CN219173600U - Automatic grabbing and transferring device - Google Patents

Abstract

The utility model discloses an automatic grabbing and transferring device, which relates to the technical field of automatic carrying and comprises a carrying robot, a feeding mechanism, a bottom pressing machine and a discharging conveying line, wherein the feeding mechanism, the bottom pressing machine and the discharging conveying line are arranged around the carrying robot, and the circumferentially arranged equipment is beneficial to reducing the area occupation. The carrying robot is provided with a clamping mechanism, the clamping mechanism comprises at least two clamping jaws capable of opening and closing, a fixedly installed connecting piece is arranged in a workpiece, the clamping jaws can carry the workpiece through clamping the connecting piece, workpieces with different sizes can be flexibly adapted, and the efficiency is improved and the labor cost is reduced; the feeding mechanism is provided with a detection device for positioning the workpiece, and comprises a blocking block and size sensors, and a plurality of size sensors are arranged along the length direction of the feeding mechanism and can be automatically adapted to the workpiece with a certain size range; the press bottom machine is provided with a press connection arm, the press connection arm is provided with a rotating part, the top of the press bottom machine is provided with a swing cylinder connected with the press connection arm, and the press connection arm swings to avoid a clamping mechanism for feeding, so that interference is avoided during feeding.

Description

Automatic grabbing and transferring device

Technical Field

The utility model relates to the technical field of automatic conveying, in particular to an automatic grabbing and transferring device.

Background

In general, in an automatic production process, workpieces need to be fed and discharged or reloaded among different processing equipment, however, the feeding and discharging or reloading are mostly finished by hands at present, and the efficiency is low and the workpiece has a certain danger. For example, in the production process of shoes, the combination of the vamp and the sole needs to be subjected to a sole pressing process, the current sole pressing process is completed through a sole pressing machine, and the labor cost is high due to the fact that the feeding and discharging are needed to be performed manually; meanwhile, the shoes with different sizes are required to be judged by workers, the equipment is difficult to be immediately matched, the adaptability is poor, and the production efficiency is difficult to control.

Disclosure of Invention

The utility model aims to at least solve one of the technical problems in the prior art, and provides an automatic grabbing and transferring device which realizes automatic production, reduces personnel dependence and improves efficiency.

According to an embodiment of the present utility model, there is provided an automatic grasping and transferring device including:

the conveying robot is provided with a clamping mechanism, the clamping mechanism comprises at least two clamping jaws which can be opened and closed and are used for clamping workpieces, fixedly installed connecting pieces are arranged in the workpieces, and the clamping jaws are used for conveying the workpieces through the clamping connecting pieces; the feeding mechanism is provided with a detection device for positioning the workpiece, the detection device comprises a blocking block and a size sensor which are arranged oppositely, the end part of the workpiece is abutted against the side surface of the blocking block, and a plurality of size sensors are arranged along the length direction of the feeding mechanism so as to detect the length of the workpiece; the press bottom machine is provided with a press-connection arm for pressing and contacting the workpiece, the press-connection arm is provided with a rotating part movably connected to the top of the press bottom machine, the top of the press bottom machine is provided with a swinging cylinder connected with the press-connection arm, and one end of the press-connection arm is pushed by the swinging cylinder to swing the press-connection arm around the rotating part.

