CN209905874U - Fast moving device and system - Google Patents
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- CN209905874U CN209905874U CN201920258068.8U CN201920258068U CN209905874U CN 209905874 U CN209905874 U CN 209905874U CN 201920258068 U CN201920258068 U CN 201920258068U CN 209905874 U CN209905874 U CN 209905874U
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Abstract
The utility model discloses a quick travel device and system relates to work piece transfer technical field. The quick moving device comprises a moving assembly and a bearing assembly, the moving assembly comprises a moving mechanism and a first adsorption mechanism, the bearing assembly comprises a bearing platform, the first adsorption mechanism is arranged on the moving mechanism and used for adsorbing or releasing a workpiece to be moved, the moving mechanism drives the first adsorption mechanism to move along a smooth preset path, the bearing platform is used for bearing the workpiece to be moved, the first adsorption mechanism can adsorb the workpiece to be moved on the bearing platform and move to a target position along the preset path under the driving of the moving mechanism, and the workpiece to be moved is released to the target position. The quick moving device and the quick moving system have the characteristics of simple and quick moving action and small occupied space.
Description
Technical Field
The utility model relates to a work piece shifts technical field, particularly, relates to a quick travel device and system.
Background
During the production process, the workpiece or other objects need to be regularly and periodically moved, for example, the workpiece is moved from one station to the next station, and after the processing is completed, the workpiece is moved to the next station.
However, the conventional robot generally has multiple degrees of freedom, and the workpiece can be transferred by multiple actions, such as downward movement, clamping, lifting, moving, downward movement and releasing, to realize a movement function of one cycle, and the required cycle is long due to the complexity of the actions, which affects the production efficiency; further, the conventional robot hand needs a relatively large space to perform its operation, and it is difficult to perform work in an extremely narrow space.
In view of the above, it is important to develop a fast moving device and system that can solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a quick movement device, the device have the removal action simple swift, and the little characteristics of its occupation space.
Another object of the present invention is to provide a fast moving system, which has the features of simple and fast moving operation and small occupied space.
Another object of the present invention is to provide a method for moving quickly, which has the advantages of simple and quick moving operation and small occupied space.
The utility model provides a technical scheme:
in a first aspect, an embodiment of the present invention provides a fast moving apparatus, including a moving assembly and a bearing assembly, where the moving assembly includes a moving mechanism and a first adsorption mechanism, and the bearing assembly includes a bearing platform; the first adsorption mechanism is arranged on the moving mechanism and used for adsorbing or releasing a workpiece to be moved, and the moving mechanism drives the first adsorption mechanism to move along a smooth preset path; the bearing platform is used for bearing the workpiece to be moved, the first adsorption mechanism can adsorb the workpiece to be moved on the bearing platform and move to a target position along the preset path under the driving of the moving mechanism, so that the workpiece to be moved is released to the target position.
With reference to the first aspect, in a first implementation manner of the first aspect, the carrier assembly further includes a second adsorption mechanism; the second adsorption mechanism is arranged on the bearing platform and is used for adsorbing the workpiece to be moved on the bearing platform.
With reference to the first aspect and the foregoing implementation manner, in a second implementation manner of the first aspect, an adsorption force of the second adsorption mechanism when adsorbing the workpiece to be moved is smaller than an adsorption force of the first adsorption mechanism when adsorbing the workpiece to be moved by the supporting platform.
With reference to the first aspect and the foregoing implementation manner, in a third implementation manner of the first aspect, the second adsorption mechanism may adsorb or release the workpiece to be moved to the bearing platform; and when the first adsorption mechanism moves to the bearing platform, the second adsorption mechanism releases the workpiece to be moved.
