CN217076175U - Loading and unloading device - Google Patents

Abstract

The application provides unloader, get the subassembly including absorbing the subassembly and getting, absorb the subassembly and get the subassembly and pass through a connecting plate fixed connection with getting. The sucking component comprises a sucker fixing plate and a sucker, and the sucker is connected with the sucker fixing plate; the clamping assembly comprises a first clamping piece, a second clamping piece and a driving piece, wherein the driving piece is used for driving the first clamping piece and the second clamping piece to move along a first direction, so that the distance between the first clamping piece and the second clamping piece is increased or decreased along the first direction; the first clamping piece comprises a first sliding connecting block and two first clamping jaws, and the first sliding connecting block is connected with the driving piece; the second clamping piece comprises a second sliding connecting block and two second clamping jaws, and the second sliding connecting block is connected with the driving piece. The application provides a loading and unloading device can realize the function of taking the material and opening and closing the tool apron, makes the technology of taking material, reloading, blowing realize automaticly, can effectively reduce the human cost, improve production efficiency.

Description

Loading and unloading device

Technical Field

The application relates to the field of machining, especially, relate to a go up unloader.

Background

In the field of machining, automation and semi-automation are always hot issues, and a plurality of process flows with logic association can be automatically or semi-automatically connected in series by reasonably matching multifunctional components, so that the labor cost is reduced, and the production efficiency is improved. For example, in the process of polishing materials, the materials to be polished are often placed in a jig, a mechanical arm is used to operate a polishing piece to polish the materials, the materials to be processed are further taken out from the jig after polishing is completed, and another material to be processed is placed in the jig for processing; wherein, the prior art center, get to get of material and open and shut of tool all need artifical the completion for whole step efficiency is lower, and has the possibility that the workman is injured by the mistake. How to solve the above problems and provide an integration scheme of a picking device with high automation degree is considered by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the application provides a loading and unloading device, can realize the function of taking the material and opening and shutting the tool apron, makes the process of taking the material, reloading, blowing realize automaticly, can effectively reduce the human cost, improve production efficiency.

The application provides a go up unloader, includes:

the sucking component comprises a sucker fixing plate and a sucker, and the sucker is connected with the sucker fixing plate;

the clamping assembly comprises a first clamping piece, a second clamping piece and a driving piece, wherein the driving piece is used for driving the first clamping piece and the second clamping piece to move along a first direction, so that the distance between the first clamping piece and the second clamping piece is increased or decreased along the first direction; the first clamping piece comprises a first sliding connection block and two first clamping jaws, the two first clamping jaws are arranged on the first sliding connection block at intervals, and the first sliding connection block is connected with the driving piece; the second clamping piece comprises a second sliding connection block and two second clamping jaws, the two second clamping jaws are arranged on the second sliding connection block at intervals, and the second sliding connection block is connected with the driving piece;

wherein, absorb the subassembly with press from both sides the subassembly and pass through a connecting plate fixed connection.

In a possible embodiment, the clamping assembly further includes a driving fixing plate, the driving member is connected to the driving fixing plate, and the first clamping member and the second clamping member are disposed on a side of the driving fixing plate away from the driving member.

In a possible implementation manner, the clamping assembly further includes a limiting member, the limiting member includes a first protruding portion and a second protruding portion arranged along the first direction, the first protruding portion and the second protruding portion are arranged at an interval, and the first clamping member and the second clamping member are arranged between the first protruding portion and the second protruding portion.

In a possible embodiment, the first clamping jaw is arranged in a protruding manner from the first sliding connection block in a direction away from the driving part, and the second clamping jaw is arranged in a protruding manner from the second sliding connection block in a direction away from the driving part; along first direction, first clamping jaw is located first sliding connection piece is kept away from second clamping piece one side, the second clamping jaw is located second sliding connection piece is kept away from first clamping piece one side.

In a possible implementation manner, the suction cup is provided with a first opening and a second opening, the first opening is arranged at a joint of the suction cup and the suction cup fixing plate, and the first opening and the second opening are communicated through an air cavity.

