CN209889800U - Get and put material equipment and work piece processing system - Google Patents

Abstract

The utility model provides a get and put material equipment and work piece processing system, wherein get and put material equipment and include horizontal displacement mechanism, two at least fixture, elevating system, centre gripping control mechanism and elevating platform. The clamping control mechanisms are arranged on the lifting platform and are fixedly connected with the corresponding clamping mechanisms, and the lifting mechanisms drive the lifting platform to drive the clamping mechanisms to vertically lift on the horizontal displacement mechanism; the clamping control mechanism controls the clamping mechanisms of each group to be in a clamping state; after the workpiece is lifted to the required height, the horizontal displacement mechanism drives the lifting platform to drive the clamping mechanism to synchronously rotate together, so that each workpiece is transferred from the previous working procedure to the next working procedure; the clamping control mechanism can then control the clamping mechanism to change from the clamping state to the releasing state.

Description

Get and put material equipment and work piece processing system

Technical Field

The utility model belongs to the technical field of carry, concretely relates to get and put material equipment and work piece processing system.

Background

In many industries, workpieces are often required to be processed in respective required processes, and the workpieces are required to be transferred from a previous process to a subsequent process by using a pick-and-place device.

For example, the material taking and placing module disclosed in chinese patent document CN208234095U mainly includes a lifting cylinder, a lifting frame, a cantilever main shaft, a rotating arm, and a plurality of suckers. The lifting frame is fixed on the top of a telescopic shaft of the lifting cylinder, and the cantilever main shaft is rotatably arranged on the top of the lifting frame; the rotating arm is T-shaped and is sleeved on the rotating main shaft, and three end parts of the rotating arm are respectively provided with a sucker through a transmission mechanism.

The process of taking and placing materials of the material taking and placing module is as follows: the lifting cylinder makes descending motion to drive the lifting frame, the cantilever main shaft, the rotating arm and the plurality of suckers to make integral descending motion so as to adjust the height positions of the suckers on the three end parts of the rotating arm, so that one sucker or the plurality of suckers respectively face a workpiece of one station, and the suckers suck the corresponding workpieces; then, the lifting cylinder makes a lifting motion to drive the sucker and the workpiece adsorbed on the sucker to make a lifting motion; then, the cantilever main shaft is driven by the driving device to rotate, so that the rotating arm drives the sucker to integrally rotate for a certain angle, and the workpiece adsorbed on the sucker is transferred from the first station to the position right above the second station; and then, the lifting cylinder performs descending motion again, the workpiece adsorbed on the sucker is placed on the second station, and the rest is done in the same way, so that the workpiece is transferred from the previous station to the next station.

In the prior art, in the process of taking and placing workpieces, when all the workpieces rotate, the local workpieces need to be lifted and lowered. For example, in the electroplating process, in a plurality of process tanks, different workpieces are treated in the respective tanks for the same time, but electroplating solutions for treating the workpieces are different based on different processes, in order to electroplate electroplated layers with required thicknesses on the surfaces of the workpieces, a part of the electroplating solutions needs to be soaked for a longer time, and other electroplating solutions need to be soaked in the electroplating solutions for a shorter time due to the requirement of chemical reaction of the electroplating solutions, so as to electroplate electroplated layers with partial thicknesses on the surfaces of the workpieces, and then the electroplated layers of the workpieces are firstly subjected to primary air drying and further subjected to reaction and solidification with oxygen, so that a certain supporting force is provided for the subsequent electroplating solutions on the surfaces of the workpieces, and therefore, the workpieces need to be soaked and air-dried in the electroplating solutions intermittently.

However, the above material taking and placing module, driven by the lifting cylinder, can only synchronously drive all the suckers to do synchronous lifting motion, and cannot adjust according to the processing time or process requirements of workpieces on different stations.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model discloses the technical problem that will solve lies in that current getting blowing equipment can not be adjusted according to the demand that the work piece was handled the process.

Therefore, the utility model provides a get and put material equipment, include

The horizontal displacement mechanism is arranged on the rack;

the clamping mechanisms are suitable for respectively clamping the workpieces to be transferred;

the lifting mechanism is arranged on the rack;

the lifting platform is movably arranged on the lifting mechanism, is driven by the lifting mechanism to lift in a vertical sliding manner, and is driven by the horizontal displacement mechanism to move horizontally relative to the lifting mechanism;

the clamping control mechanisms respectively control the corresponding clamping mechanisms to change between a clamping state and a releasing state; the clamping mechanism is correspondingly fixed on the lifting platform in the clamping state, and is released from being fixed with the lifting platform in the releasing state.

Optionally, in the material taking and placing device, the clamping control mechanism has a reciprocating extending end; the clamping mechanism is provided with a matching part which is matched with the extending end; the extending end triggers the matching part, and the matching part drives the clamping part of the clamping mechanism to achieve a clamping state.

Optionally, in the material taking and placing device, the horizontal displacement mechanism is a rotating mechanism; the clamping mechanisms are arranged around the rotation axis of the rotating mechanism at equal angles; the clamping control mechanisms are arranged on the lifting platform at positions corresponding to the respective corresponding clamping mechanisms.

Optionally, in the material taking and placing device, each of the clamping control mechanisms has a telescopic component which is arranged on the lifting table and has the extending end, and a telescopic driving device which drives the telescopic component to move telescopically; the telescopic member is provided corresponding to the clamping mechanism.

Optionally, the rotating mechanism of the material taking and placing device includes a rotation driving device arranged on the frame; the rotating seat is fixed on an output rotating shaft of the rotating driving device; a connecting column fixed on the rotating seat in a vertically extending manner;

the lifting platform is vertically and slidably arranged on the connecting column.

Optionally, in the material taking and placing device, a rotary guide assembly is arranged between the top of the connecting column and the rack; and/or

And a rotary guide assembly is arranged at the bottom of the rotating seat.

Optionally, the material taking and placing device, the rotary guiding assembly includes

The guide piece is annular and is fixedly arranged relative to the rack;

and the guide wheel is arranged on the top of the connecting column or the bottom of the rotating seat and rolls on the guide piece.

