CN116495464A - Transfer mechanism for pierceable soft body - Google Patents

Abstract

The invention relates to the technical field of handling equipment, and specifically discloses a transfer mechanism that can pierce soft bodies, including: a base; a mechanical arm, the mechanical arm is set on the base; a box body, the box body is set on the A linear drive and several needles driven by the linear drive, the needles pass through the box to puncture the software workpiece; the controller controls the operation of the mechanical arm and the linear drive, and uses the mechanical arm to drive the plane movement of the box , Plane rotation and plane flipping, so as to drive the movement of each needle body, and use the needle body to puncture the software workpiece, so that multiple workpieces can be stacked and transferred at one time, reducing labor costs and labor intensity, and improving workpiece stacking. The transfer efficiency is improved, and the mechanical arm can adjust the needle body to puncture the software workpiece at different angles. Even if the workpieces are separated at different angles and sizes, they can be effectively transferred and stacked smoothly.

Description

Transfer mechanism for pierceable soft body

technical field

This application relates to the technical field of handling equipment, and specifically discloses a transfer mechanism for pierceable software.

Background technique

In the production and processing process of workpieces, the steps of stacking and transferring of workpieces almost run through the entire production process. Through the steps of stacking and transferring of workpieces, centralized transportation and storage of workpieces can be realized.

The traditional stacking and transfer of workpieces requires manual operation by the staff. This stacking method has a high labor cost, requiring several or even a dozen people to complete a batch of stacking and transferring of workpieces. In addition, the labor intensity is high during the whole process. transfer is less efficient.

However, with the popularization of automated mechanical equipment, there is also a production method that uses manipulators for stacking and transferring. However, traditional manipulators can only grip a single workpiece at a time, so that the efficiency of stacking and transferring has not been substantially improved.

For soft workpieces and workpieces equipped with soft parts: such as rubber sleeves that protect the workpiece, due to their own elastic properties, the friction between the puncture and the puncture part can overcome its own gravity. , to meet the mechanical conditions for stacking and transferring workpieces. Therefore, in view of this, the inventor provides a transfer mechanism that can pierce soft bodies in order to solve the above problems.

Contents of the invention

The purpose of the present invention is to solve the problems that traditional stacking and transferring of workpieces requires manual operation, resulting in high labor cost, high labor intensity and low efficiency of stacking and transferring.

In order to achieve the above purpose, the basic solution of the present invention provides a transfer mechanism for pierceable soft body, including:

base;

a mechanical arm, the mechanical arm is arranged on the base;

A box body, the box body is arranged on the mechanical arm, at least one linear drive and a number of needles driven by the linear drive are arranged in the box, and the needles pass through the box to the software workpiece perform a puncture;

a controller, the controller controls the operation of the mechanical arm and the linear drive.

Further, the inside of the box body is provided with a cavity that is hollow and can accommodate a needle body, the linear drive is arranged in the cavity, and the bottom of the box body is provided with a number of passages that can accommodate a needle body. hole.

Further, when the needle body does not puncture the soft workpiece, the needle body is accommodated in the cavity or located outside the cavity.

Further, the mechanical arm drives the box body to move in plane, rotate in plane and flip in plane, and the linear drive member drives the needle body to go out of the box body or be stored in the cavity inside the box body.

Further, there are several boxes and they are all driven by the mechanical arm.

Further, the boxes are provided with linear drives, and the needles are distributed in each box in a single or arranged manner and are respectively driven by the linear drives.

Further, the output end of the linear drive is provided with a mounting plate for mounting each needle body.

Further, the mechanical arm is driven by any one or more of pneumatic, hydraulic or electric control methods.

Further, the linear drive member is any one or a combination of hydraulic cylinders, pneumatic cylinders, electric telescopic rods or linear servo motors.

Further, a remote control terminal is also included, and the remote control terminal is signally connected to the controller.

