGS. 7-10 , the driving assembly 11 includes a first motor 111 and a transmission shaft 112, the first motor 111 drives the transmission shaft 112 to rotate, and the transmission shaft 112 is provided with a transmission gear 113, The transmission gear 113 is in transmission connection with the first transmission member 121 . Thus, when the first motor 111 works, the first motor 111 drives the transmission shaft 112 to rotate, the transmission shaft 112 drives the transmission gear 113 to rotate, and the transmission gear 113 is connected to the first transmission member 121 to drive the first transmission member 121 to rotate, thereby To realize the operation of the first transmission assembly 12 , the structure of the driving assembly 11 is simple, which is beneficial to reduce the production cost of the workpiece grabbing device 100 . For example, the first motor 111 can realize the rotation of the transmission shaft 112 through belt transmission or gear transmission.

In some embodiments where there are two support plates 10, the first transmission assembly 12, the second transmission assembly 13 and the grasping mechanism 15, as shown in Fig. 6, Fig. 8 and Fig. 10, both ends of the transmission shaft 112 are There are transmission gears 113, and the two transmission gears 113 are respectively connected to the two first transmission parts 121 to ensure that the two second transmission components 13 move reliably, can achieve the same moving distance, and ensure that the workpiece 711 is firmly clamped.

In some embodiments of the present invention, as shown in FIGS. 6-9 , the workpiece gripping device 100 further includes a base plate 16, the support plate 10 can be arranged on the base plate 16, and the first transmission member 121 is rotatably arranged on the base plate 16. , to facilitate the support and positioning of the support plate 10 and the first transmission member 121 . The driving assembly 11 and the lifting device 14 are all arranged on the side of the base plate 16 away from the support plate 10, and the lifting device 14 drives the support plate 10 to move relative to the base plate 16 along the first direction to ensure that the support plate 10 moves reliably, and the base plate 16 can move the second The second transmission assembly 13 is separated from the driving assembly 11 and the lifting device 14. When the workpiece grabbing device 100 is working, the driving assembly 11 and the lifting device 14 are prevented from affecting the normal operation of the second transmission assembly 13, and the contact with the workpiece 711 is avoided. damage, ensure that the workpiece gripping device 100 works reliably.

According to some embodiments of the present invention, as shown in FIG. 9 , FIG. 10 and FIG. 11 , the bottom plate 16 is provided with a guide column 161 extending along the second direction, and the support plate 10 is provided with a guide hole 102 , and the guide hole 102 and the guide The column 161 cooperates, and when the support plate 10 moves along the first direction, the support plate 10 can be guided through the cooperation of the guide hole 102 and the guide column 161, so as to avoid the deviation of the support plate 10 and ensure the reliable movement of the support plate 10.

Of course, the setting position of the guide post 161 can also be set on the support plate 10, specifically, the support plate 10 is provided with a guide post 161 extending along the second direction, and the bottom plate 16 is provided with a guide hole 102 matching with the guide post 161. This is also within the protection scope of the present invention.

In some embodiments, as shown in FIG. 9 , FIG. 10 and FIG. 11 , the workpiece grasping device 100 may include a guide bearing 162, the guide bearing 162 is located on the bottom plate 16, and the guide post 161 cooperates with the guide bearing 162, so that the guide post 161 The movement is smoother, ensuring smooth movement of the support plate 10 along the first direction, avoiding jamming, and ensuring the reliability of the movement of the support plate 10 .

In some embodiments of the present invention, as shown in FIG. 6 , FIG. 8 , FIG. 9 and FIG. 12 , the grasping device 20 includes a translational driving assembly 21 and a clamping assembly 22 , and the translational driving assembly 21 drives the clamping assembly 22 along the first The reciprocating motion in two directions enables the clamping assembly 22 to clamp the workpiece 711, and the clamping assembly 22 can move the workpiece 711 between the first preset position and the second preset position to meet the movement requirement of the workpiece 711, It reduces the time-consuming manual operation, can adapt to the efficient production rhythm, realizes the automatic production of the assembly line, and is conducive to improving production efficiency.

According to some embodiments of the present invention, as shown in FIG. 6, FIG. 8, FIG. 9 and FIG. 12, when the workpiece grasping device 100 includes a base plate 16, the support plate 10 and the translation drive assembly 21 are arranged on the same side of the base plate 16, which is convenient The gripping mechanism 15 and the clamping assembly 22 clamp the workpiece, and when the translation drive assembly 21 works, the support plate 10 can move along the first direction, so as to avoid the workpiece on the clamping assembly 22 . The grasping device 20 also includes a support base 23, the clamping assembly 22 can be arranged on the support base 23, the support base 23 is in transmission connection with the translation drive assembly 21, and the translation drive assembly 21 can make the support base 23 reciprocate on the bottom plate 16 along the second direction The movement can realize the reciprocating movement of the clamping component 22 along the second direction, and make the clamping component 22 move reliably, and the support base 23 facilitates the storage and protection of the clamping component 22, which is beneficial to improve the service life of the clamping component 22.

In some embodiments of the present invention, as shown in FIG. 6 , FIG. 8 , FIG. 9 and FIG. 12 , the translation drive assembly 21 includes a second motor 211 , two pulleys 212 and a belt 213 , and the second motor 211 is located on the bottom plate 16 The pulley 212 is rotatably disposed on the bottom plate 16, so as to fix the second motor 211 and the pulley 212, and prevent the second motor 211 and the pulley 212 from moving. The two pulleys 212 are spaced apart in the second direction. A belt 213 is wound around the pulleys 212 . The second motor 211 is in transmission connection with one of the pulleys 212 . Thus, when the second motor 211 is working, the second motor 211 can drive one of the pulleys 212 to rotate, and the rotation of the pulley 212 can drive the belt 213 and the other pulley 212 to move, so that the belt 213 can drive the support seat 23 on the belt 213 Moving to realize the reciprocating movement of the clamping assembly 22 along the second direction, ensuring reliable movement, and the structure of the translational driving assembly 21 is simple, which is beneficial to reduce the production cost of the grabbing device 20 .

In some embodiments, as shown in FIG. 8 and FIG. 9, a clamp 231 can be provided on the support base 23, and the clamp 231 is fixed to the belt 213. The support base 23 can be fixed on the belt 213 through the clamp 231 to ensure that the support base 23 The connection with the belt 213 is reliable, and the support seat 23 and the belt 213 are not easy to move.

According to some embodiments of the present invention, as shown in FIG. 6 , FIG. 8 and FIG. 12 , a second guide rail 163 may be provided on the bottom plate 16, the second guide rail 163 extends along the second direction, and the support base 23 is slidably arranged on the first On the second guide rail 163, when the support base 23 reciprocates along the second direction, the support base 23 can limit the moving direction of the support base 23 by cooperating with the second guide rail 163, so as to ensure that the support base 23 is not easy to shift when moving, and the clamping assembly 22 Movement in the second direction is reliable.

In some embodiments of the present invention, as shown in FIG. 6 and FIG. 12 , the clamping assembly 22 includes a second clamping jaw 221 and a pusher 222, the second clamping jaw 221 is used to clamp the workpiece 711 in a second direction, push The device 222 is arranged on the support seat 23. For example, the pusher 222 can adopt a cylinder or an electric steel or a linear motor, etc., and the second jaw 221 is connected with the pusher 222. The second jaw 221 is convenient for clamping the workpiece 711 to ensure that the workpiece 711 is clamped reliably, the workpiece 711 is not easy to fall, and the pusher 222 can drive the second jaw 221 to move in the second direction, so that the second jaw 221 can avoid the workpiece, and can effectively reduce the occupation of the translation drive assembly 21 space.

