CN208948358U - A kind of handling equipment - Google Patents
A kind of handling equipment Download PDFInfo
- Publication number
- CN208948358U CN208948358U CN201821645082.5U CN201821645082U CN208948358U CN 208948358 U CN208948358 U CN 208948358U CN 201821645082 U CN201821645082 U CN 201821645082U CN 208948358 U CN208948358 U CN 208948358U
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- Prior art keywords
- driving
- vacuum chuck
- rack
- handling equipment
- fixed
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- 210000000078 claw Anatomy 0.000 claims abstract description 30
- 230000002745 absorbent Effects 0.000 claims abstract description 21
- 239000002250 absorbent Substances 0.000 claims abstract description 21
- 238000010521 absorption reaction Methods 0.000 claims abstract description 9
- 230000006698 induction Effects 0.000 claims description 11
- 238000005452 bending Methods 0.000 claims description 7
- 238000007599 discharging Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The utility model discloses a kind of handling equipment, is related to technical field of automation equipment.The device includes rack, one end of rack is connect with manipulator, it further include grabbing assembly, its side for being fixed on rack, the second driving assembly that grabbing assembly includes the first driving assembly being arranged along first direction and is arranged in a second direction, the output end of first driving assembly is fixed with the claw for crawl, and the output end of the second driving assembly is fixed with the first vacuum chuck component for absorption；Absorbent module, is fixed on the other side of rack, and absorbent module includes the second vacuum chuck component for absorption along third direction setting；First direction, second direction and third direction are mutually perpendicular to.The device can carry out operation of feeding and discharging to workpiece and mold simultaneously, and structure is simple, easy to use, high reliablity.
Description
Technical field
The utility model relates to technical field of automation equipment more particularly to a kind of handling equipments.
Background technique
In technical field of automation equipment, the prior art generallys use device and realizes to the workpiece progress on mold up and down
Material operation.It is as shown in Figure 1 the structural schematic diagram of mold and work pieces mate in the prior art, is provided in mold 100 in Fig. 1 recessed
Slot, workpiece 200 are arranged in groove, will first separate between workpiece 200 and mold 100, then be respectively moved to corresponding mesh
Cursor position completes the loading and unloading to workpiece 200 and mold 100.
In the prior art, handling equipment generally includes manipulator, driving cylinder and vacuum chuck component.To workpiece
For 200 carry out loading and unloading process, mechanical hand-motion drives cylinder and vacuum chuck component in space to the position of workpiece 200
Mobile, driving cylinder, which stretches out, drives the displacement of vacuum chuck component, and vacuum chuck component is acted to adsorb workpiece 200, by workpiece 200
It is taken out out of mold 100, mechanical hand-motion workpiece 200 is mobile to target position, and vacuum chuck component discharges workpiece 200 and arrives target
On position, cylinders retract is driven, mechanical hand-motion driving cylinder and vacuum chuck component are mobile to next station, complete primary
Loading and unloading movement.
The function of handling equipment in the prior art is relatively simple, and a kind of handling equipment to workpiece and can not match simultaneously
The mold of conjunction completes loading and unloading.Therefore, handling equipment in the prior art at least needs to be arranged two sets, and a set of pair of workpiece carries out
Loading and unloading, another set of to carry out loading and unloading to mold, causing producing line entirety, structure is complicated, and adjustment is inconvenient, and occupied space is big.
Utility model content
In view of the above-mentioned problems, can be carried out simultaneously to workpiece and mold the utility model proposes a kind of handling equipment
Blanking operation, structure is simple, easy to use, high reliablity.
The utility model uses following technical scheme:
A kind of handling equipment, comprising: one end of rack, rack is connect with manipulator, further includes:
Grabbing assembly, is fixed on the side of rack, and grabbing assembly includes the first driving assembly along first direction setting
The second driving assembly being arranged in a second direction, the output end of the first driving assembly are fixed with the claw for crawl, and second
The output end of driving assembly is fixed with the first vacuum chuck component for absorption；
Absorbent module, is fixed on the other side of rack, and absorbent module includes along third direction setting for absorption
Second vacuum chuck component；
First direction, second direction and third direction are mutually perpendicular to.
