CN217497870U - Reciprocating type double-gripper synchronous carrying mechanism and sheet stock feeding and positioning device - Google Patents
Reciprocating type double-gripper synchronous carrying mechanism and sheet stock feeding and positioning device Download PDFInfo
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- CN217497870U CN217497870U CN202220981766.2U CN202220981766U CN217497870U CN 217497870 U CN217497870 U CN 217497870U CN 202220981766 U CN202220981766 U CN 202220981766U CN 217497870 U CN217497870 U CN 217497870U
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Abstract
The utility model discloses a reciprocating type double-gripper synchronous carrying mechanism and a sheet material feeding and positioning device, wherein the synchronous carrying mechanism comprises a carrying rack and a synchronous carrying mechanism; the synchronous carrying mechanism comprises two groups of gripper modules and a transverse driving mechanism; the transverse driving mechanism comprises a transverse driving motor and a transverse transmission assembly, and the transverse driving motor is fixedly arranged on the carrying rack; the transverse transmission assembly comprises a transverse transmission belt and two transverse transmission belt wheels, the transverse transmission belt is connected between the two transverse transmission belt wheels, and one transverse transmission belt wheel is fixedly connected with an output shaft of the transverse driving motor; the connecting line between the two transverse transmission belt wheels is used as a boundary, the two groups of gripper modules are connected to the same section of the transverse transmission belt, and the two groups of gripper modules are positioned on the same side of the transverse transmission belt. The invention can synchronously realize the carrying work of two stations, realize the cyclic and synchronous material taking and feeding, ensure the precision and simultaneously lead the material feeding to be more efficient.
Description
Technical Field
The utility model relates to a transport mechanism and positioner, concretely relates to synchronous transport mechanism of reciprocating type two tongs and sheet stock material loading positioner.
Background
The loading and unloading device is an automatic or semi-automatic mechanical device which is also called a workpiece automatic loading and unloading device and is used for conveying a workpiece to be machined to a machining position on a machine tool and taking the machined workpiece from the machining position.
The existing feeding positioning mechanism adopts a single-gripper form, and the feeding mechanism in the single-gripper form only has a single gripper, so that only one station can be taken for taking materials at each time, and the increasing productivity of factory production is far from meeting the requirements.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the problem that above-mentioned exists, provide a synchronous transport mechanism of reciprocating type two tongs, this synchronous transport mechanism can realize the transport work of two stations in step, realizes that the circulation gets the pay-off in step, when guaranteeing the precision, lets the pay-off more high-efficient.
Another object of the utility model is to provide a sheet stock material loading positioner.
The purpose of the utility model is realized through the following technical scheme:
a reciprocating type double-gripper synchronous carrying mechanism comprises a carrying rack and a synchronous carrying mechanism arranged on the carrying rack;
the synchronous carrying mechanism comprises two groups of gripper modules for gripping materials and a transverse driving mechanism for driving the two groups of gripper modules to synchronously and transversely move; the transverse driving mechanism comprises a transverse driving motor and a transverse transmission assembly, and the transverse driving motor is fixedly arranged on the carrying rack; the transverse transmission assembly comprises a transverse transmission belt and two transverse transmission belt wheels, the transverse transmission belt is connected between the two transverse transmission belt wheels, and one transverse transmission belt wheel is fixedly connected with an output shaft of the transverse driving motor;
the connecting line between the two transverse transmission belt wheels is used as a boundary, the two groups of gripper modules are connected to the same section of the transverse transmission belt, and the two groups of gripper modules are positioned on the same side of the transverse transmission belt.
The working principle of the reciprocating type double-gripper synchronous carrying mechanism is as follows:
during operation, start horizontal driving motor, under horizontal driving motor's drive, horizontal driving pulley drives horizontal driving belt and removes, drives the tongs module then and carries out lateral shifting. When one of the gripper modules moves to a corresponding feeding station for taking materials, the other gripper module moves to a positioning station and puts the materials into the positioning station; when one of the gripper modules carries the material to move to the positioning station, the other gripper module returns to the corresponding feeding station, so that the synchronous carrying work in the same direction is realized.