Optionally, the material taking and placing device comprises a clamping mechanism

A mounting seat;

the clamping part comprises a first clamping jaw and a second clamping jaw which are oppositely and rotatably arranged on the mounting seat;

the fitting part is arranged at one side end of the mounting seat, which is back to the clamping part;

a driving plate is arranged between the clamping part and the matching part, and the driving plate, the first clamping jaw and the second clamping jaw are distributed on two side walls of the mounting seat;

the driving plate is movably connected with the first clamping jaw and the second clamping jaw through a fixing assembly, the state of the matching part is triggered at the extending end, and the matching part drives the driving plate to drive the first clamping jaw and the second clamping jaw to approach each other; when the protruding end is separated from the matching part, the driving plate drives the first clamping jaw and the second clamping jaw to be away from each other under the driving action of a return biasing force.

Optionally, in the material taking and placing device, the mounting seat is provided with a first abdicating hole and a second abdicating hole which extend vertically and are parallel to each other;

the fixing assembly comprises a first fixing piece and a second fixing piece which respectively penetrate through the first yielding hole and the second yielding hole; one end of the first fixing piece is hinged to the first clamping jaw, and the other end of the first fixing piece is fixed to the driving plate; one end of the second fixing piece is hinged to the second clamping jaw, and the other end of the second fixing piece is fixed on the driving plate; and

and two ends of each elastic component are respectively fixed on the corresponding fixing piece and the mounting seat to apply the restoring biasing force, and under the biasing force of the elastic components, the first fixing piece and the second fixing piece are driven to be respectively positioned at the bottoms of the hole walls of the abdicating holes where the first fixing piece and the second fixing piece are respectively positioned.

Optionally, in the material taking and placing device, at least one protrusion is convexly arranged on one side wall surface of the mounting seat, which faces away from the first clamping jaw and the second clamping jaw, and provided with a mounting groove for inserting the extending end, and the protrusion serves as the matching portion.

Optionally, in the material taking and placing device, the lifting mechanism has a lifting component and a lifting driving device for driving the lifting component to move up and down;

the lifting component comprises

The winding roller is driven by the lifting driving device and is rotatably arranged on the rack;

the starting end of the transmission belt is fixed on the winding roller and wound on the winding roller, and the extraction end extracted from the winding roller extends downwards along the vertical direction;

the lifting platform is rotatably arranged on the second support of the extraction end.

The utility model also provides a work piece processing system, include

Any one of the above mentioned material taking and placing devices;

at least two groove bodies fixed on the frame; the tank bodies correspond to the clamping mechanisms one by one, and each tank body is provided with a first inner cavity with an opening at the top so that a workpiece to be transferred can extend into the tank body.

The utility model discloses technical scheme has following advantage:

1. the utility model provides a pair of get and put material equipment, including horizontal displacement mechanism, two at least fixture, elevating system, centre gripping control mechanism and elevating platform, centre gripping control mechanism is fixed to be set up on the elevating platform. When the height of a workpiece needs to be adjusted, the corresponding clamping mechanism is controlled to be changed from a release state to a clamping state only by the clamping control mechanism corresponding to the workpiece, and the workpiece is clamped; then the corresponding lifting mechanism drives the lifting platform to do lifting motion, so as to drive the workpiece on the clamping mechanism in the clamping state to do lifting motion on the horizontal displacement mechanism, so that the height position of the workpiece is adjusted, and the workpiece corresponding to the clamping mechanism in the release state is still kept at the original height position; after all workpieces are processed by required procedures, each clamping mechanism is changed from a release state to a clamping state under the control of the respective clamping control mechanism, the workpiece corresponding to each clamping mechanism is clamped under the driving of the lifting platform and is driven by the lifting mechanism to do lifting motion, when each clamping mechanism moves to a required height, the lifting mechanism stops working, the lifting platform also stops continuing lifting motion, the lifting platform is in a static state relative to the rack at the moment, and the workpiece to be transferred on the clamping mechanism in the clamping state is also in a static state; at the moment, the horizontal displacement mechanism drives the lifting platform on the horizontal displacement mechanism to move horizontally and drives the clamping mechanism in a clamping state and the workpiece to be transferred to move horizontally, so that each workpiece is transferred from the previous process to the next process; the clamping control mechanism can then control the clamping mechanism to change from the clamping state to the releasing state.

2. The utility model provides a material taking and placing device, wherein the clamping control mechanism is provided with an extending end which moves in a reciprocating manner; the clamping mechanism is provided with a matching part which is matched with the extending end; the clamping control mechanism realizes the fixation of the matching part or the releasing of the fixation of the matching part by the extension of the extension end through the reciprocating movement of the extension end, and when the extension end is extended to realize the fixation, the matching part drives the clamping part of the clamping mechanism to achieve a clamping state, so that the clamping effect on a workpiece is realized; on the contrary, when the extension end retracts to release the fixation, the clamping part of the clamping mechanism is changed from the clamping state to the releasing state, so that the clamping control mechanism controls the clamping state and the releasing state of the clamping mechanism.

3. The utility model provides a material taking and placing device, the horizontal displacement mechanism is a rotating mechanism; the clamping mechanisms are arranged around the rotation axis of the rotating mechanism at equal angles; the clamping control mechanism is arranged corresponding to the corresponding position of the clamping mechanism. Under the rotation of the rotating mechanism, a plurality of clamping mechanisms which can be vertically and slidably arranged on the rotating mechanism are driven to rotate, so that the positions of the corresponding clamping mechanisms for clamping the workpieces are changed, and the workpieces are moved from the position of the previous process to the position of the next process, or are rotated to the position of a required process at intervals of one or more process positions.

4. The utility model provides a material taking and placing device, wherein each clamping control mechanism is provided with a telescopic part which is arranged on a lifting platform and is provided with an extending end and a telescopic driving device which drives the telescopic part to move telescopically; the telescopic member is provided corresponding to the clamping mechanism. The material taking and placing equipment is characterized in that all the clamping control mechanisms are arranged on a lifting platform, and the telescopic part of each clamping control mechanism acts on the matching part of the corresponding clamping mechanism through telescopic movement; and when the rotating mechanism drives all the clamping mechanisms to rotate, each clamping mechanism is in a clamping state, and the workpieces corresponding to the clamping mechanisms are rotated on the lifting platform along with the rotating mechanism, so that the process positions of the workpieces clamped on each clamping mechanism are transferred.