The automatic grabbing and transferring device has at least the following beneficial effects: the embodiment is provided with a transfer robot and a feeding mechanism, a bottom pressing machine and a discharging conveying line which are arranged around the transfer robot, and circumferentially arranged equipment is beneficial to optimizing space layout and reducing area occupation. The carrying robot is provided with a clamping mechanism, the clamping mechanism comprises at least two clamping jaws capable of opening and closing, a fixedly installed connecting piece is arranged in a workpiece, the clamping jaws can carry the workpiece through the clamping connecting piece, workpieces with different length sizes can be flexibly adapted without modifying the clamping jaws, and automatic workpiece loading and unloading is beneficial to improving efficiency and reducing labor cost; the feeding mechanism is provided with a detection device for positioning the workpiece, the detection device comprises a blocking block and a size sensor which are arranged oppositely, the end part of the workpiece is abutted against the side surface of the blocking block, and a plurality of size sensors are arranged along the length direction of the feeding mechanism so as to detect the length of the workpiece, so that the workpiece with a certain size range can be automatically adapted, and the production efficiency is improved; the press bottom machine is provided with a press-contact arm for pressing and contacting a workpiece, the press-contact arm is provided with a rotating part movably connected to the top of the press bottom machine, the top of the press bottom machine is provided with a swing cylinder connected with the press-contact arm, one end of the press-contact arm is pushed by the swing cylinder to enable the press-contact arm to swing around the rotating part, and the press-contact arm swings to avoid a clamping mechanism for feeding, so that interference is avoided during feeding.

According to the automatic grabbing and transferring device, the clamping mechanism is provided with the driving block and the fixing frame for driving the clamping jaw to move, the driving block is provided with the guide groove, one end of the clamping jaw is slidably connected in the guide groove, and the middle part of the clamping jaw is rotatably connected to the fixing frame.

According to the automatic grabbing and transferring device, the detecting device is provided with the reference block and the clamping cylinder, the reference block and the clamping cylinder are arranged along the width direction of the feeding mechanism, and the workpiece is located between the reference block and the clamping cylinder.

According to the automatic grabbing and transferring device, the top of the bottom pressing machine is provided with the mounting plate, the mounting plate is provided with the fixing piece hinged with the rotating part, and the swinging air cylinder is fixed on the top of the mounting plate.

According to the automatic grabbing and transferring device, the middle part of the driving block is provided with the guide groove, the fixing frame is provided with the guide post penetrating through the guide groove, and the driving block is in sliding connection with the guide post.

According to the automatic grabbing and transferring device, the clamping bin for clamping the workpiece is arranged below the crimping arm and comprises the end clamping block and the lateral clamping block, so that the workpiece is fixed.

According to the automatic grabbing and transferring device, the lifting table is arranged below the press-connection arm, the clamping bin is located on the lifting table, and the lifting table is lifted to enable a workpiece to be pressed and contacted with the press-connection arm.

According to the automatic grabbing and transferring device, the blanking conveying line is provided with at least two groups of in-place sensors, and the in-place sensors are used for detecting the positions of workpieces.

According to the automatic grabbing and transferring device, the clamping mechanism is further provided with the extension plate, and two ends of the extension plate are respectively connected with the clamping mechanism and the carrying robot.

According to the automatic grabbing and transferring device, the reference block is located in the middle of the detecting device, the width of the detecting device is divided into two areas, and the detecting device positions at least two workpieces at a time.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The utility model is further described below with reference to the drawings and examples;

FIG. 1 is an isometric view of an automatic grasping and transferring device according to an embodiment of the utility model;

FIG. 2 is a schematic view of a clamping mechanism clamping a workpiece in accordance with an embodiment of the present utility model;

FIG. 3 is a partial isometric view of a clamping mechanism in an embodiment of the utility model;

FIG. 4 is a top view of a detection device according to an embodiment of the present utility model;

FIG. 5 is an isometric view of a sole pressing machine according to an embodiment of the present utility model;

FIG. 6 is a front partial view of a sole press according to an embodiment of the present utility model;

FIG. 7 is a partial view of a mounting plate and crimp arms in an embodiment of the utility model;

fig. 8 is a top view of a blanking conveyor line in an embodiment of the present utility model.

Reference numerals:

a feeding mechanism 100; a conveyor belt 101; a workpiece 102; a connecting member 103; a blanking transfer line 104; an in-place sensor 105; a connection end 106; a clamping portion 107; a detection device 110; a size sensor 111; a reference block 112; a clamping cylinder 113; a blocking piece 114; a guide post 115; a guide groove 116; a rotation shaft 117; a transfer robot 120; a clamping mechanism 121; clamping jaw 122; a driving block 123; a jaw cylinder 124; a holder 125; a pad 126; a guide groove 127; an extension plate 128; a workpiece detector 129; a sole press 130; a crimping arm 131; a clamping bin 132; a lifting table 133; an end gripping block 134; lateral gripping blocks 135; a regulator 136; a rotating portion 137; a fixing member 138; a swing cylinder 139; and a mounting plate 140.