In a possible implementation mode, the sucker fixing plate is provided with an air passage, and the air passage is communicated with the air cavity through the first opening.

In a possible implementation manner, the feeding and discharging device further comprises a fool-proof detection assembly, the fool-proof detection assembly comprises a connecting support and a distance sensing piece, the distance sensing piece is connected with the clamping assembly through the connecting support, and the distance sensing piece is used for sensing the distance from the feeding and discharging device to a position to be detected.

In a possible implementation mode, the feeding and discharging device further comprises a transfer block, the transfer block is connected with the clamping piece, the transfer block is arranged on one side, away from the first clamping piece or the second clamping piece, of the driving piece, and the transfer block is used for enabling the feeding and discharging device to be connected with an external mechanical arm.

Compared with the prior art, the feeding and discharging device has the advantages that the sucking assembly with the sucking disc is arranged, the shell (cover plate) of a device such as a jig can be taken in a negative pressure sucking mode, and then the jig or the carrier can be opened and closed, so that subsequent materials can be taken and placed conveniently; the feeding and discharging device provided by the application has the advantages that the matching of the driving piece, the first clamping piece and the second clamping piece is realized, the first clamping piece and the second clamping piece can fix and clamp materials with different sizes through adjusting the distance, and the functions of taking and placing the materials or exchanging the materials are realized.

Drawings

Fig. 1 is a schematic perspective view of a loading and unloading device provided in an embodiment of the present application from a side view angle.

Fig. 2 is a schematic perspective view of the loading and unloading device according to the embodiment of the present application, taken along a bottom view angle.

Fig. 3 is a schematic plan view of a clamping assembly when the loading and unloading device provided in the embodiment of the present application clamps a material.

Fig. 4 is a schematic view of the loading and unloading device provided in the embodiment of the present application, which is matched with a robot arm through a transfer block.

Description of the main elements

Loading and unloading device 10

Gripping assembly 11

First clamping member 111

First sliding connection block 1111

First clamping jaw 1112

Second gripper 112

Second sliding connection block 1121

Second clamping jaw 1122

Driving member 113

Drive retainer plate 114

Stopper 115

First boss 116

Second boss 117

Stroke adjusting piece 118

Suction assembly 12

Suction cup fixing plate 121

Suction cup 122

Airway 123

First opening 124

Second opening 125

Air cavity 126

Fool-proof detection assembly 13

Connecting bracket 131

Distance sensing member 132

Connecting plate 14

Transfer block 15

First end 151

Second end 152

Mechanical arm 20

First direction X

The following detailed description will further illustrate the present application in conjunction with the above-described figures.

Detailed Description

The following description will refer to the accompanying drawings to more fully describe the present disclosure. There is shown in the drawings exemplary embodiments of the present application. This application may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Like reference numerals designate identical or similar components.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, as used herein, "comprises" and/or "comprising" and/or "having," integers, steps, operations, components, and/or components, but does not preclude the presence or addition of one or more other features, regions, integers, steps, operations, components, and/or groups thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Furthermore, unless otherwise defined herein, terms such as those defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application and will not be interpreted in an idealized or overly formal sense.

The following description of exemplary embodiments refers to the accompanying drawings. It should be noted that the components depicted in the referenced drawings are not necessarily shown to scale; and the same or similar components will be given the same or similar reference numerals or similar terms.

Embodiments of the present application will now be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, which is a schematic perspective view of a loading and unloading device 10 provided in the embodiment of the present application along a side view angle; as shown in fig. 2, which is a schematic perspective view of the loading and unloading device 10 according to the embodiment of the present application along a bottom view; since the drawings have a view angle occlusion, the description will be made with reference to fig. 1 and 2.