5. The utility model provides a material taking and placing device, wherein the rotating mechanism comprises a rotating driving device arranged on the frame; the rotating seat is fixed on an output rotating shaft of the rotating driving device; a connecting column fixed on the rotating seat in a vertically extending manner; the lifting table is vertically and slidably arranged on the connecting column, so that when the lifting driving clamping control mechanism and the corresponding clamping mechanism do lifting motion, the clamping mechanism slides on the connecting column along with the lifting table, and the guide effect is realized on the sliding of the lifting table; the rotary driving device drives the rotary seat to rotate and drives all the connecting columns to rotate, and then drives the clamping mechanisms on all the connecting columns to integrally rotate together with the lifting platform, so that the working position of the workpiece clamped by each clamping mechanism is transferred.

6. The utility model provides a pair of get and put material equipment, the spliced pole with be equipped with the rotation direction subassembly between the frame, come to lead to the circumferential motion of spliced pole for the circular motion can be done with the spliced pole to the rotation seat, rotates the work piece of centre gripping to required process position on with each fixture more accurately.

7. The utility model provides a workpiece processing system, which comprises any one of the above-mentioned material taking and placing equipment; at least two groove bodies fixed on the frame; the tank bodies correspond to the clamping mechanisms one by one, and each tank body is provided with a first inner cavity with an opening at the top so as to provide a required working procedure for a workpiece to be transferred to be processed in the tank body.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a front view structural diagram of a material taking and placing device in a first embodiment of the present invention (with a first support frame removed);

fig. 2 is a structural diagram of an upper base and a lifting mechanism (a transmission belt and a second support are removed) in a first embodiment of the present invention;

fig. 3 is a diagram of a cooperation structure of the clamping control mechanism, the lifting platform and the conveyor belt according to a first embodiment of the present invention;

fig. 4 is a schematic view of a matching structure of a lower base and a rotating mechanism in the first embodiment of the present invention;

fig. 5 is a structure diagram of the fixing base, the connecting column and the second guide wheel in the first embodiment of the present invention;

fig. 6 is a structural diagram of a clamping mechanism according to a first embodiment of the present invention (from the outside to the inside);

fig. 7 is a structural diagram of a clamping mechanism according to a first embodiment of the present invention (from inside to outside);

fig. 8 is a structural diagram of a workpiece handling system according to a second embodiment of the present invention (with the first support frame removed);

fig. 9 is a structural diagram of a workpiece processing system according to a second embodiment of the present invention.

Description of reference numerals:

1-a frame; 11-an upper base; 111-a third abdicating hole; 12-a lower base; 13-a first support frame; 14-a support base;

2-a lifting mechanism; 21-a lifting drive device; 22-a winding roller; 23-conveying belt; 24-a first shaft; 25-a pinch roller; 26-a limiting wheel; 27-a first seat; 28-a cassette groove; 29-a second support; 210-a fourth support;

3-a clamping control mechanism; 31-telescopic driving means; 32-a telescoping member;

4-a rotating mechanism; 41-a rotation drive; 411-output shaft; 42-a rotating seat; 43-connecting column; 44-a fixed seat; 441-a first guide; 442-a first guide wheel; 443-a second guide wheel; 444-a second guide; 45-a third support;

5-a clamping mechanism; 51-a mounting seat; 511-a first abdicating hole; 512-second abdicating hole; 52-a first jaw; 53-a second jaw; 54-a first fixture; 55-a second fixture; 561-first connection board; 562-a second connecting plate; 57-a drive plate; 571-bulge; 58-snap gauge; 581-through groove;

6-a lifting platform; 61-a first fixed shaft; 62-a fourth abdicating hole; 63-notch;

7-a second support;

81-barrel body; 82-a trough body; 83-sliding plate.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

As shown in fig. 1 to 7, the material taking and placing device of this embodiment includes a frame 1, a lifting mechanism 2, a lifting table 6, a plurality of clamping mechanisms 5, a horizontal displacement mechanism, and a plurality of clamping control mechanisms 3.

As shown in fig. 1 and 9, the rack 1 includes vertically opposed upper and lower bases 11 and 12, and a plurality of first support frames 13 fixedly connecting the upper and lower bases 11 and 12. The lifting mechanism 2 is installed on the upper base 11, and the horizontal displacement mechanism is a rotating mechanism 4 installed on the lower base 12.

As shown in fig. 2, the lifting mechanism 2 includes a lifting member including a winding roller 22 and a conveying belt 23, and a lifting driving device 21 for driving the lifting member to slide up and down. The upper base 11 is provided with a third abdicating hole 111 for the transmission belt 23 to pass through, the upper base 11 is provided with two opposite first supports 27, the two first supports 27 are rotatably provided with a first rotating shaft 24 and cross over the third abdicating hole 111; the winding roller 22 is fixed on the first rotating shaft 24. The lifting driving device 21 can be a first rotating motor, the first rotating motor is fixed on the upper base 11, and an output shaft of the first rotating motor is in transmission connection with the first rotating shaft 24; the transmission belt 23 is wound on the winding roller 22, the starting end of the transmission belt 23 is fixed on the winding roller 22, the extraction end of the transmission belt 23 extracted from the winding roller 22 extends vertically downwards and penetrates through the third abdicating hole 111, the bottom of the extraction end of the transmission belt 23 is provided with a second support 29, the lifting platform 6 is rotatably connected on the second support 29, and the output end of the transmission belt 23 is fixed through three clamping blocks which are arranged in parallel.

For example, as shown in fig. 3, the lifting platform 6 is provided with a first fixed shaft 61 protruding upward, and the first fixed shaft 61 is rotatably connected to the second support 29 through a bearing. The lifting table 6 may be a disc structure.

The belt 23 may be a belt or a chain, or other hanging off piece, and the starting end of the belt 23 is fixed to the winding roller 22 in various ways. For example, as shown in fig. 2, a circumferential outer wall surface of the winding roller 22 is provided with a tape holding groove 28 extending in an axial direction, a start end of the conveyor belt 23 is inserted into the tape holding groove 28, and the winding roller 22 is fixedly connected to the start end by a fastening member. Such as screws, bolts or pins, or may be directly bonded or welded to the outer circumferential wall of the winding roller 22.

