CN212892692U - Handling device and automatic handling equipment - Google Patents

Abstract

The utility model discloses a handling device and automatic handling equipment relates to household electrical appliances transport technical field for carry large-scale household electrical appliances. This handling device includes: the device comprises a frame, a linear driving mechanism and two clamping mechanisms. The linear driving mechanism is used for controlling the two clamping mechanisms to move towards opposite directions. The frame has two mounting sides spaced apart. The two clamping mechanisms are mounted on two different mounting sides. Wherein, every fixture includes two clamping parts independent each other. Two clamping parts of each clamping mechanism are movably arranged on the same mounting side. Compare with current artifical transport mode, adopt the utility model provides a handling device not only raises the efficiency, can carry the different object of outward appearance shape moreover. The utility model discloses still include an automatic handling equipment including above-mentioned handling device.

Description

Handling device and automatic handling equipment

Technical Field

The utility model relates to a household electrical appliances transport technical field especially relates to a handling device and automatic handling equipment.

Background

With the improvement of the quality of life, the application of household appliances is more and more, especially some large-scale household appliances, such as: large refrigerators, floor air conditioners, and the like.

Because large-scale household electrical appliances are large in size and heavy in weight, at present, the large-scale household electrical appliances are mostly carried by manpower and a small cart. Therefore, the time and labor are wasted, the efficiency is low, and household appliances are easily damaged in the manual carrying process.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a handling device and automatic handling equipment to the great household electrical appliances of self-adaptation transport volume.

In order to achieve the above object, the present invention provides a carrying device, including: the linear driving mechanism is used for controlling the two clamping mechanisms to move towards opposite directions; the frame is provided with two mounting sides which are distributed at intervals, and the two clamping mechanisms are mounted on the two different mounting sides; each clamping mechanism comprises two mutually independent clamping parts; two clamping parts of each clamping mechanism are movably arranged on the same mounting side.

Optionally, the linear driving mechanism includes at least one power source and two transmission mechanisms with different transmission directions. Each power source is respectively in power connection with the two transmission mechanisms. Two transmission mechanisms are arranged on the frame. Each clamping mechanism is arranged on the corresponding transmission mechanism.

Preferably, the number of power sources is one. The two transmission mechanisms are connected together through a shaft. Each transmission mechanism is a screw nut linear motion mechanism. The number of power sources is two. Each transmission mechanism comprises a lead screw nut linear motion mechanism or a linear guide rail mechanism.

Optionally, each of the clamping portions comprises: the clamping body, and the linear motion connecting piece and the rotating connecting piece which are arranged on the clamping body.

Preferably, the linear motion connector is a telescopic connector. The telescopic connecting piece is an elastic connecting piece or a rod-type connecting piece. And/or the swivel connection is a hinge.

Optionally, the structure of the clamping body included in the at least one clamping portion is a flat plate structure.

Optionally, the clamping body included in the at least one clamping portion is a vacuum adsorption assembly.

Optionally, the clamping body of at least one clamping portion comprises a bracket and two vacuum adsorption assemblies. One of the vacuum adsorption components is arranged on the bracket. The other vacuum adsorption component is hinged on the bracket.

Preferably, each vacuum adsorption assembly comprises a plurality of vacuum adsorption pieces and a plurality of vacuum generation devices. Every two vacuum adsorption pieces share one vacuum generation device.

Optionally, the handling device further comprises at least one guide rail. Each guide rail is arranged on the frame. Each clamping part is arranged on at least one guide rail in a sliding mode.

Compared with the prior art, the utility model provides an among the handling device, the frame has two installation sides of interval distribution, and two fixture install two of difference the installation side. The linear driving mechanism controls the two clamping mechanisms to linearly move towards opposite directions, so that when the two clamping mechanisms are close to each other, an object to be conveyed can be clamped, and the object to be conveyed is convenient to convey; when the two clamping mechanisms are far away from each other, the clamped object can be released. Each clamping mechanism further comprises two mutually independent clamping parts, and each clamping part is movably connected with the frame. When the shape of an object to be carried is irregular, each of the gripping portions is displaced. At this moment, the accommodation space that forms between two fixture suits with the shape of the object that needs the transport, consequently, compares with current artifical transport mode, adopts the utility model provides a handling device not only raises the efficiency, can carry the object that the outward appearance shape is different moreover.

The utility model also provides an automatic handling equipment, including above-mentioned technical scheme handling device.