In the embodiment of the present invention, the specific structure of the second jaw 221 can be set according to actual conditions.

For example, in some embodiments, the second clamping jaw 221 may include a clamping jaw cylinder, which is used to control the clamping and opening of the clamping jaws, so as to realize the clamping and releasing of the workpiece 711 . The jaw cylinder is connected with a push-pull rod, and the push-pull rod is respectively provided with a first transmission rod and a second transmission rod. One end of the first transmission rod and the second transmission rod are connected with the push-pull rod, and the first transmission rod and the second transmission rod The other ends of the transmission rods extend away from each other, and the push-pull rod and the first transmission rod, and the push-pull rod and the second transmission rod are all hinged, and the other ends of the first transmission rod and the second transmission rod are respectively provided with jaws . When the jaw cylinder pulls the push-pull rod to move linearly in the direction close to the jaw cylinder, since the push-pull rod is hinged with the first transmission rod and the second transmission rod, in order to meet the linear movement, the two jaws will move towards the closer Move in the direction of each other, so as to realize the clamping of the workpiece 711 by the second jaw 221; when the jaw cylinder pushes the push-pull rod to move linearly away from the direction of the jaw cylinder, in order to meet the movement in the linear direction, the two jaws will move away from each other. The direction of each other moves, so that the second clamping jaw 221 is released from the workpiece 711 .

In some embodiments, as shown in FIG. 8 and FIG. 12 , there may be multiple second jaws 221 , and the multiple second jaws 221 are connected through an adapter plate 223 , which can realize the simultaneous operation of multiple second jaws 221 drive, and have the same moving distance, to ensure that the workpiece 711 is firmly clamped and driven reliably.

In the embodiment of the present invention, the number of the second jaws 221 can be flexibly set according to the actual situation. For example, the number of the second jaws 221 can be two as shown in FIG. Five, six or more, all within the protection scope of the present invention.

According to some embodiments of the present invention, as shown in FIG. 6 , FIG. 8 and FIG. 9 , the grasping module 200 includes a support assembly 24, and there are two support assemblies 24, and the two support assemblies 24 are respectively arranged on the grasping device 20 On both sides of the moving direction (for example, the left-right direction shown in FIG. 6 ), the support assembly 24 can support the workpiece 711 to ensure reliable movement of the workpiece 711 .

In addition, as shown in FIG. 6, FIG. 8 and FIG. 9, the support assembly 24 includes a support member 241 and a plurality of (greater than or equal to two) support wheels 242, and a plurality of support wheels 242 are rotatably arranged on the support member 241, and more A support wheel 242 is arranged at intervals along the second direction, and the workpiece 711 can cooperate with the support wheel 242. A plurality of support wheels 242 are convenient for moving and supporting the workpiece 711, so that the workpiece 711 moves more smoothly and avoids scratching the workpiece 711.

In some embodiments of the present invention, as shown in FIG. 6-FIG. 8 and FIG. 21 , the workpiece 711 is provided with a positioning member 712, the grasping module 200 includes a positioning guide assembly 25, and the positioning guide assembly 25 includes a guide groove 251, The guide groove 251 is used to accommodate the positioning member 712. The guide groove 251 extends along the second direction. When the grabbing module 200 moves the workpiece 711, the positioning member 712 can move in the guide groove 251 to ensure that the workpiece 711 moves reliably, and Less prone to drift. For example, positioning parts 712 may be provided on both sides of the workpiece 711 to ensure that the workpiece 711 moves reliably and is not prone to deviation.

In addition, as shown in FIGS. 6-8 , the positioning guide assembly 25 can include two vertical plates 252 arranged at intervals, and the gap between the two vertical plates 252 can form a guide groove 251, and the two vertical plates 252 can align the positioner. 712 is used to limit the position, avoiding the offset of the positioning part 712, ensuring the reliable movement of the workpiece 711, and the positioning guide assembly 25 is simple in structure, which is conducive to reducing the production cost of the grabbing device 20.

In some embodiments, as shown in FIG. 21 , the workpiece 711 may include a laminated aluminum cover plate, a circuit board and a backing plate, and the three are integrated by a positioning member 712. Produced stacks. For example, the positioning member 712 can be a pin.

The workpiece transfer device 300 according to the embodiment of the present invention includes a base 30 , a lifting mechanism 40 and a grasping module 200 according to an embodiment of the present invention, and the grasping module 200 is used for grasping the workpiece 711 .

Specifically, as shown in Figure 5, the grabbing module 200 is arranged on the lifting mechanism 40, and the lifting mechanism 40 is arranged on the base 30, and the height of the grabbing module 200 can be adjusted through the lifting mechanism 40, so that the grabbing module 200 can be paired with different The high workpiece 711 is grasped, and the workpiece 711 is more convenient to grasp, which can realize the automatic production of the assembly line, and is beneficial to improve the production efficiency.

In addition, as shown in Figure 5, the workpiece transfer device 300 also includes a manipulator 50, the manipulator 50 can transfer the workpiece 711 from the lifting mechanism 40 or transfer the workpiece 711 to the lifting mechanism 40, avoiding manual transfer of the workpiece 711, reducing It eliminates the time-consuming manual operation, and avoids the problems of different materials of the workpiece 711 or the wrong placement of the front and back of the workpiece 711 caused by manual fatigue operation. It can adapt to the efficient production rhythm, realize the automatic production of the assembly line, and help improve production efficiency. For example, the manipulator 50 may be a six-axis manipulator, capable of moving the workpiece 711 in multiple directions to meet different position requirements.

Since the grasping module 200 according to the embodiment of the present invention has the above-mentioned beneficial technical effects, the workpiece transfer device 300 according to the embodiment of the present invention is arranged on the support plate 10 along the first direction through the first transmission assembly 12, and the second transmission assembly 12 The component 13 is arranged on the support plate 10 along the second direction, and the first transmission component 12 drives the second transmission component 13 to move in translation, so as to realize the reciprocating movement of the grasping mechanism 15 on the second transmission component 13 along the second direction, and the grasping mechanism 15 can The workpiece 711 is clamped so that the workpiece 711 can move along the second direction, which reduces the time-consuming manual operation, can adapt to the efficient production rhythm, and realizes the automatic production of the assembly line, and the first transmission assembly 12 and the second transmission assembly 13 The space occupied is small, and the utilization rate of the space is effectively improved; the support plate 10 is driven to move in the first direction through the lifting device 14, the second transmission member 122 moves synchronously with the support plate 10, and the first transmission member 121 remains in transmission connection with the drive assembly 11, The second transmission assembly 13 can avoid the workpiece 711, prevent the workpiece 711 from colliding with the second transmission assembly 13 and cause damage, ensure the normal use of the grasping module 200, and ensure that the drive assembly 11 and the first transmission member 121, the second The second transmission member 122 and the second transmission assembly 13 are always in transmission connection to avoid problems such as vibration caused by reconnection, the workpiece grasping device 100 works stably, and the grasping module 200 works more efficiently, which is conducive to improving production efficiency.