Detailed Description

Reference will now be made in detail to the present embodiments of the present utility model, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present utility model, but not to limit the scope of the present utility model.

In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

Referring to fig. 1 to 8, an embodiment of the present utility model provides an automatic grabbing and transferring device, which includes a handling robot 120, and a feeding mechanism 100, a bottom pressing machine 130 and a discharging conveyor line 104 disposed around the handling robot, and circumferentially disposed devices help to optimize a space layout and reduce an area occupation. The carrying robot 120 is provided with a clamping mechanism 121, the clamping mechanism 121 comprises at least two clamping jaws 122 capable of opening and closing, a fixedly installed connecting piece 103 is arranged in the workpiece 102, the clamping jaws 122 can carry the workpiece 102 through the clamping connecting piece 103, the clamping jaws 122 can be flexibly adapted to workpieces 102 with different length sizes without modifying, and automatic feeding and discharging of the workpiece 102 is beneficial to improving efficiency and reducing labor cost; the feeding mechanism 100 is provided with a detection device 110 for positioning the workpiece 102, the detection device 110 comprises a blocking block 114 and size sensors 111 which are arranged oppositely, the end part of the workpiece 102 is abutted against the side surface of the blocking block 114, and a plurality of size sensors 111 are arranged along the length direction of the feeding mechanism 100 to detect the length of the workpiece 102, so that the workpiece 102 with a certain size range can be automatically adapted, and the production efficiency is improved; the press bottom machine 130 is provided with a press-connection arm 131 for pressing the workpiece 102, the press-connection arm 131 is provided with a rotating part 137 movably connected to the top of the press bottom machine 130, the top of the press bottom machine 130 is provided with a swinging cylinder 139 connected with the press-connection arm 131, one end of the press-connection arm 131 is pushed by the swinging cylinder 139 to enable the press-connection arm 131 to swing around the rotating part 137, and the press-connection arm 131 swings to avoid the clamping mechanism 121 for feeding, so that interference is avoided during feeding.

Specifically, referring to fig. 4, the feeding mechanism 100 is provided with a conveyor belt 101, and the workpiece 102 is conveyed by the conveyor belt 101 in the direction of the conveyance robot 120. Optionally, the detecting device 110 is located at one end of the conveyor belt 101 near the handling robot 120, a blocking block 114 is disposed at the end of the detecting device 110 located at the conveyor belt 101, one end of the workpiece 102 abuts against the blocking block 114, and the blocking block 114 prevents the workpiece 102 from falling and limits the position of the workpiece 102. Optionally, the detecting device 110 is further provided with a reference block 112 for positioning the workpiece 102 and a clamping cylinder 113 for clamping the workpiece 102, optionally, the reference block 112 is located in the middle of the conveyor belt 101 and divides the width of the detecting device 110 into two areas, the detecting device 110 positions at least two workpieces at a time, the reference block 112 and the clamping cylinder 113 are arranged in the width direction of the feeding mechanism 100, and the workpiece 102 is located between the reference block 112 and the clamping cylinder 113. The workpiece 102 is located at two sides of the reference block 112, meanwhile, the clamping cylinders 113 are located at two sides of the feeding mechanism 100, when the workpiece 102 stops moving, the clamping cylinders 113 extend to enable the workpiece 102 to abut against the reference block 112, positioning of the workpiece 102 is achieved, and picking up of the transfer robot 120 is facilitated. Optionally, a size sensor 111 is disposed opposite the blocking block 114 and detects the other end of the workpiece 102 away from the blocking block 114, so as to detect the size of the workpiece 102. Further, at least three size sensors 111 are arranged in the length direction of the workpiece 102, and a certain interval is arranged between every two adjacent size sensors 111, so that the detection of workpieces 102 with different sizes is realized. Alternatively, the size sensor 111 is a photosensor, including an opposite-type photosensor and a reflective photosensor. Optionally, the detecting device 110 positions at least two workpieces 102 at a time, and since the shoes are manufactured in pairs, the feeding mechanism 100 transports at least one pair of shoes at a time, or feeds and positions more than two pairs of shoes at a time, which helps to achieve efficient production.