With reference to the first aspect and the foregoing implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the fast moving apparatus further includes a main controller, and the main controller is connected to the first adsorption mechanism and the second adsorption mechanism respectively; when the first adsorption mechanism moves to the bearing platform corresponding to the second adsorption mechanism, the main controller can control the second adsorption mechanism to release the workpiece to be moved and control the first adsorption mechanism to adsorb the workpiece to be moved; when the first adsorption mechanism moves to the target position, the main controller can control the first adsorption mechanism to release the workpiece to be moved to the target position.
With reference to the first aspect and the foregoing implementation manner, in a fifth implementation manner of the first aspect, the moving mechanism includes a reciprocating driving element and a connecting element that are connected to each other, the first adsorption mechanism is connected to the connecting element, and the connecting element is strip-shaped and is disposed along the preset path.
With reference to the first aspect and the foregoing implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the fast moving apparatus further includes a positioning mechanism; the positioning mechanism is arranged on the bearing platform and/or the first adsorption mechanism and used for limiting the position of the workpiece to be moved.
With reference to the first aspect and the foregoing implementation manner, in a seventh implementation manner of the first aspect, the fast moving apparatus includes a plurality of sets of the bearing assemblies, and a plurality of bearing platforms are sequentially arranged along the preset path; the first adsorption mechanism can adsorb or release the workpiece to be moved on the bearing platform.
With reference to the first aspect and the foregoing implementation manner, in an eighth implementation manner of the first aspect, the number of the first adsorption mechanisms is multiple, and the multiple first adsorption mechanisms are sequentially disposed on the moving mechanism; the first adsorption mechanisms can adsorb or release the workpieces to be moved on the corresponding bearing platforms at the same time.
In a second aspect, an embodiment of the present invention provides a fast moving system, including a feeding mechanism and a fast moving device as described above, where the fast moving device includes a moving assembly and a bearing assembly, the moving assembly includes a moving mechanism and a first adsorption mechanism, and the bearing assembly includes a bearing platform; the first adsorption mechanism is arranged on the moving mechanism and used for adsorbing or releasing a workpiece to be moved, and the moving mechanism drives the first adsorption mechanism to move along a smooth preset path; the bearing platform is used for bearing the workpiece to be moved, the first adsorption mechanism can adsorb the workpiece to be moved on the bearing platform and move to a target position along the preset path under the driving of the moving mechanism, so that the workpiece to be moved is released to the target position. The feeding mechanism is arranged at the front end of the preset path and used for providing the workpiece to be moved to the first adsorption mechanism.
In a second aspect, an embodiment of the present invention provides a fast moving method, which is applied to the fast moving apparatus, the fast moving method includes:
adsorbing the workpiece to be moved by the bearing platform through the first adsorption mechanism;
the moving mechanism drives the workpiece to be moved to move to the target position along a smooth preset path;
and releasing the workpiece to be moved to the target position through the first adsorption mechanism.
Compared with the prior art, the embodiment of the utility model provides a quick travel device and system's beneficial effect is:
the moving assembly comprises a moving mechanism and a first adsorption mechanism, the first adsorption mechanism is arranged on the moving mechanism and used for adsorbing or releasing a workpiece to be moved, the moving mechanism can move along a smooth preset path to drive the first adsorption mechanism to move along the smooth preset path, the smooth preset path can be a multi-section path such as a curve or a straight line instead of a broken line and the like to improve the moving speed, the bearing assembly comprises a bearing platform which is used for bearing the workpiece to be moved, the first adsorption mechanism can adsorb the workpiece to be moved by the bearing platform and move along the preset path under the driving of the moving mechanism so as to release the workpiece to be moved to a target position, or the bearing platform is close to or positioned in the preset path, similarly, the target position is also close to or positioned in the preset path, and the first adsorption mechanism smoothly moves to the target position by the bearing platform, and the workpiece to be moved is adsorbed when the bearing platform is positioned, and the adsorbed workpiece to be moved is released when the bearing platform is positioned at the target position so as to complete the movement of the workpiece to be moved.