As a kind of preferred embodiment of the utility model, the first driving assembly includes along first direction setting and output end court
To two first opposite driving cylinders, the output end of each first driving cylinder is respectively and fixedly provided with claw, two first driving gas
The spacing that cylinder stretches out or retract between two claws of energy is to realize crawl.
As a kind of preferred embodiment of the utility model, claw includes claw ontology and bending part interconnected.
As a kind of preferred embodiment of the utility model, the second driving assembly includes multiple second be arranged in a second direction
Cylinder is driven, the output end of each second driving cylinder is correspondingly arranged on the first vacuum chuck component.
It further include mounting plate as a kind of preferred embodiment of the utility model, the output end of the second driving cylinder passes through peace
Loading board is fixedly connected with the first vacuum chuck component.
As a kind of preferred embodiment of the utility model, there are four the second driving cylinder settings, the first vacuum chuck component
There are four being correspondingly arranged, there are two mounting plate settings, each mounting plate respectively with two adjacent second drivings cylinders and corresponding
Two the first vacuum chuck components being arranged are fixedly connected.
As a kind of preferred embodiment of the utility model, absorbent module includes four the second vacuum along third direction setting
Suction cup assembly.
It further include infrared induction device as a kind of preferred embodiment of the utility model, infrared induction device is fixed
It is fixed with the side of absorbent module on the rack, and infrared induction device is issued along third direction and receiving infrared-ray.
The utility model has the following beneficial effects:
The utility model proposes a kind of handling equipment will be adsorbed by the way that grabbing assembly to be fixed on to the side of rack
Component is fixed on the other side of rack, so that grabbing assembly and absorbent module are non-interference when acting, so that about one
Expect that device can carry out operation of feeding and discharging to workpiece and mold simultaneously, structure is simple, easy to use, high reliablity.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mold and work pieces mate in the prior art；
Fig. 2 is that the utility model provides the structural schematic diagram of rack and manipulator cooperation in handling equipment；
Fig. 3 is the structural schematic diagram for the first angle that the utility model provides handling equipment；
Fig. 4 is the structural schematic diagram for the second angle that the utility model provides handling equipment.
In figure:
1, rack；
2, grabbing assembly；21, the first driving assembly；211, claw；212, the first driving cylinder；22, the second driving assembly；
221, the first vacuum chuck component；222, the second driving cylinder；223, mounting plate；
3, absorbent module；31, the second vacuum chuck component；
4, infrared induction device；
10, manipulator；
100, mold；200, workpiece.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It further needs exist for
It is bright, part relevant to the utility model is illustrated only for ease of description, in attached drawing rather than entire infrastructure.
Fig. 1 is the structural schematic diagram of mold and work pieces mate in the prior art, it can be seen from figure 1 that opening up in the mold 100
Fluted, workpiece 200 is arranged in groove, it is desirable to realize and separate between workpiece 200 and mold 100, and be each moved to respectively
Target position, be finally completed and loading and unloading distinguished to workpiece 200 and mold 100.In the utility model, first direction, second party
It is mutually perpendicular to third direction, for ease of description, first direction is represented with x-axis direction respectively in Fig. 2-4, with y-axis side
Xiang representing second direction, third direction is represented with z-axis direction, and x-axis, y-axis and z-axis are mutually perpendicular to.Meanwhile vacuum hereinafter
Suction cup assembly, including the first vacuum chuck component 221 and the second vacuum chuck component 31 include the sucker that can be adsorbed and drive
The cylinder of dynamic sucker movement, this vacuum chuck component is routine techniques, and details are not described herein.
Fig. 2 is that the utility model provides the structural schematic diagram of rack and manipulator cooperation in handling equipment, mainly includes
Rack 1, grabbing assembly 2 and absorbent module 3.Wherein, one end of rack 1 is connect with manipulator 10, and manipulator 10 in space can
Enough realize that the movement of 6 freedom degrees drives entire handling equipment in space including the translation and rotation in x-axis, y-axis and z-axis
Middle movement or rotation；Grabbing assembly 2 is fixed on the side of rack 1, and absorbent module 3 is fixed on the other side of rack 1, absorbent module
3 are mainly used for that the workpiece 200 in mold 100 is adsorbed and taken out, and move on to corresponding target position；Grabbing assembly 2 is mainly used
In grabbing and adsorbing mold 100, it is moved to corresponding target position, is finally completed the loading and unloading of workpiece 200 Yu mold 100
Process, structure is simple, easy to use, high reliablity.