The embodiment of the application provides a loading and unloading device 10, including pressing from both sides subassembly 11, absorbing subassembly 12 and preventing slow-witted detecting element 13, absorb subassembly 12 and prevent slow-witted detecting element 13 and connect in pressing from both sides subassembly 11. The suction assembly 12 is fixedly connected with the gripping assembly 11 through a connecting plate 14, so that the gripping assembly 11 and the suction assembly 12 can have a certain distance while maintaining the connection, and interference between the gripping assembly 11 and the suction assembly 12 is avoided in the working process.

The clamping assembly 11 can be used for clamping materials to realize the transfer of the materials; the sucking component 12 can be used for sucking and fixing the outer cover of the jig or the carrier to realize the opening and closing of the jig or the carrier, and further assisting the clamping component 11 to realize the transfer of materials between the jig and the carrier; the fool-proof detection component 13 is used for at least checking the models of the jig and the carrier, the models of the materials and the placing mode before the clamping component 11 and the suction component 12 work.

The gripping assembly 11 includes a first gripping member 111, a second gripping member 112 and a driving member 113, the driving member 113 is in transmission connection with the first gripping member 111 and the second gripping member 112, the driving member 113 is used for driving the first gripping member 111 and the second gripping member 112 to move along the first direction X, so that the distance between the first gripping member 111 and the second gripping member 112 increases or decreases along the first direction X, and the first gripping member 111 and the second gripping member 112 can be separated from or close to each other. Further, the driving member 113 drives the first clamping member 111 and the second clamping member 112 to move in opposite directions along the first direction X, the first clamping member 111 and the second clamping member 112 are separated to fix the material, and the first clamping member 111 and the second clamping member 112 are close to release the material.

The sucking assembly 12 includes a suction cup fixing plate 121 and a suction cup 122, and the suction cup 122 is connected to the suction cup fixing plate 121. Further, the suction cup 122 may be used to contact with the outer lid of the fixture or carrier, and a suction force is generated at a contact surface of the suction cup 122 and the outer lid to suck the outer lid.

The feeding and discharging device 10 of the application can realize the taking of the shells (cover plates) of devices such as jigs by means of a negative pressure adsorption mode through the suction component 12 with the sucking disc 122, and further realize the opening and closing of the jigs or carriers, so as to facilitate the taking and placing of subsequent materials. The feeding and discharging device 10 of the application is matched with the first clamping piece 111 and the second clamping piece 112 through the driving piece 113, so that the first clamping piece 111 and the second clamping piece 112 can fix and clamp materials with different sizes through adjusting the distance, and functions of taking and placing or exchanging the materials are achieved.

In one embodiment, the clamping assembly 11 further includes a driving fixing plate 114, the driving member 113 is connected to the driving fixing plate 114, and the first clamping member 111 and the second clamping member 112 are disposed on a side of the driving fixing plate 114 away from the driving member 113.

In the embodiment, the driving fixing plate 114 may be used to be fixedly connected to the connecting plate 14, and the driving member 113 and the connecting plate 14 may be disposed on two opposite sides of the driving fixing plate 114. The driving part 113 can be a driving mechanism with higher control precision such as a motor and an air cylinder, so that accurate clamping is realized.

Furthermore, the driving fixing plate 114 is used for carrying the driving element 113, and the gripping assembly 11 is connected to the suction assembly 12 through the driving fixing plate 114 and the connecting plate 14, so as to achieve continuity of suction and gripping.

In an embodiment, the clamping assembly 11 further includes a limiting member 115, the limiting member 115 includes a first protrusion 116 and a second protrusion 117 spaced apart from each other along the first direction X, the first protrusion 116 and the second protrusion 117 are spaced apart from each other, the first clamping member 111 and the second clamping member 112 are disposed between the first protrusion 116 and the second protrusion 117, and the limiting member 115 is configured to limit a stroke range of the first clamping member 111 and the second clamping member 112 in the first direction X. Specifically, the first protrusion 116 and the second protrusion 117 are protruded compared to the moving tracks of the first clamping member 111 and the second clamping member 112, so that the first clamping member 111 and the second clamping member 112 can be stopped due to physical blocking when moving to the contact of the first protrusion 116 and the second protrusion 117, respectively.