As shown in fig. 2, the upper base 11 is further provided with a fourth support 210, the fourth support 210 is rotatably sleeved with a pressing wheel 25, an axis of the pressing wheel 25 is parallel to an axis of the winding roller 22, a peripheral wall surface of the pressing wheel 25 is close to a peripheral wall surface of the winding roller 22, and a belt passing gap for the transmission belt 23 to pass through is formed between the peripheral wall surface and the winding roller, and the pressing wheel 25 is arranged to guide the transmission belt 23 to extend vertically downwards. Preferably, the axis of the pressure roller 25 is located below the axis of the winding roller 22.

As shown in fig. 2, two limiting wheels 26 are further fixed to two axial ends of the first rotating shaft 24, and the two limiting wheels 26 extend out of the outer peripheral end surface of the winding roller 22 along the radial outer peripheral end surface thereof, so that a winding area for accommodating the winding of the conveying belt 23 is formed between the two limiting wheels 26 and the winding roller 22, and the conveying belt 23 is prevented from sliding on the winding roller 22 in the axial direction, so that the lifting platform is prevented from being inclined. Preferably, a gap is left between the two sides of the conveying belt 23 in the width direction and the limiting wheels 26 at the two ends, so that the conveying belt 23 is prevented from interfering with the inner side walls of the limiting wheels 26 in the winding process to influence the lifting of the lifting table 6.

As shown in fig. 3, a plurality of clamping control mechanisms 3 are all fixed on the upper end surface of the lifting table 6, so that one lifting mechanism 2 drives all the clamping control mechanisms 3 to move up and down along with the lifting table 6. For example, four clamping control mechanisms 3 are provided, the lifting platform 6 is a circular platform, the four clamping control mechanisms 3 are arranged on the lifting platform 6 at equal angles around the rotation axis of the rotating mechanism 4, and the included angle formed between every two adjacent clamping control mechanisms 3 is 90 degrees.

The clamping control mechanisms 3 correspond to the clamping mechanisms 5 one by one, and each clamping control mechanism 3 moves in a telescopic mode relative to the rack 1 along the horizontal direction.

As shown in fig. 3, each clamping control mechanism 3 comprises a telescopic member 32 and a telescopic driving device 31, wherein the telescopic member 32 has an extending end, and a fixed end of the telescopic member 32 opposite to the extending end is fixed on the telescopic driving device 31 and is driven by the telescopic driving device 31 to horizontally move in a telescopic manner; the telescopic driving device 31 has a telescopic shaft (not shown) which is telescopically moved; for example, the telescopic component is an L-shaped butt plate, and the butt plate is fixed on the telescopic shaft; and the connection between the butt joint plate and the clamping mechanism is established or released. For example, the telescopic driving device 31 is a telescopic cylinder, and the butt plate horizontally moves in a telescopic manner under the driving of the telescopic cylinder; when the butt joint plate extends out, the extending end of the butt joint plate is suitable for abutting against the corresponding clamping mechanism 5, so that the clamping control mechanism 3 is fixed with the corresponding clamping mechanism 5, the clamping mechanism is fixed on the lifting platform, and the corresponding clamping mechanism 5 synchronously rotates along with the lifting platform 24 as the lifting platform is driven by the rotating mechanism to rotate; when the clamping control mechanism is in a clamping state, the lifting mechanism drives the clamping control mechanism 3 to drive the clamping mechanism 5 to vertically move on the rotating mechanism 4, so that the workpiece 81 to be transferred or the part to be dried corresponding to the clamping mechanism 5 to be lifted is selectively selected.

As shown in fig. 4, the peripheral end surface of the lifting table 24 is provided with notches 63 which are recessed inward and correspond to the clamping control mechanisms 3 one by one, the retractable member 32 is driven by the retractable driving device 31 to horizontally extend and retract along the upper side of the notch 63, the positions of the clamping mechanisms 5 corresponding to the notches 63 of the lifting table 6 are provided with matching portions, and the notches 63 are arranged to provide abdications for the matching portions of the corresponding clamping mechanisms 5, so that the clamping control mechanisms 3 and the clamping mechanisms 5 are fixedly connected when the clamping control mechanisms 3 are in the clamping state. For example, when there are four grip control mechanisms 3, there are four notches 63. For example, the notch 63 is U-shaped.

As shown in fig. 3 and 4, the rotating mechanism 4 includes a rotating driving device 41, a rotating base 42 and four connecting columns 43, the rotating driving device 41 is disposed at the bottom of the lower base 12, an output rotating shaft 411 of the rotating driving device 41 is fixedly connected with the rotating base 42 disposed at the top of the lower base 12, the four connecting columns 43 are uniformly fixed above the rotating base 42 at equal angles around the rotation axis of the rotating driving device 41, the four connecting columns 43 enclose a square column shape, four fourth yielding holes 62 are correspondingly disposed on the lifting platform 6, the four fourth yielding holes 62 of the lifting platform 6 are correspondingly sleeved on the four connecting columns 43, and the fourth yielding holes 62 are in clearance fit with the connecting columns 43, so that the lifting platform 6 can vertically lift and slide along the connecting columns 43; the rotating seat 42 is driven by the rotary driving device 41 to horizontally rotate and drive the connecting column 43 above to rotate, and because the rotating process of the connecting column 43 can interfere with the hole walls of the fourth yielding holes 62 corresponding to the connecting column 43, the rotating of the connecting column 43 can drive the lifting platform 6 to synchronously rotate together, and because the lifting platform 6 is rotatably matched with the transmission belt 23, the transmission belt 23 cannot be driven to rotate when the lifting platform 6 rotates, and the transmission belt 23 can be prevented from being wound and knotted when the lifting platform 6 rotates. When the clamping control mechanism 3 is in the clamping state, the rotating mechanism 4 drives the clamping control mechanism 3 and the corresponding clamping mechanisms 5 to synchronously rotate along with the rotating seat 42, the connecting column 43 and the lifting platform 6. For example, the connecting column 43 is cylindrical; the number of connecting posts 43 can be set to one, two, three, five, six, etc. The specific number is set according to actual needs.