The utility model discloses a preferred scheme, wherein, the transport mechanism still includes two sets of vertical actuating mechanisms, and two sets of vertical actuating mechanisms set up respectively on two traverse plates of the traverse actuating mechanism, and two traverse plates are fixed connection respectively on the same section of the horizontal driving belt;
and the gripper module is connected with the driving end of the vertical driving mechanism. Through the structure, under the driving of the transverse driving mechanism, the gripper module and the vertical driving mechanism move transversely together, and then the vertical driving mechanism drives the gripper module to move vertically for taking and placing materials.
Further, a transverse guide structure is arranged between the transverse moving plate and the carrying rack and comprises a transverse guide rail and a sliding block, the transverse guide rail is fixedly arranged on the carrying rack, and the sliding block is fixedly connected with the transverse moving plate.
Further, vertical actuating mechanism includes that the vertical cylinder that drives, and this vertical cylinder body that drives is fixed on the lateral shifting board, and this vertical telescopic link that drives the cylinder down extends and is connected with the tongs module.
Further, the tail end of a telescopic rod of the vertical driving cylinder is fixedly connected with the grabbing mounting plate, and the grabbing hand module is arranged on the grabbing mounting plate.
Further, it is equipped with vertical guide structure to snatch between mounting panel and the lateral shifting board, and this vertical guide structure includes vertical guide arm and vertical sleeve, the bottom of vertical guide arm with snatch mounting panel fixed connection, vertical sleeve is fixed to be inlayed on the lateral shifting board. Through the structure, the gripper module is vertically moved, vertical guide can be provided for the gripper module, and the carrying precision is improved.
Further, the gripper module is fixedly connected with the gripping mounting plate through an adjusting mounting arm, and a buffer structure is arranged between the gripper module and the adjusting mounting arm;
the buffer structure comprises a buffer spring and a mounting sleeve, and the mounting sleeve is fixedly arranged on the adjusting mounting arm; the top of the gripper module is fixedly connected with the mounting rod, and the upper end of the mounting rod is vertically movably arranged on the mounting sleeve through a suspension structure;
the buffer spring is sleeved on the mounting rod, and two ends of the buffer spring are respectively abutted against the gripper module and the mounting sleeve. Through above-mentioned structure, when the tongs module down contacts the material, the installation pole moves up for the installation sleeve pipe, and the tongs module can up compress buffer spring to play the effect of buffering, be favorable to protecting the structure of material.
Furthermore, a position adjusting structure is arranged between the adjusting mounting arm and the grabbing mounting plate, and the position adjusting structure comprises a locking screw, a locking hole and an arc-shaped adjusting hole;
the number of the locking holes is three, two locking holes are arranged on the adjusting mounting arm, and the other locking hole and the arc-shaped adjusting hole are arranged on the grabbing mounting plate;
the locking screw is provided with two, one of which passes through the locking hole of grabbing the mounting panel and adjusting the installation arm to realize locking, and the other locking screw passes through the locking hole of grabbing mounting panel arc adjustment hole and adjusting the installation arm to realize locking. Through the structure, the relative position of the gripper module can be adjusted according to the actual situation, so that the gripper module is suitable for materials of different types.
Furthermore, the adjusting and mounting arm is provided with a long round hole, and the mounting sleeve is arranged in the long round hole.
Furthermore, each group of gripper modules comprises a plurality of gripper modules, so that the gripper modules can act on the same material simultaneously, and the gripping stability is improved; or grab a plurality of materials simultaneously, improve the efficiency of transport.
The utility model discloses a preferred scheme, wherein, tongs module is the vacuum chuck with the vacuum device intercommunication.