Therefore, the first adsorption mechanism treats the moving workpiece through direct adsorption and direct release, when the first adsorption mechanism adsorbs and releases, the moving distance of the workpiece to be moved is small, the speed is high, meanwhile, the first adsorption mechanism moves between the target position and the bearing platform along a smooth preset path, the action of driving the workpiece to be moved to move is completed through a plurality of actions different from the existing mechanical arm, the action is simple and quick, the simple moving action also enables the moving mechanism to be small in required space when the moving work is completed, and the space occupied by the quick moving device is small.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.
Fig. 1 is a schematic structural diagram of a fast moving device applied to a fast moving system according to a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a fast moving device according to a first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of the fast moving apparatus provided by the first embodiment of the present invention, which has a second adsorption mechanism and a main controller.
Fig. 4 is a schematic flow chart of a fast moving method according to a second embodiment of the present invention.
Icon: 100-a fast moving system; 20-a feeding mechanism; 30-a material receiving mechanism; 10-a fast moving device; 12-a moving assembly; 121-a moving mechanism; 1213-connecting member; 1214-reciprocating drive; 122 — a first adsorption mechanism; 15-a carrier assembly; 151-a load-bearing platform; 152-a second adsorption mechanism; 17-a positioning mechanism; 19-a master controller; 900-workpiece to be moved.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The terms "upper", "lower", "inner", "outer", "left", "right", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally used to place the products of the present invention, or orientations or positional relationships that are conventionally understood by those skilled in the art, and are used merely to facilitate the description of the present invention and to simplify the description, but do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It is also to be understood that, unless expressly stated or limited otherwise, the terms "disposed," "connected," and the like are intended to be open-ended, and mean "connected," i.e., fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The following describes in detail embodiments of the present invention with reference to the accompanying drawings.
The first embodiment:
referring to fig. 1, fig. 1 is a schematic structural diagram illustrating a fast moving device 10 applied to a fast moving system 100 according to a first embodiment of the present invention.
An embodiment of the utility model provides a fast moving device 10, this fast moving device 10 have the removal action simple swift, and the little characteristics of its occupation space. The fast moving apparatus 10 can be applied to the fast moving system 100, the production line, etc., and of course, the fast moving apparatus 10 can be used independently.
In the case that the fast moving device 10 is applied to the fast moving system 100, for example, the fast moving system 100 includes a fast moving device 10 and a feeding mechanism 20, the fast moving device 10 is used for taking the workpiece 900 to be moved from the feeding mechanism 20 and driving the workpiece 900 to be moved to a target position, and the feeding mechanism 20 is disposed at the front end of the fast moving device 10 and is capable of providing the workpiece 900 to be moved to the fast moving device 10, wherein the feeding mechanism 20 may be a telescopic moving mechanism, such as a hydraulic rod, a pneumatic rod, or an electric telescopic member, so as to drive the upper layer of the stacked workpiece 900 to be moved to keep a certain distance from the fast moving device 10, or after the fast moving device 10 takes away the stacked workpiece 900 to be moved at the top layer carried by the feeding mechanism 20, the feeding mechanism 20 is capable of driving the workpiece 900 to be moved to move upward, so that the workpiece 900 at the upper layer is a certain distance from the fast moving device 10, so that the fast moving device 10 can take the workpiece 900 to be moved by the feeding mechanism 20.
It should be noted that the rapid moving system 100 may further include a material receiving mechanism 30, the material receiving mechanism 30 is disposed at the end of the rapid moving device 10 and is used for receiving the workpiece 900 to be moved, which moves along with the rapid moving device 10, and the material receiving mechanism 30 may also be a telescopic moving mechanism, such as a hydraulic rod, a pneumatic rod or an electric telescopic member, so that when the rapid moving device 10 places the workpiece 900 to be moved in the material receiving mechanism 30, the uppermost surface of the material receiving mechanism 30 is at a certain distance from the rapid moving device 10, so that the rapid moving device 10 stably places the workpiece 900 to be moved in the material receiving mechanism 30.