As shown in fig. 4, the frame 1 is further provided with a supporting seat 14 for fixing the upper portion of the lower base 12, the output rotating shaft 411 of the rotary driving device 41 passes through the supporting seat 14, the supporting seat 14 is located between the lower base 12 and the rotating seat 42, and the supporting seat 14 and the lower base 12 are relatively fixed and do not rotate along with the rotating seat 42; a plurality of second supporting frames 7 are fixed above the supporting seat 14.

For example, the lower base 12 has a square structure; four second support frames 7 are arranged, and the four second support frames 7 are respectively arranged on four edges of the lower base 12; the four clamping mechanisms 5 are correspondingly placed above the four second supporting frames 7 under the releasing state that the clamping mechanisms 5 are released from being fixed with the lifting table 6; the lifting table 65 descends to the position of the corresponding clamping mechanism 5, when the telescopic driving device 31 drives the butt joint plate to extend, the extending end of the butt joint plate is suitable for abutting and is fixed with the corresponding clamping mechanism 5, so that the clamping control mechanism 3 is fixedly connected with the corresponding clamping mechanism 5, the clamping mechanism 5 is fixed on the lifting table 6, the lifting table 6 is driven by the lifting driving device 21 to move up and down, the extending end of the clamping control mechanism 3 triggers the matching part of the clamping mechanism 5, and the clamping mechanism 5 is enabled to reach a clamping state to clamp the objects to be clamped correspondingly.

A fixed seat 44 is further arranged on the machine frame 1 below the upper base 11, the top of the connecting column 43 is fixed on the fixed seat 44, and the fixed seat 44 rotates synchronously when the rotating seat 42 is driven by the rotating driving device 41 to rotate.

The bottom of the rotating seat 42 and the top of the fixed seat 44 are respectively provided with a rotary guide component, and the two rotary guide components are used for guiding the rotating seat 42 and the connecting column 43 to do circular motion. For ease of description, the rotary guide assembly on the bottom of the rotary holder 42 is described as a first rotary guide assembly, and the rotary guide assembly on the top of the fixed holder 44 is described as a second rotary guide assembly, the first rotary guide assembly including a first guide member 441 and a plurality of first guide wheels 442, and the second rotary guide assembly including a second guide member 444 and a plurality of second guide wheels 443. For example, the first guide wheel 442 and the second guide wheel 443 are two, three, four, and so on.

In the first rotary guiding assembly, the first guiding member 441 is a guiding rail, the guiding rail is circular and fixed on the supporting seat 14, the first guiding wheels 442 are fixed on the third support 45 at the bottom of the rotating seat 42 in a one-to-one correspondence manner, and the first guiding wheels 442 are rotatably matched on the circular guiding rail 441, so that when the connecting column 43 rotates along with the rotating seat 42, the first guiding wheels 442 rotate circumferentially on the circular guiding rail 441 to guide the rotation of the rotating seat 42. For example, the third support 45 may have an H-shape, one end of which is fixedly connected to the bottom of the rotating seat 42, and the other end of which extends outward along the radial direction of the rotating seat. The first guide wheel is rotatably fixed to the bottom of the third support 45.

For example, the first guide wheel 442 is provided on a circumferential surface thereof with an annular slide groove recessed radially inward, and the guide rail 441 extends into the annular slide groove, so that the first guide wheel 442 rotates on the annular guide rail 441 in accordance with the rotation of the rotating base 42. Alternatively, the annular guide rail 441 may be provided with an annular sliding groove, and the first guide wheel 442 may be inserted into the annular sliding groove to rotate circumferentially.

As shown in fig. 1 and 5, in the second rotary guiding assembly, the second guiding member 444 is a circular guiding ring disposed at the bottom of the upper base 11, the tops of all the connecting posts 43 are fixed on the fixed base 44, the top of the fixed base 44 is provided with a plurality of second guiding wheels 443 rotating around a vertical axis, the second guiding wheels 443 extend into the inner wall surface of the guiding ring, when the connecting posts 43 rotate along with the rotating base 42, the circumferential outer wall surfaces of the plurality of second guiding wheels 443 abut against the inner wall surface of the guiding ring and rotate around the vertical axis, so as to guide the circumferential rotation of the connecting posts 43, the circle of the inner wall surface of the guiding ring and the circle of the guiding rail 441 can be overlapped in the height direction, so that under the cooperation of the first guiding assembly and the second guiding assembly, not only the rotation of the rotating base 42 and the connecting posts 43 is guided, but also the connecting posts 43 can be limited to extend vertically, thereby ensuring the verticality of the connecting posts 43, thereby ensuring that the lifting platform 6 linearly slides on the connecting column 43 along the vertical direction.

As shown in fig. 6 and 7, each of the gripping mechanisms 5 includes a mount 51, a first jaw 52, a second jaw 53, a first elastic member (not shown), a second elastic member (not shown), and a drive plate 57. Wherein, the mounting seat 51 is placed on the second supporting frame 7 in an initial state and in a releasing state that the clamping mechanism 5 is released from the clamping control mechanism 3; the first clamping jaw 52 and the second clamping jaw 53 are oppositely and rotatably arranged on one side wall of the mounting seat 51 and enclose a clamping area for clamping a workpiece to be transferred; the driving plate 57 and the first clamping jaw 52 and the second clamping jaw 53 are distributed on two side walls of the mounting seat 51; for example, in fig. 7, the drive plate 57 is on the left side of the mount 51; in fig. 6, the first and second jaws 52 and 53 are located on the left and right sides of the mount base 51, respectively.

As shown in fig. 6 and 7, the first jaw 52 and the second jaw 53 are both rotatably mounted on the outer side wall of the mounting seat 51; the mounting seat 51 is provided with a first abdicating hole 511 and a second abdicating hole 512 which extend vertically and are parallel, and the first abdicating hole 511 and the second abdicating hole 512 are both positioned in the clamping area; the driving plate 57 is movably connected with the first clamping jaw 52 and the second clamping jaw 53 through a fixing component.