In some embodiments of the present invention, as shown in FIG. 5 and FIG. 13 , the lifting mechanism 40 includes a pallet 41 and a power assembly 42, and the grabbing module 200 is arranged on the pallet 41, and the pallet 41 can support the grabbing module. 200 for support to ensure reliable support. The power assembly 42 is arranged on the base 30. The power assembly 42 is used to drive the pallet 41 to reciprocate along the first direction, so that the grasping module 200 can reciprocate along the first direction to realize the grasping The height adjustment of the module group 200 is adopted, and the structure is simple, which is beneficial to reduce the production cost of the workpiece transfer device 300 .

According to some embodiments of the present invention, for example as shown in FIG. 13 , the power assembly 42 includes a third motor 421 and a lead screw 422 , the third motor 421 is arranged on the base 30 , the lead screw 422 extends along the first direction, and one end of the lead screw 422 It is in drive connection with the third motor 421 , the lead screw 422 is provided with a lead screw nut 423 , and the supporting plate 41 is connected with the lead screw nut 423 . Thus, when the third motor 421 is working, the third motor 421 can drive the lead screw 422 to rotate, and the rotation of the lead screw 422 can drive the lead screw nut 423 to move along the first direction of the lead screw 422, so that the lead screw nut 423 can drive The pallet 41 moves along the first direction to ensure reliable and stable movement of the pallet 41 , and the structure is simple, which is beneficial to reduce the production cost of the workpiece transfer device 300 . For example, the third motor 421 may be a servo motor.

In some embodiments, as shown in FIG. 13 , the third motor 421 is provided with a first synchronous gear, the lead screw 422 is provided with a second synchronous gear, and the first synchronous gear and the second synchronous gear are meshed for transmission, thus, the third motor 421 can drive the first synchronous gear to rotate, and the first synchronous gear and the second synchronous gear mesh and drive the second synchronous gear to rotate, so that the second synchronous gear can drive the lead screw 422 to rotate, ensuring reliable connection, and the transmission connection structure is simple.

In some embodiments of the present invention, as shown in Fig. 5 and Fig. 13, a third guide rail 31 is provided on the base 30, and the third guide rail 31 cooperates with the pallet 41, and the third guide rail 31 extends along the first direction, When the plate 41 moves along the first direction, the supporting plate 41 can cooperate with the third guide rail 31 to limit the moving direction of the supporting plate 41, so as to ensure that the supporting plate 41 is not easy to shift, and the supporting plate 41 can move reliably along the first direction.

In some embodiments of the present invention, as shown in FIG. 5 and FIG. 16 , the manipulator 50 includes a mechanical arm 51 and a mechanical gripper 52 , the mechanical gripper 52 is arranged at one end of the mechanical arm 51 , and the mechanical gripper 52 can hold the workpiece 711 Clamping is performed to realize the movement of the workpiece 711 .

In addition, as shown in Figure 14 and Figure 15, the mechanical gripper 52 may include a mounting plate 53, a linear drive device 54 and two clamping blocks 55, the two clamping blocks 55 are arranged on the mounting plate 53, and the two clamping blocks 55 The direction of approaching each other and moving away from each other is movable, and the linear drive device 54 is arranged on the mounting plate 53, and the linear drive device 54 can drive the clamping block 55 to move, so that the two clamping blocks 55 can clamp or release the workpiece 711 to realize the workpiece 711 movement, and the structure of the mechanical gripper 52 is simple, which is beneficial to reduce the production cost of the workpiece transfer device 300, and the mechanical gripper 52 has the function of adapting to the size of the workpiece 711 to meet the requirements for grasping workpieces 711 of different sizes.

In some embodiments, as shown in FIG. 14 and FIG. 15 , there can be multiple clamping blocks 55 (more than or equal to two), and multiple clamping blocks 55 are connected by cross beams to ensure that multiple clamping blocks 55 can move at the same time. The workpiece 711 is clamped reliably, and it is ensured that the workpiece 711 is clamped stably.

In some embodiments, as shown in FIG. 14 and FIG. 15 , the linear drive device 54 may include a fourth motor 541 and a screw assembly 542, the screw assembly 542 is provided with a first gear 543, and the fourth motor 541 is provided with a first gear 543. Two gears 544, the first gear 543 and the second gear 544 mesh with each other, so that the fourth motor 541 can drive the screw mandrel assembly 542 to rotate, the two ends of the screw mandrel assembly 542 are connected to the two clamping blocks 55 in transmission, the fourth motor 541 and The transmission connection of the screw assembly 542 can drive the screw assembly 542 to rotate, so that the screw assembly 542 can drive the two clamping blocks 55 to move closer to each other and away from each other, so as to realize the grasping and release of the workpiece 711. The linear drive device 54 Simple structure, smooth movement. For example, the linear drive device 54 may also be an air cylinder or an electric cylinder.

In some specific embodiments, the linear drive device 54 can be a double-rod cylinder, and the two clamping blocks 55 can be located at both ends of the output rod of the double-rod cylinder, so as to drive the two clamping blocks 55 close to each other and away from each other. The direction is movable, the structure is simple, and the two clamping blocks 55 move smoothly.

In some embodiments, as shown in FIG. 14 and FIG. 15 , fourth guide rails 631 can be provided on both sides of the mounting plate 53, and the fourth guide rails 631 cooperate with the two clamping blocks 55, and the two clamping blocks 55 are close to each other and When moving away from each other, the two clamping blocks 55 can cooperate to limit the moving direction of the two clamping blocks 55 through the fourth guide rail 631, so as to ensure that the movement of the two clamping blocks 55 is not easy to shift, and the movement of the two clamping blocks 55 is more reliable. smooth.

According to some embodiments of the present invention, as shown in Figure 14 and Figure 15, a clamping mechanism 60 can be provided on the clamping block 55, and the clamping mechanism 60 is used to clamp the workpiece 711 to ensure that the workpiece 711 is clamped reliably and the workpiece 711 is not easy to clamp. A drop occurs.

In the embodiment of the present invention, the specific structure of the clamping mechanism 60 can be set according to actual conditions.

For example, in some embodiments, as shown in FIG. 14 , the clamping mechanism 60 includes a first pressing device 61 and a second pressing device 62, and the first pressing device 61 and the second pressing device 62 are arranged on the clamping block. 55, the workpiece 711 can be clamped by the first clamping device 61 and the second clamping device 62, ensuring reliable clamping of the workpiece 711.

In addition, as shown in FIG. 14 , the first pressing device 61 includes a first cylinder 611 and a first pressing block 612 , the first air cylinder 611 can drive the first pressing block 612 to move, and the second pressing device 62 includes a second air cylinder 621 And the second pressing block 622, the first pressing block 612 and the second pressing block 622 are arranged in the direction perpendicular to the arrangement direction of the two clamping blocks 55, and the workpiece can be fixed by the first pressing block 612 and the second pressing block 622. 711 clamps to ensure that the workpiece 711 is clamped reliably and prevents the workpiece 711 from falling.

At the same time, the second air cylinder 621 can drive the second pressing block 622 to rotate around the second air cylinder 621. When clamping the workpiece 711, the second air cylinder 621 can drive the second pressing block 622 to avoid the workpiece 711. After 711 is clamped, the second cylinder 621 can drive the second pressing block 622 and the first pressing block 612 to be arranged in a direction perpendicular to the arrangement direction of the two clamping blocks 55, so as to realize the clamping of the workpiece 711, and the workpiece 711 clamps It is convenient to take and ensure reliable clamping of the workpiece 711.