Because the fast moving system 100 adopts the fast moving device 10 provided by the embodiment of the present invention, the fast moving system 100 also has the characteristics of simple and fast moving action and small occupied space.
The structural composition, the operation principle and the advantageous effects of the fast moving system 100 according to the embodiment of the present invention will be described in detail below.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a fast moving device 10 according to a first embodiment of the present invention.
The fast moving device 10 includes a moving assembly 12 and a carrying assembly 15, the moving assembly 12 is used for driving the workpiece 900 to be moved to move, and the carrying assembly 15 is used for carrying the workpiece 900 to be moved and/or providing a station for processing the workpiece 900 to be moved.
Wherein, the moving assembly 12 includes a moving mechanism 121 and a first adsorbing mechanism 122, the first adsorbing mechanism 122 is disposed on the moving mechanism 121 and is used for adsorbing or releasing the workpiece 900 to be moved, and the moving mechanism 121 can move along a smooth preset path to drive the first adsorbing mechanism 122 to move along the smooth preset path, the smooth preset path can be a curved or straight line, and is not a multi-segment path such as a broken line, so as to increase the moving rate, and the moving mechanism 121 drives the first adsorbing mechanism 122 to move along the preset path as a single action instead of a combination of multiple actions, so as to further increase the moving rate, the bearing assembly 15 includes a bearing platform 151, the bearing platform 151 is used for bearing the workpiece 900 to be moved, the first adsorbing mechanism 122 can adsorb the workpiece 900 to be moved by the bearing platform 151 and move along the preset path under the driving of the moving mechanism 121, the first suction mechanism 122 moves smoothly from the loading platform 151 to the target position, sucks the workpiece 900 to be moved when the loading platform 151 is at the target position, and releases the sucked workpiece 900 to be moved when the loading platform is at the target position, so as to complete the movement of the workpiece 900 to be moved.
Thus, the first adsorption mechanism 122 directly adsorbs and directly releases the workpiece 900 to be moved, when adsorbing and releasing the workpiece, the moving distance of the workpiece 900 to be moved is small, the speed is high, meanwhile, the first adsorption mechanism 122 moves between the target position and the bearing platform 151 along a smooth preset path, and the movement of driving the workpiece 900 to be moved is completed through a plurality of actions, which is different from the existing mechanical arm, the movement is simpler and faster, the simple movement action also enables the space required by the movement mechanism 121 when completing the movement work to be small, and the space occupied by the fast moving device 10 is smaller.
It should be noted that, in this embodiment, the supporting platform 151 is disposed close to the preset path and located below the preset path, and in other embodiments, the supporting platform 151 may also be located at a side of the preset path and can clamp or limit the workpiece 900 to be moved in a plane perpendicular to a direction in which the workpiece 900 to be moved is attracted to the first adsorbing mechanism 122, and a processing component may be disposed above the supporting platform 151 so as to process the workpiece 900 to be moved on the supporting platform 151, such as a punching operation, of course, the supporting platform 151 may also only perform a supporting function and may be used to temporarily store the workpiece 900 to be moved, and in addition, the first adsorbing mechanism 122 may be an attracting force controllable by electromagnetism, an electric charge attraction force, an air negative pressure, and the like, and of course, may also be an adsorbing mechanism which controls the attracting force by rotating a position of a permanent magnet.
Further, the fast moving apparatus 10 may further include a positioning mechanism 17, where the positioning mechanism 17 is disposed on the supporting platform 151 to limit the position of the workpiece 900 to be moved, so as to facilitate the supporting platform 151 to process the workpiece 900 to be moved, and improve the accuracy of the first suction device to suck the workpiece 900 to be moved, in this embodiment, the positioning mechanism 17 is annular, and a guiding inclined plane facing the first suction mechanism 122 is disposed on an inner side of the positioning mechanism 17, in other embodiments, the positioning mechanism 17 may also be a clamping positioning mechanism 17 that pushes towards a preset position to push and lock the workpiece 900 to be moved to the preset position, and of course, the positioning mechanism 17 may also be disposed on the first suction mechanism 122, or disposed on the first suction mechanism 122 and the supporting platform 151 at the same time, and is used to limit the position of the workpiece 900 to be moved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of the fast moving device 10 having the second adsorption mechanism 152 and the main controller 19 according to the first embodiment of the present invention.