As shown in fig. 6 and 7, the fixing assembly includes a first fixing member 54, a first connection plate 561, a second connection plate 562, and a second fixing member 55. The first fixing piece 54 and the second fixing piece 55 respectively penetrate through the first abdicating hole 511 and the second abdicating hole 512; one end of the first fixing member 54 is fixed on the driving plate 57, and both ends of the first connecting plate 561 are hinged to the other end of the first fixing member 54 and the first clamping jaw 52, respectively; one end of the second fixing member 55 is fixed on the driving plate 57, two ends of the second connecting plate 562 are respectively hinged to the other end of the second fixing member 55 and the second clamping jaw 53, two ends of the first elastic member are respectively fixed on the first fixing member 54 and the mounting seat 51, and two ends of the second elastic member are respectively fixed on the second fixing member 55 and the mounting seat 51. When the clamping control mechanism 3 is in a released state, that is, in a released state, in which the clamping mechanism 5 and the lifting table 6 are released, the first fixing member 54 and the second fixing member 55 are respectively located at the bottoms of the hole walls of the respective abdicating holes. Optionally, the first fixing member 54 and the second fixing member 55 are pins; the elastic component is a common cylindrical spring, and can also be a spring with other properties, as long as the elastic component can drive the corresponding fixing parts to be respectively positioned at the bottoms of the hole walls of the abdicating holes in the release state.

In the clamping state, the butt-joint plate of the clamping control mechanism 3 is abutted and fixed on the driving plate 57, and when the clamping control mechanism 3 performs the lifting motion, the first fixing piece 54 and the second fixing piece 55 are driven to perform the lifting motion in the first yielding hole 511 and the second yielding hole 512 respectively, and then the first clamping jaw 52 and the second clamping jaw 53 are driven to approach each other through the first connecting plate 561 and the second connecting plate 562 respectively so as to clamp the workpiece to be transferred in the clamping area. In contrast, in the released state, the docking plate of the clamping control mechanism 3 is retracted to separate from the driving plate 57, and under the restoring force of the respective elastic members, the first fixing member 54 and the second fixing member 55 move downward in the respective abdicating holes to drive the first clamping jaw 52 and the second clamping jaw 53 to move away from each other, so as to enlarge the clamping area and release the clamped workpiece to be transferred.

As shown in fig. 7, a side wall surface of the driving plate 57 facing away from the first clamping jaw 52 and the second clamping jaw 53 is provided with a protrusion 571 protruding outward to form a fitting portion, and the mating plate is provided with a mounting groove (not shown) for inserting and fixing the protrusion 571, so that the clamping mechanism 5 and the clamping control mechanism 3 are inserted and fixed in a fitting manner, and the fitting portion drives the clamping portion of the clamping mechanism 5 to achieve a clamping state. For example, the matching part is a pin shaft which is inserted and fixed in the mounting groove so that the clamping mechanism 5 and the clamping control mechanism 3 are fixed in a clamping state. In the clamping state, the butt joint plate is driven by the telescopic driving device 31 to extend out and be fixedly inserted with the pin shaft, so that the clamping mechanism 5 is fixed on the lifting platform 6; in the release state, the butt plate is driven by the telescopic driving device 31 to retract and separate from the pin shaft, and the clamping mechanism 5 is placed on the second support frame 7. For example, the number of the protrusions 571 may be one, two, three, etc., and correspondingly, the corresponding number of the mounting grooves are provided on the docking plate.

Specifically, as shown in fig. 7, the mounting seat 51 is square and is surrounded by four side plates to form a supporting portion of the clamping mechanism 5 so as to be supported on the second supporting frame 7 in the release state, wherein the first and second yielding holes 511 and 512 are disposed on the front and rear sides of the right side plate, and the driving plate 57 is disposed on the left side opposite to the right side plate.

Optionally, the front and rear side plates of the mounting seat 51 are respectively provided with a clamping plate 58, the clamping plate 58 is provided with a through groove 581 extending vertically, the first fixing member 54 and the second fixing member 55 respectively penetrate through the corresponding through groove 581 and then are fixedly connected with the driving plate 57, the length of the through groove 581 is slightly longer than the first yielding hole 511 and the second yielding hole 512, so as to facilitate installation of the elastic component, for example, two ends of the first elastic component are respectively fixed on the first fixing member 54 and at the bottom of the corresponding through groove 581, and two ends of the second elastic component are respectively fixed on the second fixing member 55 and at the bottom of the corresponding through groove 581. The elastic restoring force of the elastic component acting on the fixing piece is along the vertical direction, so that the fixing piece cannot interfere with the hole wall of the corresponding abdicating hole when being driven by the elastic component to restore to the bottom of the corresponding abdicating hole. The catch plate 58 is arranged to vertically retain the end of the fixing member adjacent one side of the drive plate 57. As a modification, the locking plate 58 may not be provided, the front and rear sides of the side plate close to the driving plate 57 are respectively extended outwards to form an extension similar to the locking plate, a through slot 581 extending along the vertical direction is provided on the extension, two ends of the first elastic component are respectively fixed on the first fixing member 54 and at the bottom of the corresponding through slot 581, and two ends of the second elastic component are respectively fixed on the second fixing member 55 and at the bottom of the corresponding through slot 581.

The utility model discloses a get work process of putting material equipment does: taking one of the clamping mechanisms 5 and the clamping control mechanism 3 as an example for description, the other clamping mechanisms 5 and the clamping control mechanism 3 act the same, and since the four clamping mechanisms 5 and the corresponding clamping control mechanisms 3 are independent from each other, if the other clamping mechanisms 5 do not need to clamp the workpiece to be transferred, the other clamping mechanisms are all in a release state.

In the initial state, each clamping control mechanism 3 is separated from the corresponding clamping mechanism 5, the clamping control mechanisms 3 are in the release state, and each clamping mechanism 5 is placed on the corresponding second support frame 7; the first fixing piece 54 and the second fixing piece 55 of each clamping mechanism 5 are respectively positioned at the bottoms of the hole walls of the first and second abdicating holes 511 and 512 where the first and second abdicating holes 511 and 512 are respectively positioned.

S1, a lifting driving device 21 drives a lifting mechanism 2 to rotate, a transmission belt 23 is continuously drawn out of a winding roller 22 and vertically moves downwards through a belt gap to drive a lifting platform 6 to descend, all clamping control mechanisms 3 are driven to do descending motion, a matching part of a clamping mechanism 5 avoids a notch 63 of the lifting platform 6, the lifting platform 6 descends to the extent that the matching part is located in the notch 63, and the matching part is opposite to a butt joint plate;

s2, the telescopic driving device 31 of the clamping control mechanism 3 drives the telescopic component 32 to do stretching movement, and the butt joint plate of the clamping control mechanism 3 is driven by the telescopic driving device 31 to do stretching movement; at this time, the fitting portion of the gripping mechanism 5 is located in the notch 63 of the gripping control mechanism 3; the other mechanisms work on the same principle, and work independently without interference.