For example, in some embodiments, as shown in FIG. 15 , the clamping mechanism 60 includes a support block 63 and a first pressing device 61, and the support blocks 63 on the two clamp blocks 55 are respectively located near each other of the two clamp blocks 55. On one side of the two clamping blocks 55, the first pressing device 61 is respectively located on the side of the two clamping blocks 55 close to each other, and the first pressing device 61 includes a first cylinder 611 and a first pressing block 612, The first cylinder 611 can drive the first pressing block 612 to move toward or away from the support block 63, and the workpiece 711 can be clamped by the first pressing block 612 and the support block 63, ensuring reliable clamping of the workpiece 711 and avoiding the workpiece 711. Dropping occurs, and the structure of the clamping mechanism 60 is simple, which is beneficial to reduce the production cost of the clamping mechanism 60 .

In some embodiments of the present invention, as shown in FIG. 14 and FIG. 15 , the manipulator 50 may include a visual detection device 56, which is located on the mounting plate 53, and the visual detection device 56 can detect the workpiece 711, so as to facilitate the detection of the workpiece. The material of 711 or the front and back of workpiece 711 are detected and recorded, etc., which is convenient for subsequent operations and traceable for workpiece 711. For example, the visual inspection device 56 may be a CCD camera.

In some embodiments, an identification code can be provided on the workpiece 711, and the identification code can be identified by the visual inspection device 56 to determine whether the moving workpiece 711 is the workpiece 711 to be moved, so as to facilitate the identification of the workpiece 711 and avoid It eliminates manual code scanning and realizes the automatic production of the assembly line, which is conducive to improving production efficiency.

According to some embodiments of the present invention, as shown in FIG. 5 , the workpiece transfer device 300 also includes a placement platform 32, the placement platform 32 is arranged on the base 30, and the placement platform 32 is higher than the upper end surface of the lifting mechanism 40, and the placement platform 32 can temporarily The workpiece 711 is stored. Thus, when the front and back of the workpiece 711 are placed differently, the workpiece 711 can be placed on the placement table 32 by the manipulator 50 and the workpiece 711 is turned over to ensure that the front and back of the workpiece 711 are consistent, and the adjustment of the front and back of the workpiece 711 is convenient and accurate. It avoids the problem of low production efficiency caused by manually turning over the workpieces 711 individually, can adapt to the high-efficiency production rhythm, realizes the automatic production of the assembly line, and is conducive to improving the production efficiency.

For example, after the manipulator 50 grabs the workpiece 711, if it detects that the workpiece 711 is the reverse side, the manipulator 50 places the workpiece 711 on the placement platform 32 from above the placement platform 32, and the robot arm 50 moves to the bottom of the placement platform 32 to face the workpiece 711. Carry out grabbing, then transfer workpiece 711 to lifting mechanism 40, realize the overturning to workpiece 711; Help to improve production efficiency.

In some embodiments of the present invention, as shown in FIG. 5 , the workpiece transfer device 300 further includes a walking assembly 731, the walking assembly 731 is arranged at the bottom of the base 30, and the position of the workpiece transfer device 300 can be moved by the walking assembly 731, The workpiece transfer device 300 can transfer the workpieces 711 in different positions, so as to realize the automatic production of the assembly line, which is beneficial to improve the production efficiency. For example, the walking component 731 can be an AGV trolley.

In some embodiments, the walking component 731 can be navigated by a two-dimensional code, and the two-dimensional code can set the walking position of the walking component 731 to form a walking path of the walking component 731 to ensure that the walking component 731 moves reliably and ensures that the walking component 731 The mobile position is accurate.

The feeding system 400 according to the embodiment of the present invention includes a temporary storage platform 71 , a bin platform 72 and a workpiece transfer device 300 according to the embodiment of the present invention, and the workpiece 711 can be transferred by the workpiece transfer device 300 .

Specifically, as shown in FIGS. 1-3 , the temporary storage platform 71 can store workpieces 711 to be processed and/or processed workpieces 711 to facilitate the storage of the workpieces 711 and ensure that the workpieces 711 are neatly stored. The bin platform 72 can store the bin 721, the workpiece 711 can be placed in the bin 721, the bin 721 can place the workpiece 711, and the bin platform 72 can store the bin 721 to ensure that the bin 721 is neatly stored. In addition, the workpiece transfer device 300 can transfer the workpiece 711 between the temporary storage platform 71 and the bin platform 72, so that the workpiece 711 can be transferred between the temporary storage platform 71 and the bin 721 on the bin platform 72 by the workpiece transfer device 300 , avoiding the manual transfer of the workpiece 711, reducing the time-consuming manual operation, and avoiding the problems of different materials of the workpiece 711 caused by manual fatigue operation or the wrong placement of the front and back of the workpiece 711, which can adapt to the efficient production rhythm and realize The automated production of the assembly line is conducive to improving production efficiency.

In some embodiments where the workpiece 711 is provided with a positioning member 712, the workpieces 711 are placed on the temporary storage platform 71 in a stacked form, and the workpieces 711 are placed by stacking the front and back, which is convenient for storing the workpiece, and avoids the positioning member 712 from colliding with the opposite workpiece. 711 contact and cause damage.

Since the workpiece transfer device 300 according to the embodiment of the present invention has the above-mentioned beneficial technical effects, the feeding system 400 according to the embodiment of the present invention is arranged on the support plate 10 along the first direction through the first transmission assembly 12, and the second transmission assembly 13 is arranged on the support plate 10 along the second direction, and the first transmission component 12 drives the second transmission component 13 to move in translation, so as to realize the reciprocating movement of the grasping mechanism 15 on the second transmission component 13 along the second direction, and the grasping mechanism 15 can The workpiece 711 is clamped so that the workpiece 711 can move along the second direction, which reduces the time-consuming manual operation, can adapt to the efficient production rhythm, and realizes the automatic production of the assembly line, and the first transmission assembly 12 and the second transmission assembly 13 occupy The space is small, and the utilization rate of space is effectively improved; the support plate 10 is driven to move in the first direction through the lifting device 14, the second transmission member 122 moves synchronously with the support plate 10, and the first transmission member 121 remains in transmission connection with the drive assembly 11, so that The second transmission assembly 13 can avoid the workpiece 711, avoid the collision between the workpiece 711 and the second transmission assembly 13 and cause damage, ensure the normal use of the grasping module 200, and ensure that the drive assembly 11 and the first transmission member 121, the second The transmission member 122 and the second transmission assembly 13 are always in transmission connection to avoid problems such as vibration caused by reconnection, the workpiece grasping device 100 works stably, and the grasping module 200 works more efficiently, which is conducive to improving production efficiency.

In some embodiments where the workpiece 711 is located in the bin 721, the position of the workpiece 711 in the bin 721 is the third preset position, the position after the workpiece grabbing device 100 moves the workpiece 711 is the first preset position, and the workpiece 711 When located at the first preset position, at least part of the workpiece 711 is located in the bin 721 , and the position of the workpiece 711 on the lifting mechanism 40 is the second preset position. Thus, the workpiece 711 can be taken out from the hopper 721 and placed in the lifting mechanism 40 by the grabbing module 200, or the workpiece 711 on the lifting mechanism 40 can be placed in the hopper 721 by the grabbing module 200, realizing The grasping of the workpiece 711 is ensured, which is conducive to improving production efficiency.