Compared with the prior art, the utility model provides an automatic handling equipment's beneficial effect is the same with the beneficial effect of the handling device among the above-mentioned technical scheme, and the here is not repeated.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic top view of a conveying device according to an embodiment of the present invention;

fig. 2 is a schematic side view of a carrying device according to an embodiment of the present invention;

fig. 3 is a schematic front view of a carrying device according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a carrying device according to an embodiment of the present invention;

fig. 5 is a schematic perspective view of a clamping mechanism in an embodiment of the present invention;

fig. 6 is a schematic front view of the clamping mechanism in the embodiment of the present invention;

fig. 7 is a first schematic state diagram of a carrying device according to an embodiment of the present invention;

fig. 8 is a schematic view illustrating a state of a carrying device according to an embodiment of the present invention;

fig. 9 is a third schematic state diagram of the conveying apparatus according to the embodiment of the present invention.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise. The meaning of "a number" is one or more unless specifically limited otherwise. In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

An embodiment of the utility model provides an automatic handling equipment, reach the handling device who is connected with the robot including the robot. The automatic carrying equipment can be used for carrying household appliances such as refrigerators and air conditioners and can also be used for carrying other large-scale equipment.

Referring to fig. 1, an embodiment of the present invention provides a carrying device including: the device comprises a frame 1, a linear driving mechanism and two clamping mechanisms 2 with the same structure. The linear driving mechanism is used for controlling the two clamping mechanisms 2 to move towards opposite directions.

Referring to fig. 1, the frame 1 has two mounting sides spaced apart. The frame 1 may be of rectangular configuration. The frame 1 can be formed by welding square steel pipes. The two gripper mechanisms 2 are mounted on two different mounting sides. For example: one connection bracket 11 may be provided on each mounting side. Each gripper mechanism 2 is arranged on the respective mounting side by means of a respective connecting frame 11. The connecting frame 11 may have an L-shaped structure as a whole. The connecting frame 11 can be formed by welding square steel pipes.

Referring to fig. 2, each clamping mechanism 2 includes two clamping portions 3 that are independent of each other and have the same structure. Each clamping part 3 is movably mounted at the end of the same connecting frame 11. At this time, the displacement is generated between each clamping portion 3 and the corresponding connecting frame 11, so that the accommodating space formed between the two clamping mechanisms 2 is automatically adapted to the appearance shape of the object to be transported.

Referring to fig. 3, when the handling device provided by the embodiment of the present invention is used to handle objects such as household electrical appliances, the linear driving mechanism drives the two clamping mechanisms 2 to approach each other or keep away from each other. The two clamping mechanisms 2 are driven to approach each other by the linear driving mechanism. Each of the holding portions 3 is brought into contact with an object to be conveyed, and is displaced from the corresponding link 11 according to the shape of the object to be conveyed. An accommodating space matched with the shape of the object to be carried is formed between the two clamping mechanisms 2. Under the clamping force provided by the linear driving mechanism, each clamping part 3 clamps the object to be carried. At the moment, the robot drives the carrying device and the object to be carried by the carrying device to reach the designated position; or the robot drives the carrying device and the object to be carried by the carrying device to turn over so as to adjust the position or the posture of the object to be carried by the carrying device. Compare with current artifical transport mode, adopt the embodiment of the utility model provides an in the embodiment of a handling device not only can improve handling efficiency, can carry the anomalous object of shape moreover.

As a possible realization, with reference to fig. 2, the handling device further comprises at least one guide rail 8. Each guide rail 8 is provided on the frame 1. Each grip portion 3 is slidably mounted on at least one rail 8 by means of a respective connecting bracket 11. At this time, the two gripping mechanisms 2 are moved toward or away from each other along the guide rail 8 by the linear driving mechanism. Therefore, the resistance of the two clamping mechanisms 2 in the moving process can be reduced, and the two clamping mechanisms 2 can move more smoothly in the opposite directions.

As a possible implementation, referring to fig. 2, the linear driving mechanism includes at least one power source 4 and two transmission mechanisms with different transmission directions. Each power source 4 is respectively in power connection with two transmission mechanisms. Two transmission mechanisms are arranged on the frame 1, and each clamping mechanism 2 is arranged on the corresponding transmission mechanism.

Referring to fig. 4, the power source 4 may be fixed to the frame 1. The power source 4 may be a servo motor, or may be other pneumatic or hydraulic power sources. It should be understood that the power source 4 may be other power mechanisms, and the embodiment of the present invention is not limited thereto.

Referring to fig. 4, the transmission mechanism may be a screw nut linear motion mechanism or a linear guide mechanism. As to what type of transmission mechanism is selected, it is related to the number of power sources and the structure of the transmission mechanism, as exemplified below.