S3, the lifting driving device 21 drives the lifting platform 6 to do lifting movement, the matching part is fixedly inserted into the mounting groove of the butt joint plate, the clamping control mechanism 3 is fixedly connected with the clamping mechanism 5, and at the moment, the clamping control mechanism 3 is in a releasing state; with the continuous ascending motion of the lifting mechanism 2, the butt plate drives the matching part to move upwards, so that the driving plate 57 on the clamping mechanism 5 drives the first fixing piece 54 and the second fixing piece 55 fixed on the driving plate to do ascending motion in the first yielding hole 511 and the second yielding hole 512 respectively, so that the first clamping jaw 52 and the second clamping jaw 53 are close to each other and clamp the workpiece to be transferred; when the first fixing piece 54 and the second fixing piece 55 on the driving plate 57 of the clamping mechanism 5 abut against the tops of the hole walls of the first abdicating hole 511 and the second abdicating hole 512, respectively, the first clamping jaw 52 and the second clamping jaw 53 clamp the workpiece to be transferred;

s4, the lifting mechanism 2 continues to drive the lifting platform 6 to do lifting motion, and at the moment, the butt joint plate of the clamping control mechanism 3 drives the whole clamping mechanism 5 and the workpiece to be transferred to slide upwards along the connecting column 43; taking out the workpieces to be transferred from the respective groove bodies 82, lifting the workpieces to a required height, stopping the rotation of the lifting mechanism 2 at the moment, and keeping the lifting table 6 in a static state relative to the rack 1 at the moment;

s5, the rotation driving device 41 of the rotating mechanism 4 rotates to drive the rotating base 42 and all the connecting columns 43 to rotate, interference is generated between the connecting columns 43 and the lifting platform 6 in the rotating process so as to drive the lifting platform 6 to rotate, and the rotation of the lifting platform 6 drives the clamping mechanism 5 fixed with the lifting platform and the workpiece to be transferred to synchronously rotate together, so that the workpiece to be transferred is rotated and is transferred from the previous process to the next process;

and S6, after the rotation is finished, stopping the rotation of the rotation driving device 41 of the rotation mechanism 4. Because the matching part of the clamping mechanism 5 is always fixed on the butt plate of the clamping control mechanism 3, at this time, the lifting driving device 21 of the lifting mechanism 2 rotates to drive the lifting table 6 to move downwards, and the lifting table 6 drives the clamping mechanism 5 fixed with the lifting table 6 to move downwards until the clamping mechanism 5 descends to the initial position, namely, the clamping mechanism 5 is overlapped on the second support frame 7.

S7, the clamping control mechanism 3 retracts again, so that the butt joint plate of the clamping control mechanism 3 is separated from the matching part of the clamping mechanism 5, the fixed connection between the clamping mechanism 5 and the clamping control mechanism 3 is released, and the clamping control mechanism 3 is switched from a clamping state to a releasing state.

As a first alternative embodiment of this embodiment, the lifting mechanism 2 may be an air cylinder, an output shaft of the air cylinder is rotatably engaged with the lifting platform 6 through a bearing, the air cylinder drives the lifting platform 6 to lift, the rotating mechanism 4 drives the rotating base 42 to drive the connecting column 43 to rotate and drive the lifting platform 6 to rotate synchronously, and the lifting platform 6 is rotatably engaged with the output shaft, so that the output shaft is not driven to rotate together.

As a second alternative embodiment of this embodiment, only the first guide assembly may be provided without the second guide assembly, the top end of the connecting column 43 and the fixed seat 44 are fixed, and when the rotating seat 42 is driven by the rotating mechanism 4 to rotate under the guide of the first guide assembly, the fixed seat 44 rotates together.

As a third alternative embodiment of this embodiment, only the second guiding assembly and not the first guiding assembly may be provided, the bottom end of the connecting column 43 is fixed to the rotating base 42, the rotating base 42 is fixed to the output rotating shaft 411 of the rotary driving device 41, and when the rotating base 42 is driven to rotate by the rotary driving device 41, the fixed base 44 follows and rotates together under the guidance of the second guiding assembly.

As a fourth alternative embodiment of this embodiment, the mounting seat 51 of the clamping mechanism 5 may be provided with only one side plate on the right side, the first clamping jaw 52 and the second clamping jaw 53 are rotatably connected through the first connecting plate 561 and the second connecting plate 562, respectively, the first yielding hole 511 and the second yielding hole 512 are oppositely disposed on the side plate, one end of the first fixing member 54 and one end of the second fixing member 55 are correspondingly disposed in the first yielding hole 511 and the second yielding hole 512, respectively, and the other end is fixedly connected to the driving plate 57.

As a fifth alternative embodiment of this embodiment, the fixing relationship between the clamping mechanism 5 and the clamping control mechanism 3 may also be a fixing manner in other forms, and the matching portion is configured to be matched with the docking plate for inserting and fixing, for example, two side surfaces of the matching portion are provided with sliding grooves, and when the docking plate is driven by the telescopic driving device 31 to extend out, two sides of the docking plate are inserted and fixed with the sliding grooves at two side ends of the matching portion, so that the clamping mechanism 5 is fixed on the lifting platform 6. The deformation can also be that the butt joint plate is a pin shaft, the matching part is a butt joint plate, and the matching part is provided with a mounting groove which is matched, spliced and fixed with the pin shaft.

Example 2

As shown in fig. 8 and 9, the workpiece processing system of this embodiment includes the material taking and placing device in embodiment 1, a plurality of barrel bodies 81, and a plurality of tank bodies 82, where each tank body 82 has a first inner cavity with an open top; the barrel bodies 81 are placed in the first inner cavities of the tank bodies 82 in a one-to-one correspondence, and the workpieces to be transferred to be processed are placed in the barrel bodies 81. By adopting the material taking and placing device of the embodiment, the workpiece processing system can selectively select the workpiece 81 to be transferred according to actual requirements, and further rotate the workpiece in the selected workpiece 81 to be transferred from the previous process to the next process.