The bearing assembly 15 may further include a second adsorption mechanism 152, wherein the second adsorption mechanism 152 includes a second adsorption mechanism 152 disposed on the bearing platform 151 and configured to adsorb the workpiece 900 to be moved on the bearing platform 151, so that when the workpiece 900 to be moved is located on the bearing platform 151, the workpiece 900 to be moved is more stably located on the bearing platform 151, which is convenient for the bearing platform 151 to process the workpiece 900 to be moved.
Further, the adsorption force of the second adsorption mechanism 152 when adsorbing the workpiece 900 to be moved is smaller than the adsorption force of the first adsorption mechanism 122 when adsorbing the workpiece 900 to be moved by the supporting platform 151, so that the first adsorption mechanism 122 directly adsorbs the workpiece 900 to be moved by the supporting platform 151 when being opened, at this time, the second adsorption mechanism 152 may be a permanent magnet, a negative pressure suction nozzle with fixed adsorption force, or an electric charge attraction force, and the like, and the setting of the large adsorption force and the small adsorption force can reduce the control cost of the fast moving device 10.
Further, the second adsorption mechanism 152 may also be an adsorption mechanism capable of adsorbing or releasing the workpiece 900 to be moved on the supporting platform 151, and when the first adsorption mechanism 122 moves to the supporting platform 151, the second adsorption mechanism 152 releases the workpiece 900 to be moved, at this time, the second adsorption mechanism 152 may be an electromagnet, a controllable air adsorption force, or other controllable adsorption force, and of course, the adsorption mechanism may also be an adsorption mechanism that controls the adsorption force by rotating the position of the permanent magnet, so that the first adsorption mechanism 122 can adsorb the workpiece 900 to be moved on the supporting platform 151 more easily and quickly.
With reference to fig. 3, the fast moving apparatus 10 may further include a main controller 19, wherein the main controller 19 is connected to the first adsorption mechanism 122 and the second adsorption mechanism 152, and when the first adsorption mechanism 122 moves to the carrying platform 151 corresponding to the second adsorption mechanism 152, the main controller 19 can control the second adsorption mechanism 152 to release the workpiece 900 to be moved, and control the first adsorption mechanism 122 to adsorb the workpiece 900 to be moved, so that the carrying platform 151 can more accurately carry the workpiece 900 to be moved, and when the first adsorption mechanism 122 moves to a target position, the main controller 19 can control the first adsorption mechanism 122 to release the workpiece 900 to be moved to the target position, and the main controller 19 controls the first adsorption mechanism 122 and the second adsorption mechanism 152, so that the actions of sucking, releasing and carrying the workpiece 900 to be moved are more accurate.
It is understood that the main controller 19 may also be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a voice Processor, a video Processor, etc.; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The main Controller 19 may also be any conventional processor, such as a PLC (Programmable Logic Controller), a single chip, etc. Of course, the main controller 19 may also be a relay contactor control system, and the combination of switches, relays, buttons and control appliances of the industrial sensor is adopted to receive signals and perform functions such as switching, switching and adjusting circuits, for example, proximity switches are arranged at the target position and the bearing platform 151, and the two proximity switches trigger the first adsorption mechanism 122 and the second adsorption mechanism 152 to complete adsorption or release actions.