A sheet material feeding positioning device comprises a carrying mechanism and a positioning mechanism;
the two sides of the positioning mechanism are provided with feeding stations, and the arrangement direction of the two feeding stations is parallel to the conveying direction of the transverse driving mechanism;
the positioning mechanism comprises a positioning rack, an X-direction positioning mechanism and a Y-direction positioning mechanism;
the X-direction positioning mechanism comprises an X-direction dynamic positioning assembly and an X-direction fixed positioning assembly; the X-direction dynamic positioning assembly and the X-direction fixed positioning assembly are respectively positioned at two sides of the positioning station; the X-direction dynamic positioning assembly comprises an X-direction dynamic positioning plate and an X-direction driving mechanism for driving the X-direction dynamic positioning plate to be close to or far away from the X-direction fixed positioning assembly; the X-direction fixing and positioning assembly comprises an X-direction fixing and positioning plate which is fixed on the positioning rack;
the Y-direction positioning mechanism comprises a Y-direction dynamic positioning assembly and a Y-direction fixed positioning assembly; the Y-direction dynamic positioning assembly and the Y-direction fixed positioning assembly are respectively positioned at two sides of the positioning station; the Y-direction movable positioning assembly comprises a Y-direction movable positioning plate and a Y-direction driving mechanism for driving the Y-direction movable positioning plate to be close to or far away from the Y-direction fixed positioning assembly; the Y-direction fixing and positioning assembly comprises a Y-direction fixing and positioning plate, and the Y-direction fixing and positioning plate is fixed on the positioning rack.
The working principle of the sheet material feeding and positioning device is as follows:
when the automatic sheet feeding device works, sheet materials are firstly put into the two feeding stations, and the sheet materials of the two feeding stations are sequentially and alternately conveyed to the positioning station through the conveying mechanism; the sheet stock is positioned by the X-direction positioning mechanism and the Y-direction positioning mechanism, and the method specifically comprises the following steps: the X-direction driving mechanism drives the X-direction movable positioning plate to be close to the sheet materials, and then the sheet materials are limited and pushed to the X-direction fixed positioning plate, so that the X-direction positioning is realized; the Y-direction driving mechanism drives the Y-direction movable positioning plate to be close to the sheet stock, and then the sheet stock is limited and pushed to the Y-direction fixed positioning plate, so that Y-direction positioning is realized. And after the positioning is finished, conveying the sheet materials to other processing stations.
The utility model discloses a preferred scheme, wherein, X includes X to driving actuating cylinder to actuating mechanism, and this X is to driving actuating cylinder's telescopic link and X to moving locating plate fixed connection.
The utility model discloses a preferred scheme, wherein, Y includes Y to driving actuating cylinder to actuating mechanism, and this Y is to driving actuating cylinder's telescopic link and Y to moving locating plate fixed connection.
The utility model discloses a preferred scheme, wherein, the positioning mechanism still includes the thickness detection module that is used for detecting whether the sheet stock is biplate, and this thickness detection module is connected with the drive end of X to actuating mechanism or Y to actuating mechanism;
the two groups of thickness detection modules are arranged oppositely up and down; the two groups of thickness detection modules are positioned on one side of the X-direction movable positioning plate close to the X-direction fixed positioning plate or one side of the Y-direction movable positioning plate close to the Y-direction fixed positioning plate;
the positioning machine frame is provided with an avoiding groove for avoiding the thickness detection module below the positioning machine frame to move, and the thickness detection module below the positioning machine frame is arranged in the avoiding groove. Through the structure, when the X-direction driving mechanism or the Y-direction driving mechanism drives the X-direction movable positioning plate to be close to the X-direction fixed positioning plate, the sheet materials enter between the two groups of thickness detection modules which are oppositely arranged up and down, the thickness of the sheet materials is detected by the two groups of thickness detection modules, and the actually detected thickness value is compared with the set thickness, so that whether double sheets exist in the sheet materials is judged.
The utility model discloses a preferred scheme, wherein, be equipped with at least two in the material loading station and be used for carrying out spacing gag lever post to the sheet stock, this gag lever post is erect in the material loading station. Through above-mentioned structure, can put in a large amount of sheet stocks in the material loading station, carry out spacing the blockking by the sheet stock of stopper rod to vertical piling up, prevent that the sheet stock from taking place to shift.
Furthermore, the upper end of the limiting rod is provided with a scraping block for preventing sheet materials from being carried in an overlapped mode, and the scraping block inclines towards the middle of the feeding station from bottom to top; and one side of the scraping block, which is close to the middle position of the feeding station, is provided with a toothed structure. According to the structure, when the sheet materials are lifted in an overlapped mode, the lower sheet materials can be separated from the upper sheet materials through scraping of the toothed structures of the scraping blocks, so that the lower sheet materials fall back to the feeding station, and overlapped carrying of the sheet materials is avoided.