In one example, referring to fig. 4, each transmission mechanism may be a lead screw nut linear motion mechanism or the like. Each gripping means 2 is provided on a respective nut.

Referring to fig. 4, if the two lead screw nut linear motion mechanisms are threaded in opposite directions. Two screw rods 5 in the two screw rod nut linear motion mechanisms are connected together through a coupler. At this time, there may be only one power source 4, and the power source 4 is in power connection with any one of the screw rods 5. And the power source 4 drives one screw rod 5 to rotate so as to drive the other screw rod 5 to rotate in the same direction. At this time, when the two screw rods 5 rotate in the same direction, the nuts on the two screw rods 5 move linearly in opposite directions. And each clamping mechanism 2 is arranged on the corresponding nut, so that the two clamping mechanisms 2 arranged on the corresponding nuts are driven to do linear motion in opposite directions.

Referring to fig. 4, if the two lead screws of the two lead screw nut linear motion mechanisms are not dynamically connected together through a coupling or the like, the thread directions of the two lead screw nut linear motion mechanisms may be the same or different. In this case, there may be two power sources 4, each power source 4 being in power connection with a respective screw 5. Each power source 4 drives the corresponding screw rod 5 to rotate, so that the two screw rods 5 drive the corresponding nuts to linearly move in opposite directions. And each clamping mechanism 2 is arranged on the corresponding nut, so that the two clamping mechanisms 2 arranged on the corresponding nuts are driven to do linear motion in opposite directions.

In one example, referring to fig. 4, each transmission mechanism may be a linear guide mechanism. Each clamping mechanism is arranged on the corresponding linear guide rail. In this case, there may be two power sources 4.

Referring to fig. 4, each linear guide is in powered connection with a respective power source 4. For example, each linear guide has a rack structure, and each linear guide is in power connection with the corresponding power source 4 through a corresponding spur gear. At the moment, the rack structure on each linear guide rail is meshed with the corresponding straight gear. Each power source 4 drives the corresponding straight gear to rotate, so that the corresponding straight gear drives the corresponding linear guide rail to linearly move in opposite directions. And each clamping mechanism 2 is arranged on the corresponding linear guide rail, so that the two clamping mechanisms 2 arranged on the corresponding linear guide rails are driven to do linear motion in opposite directions.

As one possible implementation manner, referring to fig. 5, in order to enable the conveying device to convey objects with different external shapes, each of the clamping portions 3 includes: a clamping body 31, a linear motion coupling 6 and a rotary coupling 7.

In an alternative way, with reference to fig. 5, the structure of the clamping body 31 of at least one clamping portion 3 is a flat plate structure. For example: the clamping body 31 of each clamping portion 3 is of a flat plate structure. The flat plate structure is a broad flat plate structure, and includes but is not limited to a rectangular flat plate structure, an elliptical flat plate structure, or a circular flat plate structure, and other flat plate structures. The specific choice may be selected according to actual situations, and this embodiment does not specifically limit this.

In an alternative way, referring to fig. 5, in order to increase the friction coefficient between the gripping body 31 of each gripping portion 3 and the object to be handled, the surface of the gripping body 31 of each gripping portion 3 in contact with the object to be handled is rough or has a pattern. The surface of the gripping body 31 of each gripping part 3 that contacts the object to be conveyed is provided with an elastic member such as silicone rubber so as not to spoil the appearance of the object to be conveyed. It should be understood that the surface of the clamping body 31 of each clamping portion 3 contacting the object to be carried may also adopt other designs, and the embodiment of the present invention does not limit this.

In another alternative, referring to fig. 5 and 6, in order to enhance the stability of the above-mentioned handling device during the handling of the object, the clamping body 31 of at least one clamping portion 3 is a vacuum suction assembly. The vacuum absorbing member 32 may be a vacuum chuck and the vacuum generating device may be a vacuum generator. Of course, the vacuum absorbing member 32 may have other structures.

In practical application, referring to fig. 5 and 6, each vacuum absorption assembly includes a plurality of vacuum absorption members 32 and a plurality of vacuum generation devices, which are uniformly arranged at intervals. Every two vacuum suction members 32 share one vacuum generating device. The number of vacuum suction members 32 and the number of vacuum generating devices may be designed according to the size of the clamping body 31 of each clamping portion 3 and the size of the object to be transported. The distribution density of the vacuum suction members 32 may be designed according to the weight of the object to be carried. In this case, the handling device further comprises at least one solenoid valve 9. Each solenoid valve 9 is used to control the switching of the corresponding vacuum generating equipment.