Further, the moving mechanism 121 may be a driving mechanism including a connecting element 1213 and a reciprocating driving element 1214, which are connected to each other, the connecting element 1213 is connected to the first suction mechanism 122, and the reciprocating driving element 1214 drives the first suction mechanism 122 to reciprocate via the connecting element 1213, so that the first suction mechanism 122 moves between the target position and the supporting platform 151. Moreover, the connecting members 1213 are strip-shaped and arranged along a predetermined path, so that more space is available near the plummer, which is convenient for installing and processing the device for processing the workpiece 900 to be moved, and the connecting members 1213 may also be hollow or mesh-shaped structures, so that the punching head of the processing device can penetrate through the connecting members 1213.
It should be noted that the moving mechanism 121 may also be a bar-shaped moving mechanism, such as a pneumatic, hydraulic or electric telescopic rod, or a belt-type transmission mechanism, which is disposed along a predetermined path in the length direction to reduce the volume of the fast moving device 10.
With reference to fig. 2 and fig. 3, the fast moving apparatus 10 may also include a plurality of sets of supporting assemblies 15, wherein the supporting platforms 151 are sequentially disposed along a predetermined path, and the first adsorption mechanism 122 can adsorb or release the workpiece 900 to be moved on the supporting platform 151 passing by, and complete the moving operation of the supporting platforms 151. Of course, a second adsorption mechanism 152 may be further provided on each of the loading platforms 151.
Further, the fast moving device 10 may further include a plurality of first adsorption mechanisms 122, the plurality of first adsorption mechanisms 122 are sequentially disposed on the moving mechanism 121, the plurality of first adsorption mechanisms 122 can simultaneously adsorb or release the workpiece 900 to be moved on the corresponding bearing platforms 151, and the workpiece 900 to be moved is sequentially moved on each bearing platform 151, it should be noted that, during processing, the processing equipment may pass through the connecting member 1213 or the gap between the first adsorption mechanisms 122 for processing, or the processing equipment and the adsorption components are respectively located on two sides above the bearing platforms 151.
For example, when the workpiece 900 to be moved is processed on one of the loading platforms 151, the corresponding second adsorption mechanism 152 of the loading platform 151 stops providing the adsorption force, or the corresponding first adsorption mechanism 122 provides a larger adsorption force, and at this time, the workpiece 900 to be moved leaves the loading platform 151 and is adsorbed to the first adsorption mechanism 122; when the workpiece 900 to be moved is adsorbed to the first adsorption mechanism 122, the moving mechanism 121 drives the workpiece 900 to be moved to move to the next bearing platform 151 through the first adsorption odd-even strand; when the workpiece 900 to be moved is moved to the next supporting platform 151, the first adsorption mechanism 122 stops providing the adsorption force, and certainly, the corresponding second adsorption mechanism 152 can also provide a larger adsorption force, at this time, the workpiece 900 to be moved leaves the first adsorption mechanism 122 and is adsorbed on the supporting platform 151, and the other supporting platforms 151, the second adsorption mechanism 152 and the first adsorption mechanism 122 can also complete the movement of the workpiece 900 to be moved; when the workpiece 900 to be moved is adsorbed on the bearing platform 151, the moving mechanism 121 drives the first adsorption mechanism 122 to reset, and the workpiece returns to the original station; this completes a conveying cycle, and as long as the cycle is repeated, the workpiece 900 to be moved is periodically moved.