The utility model discloses a preferred scheme, wherein, be equipped with the magnetic separator that is used for carrying out the separation with the magnetic sheet material that overlaps in the material loading station, this magnetic separator is equipped with two sets, and two sets of magnetic separators set up in the material loading station relatively; the magnetic sheet stock to be fed and positioned is positioned between the two groups of magnetic separators. With the above structure, the magnetic pole surfaces of the iron material pieces are induced by the same magnetic poles, for example, the iron material pieces are in contact with the magnet to form the N pole, each iron material piece becomes the S pole, and the overlapped iron material pieces are separated by the principle of like-pole repulsion, so that the conveying mechanism conveys the iron material pieces to the positioning station one by one.
Compared with the prior art, the utility model following beneficial effect has:
1. the utility model discloses a synchronous transport mechanism can realize the transport work of two stations in step, realizes that the pay-off is got in the circulation synchronization, when guaranteeing the precision, lets the pay-off more high-efficient.
2. The utility model discloses a synchronous transport mechanism is through a drive power of sharing, accomplishes the transport of two sets of materials in step, is favorable to simplifying the structure, reduces manufacturing cost.
Drawings
Fig. 1 is a schematic perspective view of a sheet material feeding and positioning device of the present invention.
Fig. 2 is a schematic perspective view of the carrying mechanism of the present invention.
Fig. 3 is an enlarged view of X in fig. 2.
Fig. 4 is a schematic perspective view of the positioning mechanism of the present invention.
Fig. 5 is an enlarged view of Y in fig. 4.
Detailed Description
In order to make those skilled in the art understand the technical solution of the present invention well, the present invention will be further described below with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1-3, the sheet feeding and positioning device of the embodiment includes a carrying mechanism and a positioning mechanism; the conveying mechanism comprises a conveying rack 1 and a synchronous conveying mechanism arranged on the conveying rack 1; the synchronous carrying mechanism comprises two groups of gripper modules 2 for gripping materials and a transverse driving mechanism for driving the two groups of gripper modules 2 to synchronously and transversely move; the gripper module 2 is a negative pressure sucker communicated with a negative pressure device.
The transverse driving mechanism comprises a transverse driving motor 3 and a transverse transmission assembly, and the transverse driving motor 3 is fixedly arranged on the carrying rack 1; the transverse transmission assembly comprises a transverse transmission belt 4 and two transverse transmission belt wheels, the transverse transmission belt 4 is connected between the two transverse transmission belt wheels, and one transverse transmission belt wheel is fixedly connected with an output shaft of the transverse driving motor 3; the connecting line between the two transverse transmission belt wheels is used as a boundary, the two groups of gripper modules 2 are connected to the same section of the transverse transmission belt 4, and the two groups of gripper modules 2 are positioned on the same side of the transverse transmission belt 4.
During operation, start horizontal driving motor 3, under horizontal driving motor 3's drive, horizontal driving belt wheel drives horizontal driving belt 4 and removes, drives tongs module 2 then and carries out lateral shifting. When one of the gripper modules 2 moves to the corresponding feeding station 5 for taking materials, the other gripper module 2 moves to the positioning station 6 and puts the materials into the positioning station 6; when one of the gripper modules 2 carries materials to move to the positioning station 6, the other gripper module 2 returns to the corresponding feeding station 5, and therefore the synchronous carrying work in the same direction is achieved.
Referring to fig. 2-3, the carrying mechanism further comprises two sets of vertical driving mechanisms, the two sets of vertical driving mechanisms are respectively arranged on two transverse moving plates 7 of the transverse driving mechanism, and the two transverse moving plates 7 are respectively and fixedly connected to the same section of the transverse transmission belt 4; and the gripper module 2 is connected with the driving end of the vertical driving mechanism. Through the structure, under the driving of the transverse driving mechanism, the gripper module 2 and the vertical driving mechanism move transversely together, and then the vertical driving mechanism drives the gripper module 2 to move vertically for taking and placing materials.
Further, a transverse guide structure is arranged between the transverse moving plate 7 and the carrying rack 1, the transverse guide structure comprises a transverse guide rail 8 and a sliding block, the transverse guide rail 8 is fixedly arranged on the carrying rack 1, and the sliding block is fixedly connected with the transverse moving plate 7.