Based on the above structure, referring to fig. 1 to 9, when the clamping body 31 of each clamping portion 3 comes into contact with an object to be conveyed, each solenoid valve 9 controls the corresponding vacuum generating equipment to start operating. When each vacuum generating device starts to operate, the corresponding vacuum suction member 32 has a suction force due to the negative pressure. At this time, each vacuum suction member 32 can suck the object to be conveyed. The object to be carried can not slide off in the carrying process; and the vacuum suction member 32 contacts the surface of the object to be carried to avoid spoiling the appearance of the object. Meanwhile, the arrangement of the plurality of vacuum adsorption pieces 32 can ensure that the whole adsorption effect is not influenced under the condition that any vacuum adsorption piece 32 leaks air.

In another alternative, with reference to fig. 5, the gripping body 31 of each gripping portion 3 comprises a support, two vacuum suction assemblies, in order to adapt to the thickness of the object to be handled. One of the vacuum adsorption components is fixedly arranged on the bracket. The other vacuum adsorption component is hinged on the bracket. The angle between the vacuum adsorption component hinged on the support and the support can be adjusted to adjust the angle between the two vacuum adsorption components. For example, another vacuum suction assembly is fixedly arranged on the rotating shaft. The end part of the rotating shaft is provided with a plurality of positioning holes and a positioning block with the positioning holes. Wherein, the locating piece is fixedly arranged on the bracket. After the angle between the two vacuum adsorption components is adjusted, the bolt penetrates through the positioning hole in the positioning block and the corresponding positioning hole in the rotating shaft. At this time, the angle between the two vacuum adsorption assemblies is relatively fixed. At this time, the two gripping mechanisms 2 grip the object to be conveyed in an optimum posture.

In an alternative way, referring to fig. 5, the linear motion joint 6 and the rotary joint 7 are provided on the gripping body 31 of each of the above-mentioned gripping portions 3. Meanwhile, the linear motion link 6 and the rotational link 7 may be connected to the end of the link frame 11.

In an example, referring to fig. 5, the linear motion connector 6 may be a telescopic connector, and the telescopic connector may be an elastic connector or a rod connector, but is not limited thereto.

Referring to fig. 5, if the telescopic links may be elastic links, the telescopic links may be springs. The size of the spring can be designed according to actual conditions. One end of the spring is fixedly arranged on the corresponding clamping body 31, and the other end of the spring is fixedly connected with the corresponding connecting frame 11.

Referring to fig. 5, if the telescopic links may be rod-type links, the telescopic links may include a plurality of links and a plurality of damping shafts. Every two connecting rods are connected through a damping rotating shaft. Wherein the links close to the respective clamping body 31 are fixedly connected with the respective clamping body 31. The links adjacent to the respective link frames 11 are fixedly connected to the respective link frames 11.

In one example, referring to fig. 5, the rotational connection 7 may be a hinge. For example, the rotating connector 7 may include a pin, two clamp springs sleeved at two ends of the pin, and a bearing in interference fit with the pin. The pin shafts are fixedly arranged on the corresponding clamping bodies 31, and the corresponding connecting frames 11 are sleeved on the corresponding pin shafts. When the clamping body 31 and the corresponding connecting frame 11 rotate relatively, the clamp springs sleeved at the two ends of the pin shaft can prevent the corresponding connecting frame 11 from moving axially. This prevents the clamping body 31 and the corresponding connection bracket from being disengaged from each other during relative rotation. The bearing in interference fit with the pin shaft can reduce the friction coefficient between the clamping body 31 and the corresponding connecting frame, so that the service life of the carrying device is prolonged.

In practical application, referring to fig. 5, the linear motion coupler 6 may be located at one end of the clamping bodies 31 of the two clamping portions 3 close to each other. The swivel connection 7 may be located at the end of the clamping bodies 31 of the two clamping parts 3 facing away from each other. Alternatively, the linear motion joint 6 may be located at an end of the two clamping portions 3 where the clamping bodies 31 are distant from each other. The swivel connection 7 may be located at the end of the two clamping parts 3 where the clamping bodies 31 are close to each other.