Taking a workpiece 900 to be moved as an iron piece to be stamped, taking a rapid processing device as an example for moving a workpiece to be stamped in a stamping system, compared with a two-dimensional or three-dimensional manipulator, the rapid moving device 10 has a shorter conveying period, when the workpiece 900 to be moved is 0.5mm in material thickness and the distance between the bearing platforms 151 is 50mm, the distance between the plate of the connecting piece 1213 and the top surface of the workpiece 900 to be moved of the bearing platform 151 is 0.65mm, a high-speed cylinder (3m/s) is used for driving the connecting piece 1213 to reciprocate, considering the acceleration and deceleration of the cylinder, the actual moving speed of the cylinder should be 1.5m/s, the one-way time is 33ms, because the adsorption moving distance is short and consumes less than 5ms, one period consists of two one-way actions and two adsorption actions and should be 76ms, plus 30% of redundancy, one conveying period is 100ms, and is 10% of the traditional manipulator in number, furthermore, considering that the transfer cycle must be completed in the first half cycle (270-90 degrees) of the punch stroke, the work cycle of the punch should be greater than 200ms, and a suitable choice should be 300ms, corresponding to 200 SPM (number of strokes per minute), which can reach 200 SPM, and the stroke is usually 30-50mm, since the thickness of the first adsorption mechanism 122 on the connecting element 1213 can be 4mm when it is a permanent magnet, the distance between the connecting element 1213 and the surface 900 of the workpiece to be moved is 0.65mm, and the top of the connecting element 1213 is 4.65mm higher than the top surface of the supporting platform 151, it is completely feasible and acceptable, even if the two-or three-dimensional robot can reach the close transfer cycle, it cannot be arranged on the punch stroke 30-50 mm.
The utility model discloses the theory of operation of the quick travel device 10 that the first embodiment provided is:
the moving assembly 12 includes a moving mechanism 121 and a first adsorbing mechanism 122, the first adsorbing mechanism 122 is disposed on the moving mechanism 121 and is configured to adsorb or release the workpiece 900 to be moved, and the moving mechanism 121 can move along a smooth predetermined path to drive the first adsorbing mechanism 122 to move along the smooth predetermined path, the smooth predetermined path can be a curved or straight path, instead of a multi-segment path such as a broken line, so as to increase the moving rate, the bearing assembly 15 includes a bearing platform 151, the bearing platform 151 is configured to bear the workpiece 900 to be moved, the first adsorbing mechanism 122 can adsorb the workpiece 900 to be moved by the bearing platform 151 and move along the predetermined path under the driving of the moving mechanism 121 to release the workpiece 900 to be moved to a target position, or the bearing platform 151 is close to or located at the predetermined path, and similarly, the target position is close to or located at the predetermined path, the first adsorbing mechanism 122 smoothly moves from the bearing platform 151 to the target position, and the workpiece 900 to be moved is adsorbed when the loading platform 151 is at the position, and the adsorbed workpiece 900 to be moved is released when the loading platform is at the target position, so as to complete the movement of the workpiece 900 to be moved.
Thus, the first adsorption mechanism 122 directly adsorbs and directly releases the workpiece 900 to be moved, when adsorbing and releasing the workpiece, the moving distance of the workpiece 900 to be moved is small, the speed is high, meanwhile, the first adsorption mechanism 122 moves between the target position and the bearing platform 151 along a smooth preset path, and the movement of driving the workpiece 900 to be moved is completed through a plurality of actions, which is different from the existing mechanical arm, the movement is simpler and faster, the simple movement action also enables the space required by the movement mechanism 121 when completing the movement work to be small, and the space occupied by the fast moving device 10 is smaller.
In summary, the following steps:
an embodiment of the utility model provides a fast moving device 10, the device have the removal action simple swift, and the little characteristics of its occupation space.
Second embodiment:
referring to fig. 4, fig. 4 is a schematic flow chart of a fast moving method according to a second embodiment of the present invention.
The fast moving method comprises the following steps:
s101, adsorbing the workpiece 900 to be moved by the bearing platform 151 through the first adsorption mechanism 122.
S102, the moving mechanism 121 drives the workpiece 900 to be moved to move to a target position along a smooth preset path.
And S103, releasing the workpiece 900 to be moved to the target position through the first adsorption mechanism 122.
The utility model discloses the theory of operation of the quick travel method that the second embodiment provided is:
the first adsorption mechanism 122 is used for adsorbing or releasing the workpiece 900 to be moved, and is driven by the moving mechanism 121 to move to the target position along a smooth preset path, which may be a curved or straight path, instead of a multi-segment path such as a broken line, to increase the moving rate, and release the workpiece 900 to be moved to the target position through the first adsorption mechanism 122 by directly adsorbing and directly releasing the workpiece 900 to be moved.