According to some embodiments of the present invention, as shown in FIGS. 1-3 , the feeding system 400 includes a first transfer device 73 and a second transfer device 74, and the first transfer device 73 can transfer the workpiece 711 to the temporary storage platform 71 or Transfer out of the temporary storage platform 71, the second transfer device 74 can transfer the hopper 721 to the hopper platform 72 or transfer out of the hopper platform 72, and the cooperation between the first transfer device 73 and the second transfer device 74 can meet the needs of the workpiece 711 in different positions. The production on the production line meets different usage needs and has strong adaptability.

In some embodiments of the present invention, as shown in FIG. 17 , both the first transfer device 73 and the second transfer device 74 include a walking assembly 731 and a transfer platform 732, the transfer platform 732 is arranged on the travel assembly 731, and the transfer platform 732 is used for Transfer the workpiece 711 or the bin 721 to facilitate the first transfer device 73 and the second transfer device 74 to move the workpiece 711 or the bin 721 into or out of the first transfer device 73 and the second transfer device 74, and the first transfer device 73 and the second transfer device The second transfer device 74 can move through the walking assembly 731, so that the first transfer device 73 and the second transfer device 74 can transfer the workpiece 711 or the bin 721, reducing the time-consuming manual operation, reducing the labor force, and realizing The automated production of the assembly line is conducive to improving production efficiency. For example, the conveying table 732 may be a conveying roller or a conveying wheel or the like.

In some embodiments, as shown in FIGS. 1-3 , the transfer platform 732 of the first transfer device 73 can transfer the workpiece 711 in height, so as to facilitate placing the workpiece 711 on the temporary storage platform 71 .

In some embodiments, as shown in FIGS. 1-3 , the transfer platform 732 of the first transfer device 73 can transfer the workpiece 711 on a horizontal plane, so as to facilitate placing the workpiece 711 on the bin platform 72 .

The loading and unloading device 500 according to the embodiment of the present invention includes a support platform 80 and a grasping module 200 . Wherein, the grasping module 200 is the grasping module 200 according to the above-mentioned embodiment of the present invention, the grasping module 200 is arranged on the support platform 80, and the grasping module 200 is used for grasping the workpiece 711, so as to realize the grasping of the workpiece 711 Moving reduces the time-consuming manual operation, can adapt to the efficient production rhythm, and realizes the automatic production of the assembly line, which is conducive to improving production efficiency and reducing production costs.

In addition, as shown in Figure 4 and Figure 16, the loading and unloading device 500 also includes a positioning table 90 and a manipulator 50, the positioning table 90 and the manipulator 50 are arranged on the support table 80, and the grabbing module 200 can transfer the workpiece 711 to the positioning table 90, the positioning table 90 can locate the workpiece 711 at a preset position to ensure that the positioning of the workpiece 711 is accurate, and the manipulator 50 can transfer the workpiece 711 at the preset position on the positioning table 90 out of the positioning table 90 to realize the transfer of the workpiece 711, The positioning table 90 can ensure that the manipulator 50 grabs the workpiece 711 at the same position, which is convenient for the manipulator 50 to grab, which is conducive to reducing the processing error of the workpiece 711, and realizes unmanned loading and unloading, realizes automatic production of the assembly line, and is conducive to improving production efficiency. .

According to some embodiments of the present invention, as shown in Figure 17, Figure 19 and Figure 21, one side of the workpiece 711 is provided with a positioning member 712, and the positioning table 90 includes a positioning base plate 91 and a clamping device 92, and the positioning base plate 91 is arranged on a support platform 80, the clamping device 92 is arranged on the positioning base plate 91, the positioning base plate 91 is convenient to support the clamping device 92, the clamping device 92 can clamp the positioning part 712, so that the positioning part 712 can be clamped by the clamping device 92 The lower position is fixed, which realizes the positioning of the workpiece 711, so that the workpiece 711 can be located at a preset position, and the positioning of the workpiece 711 is more reliable and accurate, and is less prone to deviation.

In some embodiments, as shown in FIG. 17 and FIG. 19 , the side of the positioning table 90 away from the clamping device 92 (for example, the left side shown in FIG. 17 ) is provided with a guide groove 251, and the guide groove 251 is used to accommodate The positioning piece 712 and the guide groove 251 extend along the second direction. When the grabbing module 200 transfers the workpiece 711 to the positioning table 90, the positioning piece 712 can move in the guide groove 251 to ensure that the movement of the workpiece 711 is reliable and is not prone to deviation. shift.

In some embodiments, as shown in FIG. 17 , FIG. 19 and FIG. 21 , there can be two positioning pieces 712, and the two positioning pieces 712 are located at both ends of one side of the workpiece 711. The clamping device 92 can include a first air Clip 921 and second air clip 922, the first air clip 921 and the second air clip 922 are distributed at intervals in the length direction of the positioning base plate 91 (for example, the left-right direction shown in Figure 17), the first air clip 921 and the second air clip The clamp 922 can respectively clamp the two positioning parts 712 to realize the positioning of the two ends of the workpiece 711 and ensure the reliable positioning of the workpiece 711, and the clamping device 92 has a simple structure, which is conducive to reducing the production cost of the loading and unloading device 500 .

In some embodiments of the present invention, as shown in FIGS. 17-19 , the positioning table 90 further includes a transfer device 93 , the transfer device 93 is arranged on the positioning base plate 91 , and the transfer device 93 can grab the workpiece on the module 200 711 is transferred to the preset position, and the workpiece 711 moves smoothly, which can realize the accurate movement of the workpiece 711, reduce the time-consuming manual operation, realize the automatic production of the assembly line, and help improve the production efficiency.

According to some embodiments of the present invention, as shown in Figures 17-19, the transmission device 93 may include a drive motor 931 and a transmission member 932, the drive motor 931 is arranged on the positioning base plate 91, there are two transmission members 932, and two transmission members 932 are arranged in parallel and at intervals, the clamping device 92 is located between the two transmission elements 932 , and the transmission elements 932 are driven by the driving motor 931 . Thus, when the driving motor 931 is working, the driving motor 931 can drive the two transmission parts 932 to move, so that the workpiece 711 can be moved to the positioning table 90 smoothly and accurately, and it is convenient for the clamping device 92 to clamp the positioning part 712 , the conveying device 93 has a simple structure, which is beneficial to reduce the manufacturing cost of the loading and unloading device 500 . For example, the conveying member 932 may be a conveyor belt or a conveyor wheel.

In some embodiments of the present invention, as shown in FIG. 18 , the positioning base plate 91 is provided with a lifting device 14 , the conveying device 93 is disposed on the lifting device 14 , and the lifting device 14 can push the conveying device 93 to move along the first direction. Thus, when the conveying device 93 drives the workpiece 711, the lifting device 14 can push the conveying device 93 to move along the first direction, so that the workpiece 711 on the conveying device 93 can move along the first direction with the conveying device 93, and the workpiece 711 can be Being close to or away from the clamping device 92 facilitates the clamping device 92 to clamp the workpiece 711 and at the same time avoids scratches on the workpiece 711 due to friction between the moving workpiece 711 and the clamping device 92 .

In some embodiments where the transmission device 93 includes a driving motor 931, as shown in FIGS. Transmission connection, the two output shafts 933 are connected through a coupling 934, and the two transmission parts 932 are respectively connected with the two output shafts 933. Thus, when the lifting device 14 is working, the transmission member 932 can be connected to the drive motor 931 through the coupling 934 to ensure reliable connection, and the synchronous rotation and lifting of the two transmission members 932 can be realized to ensure stable transmission of the workpiece 711. For example, the drive motor 931 and the output shaft 933 may be connected through gears or belts.