Specifically, Fig. 3 is the structural schematic diagram for the first angle that the utility model provides handling equipment, wherein crawl group
Part 2 includes the first driving assembly 21 being arranged along the x-axis direction, along the second driving assembly 22 of y-axis setting.Wherein, the first driving
Component 21 includes two first driving cylinders 212, and the output end of each first driving cylinder 212 is respectively and fixedly provided with claw 211.Two
First driving cylinder 212 is arranged towards the forward and reverse of x-axis respectively, when two first driving cylinders 212 are separately or concurrently stretched
When out, the spacing between two claws 211 becomes larger；When two first driving cylinders 212 separately or concurrently retract, two claws
Spacing between 211 becomes smaller.By adjusting the size of the spacing between two claws 211, and then realize two claws 211 to mould
100 crawl of tool.It can further be seen that claw 211 includes claw ontology interconnected and bending part, i.e. section of claw 211 in Fig. 3
Face is L-shaped.Mold and workpiece in corresponding diagram 1, when two first driving cylinders 212 separately or concurrently stretch out, two claws
Spacing between 211 becomes larger, and manipulator 10 can drive so that the bending part of two claws 211 is passed through from the bottom surface of mold 100；
When two first driving cylinders 212 separately or concurrently retract, the spacing between two claws 211 becomes smaller, so that two claws
211 bending part can be clamped from the bottom surface of mold 100, two claws, 211 physical efficiencys from two clamping sides of mold 100, into
And it realizes and clamps entire mold 100.
Further, the second driving assembly 22 along y-axis setting includes multiple second driving cylinders 222 along y-axis setting,
As being preferably four in Fig. 3；The output end of each second driving cylinder 222 is correspondingly arranged on the first vacuum chuck component 221.
In Fig. 3, four second driving cylinders 222 are arranged in four vertex positions of rectangle, and the shape and size of corresponding mold 100 are set
It sets.In order to realize preferably stress, it is more convenient installation, between the first vacuum chuck component 221 and the second driving cylinder 222 also
Provided with mounting plate 223, the output end of the second driving cylinder 222 is fixed by mounting plate 223 and the first vacuum chuck component 221
Connection.Specifically, due to there are four the second driving settings of cylinder 222, there are four the first vacuum chuck component 221 is correspondingly arranged,
It is preferred that there are two the settings of mounting plate 223, each mounting plate 223 respectively with two adjacent second driving cylinders 222 and corresponding set
Two the first vacuum chuck components 221 set are fixedly connected.
In actual use, the second driving assembly 22 is used cooperatively with the first driving assembly 21, and first drives
Dynamic component 21 upwards clamps entire mold 100 from the lower section of mold 100, the first vacuum chuck component in the second driving assembly 22
221 can move under the drive of the second driving cylinder 222, and the first vacuum chuck component 221 can be connected to the top of mold 100
Face, i.e., downwards clamp entire mold 100 from the top of mold 100, and the two collective effect clamps entire mold 100.Entirely
After mold 100 is clamped, manipulator 10 drives rack 1 and then drives clamped mold, is moved to designated position.
Absorbent module 3 includes multiple the second vacuum chuck components 31 for absorption along third direction setting, Fig. 2 and figure
Four are preferably provided in 3.As shown in figure 3, workpiece 200 can be adsorbed and be led by four the second vacuum chuck components 31, with manipulator
10 drive rack 1 to act, and the workpiece 200 adsorbed is shifted.There is no a drive is arranged again as grabbing assembly 2 in the present embodiment
Dynamic device, enable the second vacuum chuck component 31 to extend and retract, therefore the second vacuum chuck component 31 is in space
Position is directly adjusted by manipulator 10, it is contemplated that ground is that driving assembly also can be set in absorbent module 3.It is anticipated that
Ground is that it is due to the absorption of the second vacuum chuck component 31 is workpiece 200, and the material of workpiece 200 compares appearance in some cases
It is frangible, when such as producing mobile phone screen, therefore also the movement of the second vacuum chuck component 31 is defined.Specifically, in machine
There is the side of absorbent module 3 to be also provided with infrared induction device 4 on frame 1, infrared induction device 4 can be issued and be received red
Outside line, therefore, during manipulator 10 drives 3 orientation movements of absorbent module, it is true that infrared induction device 4 can incude second
The variation of distance between empty Suction cup assembly 31 and workpiece 200, when distance between the two reaches preset distance, the second vacuum is inhaled
Cylinder drives sucker to stretch out in disk component 31, and workpiece 200 is adsorbed.Therefore, infrared induction device 4 can effectively prevent
Two vacuum chuck components 31 damage workpiece 200.