Further, the limiting member 115 further includes a stroke adjusting member 118, the stroke adjusting member 118 is disposed on at least one of the first protruding portion 116 or the second protruding portion 117, and the stroke adjusting member 118 is used for cooperating with the first clamping member 111, the second clamping member 112, and the driving member 113 to adjust the stroke of the first clamping member 111 and the second clamping member 112. The stroke adjuster 118 may be a lead screw, a threaded assembly, or other mechanical member that allows fine distance adjustment.

In one embodiment, the first clamping member 111 includes a first sliding connection block 1111 and two first clamping jaws 1112, the two first clamping jaws 1112 are spaced apart from each other on the first sliding connection block 1111, and the first sliding connection block 1111 is connected to the driving member 113. The second clamping member 112 includes a second sliding connection block 1121 and two second clamping jaws 1122, the two second clamping jaws 1122 are spaced apart from each other on the second sliding connection block 1121, and the second sliding connection block 1121 is connected to the driving member 113.

In one embodiment, the first clamping jaw 1112 protrudes from the first sliding connection block 1111 away from the driving member 113, and the second clamping jaw 1122 protrudes from the second sliding connection block 1121 away from the driving member 113. Along the first direction X, the first clamping jaw 1112 is disposed on the side of the first sliding connection block 1111 away from the second clamping member 112, and the second clamping jaw 1122 is disposed on the side of the second sliding connection block 1121 away from the first clamping member 111.

Further, the spaced first and second jaws 1112, 1122 extend away from the connecting plate 14, i.e., the first and second jaws 1112, 1122 may be configured to extend toward the material; the driving member 113 is moved along the first direction X by the first clamping member 111 and the second clamping member 112, so that the distance between the first clamping jaw 1112 and the second clamping jaw 1122 along the first direction X is increased or decreased.

As further shown in fig. 3, in the embodiment, the clamping assembly 11 can extend the first clamping jaw 1112 and the second clamping jaw 1122 into the material (not shown), and then the driving member 113 drives the first clamping member 111 and the second clamping member 112 to gradually move away along the first direction X, so as to increase the distance between the first clamping jaw 1112 and the second clamping jaw 1122, so that the first clamping jaw 1112 and the second clamping jaw 1122 support the inner wall of the material from multiple directions inside the material, thereby clamping and fixing the material. Correspondingly, after the material is transferred to the position to be tested (fixture or carrier), the driving member 113 drives the first clamping member 111 and the second clamping member 112 to gradually approach along the first direction X, so that the distance between the first clamping jaw 1112 and the second clamping jaw 1122 is reduced, and the first clamping jaw 1112 and the second clamping jaw 1122 are separated from the material.

As shown in fig. 1 and 2, in an embodiment, the suction cup fixing plate 121 is provided with an air channel 123, the suction cup 122 is provided with a first opening 124 and a second opening 125, the first opening 124 is disposed at a connection position of the suction cup 122 and the suction cup fixing plate 121, the first opening 124 and the second opening 125 are communicated through an air cavity 126, and the air channel 123 is communicated with the air cavity 126 through the first opening 124.

In this embodiment, the number of the suction cups 122 is two, and the two suction cups 122 are disposed at an interval on the side of the suction cup fixing plate 121 far away from the connecting plate 14; the first opening 124 has a size smaller than that of the second opening 125, and the second opening 125 is used to contact an object to be sucked to provide a larger suction force. The air chamber 126 is communicated with an external negative pressure generating device through the first opening 124 and the air passage 123, so that a negative pressure is formed at the second opening 125 to provide a suction force.

In an embodiment, the fool-proof detection assembly 13 includes a connecting bracket 131 and a distance sensing member 132, the distance sensing member 132 is connected to the clamping assembly 11 through the connecting bracket 131, and the distance sensing member 132 is used for sensing the distance between the loading and unloading device 10 and the position to be measured.