Further, vertical actuating mechanism includes that the vertical cylinder 9 that drives, and this vertical cylinder body that drives cylinder 9 is fixed on lateral shifting board 7, and this vertical telescopic link that drives cylinder 9 down extends and is connected with tongs module 2.
Further, the tail end of a telescopic rod of the vertical driving cylinder 9 is fixedly connected with a grabbing mounting plate 10, and the grabbing hand module 2 is arranged on the grabbing mounting plate 10.
Further, it is equipped with vertical guide structure to snatch between mounting panel 10 and the lateral shifting board 7, and this vertical guide structure includes vertical guide arm 11 and vertical sleeve 12, the bottom of vertical guide arm 11 with snatch mounting panel 10 fixed connection, vertical sleeve 12 is fixed to be inlayed on lateral shifting board 7. Through the structure, the gripper module 2 can move vertically, vertical guiding can be provided for the gripper module 2, and the carrying precision is improved.
Further, the gripper module 2 is fixedly connected with the gripping mounting plate 10 through an adjusting mounting arm 13, and a buffer structure is arranged between the gripper module 2 and the adjusting mounting arm 13; the buffer structure comprises a buffer spring 14 and a mounting sleeve 15, and the mounting sleeve 15 is fixedly arranged on the adjusting mounting arm 13; the top of the gripper module 2 is fixedly connected with a mounting rod 16, and the upper end of the mounting rod 16 is vertically movably arranged on the mounting sleeve 15 through a suspension structure; the buffer spring 14 is sleeved on the mounting rod 16, and two ends of the buffer spring 14 are respectively abutted on the gripper module 2 and the mounting sleeve 15. Through above-mentioned structure, when tongs module 2 down contact material, installation pole 16 moves up for installation sleeve 15, and tongs module 2 can upwards compress buffer spring 14 to play the effect of buffering, be favorable to protecting the structure of material.
Further, a position adjusting structure is arranged between the adjusting mounting arm 13 and the grabbing mounting plate 10, and the position adjusting structure comprises a locking screw, a locking hole and an arc-shaped adjusting hole 10-1; three locking holes are arranged, wherein two locking holes are arranged on the adjusting mounting arm 13, and the other locking hole and the arc-shaped adjusting hole 10-1 are arranged on the grabbing mounting plate 10; two locking screws are arranged, one of the two locking screws penetrates through the locking holes of the grabbing mounting plate 10 and the adjusting mounting arm 13 to realize locking, and the other locking screw penetrates through the arc-shaped adjusting hole 10-1 of the grabbing mounting plate 10 and the locking hole of the adjusting mounting arm 13 to realize locking. Through the structure, the relative position of the gripper module 2 can be adjusted according to the actual situation, so that the gripper module is suitable for materials of different types.
Further, the adjusting and mounting arm 13 is provided with a long round hole 13-1, and the mounting sleeve 15 is arranged in the long round hole 13-1.
Furthermore, each group of gripper modules 2 comprises a plurality of gripper modules 2, so that the gripper modules can simultaneously act on the same material, and the gripping stability is improved; or grab a plurality of materials simultaneously, improve the efficiency of transport.
Referring to fig. 4-5, two sides of the positioning mechanism are provided with feeding stations 5, and the arrangement direction of the two feeding stations 5 is parallel to the conveying direction of the transverse driving mechanism; the positioning mechanism comprises a positioning rack, an X-direction positioning mechanism and a Y-direction positioning mechanism; the X-direction positioning mechanism comprises an X-direction dynamic positioning assembly and an X-direction fixed positioning assembly; the X-direction dynamic positioning assembly and the X-direction fixed positioning assembly are respectively positioned at two sides of the positioning station 6; the X-direction dynamic positioning assembly comprises an X-direction dynamic positioning plate 17 and an X-direction driving mechanism for driving the X-direction dynamic positioning plate 17 to be close to or far away from the X-direction fixed positioning assembly; the X-direction driving mechanism comprises an X-direction driving cylinder 18, and a telescopic rod of the X-direction driving cylinder 18 is fixedly connected with an X-direction movable positioning plate 17; the X-direction fixing and positioning assembly comprises an X-direction fixing and positioning plate 19, and the X-direction fixing and positioning plate 19 is fixed on the positioning rack.