The utility model proposes handling equipment, distinguish workpiece 200 and mold 100 course of work of loading and unloading are as follows:
Step 1: manipulator 10 drives grabbing assembly 2 and the movement of absorbent module 3 in rack 1, is moved to from initial station
100 position of workpiece 200 and mold.Manipulator 10 drives rack 1 to fall, close towards workpiece 200 and mold 100.At this point,
Manipulator 10 drives rack 1 to rotate in space, so that 31 face workpiece 200 of the second vacuum chuck component, is leaned on towards workpiece 200
In close process, infrared induction device 4 issues and receiving infrared-ray, the second vacuum chuck component 31 of detection and workpiece 200 it
Between distance.After reaching predetermined position, 10 stopping of manipulator is acted, and the cylinder in the second vacuum chuck component 31 stretches out, and is made
Workpiece 200 can be adsorbed by obtaining sucker, and workpiece 200 is taken out out of mold 100.Manipulator 10 acts, and drives the absorption in rack 1
The workpiece 200 that component 3 adsorbs, is moved to the target position of workpiece 200, and then the sucker in the second vacuum chuck component 31 will
Adsorb workpiece 200 release, complete workpiece 200 separated with mold 100 simultaneously travelling workpiece 200 to target position process.
Step 2: manipulator 10 is moved since the target position of workpiece 200, is driven the grabbing assembly 2 in rack 1 and is inhaled
Attached component 3 is mobile, until 100 position of mold.Manipulator 10 drives rack 1 to fall, close towards mold 100.At this point, mechanical
Hand 10 drives rack 1 to rotate in space, so that 2 face mold 100 of grabbing assembly.During close towards mold 100,
Two first driving cylinders 212 stretch out respectively, so that the spacing between two claws 211 becomes larger, the bending part of two claws 211
It is passed through from the bottom surface of mold 100, so latter two the first driving cylinder 212 retracts, and the spacing between two claws 211 becomes smaller, and makes
The bending parts of two claws 211 can be clamped from the bottom surface of mold 100, two this physical efficiencys of claw are from two sides of mold 100
It clamps, and then realizes and clamp entire mold 100.Then first vacuum chuck component 221 can be in the second driving assembly 22
It is moved under the drive of second driving cylinder 222, the first vacuum chuck component 221 can be connected to the top surface of mold 100.First driving
22 collective effect of component 21 and the second driving assembly, entire mold 100 is clamped.Then, manipulator 10 acts, and drives rack 1
On the mold 100 that adsorbs of grabbing assembly 2, be moved to the target position of mold 100, then in the second driving assembly 22
The release of one vacuum chuck component 221, the second driving cylinder 222 retract, two first driving cylinders 212 of the first driving assembly 21
It stretches out, so that the spacing between two claws 211 becomes larger, realization discharges mold 100, completes mold 100 being moved to target
The process of position.
Therefore the utility model proposes handling equipment adsorbed by the way that grabbing assembly 2 to be fixed on to the side of rack 1
Component 3 is fixed on the other side of rack 1, and the displacement to workpiece 200 and mold 100 is allowed to share a manipulator 10, and
Grabbing assembly 2 and absorbent module 3 are non-interference when acting, and realize that a handling equipment has two kinds of functions, can be right simultaneously
Workpiece 200 and mold carry out operation of feeding and discharging, and structure is simple, easy to use, high reliablity.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment here, is able to carry out for a person skilled in the art various apparent
Variation is readjusted and is substituted without departing from the protection scope of the utility model.Therefore, although by above embodiments to this
Utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from this reality
It can also include more other equivalent embodiments in the case where with novel design, and the scope of the utility model is by appended power
Sharp claimed range determines.