In addition, a downwardly inclined slide plate 83 is further disposed on the frame 1, and the bottom of the slide plate 83 is located above the barrel 81, so that the workpiece is slid into the barrel 81 through the slide plate 83.

As an alternative embodiment, the workpiece processing system may be provided without the tank 82, and only the workpiece 81 to be transferred needs to be provided.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims (12)

1. A material taking and placing device is characterized by comprising

The horizontal displacement mechanism is arranged on the rack (1);

at least two gripping means (5) suitable for each gripping a workpiece to be transferred;

the lifting mechanism (2) is arranged on the rack (1);

the lifting platform (6) is movably arranged on the lifting mechanism (2), is driven by the lifting mechanism (2) to vertically slide and lift, and is driven by the horizontal displacement mechanism to horizontally move relative to the lifting mechanism (2);

the clamping control mechanisms (3) respectively control the corresponding clamping mechanisms (5) to change between a clamping state and a releasing state; the clamping mechanism (5) is correspondingly fixed on the lifting platform (6) in the clamping state, and is released from being fixed with the lifting platform (6) in the releasing state.

2. The pick-and-place apparatus according to claim 1, characterized in that the gripping control mechanism (3) has a reciprocating projecting end; the clamping mechanism (5) is provided with a matching part which is matched with the extending end; the extending end triggers the matching part, and the matching part drives the clamping part of the clamping mechanism (5) to achieve a clamping state.

3. The pick and place apparatus according to claim 2, wherein the horizontal displacement mechanism is a rotary mechanism (4); the clamping mechanisms (5) are arranged around the rotation axis of the rotating mechanism (4) at equal angles; the clamping control mechanisms (3) are arranged on the lifting platform (6) at positions corresponding to the corresponding clamping mechanisms (5).

4. The material taking and placing device according to claim 3, wherein each clamping control mechanism (3) is provided with a telescopic component (32) which is arranged on the lifting platform (6) and is provided with the extending end and a telescopic driving device (31) for driving the telescopic component (32) to move telescopically; the telescopic member (32) is provided corresponding to the clamp mechanism (5).

5. The pick-and-place apparatus according to claim 4, characterized in that said rotating mechanism (4) comprises a rotary drive (41) provided on said frame (1); a rotating seat (42) fixed on an output rotating shaft (411) of the rotary driving device (41); a connecting column (43) fixed on the rotating seat (42) in a vertically extending manner;

the lifting platform (6) is vertically and slidably arranged on the connecting column (43).

6. The pick-and-place apparatus according to claim 5, characterized in that a rotary guide assembly is provided between the top of the connecting column (43) and the frame (1); and/or

The bottom of the rotating seat (42) is provided with a rotating guide assembly.

7. The pick and place apparatus of claim 6, wherein the rotary guide assembly comprises

The guide piece is annular and is fixedly arranged relative to the rack (1);

and the guide wheel is arranged on the top of the connecting column (43) or the bottom of the rotating seat (42) and rolls on the guide piece.

8. The pick and place apparatus according to any of claims 2-7, characterised in that the gripping mechanism (5) comprises

A mounting seat (51);

the clamping part comprises a first clamping jaw (52) and a second clamping jaw (53) which are oppositely and rotatably arranged on the mounting seat (51);

the fitting part is arranged at one side end of the mounting seat (51) back to the clamping part;

a driving plate (57) is arranged between the clamping part and the matching part, and the driving plate (57) and the first clamping jaw (52) and the second clamping jaw (53) are distributed on two side walls of the mounting seat (51);

the driving plate (57) is movably connected with the first clamping jaw (52) and the second clamping jaw (53) through a fixing assembly, the protruding end triggers the state of the matching part, and the matching part drives the driving plate (57) to drive the first clamping jaw (52) and the second clamping jaw (53) to approach each other; when the protruding end is separated from the matching part, the driving plate (57) drives the first clamping jaw (52) and the second clamping jaw (53) to move away from each other under the driving action of a return biasing force.

9. The material taking and placing device according to claim 8, wherein the mounting seat (51) is provided with a first abdicating hole (511) and a second abdicating hole (512) which extend vertically and are arranged side by side;

the fixing assembly comprises a first fixing piece (54) and a second fixing piece (55) which respectively penetrate through the first yielding hole (511) and the second yielding hole (512); one end of the first fixing piece (54) is hinged on the first clamping jaw (52), and the other end of the first fixing piece is fixed on the driving plate (57); one end of the second fixing piece (55) is hinged to the second clamping jaw (53), and the other end of the second fixing piece is fixed on the driving plate (57); and

and two ends of each elastic component are respectively fixed on the corresponding fixing piece and the mounting seat (51) to exert the restoring biasing force, and under the biasing force of the elastic components, the first fixing piece (54) and the second fixing piece (55) are driven to be respectively positioned at the bottoms of the hole walls of the abdicating holes where the elastic components are respectively positioned.

10. The material taking and placing device according to claim 9, wherein at least one protrusion (571) is protruded inwards on a side wall surface of the mounting seat (51) facing away from the first clamping jaw (52) and the second clamping jaw (53), the protrusion is provided with a mounting groove for the insertion of the protruding end, and the protrusion (571) is used as the matching part.

11. The material taking and placing device according to any one of claims 3-7 or 9-10, wherein the lifting mechanism (2) is provided with a lifting component and a lifting driving device (21) for driving the lifting component to move up and down;

the lifting component comprises

A winding roller (22) which is rotatably arranged on the frame (1) under the drive of a lifting drive device (21);

the initial end of the conveying belt (23) is fixed on the winding roller (22), the conveying belt is wound on the winding roller (22) in a winding manner, and the extraction end extracted from the winding roller (22) extends downwards along the vertical direction;

the lifting platform (6) is rotatably arranged on a second support (29) of the extraction end.

12. A workpiece handling system, comprising

The pick and place device of any one of claims 1-11;

at least two tank bodies (82) fixed on the frame (1); the tank bodies (82) correspond to the clamping mechanisms (5) one by one, and each tank body (82) is provided with a first inner cavity with an opening at the top so that a workpiece to be transferred can extend into the tank body (82).

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