In summary, the following steps:
the embodiment of the utility model provides a quick movement method, this method have the removal action simple swift, and its occupation space is little characteristics.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it will be apparent to those skilled in the art that the features in the above embodiments may be combined with each other without conflict, and various modifications and variations of the present invention are possible. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. The present embodiments are to be considered as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. The quick moving device is characterized by comprising a moving assembly and a bearing assembly, wherein the moving assembly comprises a moving mechanism and a first adsorption mechanism, and the bearing assembly comprises a bearing platform;
the first adsorption mechanism is arranged on the moving mechanism and used for adsorbing or releasing a workpiece to be moved, and the moving mechanism drives the first adsorption mechanism to move along a smooth preset path;
the bearing platform is used for bearing the workpiece to be moved, the first adsorption mechanism can adsorb the workpiece to be moved on the bearing platform and move to a target position along the preset path under the driving of the moving mechanism, so that the workpiece to be moved is released to the target position.
2. The fast moving apparatus of claim 1, wherein the carrier assembly further comprises a second suction mechanism;
the second adsorption mechanism is arranged on the bearing platform and is used for adsorbing the workpiece to be moved on the bearing platform.
3. The fast moving apparatus according to claim 2, wherein an adsorption force of the second adsorption mechanism when adsorbing the workpiece to be moved is smaller than an adsorption force of the first adsorption mechanism when adsorbing the workpiece to be moved by the loading platform.
4. The fast moving apparatus according to claim 2, wherein the second suction mechanism is capable of sucking or releasing the workpiece to be moved to the loading platform;
and when the first adsorption mechanism moves to the bearing platform, the second adsorption mechanism releases the workpiece to be moved.
5. The fast moving device according to claim 4, further comprising a main controller connected to the first adsorption mechanism and the second adsorption mechanism, respectively;
when the first adsorption mechanism moves to the bearing platform corresponding to the second adsorption mechanism, the main controller can control the second adsorption mechanism to release the workpiece to be moved and control the first adsorption mechanism to adsorb the workpiece to be moved;
when the first adsorption mechanism moves to the target position, the main controller can control the first adsorption mechanism to release the workpiece to be moved to the target position.
6. The fast moving apparatus according to claim 1, wherein the moving mechanism comprises a reciprocating driving member and a connecting member connected to each other, and the first suction mechanism is connected to the connecting member, and the connecting member is in a shape of a bar and is disposed along the predetermined path.
7. The fast moving device of claim 1, further comprising a positioning mechanism;
the positioning mechanism is arranged on the bearing platform and/or the first adsorption mechanism and used for limiting the position of the workpiece to be moved.
8. The fast moving apparatus according to claim 1, wherein the fast moving apparatus comprises a plurality of sets of the bearing assemblies, and a plurality of bearing platforms are sequentially arranged along the preset path;
the first adsorption mechanism can adsorb or release the workpiece to be moved on the bearing platform.
9. The fast moving apparatus according to claim 8, wherein the number of the first adsorption mechanisms is plural, and the plural first adsorption mechanisms are sequentially provided to the moving mechanism;
the first adsorption mechanisms can adsorb or release the workpieces to be moved on the corresponding bearing platforms at the same time.
10. A fast moving system comprising a feeding mechanism and a fast moving apparatus according to any one of claims 1 to 9, the feeding mechanism being provided at a front end of the preset path and adapted to supply the workpiece to be moved to the first adsorption mechanism.
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| CN109733866A (en) * | 2019-02-28 | 2019-05-10 | 佛山市传恒机电制造有限公司 | Quick moving device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109733866A (en) * | 2019-02-28 | 2019-05-10 | 佛山市传恒机电制造有限公司 | Quick moving device and method |
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