The principle and effect of this scheme are:

Compared with the prior art, the present invention uses a mechanical arm to drive the box body to move in a plane, rotate in a plane and flip in a plane, thereby driving each needle body to move in a plane, rotate in a plane and flip in a plane. The parts are punctured, so that multiple workpieces can be stacked and transferred at one time, which reduces labor costs and labor intensity, improves the efficiency of workpiece stacking and transfer, and the mechanical arm can adjust the needle body to perform software workpieces at different angles. Puncture, even if each workpiece is separated at different angles and sizes, it can be effectively transferred and stacked smoothly.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 shows a schematic diagram of a pierceable soft body transfer mechanism proposed by the embodiment of the present application;

Fig. 2 is a schematic diagram showing another state of the box body and the needle body of a pierceable soft body transfer mechanism proposed by the embodiment of the present application.

Detailed ways

In order to further explain the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

The reference signs in the accompanying drawings of the specification include: base 1 , mechanical arm 2 , mounting seat 3 , box body 4 , and needle body 5 .

A transfer mechanism that can pierce soft bodies, the embodiment is shown in Figure 1: it includes a base 1, a mechanical arm 2, a box body 4, a controller and a remote control terminal, the details are as follows:

Base 1: The base 1 is installed on the ground or the work surface, and fixed by bolts, rivets, etc.

Robotic arm 2: The robotic arm 2 is installed on the base 1. The robotic arm 2 adopts a six-degree-of-freedom robotic arm that can perform X-axis movement, Y-axis movement, Z-axis movement, X-axis rotation, Z-axis rotation, and Y-axis flip. The arm 2 is driven by any one or more methods of air pressure, hydraulic pressure or electric control. The mechanical arm 2 is the basis of the existing technical structure, and will not be described in detail in this embodiment.

Box 4: the box 4 can be made of carbon fiber board, which reduces the overall weight under the premise of ensuring the strength. Of course, the present invention is not limited to this, and the box 4 can also use any other material that can meet the scheme. For example, aluminum alloy, etc., the box body 4 is installed on the mechanical arm 2 and driven by the mechanical arm 2, and a mounting seat 3 is installed at the end of the corresponding horse boy mechanical arm 2 to install the box body 4, and the mechanical arm 2 drives the box body 4 Carry out plane movement, plane rotation and plane flip. The moving, rotating and turning range and path of the box body 4 can be adjusted according to actual needs, for example, the rotating range can be set to 90-180°. Of course, the present invention is not limited thereto, and other arbitrary angles and ranges are possible.

Of course, there can be multiple boxes 4, all of which are installed through the mounting base 3. The box 4 can be provided with a corresponding number and shape according to actual use needs, such as: square, circular, rectangular or multiple strips Of course, the present invention is not limited thereto, and the box body 4 can be any other number and shape.

The inside of the box body 4 is provided with a hollow cavity, and a linear drive is installed in the cavity. The linear drive is any one or multiple combinations of hydraulic cylinders, pneumatic cylinders, electric telescopic rods or servo linear motors.

Of course, the present invention is not limited thereto, the box body 4 can adopt the structure of the upper and lower layers, the middle is overhead, the linear drive is installed between the upper and lower layers, and the upper and lower layers can use carbon fiber boards, of course, the present invention is not limited thereto, the box The body 4 can also adopt any other material that can meet the requirements of this scheme, such as aluminum alloy, etc. The number of linear drive parts can be set according to actual use needs. The output end of the linear drive part is provided with a mounting plate, and the mounting plate is provided with a needle body 5. The needles 5 are distributed in each box body 4 in a single or arranged manner and are respectively driven by each linear drive. Of course, the present invention is not limited thereto. The arrangement of the needles 5 can be adjusted according to the actual situation of the software workpiece Similarly, the diameter of the needle body 5 can also be configured according to the size of different software workpieces. For example, the needle body can be set to a length of 0-5 cm and a diameter of 0-2 mm. The through hole through which the needle body 5 passes, and when the needle body 5 does not puncture a soft workpiece, the needle body 5 is stored in the cavity, which can protect the needle body. Of course, according to the use situation, the needle body can also be located in the cavity Outside the cavity, the moving range of the needle body 5 is determined by the linear drive, for example, 0-15mm. Of course, the present invention is not limited thereto, and can be set to other arbitrary moving ranges according to the size and shape of the software workpiece; the needle body 5 It can be straight or have a certain curvature, such as crab claw shape, eagle claw shape.

Controller: The controller adopts a single-chip microcomputer or a PLC controller, and the controller controls the operation of the mechanical arm 2 and the linear drive mechanism. Of course, the present invention is not limited thereto, and a corresponding controller can be configured according to actual needs.