In the present embodiment, the distance sensor 132 is an optical sensor. The fool-proof detection component 13 can be at least used for detecting the types of the material discs (different types have different shapes) and the front and back of the material placement (the material is of an asymmetric structure). Specifically, when the material tray and the material are detected, the distance sensing member 132 sequentially reaches a plurality of detection points according to a preset detection path and detects the distance from the distance sensing member 132 to the material tray or the material under the detection points, the distance information is compared with a preset value, if the distance information is consistent with the preset value, the judgment is correct, and if the distance information is inconsistent with the preset value, the judgment is wrong.

As shown in fig. 4, a schematic diagram of the loading and unloading device 10 provided in this embodiment of the present application is matched with the robot arm 20 through the transfer block 15. In an embodiment, the loading and unloading device 10 may further include a transfer block 15, the transfer block 15 is connected to the clamping assembly 11, the transfer block 15 is disposed on a side of the driving member 113 away from the first clamping member 111 or the second clamping member 112, and the transfer block 15 is used for connecting the loading and unloading device 10 to the external robot arm 20.

Further, the switching block 15 includes a first end 151 and a second end 152, the first end 151 is used for being connected with the loading and unloading device 10, the second end 152 is used for being connected with the mechanical arm 20, the shape, the size, the connection adaptive mode and the like of the second end 152 are changed, the switching block 15 can be adapted to the mechanical arms 20 of different models, and the universality of the loading and unloading device 10 is further improved.

For the loading and unloading device 10 of the present application, the mechanical arm 20 drives the loading and unloading device 10 to move between a jig for processing materials and a carrier for carrying the materials so as to complete the taking, placing and transferring of the materials.

Firstly, a carrier is supplied, the distance sensing member 132 of the fool-proof detection assembly 13 is close to the carrier, the distance sensing member 132 sequentially reaches a plurality of detection points according to a preset detection path and detects the distance from the distance sensing member 132 to a material tray or a material under the detection points, the distance information is compared with a preset value, the model of the material tray and the placing direction of the material are identified through information comparison, and the detection result is further transmitted back to the feeding and discharging device 10 and the mechanical arm 20, so that the feeding and discharging device 10 selects a corresponding taking scheme according to the model of the material tray and the placing direction of the material, and the damage to the carrier and the material or the stop of processing due to the failed grabbing are avoided.

Furthermore, the clamping assembly 11 is transferred to the carrier, so that the first clamping jaw 1112 and the second clamping jaw 1122 extend into the material, and then the driving member 113 drives the first clamping member 111 and the second clamping member 112 to gradually move away along the first direction X, so that the distance between the first clamping jaw 1112 and the second clamping jaw 1122 is increased, and thus the first clamping jaw 1112 and the second clamping jaw 1122 support the inner wall of the material from multiple directions inside the material, thereby clamping and fixing the material.

Further, the mechanical arm 20 drives the loading and unloading device 10 to move to the fixture, so that the suction assembly 12 contacts the fixture, the second opening 125 of the suction cup 122 is in close contact with the cover plate of the fixture, the external negative pressure generating device is communicated with the air cavity 126 in the suction cup 122 through the air passage 123 of the suction cup fixing plate 121 and the first opening 124 of the suction cup 122, and the external negative pressure generating device vacuumizes to generate negative pressure at the second opening 125, so that the cover plate is sucked by the suction cup 122.

Subsequently, the robot 20 drives the suction assembly 12 to move to remove the cover plate, the robot 20 further drives the clamping assembly 11 to move to the jig to place the material into the jig, the driving member 113 drives the first clamping member 111 and the second clamping member 112 to gradually approach along the first direction X, so that the distance between the first clamping jaw 1112 and the second clamping jaw 1122 is reduced, and the first clamping jaw 1112 and the second clamping jaw 1122 are separated from the material to place the material into the jig.