According to some embodiments of the present invention, as shown in FIG. 18 , the positioning base plate 91 is provided with a guide post 161 extending along the second direction, and the transmission device 93 is provided with a guide hole 102, and the guide hole 102 cooperates with the guide post 161. When the transmission device 93 moves along the first direction, the transmission device 93 can be guided through the cooperation of the guide hole 102 and the guide post 161, so as to avoid the deviation of the movement of the transmission device 93 and ensure the reliable movement of the transmission device 93.

Of course, the setting position of the guide column 161 can also be set on the transmission device 93, specifically, the transmission device 93 is provided with a guide column 161 extending along the second direction, and the positioning base plate 91 is provided with a guide hole 102 cooperating with the guide column 161. , which is also within the protection scope of the present invention.

In some embodiments, as shown in FIG. 9, FIG. 10 and FIG. 11, the positioning table 90 may include a guide bearing 162, the guide bearing 162 is located on the positioning base plate 91, and the guide column 161 cooperates with the guide bearing 162, so that the guide column 161 moves Smoother, ensuring smooth movement of the transmission device 93 along the first direction, avoiding jamming, and ensuring the reliability of the movement of the transmission device 93 .

According to some embodiments of the present invention, as shown in Figure 17 and Figure 18, the positioning platform 90 includes a support assembly 24, and there are two support assemblies 24, and the two support assemblies 24 are respectively arranged on both sides of the conveying device 93, the support assembly 24 comprises a support member 241 and a plurality of (more than or equal to two) support wheels 242, a plurality of support wheels 242 are rotatably arranged on the side of the support member 241 towards the delivery device 93, and a plurality of support wheels 242 are placed on the delivery device 93 The conveying direction (such as the left-right direction shown in Figure 17) is arranged at intervals, and the workpiece 711 can be located on the conveying device 93 and the supporting wheel 242, so that the conveying device 93 and the supporting wheel 242 limit the workpiece 711 to ensure that the workpiece 711 moves Reliable, and the workpiece 711 can cooperate with the supporting wheels 242, and multiple supporting wheels 242 are in contact with the workpiece 711, which can avoid scratching the workpiece 711.

In some embodiments where the clamping mechanism 60 includes a first pressing device 61, as shown in FIG. The tightening device 61 is arranged at intervals on the mounting plate 53, the pressing plate device 64 includes a third cylinder 641 and a third pressing block 642, the third cylinder 641 is located on the mounting plate 53, the third pressing block 642 is connected with the third cylinder 641, and the third pressing block 642 is connected to the third pressing block 641. The cylinder 641 can drive the third pressing block 642 to move towards and away from the workpiece 711, so that the third pressing block 642 can press or release the workpiece 711, and when the workpiece 711 is clamped, the third pressing block 642 can Pressing the workpiece 711 can ensure the flatness of the workpiece 711 and ensure the accurate positioning of the workpiece 711 .

In some specific embodiments, as shown in Figure 15, when the mechanical arm 51 drives the mechanical jaw 52 to grab the workpiece, the two clamping blocks 55 first move away from each other, and when the supporting block 63 on the clamping block 55 moves When reaching below the workpiece 711, the two clamping blocks 55 move towards each other, so that the edge of the workpiece 711 is supported on the support block 63, and then the first clamping device 61 clamps the workpiece 711, while the first clamping device 64 clamps the workpiece 711. The three pressure blocks 642 press the workpiece 711 to ensure the flatness of the workpiece 711 on the mechanical jaw 52, and the workpiece 711 is firmly clamped.

In some embodiments of the present invention, as shown in FIG. 15 , there may be two pressing plate devices 64, and the two pressing plate devices 64 are arranged oppositely on the mounting plate 53, so that the third pressing block 642 can press both sides of the workpiece 711. , to ensure the overall flatness of the workpiece 711 and to ensure accurate positioning of the workpiece 711.

According to some embodiments of the present invention, as shown in FIG. 16 , the loading and unloading device 500 also includes a lifting mechanism 40, the lifting mechanism 40 is arranged on the support platform 80, and the grasping module 200 is arranged on the lifting mechanism 40, and the lifting mechanism 40 can be adjusted. The height of the grasping module 200 is convenient for the grasping module 200 to grasp workpieces 711 of different heights, and the grasping of the workpieces 711 is more convenient, which can realize automatic production of the assembly line and is conducive to improving production efficiency.

In some embodiments of the present invention, as shown in FIG. 16 , the support table 80 has a placement space 81, the placement space 81 is located below the positioning table 90, the placement space 81 is used to place a bin 721, and the bin 721 is used to place a workpiece 711 , the bin 721 stores the workpiece 711 , and the workpiece 711 can be placed in the placement space 81 through the bin 721 . The grasping module 200 can grasp the workpiece 711 in the hopper 721 to the positioning table 90, which facilitates the sequential grasping of the workpiece 711, avoids the transportation of a single workpiece 711, and can realize the automatic production of the assembly line, which is conducive to improving production efficiency.

According to some embodiments of the present invention, as shown in FIG. 16 , the bottom wall of the placement space 81 is provided with a transfer table 732, and the transfer table 732 is used to support and transfer the material bin 721, which is convenient for placing the material bin 721, and through the transfer table 732 can facilitate the transfer of the silo 721 to the placement space 81 or out of the placement space 81, facilitate the replacement of the hopper 721, reduce the time-consuming manual operation, reduce the labor force, and realize the automatic production of the assembly line, which is conducive to improving Productivity.

In some embodiments of the present invention, as shown in FIG. 16 , the loading and unloading device 500 further includes a walking assembly 731 , the walking assembly 731 is arranged at the bottom of the support platform 80 , and the position of the loading and unloading device 500 can be moved by the walking assembly 731 , satisfying that the loading and unloading device 500 can load and unload the workpiece 711 at different positions, so as to realize the automatic production of the assembly line, which is beneficial to improve the production efficiency.

The loading and unloading system 600 according to the embodiment of the present invention includes a feeding system 400 , processing equipment 700 and a loading and unloading device 500 according to the embodiment of the present invention.

Specifically, as shown in FIG. 1 , FIG. 2 and FIG. 4 , the processing equipment 700 is used to process the workpiece 711 to be processed to realize the processing of the workpiece 711, and the loading and unloading device 500 can provide the processing equipment 700 with the workpiece 711 to be processed and Transfer the processed workpiece 711 to facilitate the loading and unloading of the processing equipment 700. The feeding system 400 can provide the workpiece 711 to be processed to the upper and lower feeding device 500 and transfer the processed workpiece 711 on the loading and unloading device 500 to realize the automatic production of the assembly line , which is conducive to improving production efficiency. For example, processing equipment 700 may be a drilling rig.

In some embodiments, the processing equipment 700 can record and transmit the processing information of the workpiece 711 on the processing equipment 700 , so as to facilitate processing and backup of the workpiece 711 .

According to some embodiments of the present invention, as shown in Fig. 1, Fig. 2, Fig. 4 and Fig. 20, the loading and unloading system 600 also includes a bin transfer device 75, and the bin transfer device 75 can place the bin 721 on the bin platform 72 Moving between the loading and unloading device 500 is convenient for providing the workpiece 711 to be processed to the loading and unloading device 500 and transferring the processed workpiece 711 on the loading and unloading device 500, realizing automatic production of the assembly line and improving production efficiency.