The Y-direction positioning mechanism comprises a Y-direction dynamic positioning assembly and a Y-direction fixed positioning assembly; the Y-direction dynamic positioning assembly and the Y-direction fixed positioning assembly are respectively positioned at two sides of the positioning station 6; the Y-direction dynamic positioning assembly comprises a Y-direction dynamic positioning plate 20 and a Y-direction driving mechanism for driving the Y-direction dynamic positioning plate 20 to be close to or far away from the Y-direction fixed positioning assembly; the Y-direction driving mechanism comprises a Y-direction driving cylinder 21, and an expansion link of the Y-direction driving cylinder 21 is fixedly connected with the Y-direction movable positioning plate 20; the Y-direction fixing and positioning assembly comprises a Y-direction fixing and positioning plate 22, and the Y-direction fixing and positioning plate 22 is fixed on the positioning rack.
Referring to fig. 4-5, the positioning mechanism further includes a thickness detection module 23 (black diamond double-sheet detector) for detecting whether the sheet material is double-sheet, and the thickness detection module 23 is connected to the driving end of the X-direction driving mechanism or the Y-direction driving mechanism; the thickness detection modules 23 are arranged in two groups, and the two groups of thickness detection modules 23 are arranged oppositely up and down; the two groups of thickness detection modules 23 are positioned on one side of the X-direction movable positioning plate 17 close to the X-direction fixed positioning plate 19, or positioned on one side of the Y-direction movable positioning plate 20 close to the Y-direction fixed positioning plate 22; the positioning frame is provided with an avoiding groove for avoiding the thickness detection module 23 located below to move, and the thickness detection module 23 located below is arranged in the avoiding groove. With the above structure, when the X-direction driving mechanism or the Y-direction driving mechanism drives the X-direction moving positioning plate 17 to approach the X-direction fixed positioning plate 19, the sheet material enters between the two sets of thickness detection modules 23 which are arranged oppositely up and down, the two sets of thickness detection modules 23 detect the thickness of the sheet material, and the actually detected thickness value is compared with the set thickness, so as to judge whether the sheet material has double sheets or not.
Referring to fig. 4-5, at least two limiting rods 24 for limiting the sheet materials are arranged in the feeding station 5, and the limiting rods 24 are erected in the feeding station 5. Through above-mentioned structure, can put in material loading station 5 with a large amount of sheet stocks, carry out spacing the blockking by gag lever post 24 to the sheet stock of vertical piling up, prevent that the sheet stock from taking place the aversion.
Further, the upper end of the limiting rod 24 is provided with a scraping block for preventing sheet materials from being carried in an overlapped mode, and the scraping block inclines towards the middle of the feeding station 5 from bottom to top; and one side of the scraper block, which is close to the middle position of the feeding station 5, is provided with a toothed structure. According to the structure, when the sheet materials are lifted in an overlapped mode, the lower sheet materials can be separated from the upper sheet materials through scraping of the toothed structures of the scraping blocks, so that the lower sheet materials fall back to the feeding station 5, and overlapped conveying of the sheet materials is avoided.
Referring to fig. 4-5, magnetic separators 25 for separating the overlapped magnetic sheet materials are arranged in the feeding station 5, the magnetic separators 25 are provided with two groups, and the two groups of magnetic separators 25 are oppositely arranged in the feeding station 5; the magnetic sheet material to be fed and positioned is located between the two sets of magnetic separators 25. With the above structure, the magnetic pole surfaces of the iron material pieces are induced by the same magnetic poles, for example, the iron material pieces are in contact with the magnet to form the N poles, so that each iron material piece becomes the S pole, and the overlapped iron material pieces are separated by the principle that like poles repel each other, so that the carrying mechanism carries the iron material pieces one by one to the positioning station 6.