Remote control terminal: The remote control terminal is connected with the controller signal, and the remote control terminal can be a computer. Of course, the present invention is not limited to this, and the corresponding remote control terminal can be configured according to actual use needs.

Moreover, as shown in Figure 2, the box body 4 can also be combined as a plurality of rectangular parallelepiped or grids of other shapes, and each grid is equipped with a linear drive controlled by a controller, and each linear drive can control different expansion and contraction. The overall distance is convex, concave, or any specification or irregular shape. The end of the needle body can also be replaced by a suction cup or a magnetic disk to absorb different workpieces and transfer and stack irregular components. put.

In the implementation process of the present invention, the mechanical arm is used to drive the box body to move in the plane, rotate in the plane and flip in the plane, thereby driving each needle body to move in the plane, rotate in the plane and flip in the plane, so that the needle body can be adjusted to a suitable position. Puncture the soft workpiece, and drive the soft workpiece to move outside the workbench, so that the soft workpiece moves to the designated position. When the workpiece moves to the target position, the needle body exits the soft workpiece and releases the soft workpiece to achieve the goal of puncturing the soft workpiece. Workpieces are shifted and stacked. For example, for bean substances, chopped fruits and vegetables, wood boards, rubber materials, and other materials that are not suitable for suction cup adsorption, but also have puncture conditions, so that the workpieces can be spread out to dry, baked in an oven or overlapped before drying. , dry in the shade, tumble dry.

The present invention is applicable to all workpieces with regularity or irregularity, avoids the disadvantage that sucker suction parts cannot be completed, and can be used for workpieces of various sizes and weights.

The present invention can stack and transfer multiple workpieces at one time, which reduces labor costs and labor intensity, improves the efficiency of workpiece stacking and transfer, and the mechanical arm can adjust the needle body to puncture soft workpieces at different angles. Each workpiece is separated at different angles and sizes, and can be effectively and smoothly transferred and stacked.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art , without departing from the scope of the technical solution of the present invention, when the technical content disclosed above can be used to make some changes or be modified into equivalent embodiments with equivalent changes, but as long as it does not depart from the technical solution of the present invention, the technical content of the present invention In essence, any brief modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solution of the present invention.

Claims (10)

1. A software-pierceable transfer mechanism comprising:

a base;

the mechanical arm is arranged on the base;

the box body is arranged on the mechanical arm, at least one linear driving piece and a plurality of needle bodies driven by the linear driving piece are arranged in the box body, and the needle bodies penetrate out of the box body to puncture a soft workpiece;

and the controller is used for controlling the operation of the mechanical arm and the linear driving piece.

2. The transfer mechanism of software for puncture according to claim 1, wherein a hollow cavity for accommodating the needle body is provided in the box body, the linear driving member is provided in the cavity, and a plurality of through holes for passing the needle body are provided at the bottom of the box body.

3. The software-pierceable transfer mechanism of claim 2, wherein the needle is received within the cavity or is located outside the cavity when the needle is not piercing a software workpiece.

4. The software-pierceable transfer mechanism of claim 2, wherein the mechanical arm drives the cartridge to move in a plane, rotate in a plane, and flip in a plane, and wherein the linear drive member drives the needle to pass out of the cartridge or into a cavity within the cartridge.

5. The software-pierceable transfer mechanism of claim 1, wherein the plurality of cartridges are each driven by the robotic arm.

6. The flexible software transfer mechanism of claim 5 wherein linear drives are disposed within the cartridge and the needles are disposed in individual or aligned relationship within each cartridge and are driven by each linear drive.

7. A software-penetratable transfer mechanism according to claim 1, wherein the output end of the linear drive is provided with mounting plates for mounting the respective needle bodies.

8. The software-pierceable transfer mechanism of claim 1, wherein the mechanical arm is driven by any one or more of pneumatic, hydraulic or electrical control.

9. The software-penetratable transfer mechanism according to claim 1, wherein the linear drive is any one or a combination of hydraulic cylinders, pneumatic cylinders, electric telescopic rods or linear servomotors.

10. The software-pierceable transfer mechanism of claim 1, further comprising a remote control terminal in signal communication with the controller.