In addition, as shown in Fig. 4 and Fig. 20, at least two storage stations 751 may be provided on the bin transfer device 75, and each storage station 751 is provided with a transfer platform 732 for transferring the bin 721, it is convenient to move the silo 721 into or out of the silo transfer device 75, which reduces the time-consuming manual operation, reduces the labor force, and is provided with at least two storage stations 751 on the hopper transfer device 75, so that The silo platform 72 and the silo transfer device 75, the loading and unloading device 500 and the silo transfer device 75 realize the position conversion of at least two silos 721, which facilitates the automatic production of the assembly line and improves the production efficiency.

The following describes in detail the loading and unloading system 600 according to a specific embodiment of the present invention with reference to the accompanying drawings. It should be understood that the following description is only an illustration, and should not be construed as a limitation of the invention. Among them, the raw material bin is an empty material bin, that is, no workpiece 711 is placed in the material bin 721; the clinker bin is a full material bin, that is, the material bin 721 has been filled with workpieces 711; the raw material is unprocessed workpieces 711; the clinker is the processed workpiece 711 .

When the loading and unloading form of the loading and unloading system 600 is the stacking form + silo form, as shown in Figures 1-4, raw materials are transported from the upper production line to the temporary storage platform 71 by the first transfer device 73 in the form of stacking, Put the raw material into the raw material bin parked on the bin platform 72 in turn through the workpiece transfer device 300. At the same time, the workpiece transfer device 300 reads the identification code on the surface of the raw material to identify whether the material number of the raw material is consistent. No. raw meal is put into same feed bin 721. After the silo 721 is full, the system calls the silo transfer device 75 to dock with the silo platform 72 at the two-dimensional code in front of the silo platform 72, and passes through the transfer platform 732 on the silo platform 72 and the silo transfer device 75. The conveying platform 732 is transferred, and the clinker bin is transferred from the bin platform 72 to the bin transfer device 75, waiting for the loading and unloading device 500 to call the material.

After all the raw material in the silo 721 on the loading and unloading device 500 has been replaced with clinker, one of the storage stations 751 of the silo transfer device 75 carries the raw material silo to the loading and unloading device 500 for docking with it. The silo transfer device 75 and the loading and unloading device 500 transport the clinker bin of the loading and unloading device 500 to the empty storage station 751 of the silo transfer device 75 through the transfer platform 732, and then the hopper transfer device 75 reverses the direction and passes through the transfer platform. Step 732 transports the raw material bin to the placement space 81 of the loading and unloading device 500 .

The loading and unloading device 500 takes the raw material out of the silo 721 through the grasping module 200 of the loading and unloading device 500 and places it on the lifting mechanism 40 of the loading and unloading device 500, and lifts the sheet material to dock with the positioning platform 90 through the lifting mechanism 40 Location. The grasping module 200 grabs the raw material and pushes a part of the raw material to the positioning platform 90, and the raw material can be transported to the preset position along the guide groove 251 by the conveying device 93, and the clamping device 92 is on the raw material. The two positioning parts 712 are clamped and positioned, and the raw material is placed on the processing equipment 700 by the manipulator 50, and the processing equipment 700 processes the raw material. After the raw material processing is completed, the manipulator 50 of the loading and unloading device 500 grabs the clinker from the processing equipment 700 and places it on the lifting mechanism 40, and the lifting mechanism 40 lowers the clinker to the raw material bin of the previous step to take out the raw material. In the vacated position, the grasping module 200 of the loading and unloading device 500 pushes the clinker into the raw material bin. In this cycle, all the raw materials in the raw material bin are replaced with cooked board materials.

The clinker bin on the bin transfer device 75 is transported to the corresponding station on the bin platform 72 , and the clinker in the clinker bin is sequentially taken out by the workpiece transfer device 300 and placed on the temporary storage platform 71 in a stacked form. After a certain amount of clinker is placed on the temporary storage platform 71, it is transported by the first transfer device 73 to the feeding port of the lower production line.

When the loading and unloading form of the loading and unloading system 600 is in the form of a silo, as shown in Figures 1-4, the raw material is directly placed in the raw material bin from the outlet of the upper production line, and the raw material bin is placed in the second transfer device 74 , after the raw material is placed in the raw material bin, the second transfer device 74 transports the raw material bin to the material bin platform 72 . At the same time, after the clinker bin on the bin transfer device 75 is transported to the corresponding station of the bin platform 72, the second transfer device 74 transfers the clinker bin to the feeding port of the lower production line for feeding. Other processes can refer to the above-mentioned loading and unloading forms, and will not be repeated here.

Other configurations and operations of the workpiece grasping device 100, the grasping module 200, the workpiece transfer device 300, the feeding system 400, the loading and unloading system 600 and the loading and unloading device 500 according to the embodiment of the present invention are familiar to those skilled in the art All are known and will not be described in detail here.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In the description of this specification, descriptions with reference to the terms "embodiment", "specific embodiment", "example" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment of the present invention. In an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (30)