Referring to fig. 1-5, the working principle of the sheet material feeding and positioning device of the present embodiment is as follows:
when the automatic sheet feeding device works, sheet materials are firstly put in the two feeding stations 5, and the sheet materials of the two feeding stations 5 are sequentially and alternately conveyed to the positioning station 6 through the conveying mechanism; the sheet stock is positioned by the X-direction positioning mechanism and the Y-direction positioning mechanism, and the method specifically comprises the following steps: the X-direction driving mechanism drives the X-direction movable positioning plate 17 to be close to the sheet material, and then the sheet material is limited and pushed to the X-direction fixed positioning plate 19, so that the X-direction positioning is realized; the Y-direction driving mechanism drives the Y-direction movable positioning plate 20 to be close to the sheet material, and then the sheet material is limited and pushed to the Y-direction fixed positioning plate 22, so that Y-direction positioning is realized. And after the positioning is finished, conveying the sheet materials to other processing stations.
The above is the preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (10)
1. A reciprocating type double-gripper synchronous carrying mechanism is characterized by comprising a carrying rack and a synchronous carrying mechanism arranged on the carrying rack;
the synchronous carrying mechanism comprises two groups of gripper modules for gripping materials and a transverse driving mechanism for driving the two groups of gripper modules to synchronously and transversely move; the transverse driving mechanism comprises a transverse driving motor and a transverse transmission assembly, and the transverse driving motor is fixedly arranged on the carrying rack; the transverse transmission assembly comprises a transverse transmission belt and two transverse transmission belt wheels, the transverse transmission belt is connected between the two transverse transmission belt wheels, and one transverse transmission belt wheel is fixedly connected with an output shaft of the transverse driving motor;
the connecting line between the two transverse transmission belt wheels is used as a boundary, the two groups of gripper modules are connected to the same section of the transverse transmission belt, and the two groups of gripper modules are positioned on the same side of the transverse transmission belt.
2. The reciprocating type double-gripper synchronous conveying mechanism according to claim 1, wherein the conveying mechanism further comprises two sets of vertical driving mechanisms, the two sets of vertical driving mechanisms are respectively arranged on two transverse moving plates of the transverse driving mechanism, and the two transverse moving plates are respectively and fixedly connected to the same section of a transverse transmission belt;
and the gripper module is connected with the driving end of the vertical driving mechanism.
3. The reciprocating type double-gripper synchronous carrying mechanism as claimed in claim 2, wherein the vertical driving mechanism comprises a vertical driving cylinder, a cylinder body of the vertical driving cylinder is fixed on the transverse moving plate, and a telescopic rod of the vertical driving cylinder extends downwards and is connected with the gripper module;
the tail end of a telescopic rod of the vertical driving cylinder is fixedly connected with the grabbing mounting plate, and the grabbing hand module is arranged on the grabbing mounting plate.
4. The reciprocating type double-gripper synchronous conveying mechanism as claimed in claim 3, wherein the gripper modules are fixedly connected with the gripper mounting plate through adjusting mounting arms, and a buffer structure is arranged between the gripper modules and the adjusting mounting arms;
the buffer structure comprises a buffer spring and a mounting sleeve, and the mounting sleeve is fixedly arranged on the adjusting mounting arm; the top of the gripper module is fixedly connected with the mounting rod, and the upper end of the mounting rod is vertically movably arranged on the mounting sleeve through a suspension structure;
the buffer spring is sleeved on the mounting rod, and two ends of the buffer spring are respectively abutted against the gripper module and the mounting sleeve.
5. The reciprocating type double-gripper synchronous carrying mechanism as claimed in claim 4, wherein a position adjusting structure is arranged between the adjusting mounting arm and the gripping mounting plate, and the position adjusting structure comprises a locking screw, a locking hole and an arc-shaped adjusting hole;
the number of the locking holes is three, two locking holes are arranged on the adjusting mounting arm, and the other locking hole and the arc-shaped adjusting hole are arranged on the grabbing mounting plate;
the locking screw is provided with two, one of which passes through the locking hole of grabbing the mounting panel and adjusting the installation arm to realize locking, and the other locking screw passes through the locking hole of grabbing mounting panel arc adjustment hole and adjusting the installation arm to realize locking.