Claims (8)
1. a kind of handling equipment, comprising: one end of rack (1), the rack (1) is connect with manipulator (10), and feature exists
In, further includes:
Grabbing assembly (2) is fixed on the side of the rack (1), and the grabbing assembly (2) includes being arranged along first direction
First driving assembly (21) and the second driving assembly (22) being arranged in a second direction, the output of first driving assembly (21)
End is fixed with the claw (211) for crawl, and the output end of second driving assembly (22) is fixed with first for absorption
Vacuum chuck component (221)；
Absorbent module (3), is fixed on the other side of the rack (1), and the absorbent module (3) includes being arranged along third direction
For absorption the second vacuum chuck component (31)；
The first direction, the second direction and the third direction are mutually perpendicular to.
2. handling equipment according to claim 1, which is characterized in that first driving assembly (21) includes along first
Direction setting and the two first driving cylinders (212) of output end direction on the contrary, the output end of each first driving cylinder (212)
It is respectively and fixedly provided with claw (211), between two first driving cylinders (212) are stretched out or retracted to adjust between two claws (211)
Away from.
3. handling equipment according to claim 2, which is characterized in that the claw (211) includes card interconnected
Pawl ontology and bending part.
4. handling equipment according to claim 1, which is characterized in that second driving assembly (22) includes multiple edges
The output end of second driving cylinder (222) of second direction setting, each second driving cylinder (222) is correspondingly arranged on
First vacuum chuck component (221).
5. handling equipment according to claim 4, which is characterized in that it further include mounting plate (223), second driving
The output end of cylinder (222) is fixedly connected by the mounting plate (223) with the first vacuum chuck component (221).
6. handling equipment according to claim 5, which is characterized in that second driving cylinder (222) is provided with four
A, there are four the first vacuum chuck component (221) is correspondingly arranged, there are two mounting plate (223) settings, each described
Two first vacuum that mounting plate (223) drives cylinder (222) and be correspondingly arranged with two adjacent described second respectively
Suction cup assembly (221) is fixedly connected.
7. handling equipment according to claim 1, which is characterized in that the absorbent module (3) includes along third direction
Four the second vacuum chuck components (31) being arranged.
8. handling equipment according to claim 7, which is characterized in that it further include infrared induction device (4), it is described red
Outside line sensing device (4) is fixed on the side that the absorbent module (3) are fixed on rack (1), and the infrared induction fills
It sets (4) and issues simultaneously receiving infrared-ray along third direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821645082.5U CN208948358U (en) | 2018-10-10 | 2018-10-10 | A kind of handling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821645082.5U CN208948358U (en) | 2018-10-10 | 2018-10-10 | A kind of handling equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208948358U true CN208948358U (en) | 2019-06-07 |
Family
ID=66741066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821645082.5U Expired - Fee Related CN208948358U (en) | 2018-10-10 | 2018-10-10 | A kind of handling equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208948358U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110342251A (en) * | 2019-06-24 | 2019-10-18 | 宁波图锐自动化设备有限公司 | A kind of liquid crystal display feeding device |
| CN112047099A (en) * | 2020-09-02 | 2020-12-08 | 湖南财经工业职业技术学院 | Flexible bionic mechanical gripping device |
| CN113247638A (en) * | 2021-06-21 | 2021-08-13 | 广东科佩克机器人有限公司 | Stacking robot |
-
2018
- 2018-10-10 CN CN201821645082.5U patent/CN208948358U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110342251A (en) * | 2019-06-24 | 2019-10-18 | 宁波图锐自动化设备有限公司 | A kind of liquid crystal display feeding device |
| CN112047099A (en) * | 2020-09-02 | 2020-12-08 | 湖南财经工业职业技术学院 | Flexible bionic mechanical gripping device |
| CN112047099B (en) * | 2020-09-02 | 2022-03-11 | 湖南财经工业职业技术学院 | Flexible bionic mechanical gripping device |
| CN113247638A (en) * | 2021-06-21 | 2021-08-13 | 广东科佩克机器人有限公司 | Stacking robot |
| CN113247638B (en) * | 2021-06-21 | 2021-11-23 | 广东科佩克机器人有限公司 | Stacking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190607 |