1. A workpiece grabbing device, characterized in that, comprising: support plate; drive components; The first transmission assembly, the first transmission assembly is arranged on the support plate along the first direction, the first transmission assembly includes a first transmission member and a second transmission member that rotate synchronously, the first transmission member and the The transmission connection of the above drive components; A second transmission assembly, the second transmission assembly is arranged on the support plate along a second direction, the first direction is perpendicular to the second direction, and the second transmission assembly is in transmission connection with the second transmission member to convert the rotational motion of the first transmission member into translational motion; A lifting device, the lifting device drives the support plate to move along the first direction, and the second transmission member moves synchronously with the support plate, and when the support plate moves, the first transmission member maintains connected with the drive assembly; A gripping mechanism, the gripping mechanism is arranged on the second transmission assembly, and the second transmission assembly drives the gripping mechanism to reciprocate along the second direction to grip the workpiece. 2. The workpiece grabbing device according to claim 1, wherein the first transmission assembly further comprises: The connecting shaft, the first transmission member and the second transmission member are respectively arranged at both ends of the connecting shaft, the connecting shaft passes through the support plate and moves synchronously with the support plate, the connecting shaft and The first transmission member is slidably connected in the axial direction of the connecting shaft, the second transmission member is fixed on the connecting shaft, and both the first transmission member and the second transmission member are connected to The connecting shafts rotate coaxially. 3. The workpiece grabbing device according to claim 2, characterized in that, both the first transmission member and the second transmission member are bevel gears. 4. The workpiece grabbing device according to claim 1, wherein a support is provided on the support plate, and the second transmission assembly comprises: a third transmission member, the third transmission member is arranged on the support, and the third transmission member is in transmission connection with the second transmission member; A fourth transmission member, the fourth transmission member is arranged on the support, and the fourth transmission member and the third transmission member rotate coaxially; A fifth transmission member, the fifth transmission member is in transmission connection with the fourth transmission member, so as to drive the fifth transmission member to reciprocate along the second direction. 5. The workpiece grabbing device according to claim 4, wherein the fourth transmission member is a gear, the fifth transmission member is a rack, and the gear rotates to drive the rack along the first Two-way reciprocating motion. 6. The workpiece grabbing device according to claim 4, wherein the second transmission assembly further comprises: a guide assembly, the guide assembly includes a first guide rail arranged on the support plate and a slider matched with the first guide rail, the first guide rail extends along the second direction, the fifth transmission member and The slider is connected to make the second transmission assembly reciprocate along the second direction. 7. The workpiece grabbing device according to claim 1, wherein the grabbing mechanism comprises: The first clamping jaw is arranged at one end of the second transmission assembly, and the first clamping jaw is used for clamping the workpiece in the second direction. 8. The workpiece grabbing device according to claim 1, wherein there are two support plates, the first transmission assembly, the second transmission assembly and the grabbing mechanism, and two The support plate, the two first transmission assemblies, the two second transmission assemblies and the two grasping mechanisms are all spaced apart along a third direction, the third direction is separated from the first direction and the The second directions are all vertical. 9. The workpiece grabbing device according to claim 1, wherein the drive assembly comprises: first motor; A transmission shaft, the first motor drives the transmission shaft to rotate, a transmission gear is provided on the transmission shaft, and the transmission gear is in transmission connection with the first transmission member. 10. The workpiece grabbing device according to claim 1, further comprising: The bottom plate, the support plate is arranged on the bottom plate, the driving assembly and the lifting device are both arranged on the side of the bottom plate away from the support plate, the first transmission member is rotatably arranged on the the base plate, the lifting device drives the support plate to move relative to the base plate along the first direction. 11. The workpiece grabbing device according to claim 10, wherein one of the base plate and the support plate is provided with a guide column extending along the second direction, and the other is provided with a The guide holes for matching the guide posts. 12. A grab module, characterized in that it comprises: Grabbing device; The workpiece gripping device according to any one of claims 1-11, the workpiece gripping device is spaced apart from the material gripping device, and the workpiece gripping device is used to hold the workpiece at a first preset position and a third preset position, the grasping device is used to move the workpiece between the first preset position and a second preset position, the second preset position, the The first preset position and the third preset position are arranged sequentially in the second direction. 13. The gripping module according to claim 12, wherein the grabbing device comprises a translational drive assembly and a clamping assembly, and the translational drive assembly drives the clamping assembly to reciprocate along the second direction sports. 14. The gripping module according to claim 13, wherein when the workpiece gripping device includes a bottom plate, the support plate and the translation drive assembly are arranged on the same side of the bottom plate, and the The grabbing device also includes: The support base, the clamping assembly is arranged on the support base, and the support base is in transmission connection with the translation drive assembly so that the support base reciprocates along the second direction on the bottom plate. 15. The gripping module according to claim 14, wherein the translation drive assembly comprises: the second motor is arranged on the bottom plate; Two pulleys spaced apart in the second direction and belts wound around the pulleys, the pulleys are rotatably arranged on the bottom plate, the second motor is in drive connection with one of the pulleys, and the support seat is provided on the belt and move synchronously with the belt. 16. The grabbing module according to claim 14, wherein the clamping assembly comprises: a second jaw for clamping the workpiece in the second direction; A pusher, the pusher is arranged on the support seat, the second jaw is connected with the pusher, and the pusher is used to drive the second jaw to move along the second direction. 17. The grabbing module according to claim 12, wherein the grabbing module comprises: There are two support assemblies, which are respectively arranged on both sides of the moving direction of the grasping device. The support assembly includes a support member and a plurality of support wheels, and a plurality of support wheels are rotatably arranged on the The support members are arranged at intervals along the second direction. 18. The grasping module according to claim 12, wherein a positioning member is provided on the workpiece, and the grasping module comprises: A positioning guide assembly, the positioning guide assembly includes a guide groove for accommodating the positioning piece, the guide groove extends along the second direction, the positioning guide assembly includes two vertical plates arranged at intervals, and the two The gap between the vertical plates forms the guide groove. 19. A workpiece transfer device, characterized in that it comprises: base; a lifting mechanism, the lifting mechanism is arranged on the base; According to the grabbing module according to any one of claims 12-18, the grabbing module is arranged on the lifting mechanism to adjust the height of the grabbing module; and a manipulator for transferring the workpiece from the lifting mechanism or transferring the workpiece to the lifting mechanism. 20. The workpiece transfer device according to claim 19, wherein the lifting mechanism comprises: a pallet, the grasping module is set on the pallet; The power assembly is arranged on the base and is used to drive the supporting plate to reciprocate along the first direction. 21. The workpiece transfer device according to claim 20, wherein the power assembly comprises: a third motor, the third motor is arranged on the base; Lead screw, the lead screw extends along the first direction, one end of the lead screw is connected to the third motor in transmission, the lead screw is provided with a lead screw nut, the supporting plate and the lead screw Nut connection; And/or, the base is provided with a third guide rail matched with the pallet, and the third guide rail extends along the first direction. 22. The workpiece transfer device according to claim 19, wherein the manipulator comprises: mechanical arm; A mechanical gripper, the mechanical gripper is arranged at one end of the mechanical arm, and the mechanical gripper includes a mounting plate, a linear drive device and two clamping blocks, and the two clamping blocks are in the direction of approaching each other and moving away from each other The movable one is arranged on the mounting plate, the linear drive device is arranged on the mounting plate and drives the clamping block to move, and the two clamping blocks are used to clamp or release the workpiece. 23. The workpiece transfer device according to claim 22, wherein the clamping block is provided with a clamping mechanism for clamping the workpiece, and the clamping mechanism comprises: A first pressing device, the first pressing device is arranged on the clamping block and includes a first air cylinder and a first pressing block, and the first air cylinder can drive the first pressing block to move; The second pressing device, the second pressing device is arranged on the clamping block and includes a second air cylinder and a second pressing block, the second air cylinder can drive the second pressing block to rotate around the second air cylinder, the first pressing block A pressing block and the second pressing block are arranged in a direction perpendicular to the direction in which the two clamping blocks are arranged to clamp the workpiece. 24. The workpiece transfer device according to claim 22, wherein the clamping block is provided with a clamping mechanism for clamping the workpiece, and the clamping mechanism comprises: Supporting blocks, the supporting blocks on the two clamping blocks are respectively located on the sides of the two clamping blocks close to each other; The first pressing device, the first pressing devices on the two clamping blocks are respectively located on the sides of the two clamping blocks close to each other and include a first cylinder and a first pressing block, the first The air cylinder can drive the first pressing block to move toward or away from the support block to clamp the workpiece. 25. The workpiece transfer device according to claim 22, wherein the manipulator comprises: A visual detection device, the visual detection device is located on the mounting plate and is used for detecting the workpiece. 26. The workpiece transfer device according to claim 19, characterized in that, the workpiece transfer device further comprises: A placing platform, the placing platform is arranged on the base and is higher than the upper end surface of the lifting mechanism, and the placing platform is used for temporarily storing the workpiece. 27. The workpiece transfer device according to claim 19, further comprising: The walking assembly is arranged at the bottom of the base. 28. A feeding system, characterized in that it comprises: a temporary storage platform, the temporary storage platform is used to store the workpieces to be processed and/or the processed workpieces; a silo platform, the silo platform is used to store the silo, and the workpiece is suitable for being placed in the silo; The workpiece transfer device according to any one of claims 19-27, the workpiece transfer device transfers the workpiece between the temporary storage platform and the bin platform. 29. The feeding system of claim 28, wherein the feeding system comprises: a first transfer device, the first transfer device is used to transfer the workpiece to or from the temporary storage platform; A second transfer device, the second transfer device is used to transfer the silo to or from the silo platform. 30. The feeding system according to claim 29, characterized in that, both the first transfer device and the second transfer device include a walking assembly and a transfer platform provided on the travel assembly, and the transfer table is used to transfer The workpiece or the silo.

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