6. A sheet material feeding and positioning device is characterized by comprising the reciprocating type double-gripper synchronous carrying mechanism and a positioning mechanism according to any one of claims 1 to 5;
the two sides of the positioning mechanism are provided with feeding stations, and the arrangement direction of the two feeding stations is parallel to the conveying direction of the transverse driving mechanism;
the positioning mechanism comprises a positioning rack, an X-direction positioning mechanism and a Y-direction positioning mechanism;
the X-direction positioning mechanism comprises an X-direction dynamic positioning assembly and an X-direction fixed positioning assembly; the X-direction dynamic positioning assembly and the X-direction fixed positioning assembly are respectively positioned at two sides of the positioning station; the X-direction dynamic positioning assembly comprises an X-direction dynamic positioning plate and an X-direction driving mechanism for driving the X-direction dynamic positioning plate to be close to or far away from the X-direction fixed positioning assembly; the X-direction fixing and positioning assembly comprises an X-direction fixing and positioning plate which is fixed on the positioning rack;
the Y-direction positioning mechanism comprises a Y-direction dynamic positioning assembly and a Y-direction fixed positioning assembly; the Y-direction dynamic positioning assembly and the Y-direction fixed positioning assembly are respectively positioned at two sides of the positioning station; the Y-direction movable positioning assembly comprises a Y-direction movable positioning plate and a Y-direction driving mechanism for driving the Y-direction movable positioning plate to be close to or far away from the Y-direction fixed positioning assembly; the Y-direction fixing and positioning assembly comprises a Y-direction fixing and positioning plate which is fixedly arranged on the positioning rack.
7. The sheet stock feeding and positioning device as recited in claim 6, wherein said X-direction driving mechanism comprises an X-direction driving cylinder, and a telescopic rod of the X-direction driving cylinder is fixedly connected with the X-direction movable positioning plate;
the Y-direction driving mechanism comprises a Y-direction driving cylinder, and a telescopic rod of the Y-direction driving cylinder is fixedly connected with the Y-direction moving positioning plate.
8. The sheet stock feeding and positioning device as claimed in claim 6, wherein the positioning mechanism further comprises a thickness detection module for detecting whether the sheet stock is biplate, and the thickness detection module is connected with the driving end of the X-direction driving mechanism or the Y-direction driving mechanism;
the thickness detection modules are arranged in two groups, and the two groups of thickness detection modules are arranged oppositely up and down; the two groups of thickness detection modules are positioned on one side of the X-direction movable positioning plate close to the X-direction fixed positioning plate or one side of the Y-direction movable positioning plate close to the Y-direction fixed positioning plate;
the positioning machine frame is provided with an avoiding groove for avoiding the thickness detection module below the positioning machine frame to move, and the thickness detection module below the positioning machine frame is arranged in the avoiding groove.
9. The sheet stock feeding and positioning device as claimed in claim 6, wherein at least two limiting rods for limiting the sheet stock are arranged in the feeding station, and the limiting rods are erected in the feeding station;
the upper end of the limiting rod is provided with a scraping block for preventing sheet materials from being carried in an overlapped mode, and the scraping block inclines towards the middle of the feeding station from bottom to top; and one side of the scraper block, which is close to the middle position of the feeding station, is provided with a toothed structure.
10. The sheet stock feeding and positioning device as recited in claim 6, wherein magnetic separators for separating overlapped magnetic sheet stocks are provided in the feeding station, and the magnetic separators are provided in two sets, the two sets of magnetic separators being oppositely disposed in the feeding station; the magnetic sheet stock to be fed and positioned is positioned between the two groups of magnetic separators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220981766.2U CN217497870U (en) | 2022-04-26 | 2022-04-26 | Reciprocating type double-gripper synchronous carrying mechanism and sheet stock feeding and positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220981766.2U CN217497870U (en) | 2022-04-26 | 2022-04-26 | Reciprocating type double-gripper synchronous carrying mechanism and sheet stock feeding and positioning device |
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|---|---|
| CN217497870U true CN217497870U (en) | 2022-09-27 |
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| CN202220981766.2U Active CN217497870U (en) | 2022-04-26 | 2022-04-26 | Reciprocating type double-gripper synchronous carrying mechanism and sheet stock feeding and positioning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115947101A (en) * | 2023-03-15 | 2023-04-11 | 四川翔越电力线路构件有限公司 | Angle steel material loading separation transfer device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115947101A (en) * | 2023-03-15 | 2023-04-11 | 四川翔越电力线路构件有限公司 | Angle steel material loading separation transfer device |
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