The connecting piece 6 is then positioned at the end of the two clamping parts 3 where the clamping bodies 31 are close to each other, with this linear movement. The transport process is illustrated by way of example in which the swivel connection 7 can be located at the end of the clamping bodies 31 of the two clamping parts 3 remote from each other,

referring to fig. 5 and 7, when the above-described conveying device conveys an object having a narrow middle and wide ends, each of the gripping bodies 31 must contact the surface of the object to be conveyed. At this time, each of the holding bodies 31 is relatively rotated with respect to the corresponding link 11 by the rotating link 7, so that the end of each of the holding bodies 31 provided with the rotating link 7 is close to the corresponding link 11. At the same time, the linearly moving connecting members 6 are stretched, so that the end of each holding body 31 provided with the linearly moving connecting member 6 is away from the corresponding connecting frame 11. At this time, a receiving space with a narrow middle part and wide two ends is formed between the two clamping mechanisms 2. The object to be carried is located in the accommodating space. Under the clamping force provided by the linear driving mechanism, each clamping part 3 clamps the object to be carried.

Referring to fig. 5 and 8, when the above-described conveying device conveys an object having a wide middle and narrow ends, each of the gripping bodies 31 must contact the surface of the object to be conveyed. At this time, each of the holding bodies 31 is relatively rotated with respect to the corresponding link 11 by the rotating link 7, so that the end of each of the holding bodies 31 provided with the rotating link 7 is away from the corresponding link 11. At the same time, the linearly moving connecting members 6 are compressed, so that the end of each holding body 31 provided with the linearly moving connecting member 6 is close to the corresponding connecting frame 11. At this time, a containing space with a wide middle part and narrow two ends is formed between the two clamping mechanisms 2. The object to be carried is located in the accommodating space. Under the clamping force provided by the linear driving mechanism, each clamping part 3 clamps the object to be carried.

Referring to fig. 5 and 9, when the above-described conveying device conveys objects having a cubic structure, each of the clamping bodies 31 must come into contact with the surface of the object to be conveyed. At this time, the respective clamping bodies 31 and the corresponding connecting frames 11 do not generate relative rotational movement. Meanwhile, the linear motion connecting piece 6 does not deform. At this time, the two gripping mechanisms 2 are parallel to each other. The object to be handled is located in the receiving space formed by the two gripping devices 2. Under the clamping force provided by the linear driving mechanism, each clamping part 3 clamps the object to be carried.

In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A handling device, comprising: the clamping device comprises a frame, a linear driving mechanism and two clamping mechanisms, wherein the linear driving mechanism is used for controlling the two clamping mechanisms to move towards opposite directions;

the frame is provided with two mounting sides which are distributed at intervals, and the two clamping mechanisms are mounted on the two different mounting sides;

wherein each clamping mechanism comprises two clamping parts which are independent from each other; and two clamping parts of each clamping mechanism are movably arranged on the same mounting side.

2. The handling device according to claim 1, wherein the linear driving mechanism comprises at least one power source and two transmission mechanisms with different transmission directions, and each power source is respectively in power connection with the two transmission mechanisms;

the two transmission mechanisms are arranged on the frame, and each clamping mechanism is arranged on the corresponding transmission mechanism.

3. The carrying device as claimed in claim 2, wherein the number of the power sources is one, and the two transmission mechanisms are connected together through shafts; each transmission mechanism is a screw nut linear motion mechanism; or

The number of the power sources is two, and each transmission mechanism comprises a screw nut linear motion mechanism or a linear guide rail mechanism.

4. The conveying apparatus as claimed in any one of claims 1 to 3, wherein each of the grippers comprises: the clamping body, and the linear motion connecting piece and the rotating connecting piece which are arranged on the clamping body.

5. The handling device of claim 4, wherein the linear motion link is a telescoping link; the telescopic connecting piece is an elastic connecting piece or a rod-type connecting piece; and/or the rotating connector is a hinge.

6. The handling device according to claim 4, wherein the structure of the gripping body comprised by at least one of the gripping portions is a flat plate structure.

7. The handling device according to claim 4, wherein at least one of the gripping portions comprises a gripping body which is a vacuum suction assembly; or the like, or, alternatively,

the clamping body of at least one clamping part comprises a bracket and two vacuum adsorption components; one of the vacuum adsorption assemblies is arranged on the support, and the other vacuum adsorption assembly is hinged to the support.

8. The transfer apparatus of claim 7, wherein each vacuum suction assembly comprises a plurality of vacuum suction members and a plurality of vacuum generating devices; and every two vacuum adsorption pieces share one vacuum generation device.

9. A handling device according to any of claims 1-3, c h a r a c t e r i z e d in that the handling device further comprises at least one rail, each rail being provided on the frame, each gripping part being slidably provided on at least one of the rails.

10. An automatic handling apparatus, characterized by comprising a handling device according to claims 1-9.

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