Further, the mechanical arm 20 drives the suction assembly 12 to move and place the cover plate into the jig, and the negative pressure of the suction assembly 12 is cut off to connect the cover plate with the jig and start to process the material. After the processing is completed, the mechanical arm 20 drives the suction assembly 12 to move to the jig again to suck tightly and remove the cover plate. Rotating the robot arm 20 to transfer the clamping assembly 11 to the jig, so that the first clamping jaw 1112 and the second clamping jaw 1122 extend into the material, and then the driving member 113 drives the first clamping member 111 and the second clamping member 112 to gradually move away from each other along the first direction X to clamp and fix the material; the robot arm 20 further drives the clamping assembly 11 to move to the carrier to place the processed material back into the carrier, and the clamping assembly 11 clamps another material in the carrier and places the material into the jig, and the sucking assembly 12 places the cover plate into the jig to start processing another material to be processed. And repeating the steps until the materials to be processed in the carrier are processed.

Hereinbefore, specific embodiments of the present application are described with reference to the drawings. However, those skilled in the art will appreciate that various modifications and substitutions can be made to the specific embodiments of the present application without departing from the spirit and scope of the application. Such modifications and substitutions are intended to be within the scope of the present application.

Claims (8)

1. The utility model provides a go up unloader which characterized in that includes:

the sucking component comprises a sucker fixing plate and a sucker, and the sucker is connected with the sucker fixing plate;

the clamping assembly comprises a first clamping piece, a second clamping piece and a driving piece, wherein the driving piece is used for driving the first clamping piece and the second clamping piece to move along a first direction, so that the distance between the first clamping piece and the second clamping piece is increased or decreased along the first direction; the first clamping piece comprises a first sliding connection block and two first clamping jaws, the two first clamping jaws are arranged on the first sliding connection block at intervals, and the first sliding connection block is connected with the driving piece; the second clamping piece comprises a second sliding connection block and two second clamping jaws, the two second clamping jaws are arranged on the second sliding connection block at intervals, and the second sliding connection block is connected with the driving piece;

wherein, absorb the subassembly with press from both sides the subassembly and pass through a connecting plate fixed connection.

2. The loading and unloading apparatus as claimed in claim 1, wherein the gripping assembly further includes a driving fixing plate, the driving member is connected to the driving fixing plate, and the first gripping member and the second gripping member are disposed on a side of the driving fixing plate away from the driving member.

3. The loading and unloading apparatus according to claim 1, wherein the clamping assembly further includes a limiting member, the limiting member includes a first protrusion and a second protrusion arranged along the first direction, the first protrusion and the second protrusion are arranged at an interval, and the first clamping member and the second clamping member are arranged between the first protrusion and the second protrusion.

4. The loading and unloading device as claimed in claim 1, wherein the first clamping jaw protrudes from the first sliding connection block in a direction away from the driving member, and the second clamping jaw protrudes from the second sliding connection block in a direction away from the driving member; along first direction, first clamping jaw is located first sliding connection piece is kept away from second clamping piece one side, the second clamping jaw is located second sliding connection piece is kept away from first clamping piece one side.

5. The loading and unloading device as recited in claim 1, wherein the suction cup is provided with a first opening and a second opening, the first opening is provided at a joint of the suction cup and the suction cup fixing plate, and the first opening and the second opening are communicated through an air cavity.

6. The loading and unloading device as recited in claim 5, wherein the suction cup fixing plate is provided with an air passage, and the air passage is communicated with the air cavity through the first opening.

7. The loading and unloading device of claim 1, further comprising a fool-proof detection assembly, wherein the fool-proof detection assembly comprises a connecting bracket and a distance sensing member, the distance sensing member is connected with the clamping assembly through the connecting bracket, and the distance sensing member is used for sensing the distance from the loading and unloading device to a position to be measured.

8. The loading and unloading device of claim 1, further comprising a transfer block, wherein the transfer block is connected to the clamping member, the transfer block is disposed on a side of the driving member away from the first clamping member or the second clamping member, and the transfer block is used for connecting the loading and unloading device with an external mechanical arm.

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