Referring to fig. 2, the clamping mechanism 121 is provided with a fixing frame 125, and the middle portion of the clamping jaw 122 is rotatably connected to the fixing frame 125. Optionally, a rotating shaft 117 is provided on the fixing frame 125, and the clamping jaw 122 rotates around the rotating shaft 117; at least two clamping jaws 122 are provided, and the two clamping jaws 122 are moved to open and close each other, so as to clamp the workpiece 102. Optionally, referring to fig. 3, the clamping jaw 122 is provided with a connecting end 106 and a clamping part 107, the driving block 123 is provided with at least two guiding grooves 127, the connecting ends 106 of the clamping jaw 122 are slidably connected in the guiding grooves 127, the connecting ends 106 are movable in the guiding grooves 127, and when the driving block 123 moves, the connecting ends 106 of the clamping jaw 122 are driven to move through the guiding grooves 127, so that the clamping jaw 122 is driven to rotate, and clamping and loosening actions are realized; the clamping part 107 is used for clamping the connecting piece 103 in the workpiece 102, meanwhile, the clamping part 107 is provided with a cushion block 126, and a plurality of anti-skidding patterns are arranged on the cushion block 126, so that the clamping stability is improved. Optionally, the pad 126 and the flexible material such as rubber, polyurethane, etc. help to avoid scratching the connector 103. The connecting piece 103 on the workpiece 102 is clamped by the clamping mechanism 121 in a direct clamping mode, no special connecting piece 103 is needed, the transfer robot 120 is conveniently added on the original manual production line, the transfer robot can be used immediately after being assembled, the difficulty and the cost of equipment upgrading are reduced, and the popularization of an automatic implementation scheme is facilitated. Optionally, the clamping mechanism 121 includes a clamping jaw 122 cylinder and an extension plate 128, the clamping jaw 122 cylinder is mounted on the extension plate 128, the fixing frame 125 is fixedly mounted below the extension plate 128, and the clamping jaw 122 cylinder is fixedly connected with the driving block 123 and drives the driving block 123 to move up and down, so as to realize the opening and closing movement of the clamping jaw 122. Optionally, a workpiece detector 129 is disposed on the fixing frame 125, and is used for detecting a workpiece 102 in-place signal after the workpiece 102 is clamped, and when the workpiece 102 accidentally falls, an alarm can be triggered and suddenly stopped, so that the operation safety is improved. Alternatively, the workpiece detector 129 is a correlation photoelectric sensor, which is simple in structure and easy to realize. Further, the carrying robot 120 and the clamping mechanism 121 thereof can be popularized and applied to the product carrying of other equipment in the shoe making and forming process, and are used for realizing unmanned product carrying and reducing cost and enhancing efficiency of a production line.

Referring to fig. 5, a lifting table 133 is provided below the press-contact arm 131, and the clamping magazine 132 is located on the lifting table 133, and the lifting table 133 presses the workpiece 102 against the press-contact arm 131, thereby realizing a bottom pressing process for the workpiece 102. Optionally, at least two clamping bins 132 are provided, which can accommodate one pair or more pairs of shoes to be processed simultaneously, thereby improving the production efficiency. Alternatively, the clamping magazine 132 is provided with an end clamping block 134 and a lateral clamping block 135 which are simultaneously actuated, and since the side surface of the workpiece 102 is irregularly arc-shaped, the lateral clamping blocks 135 are provided in a plurality, and the lateral clamping blocks 135 of the plurality are driven by independent cylinders and can independently move, so that the workpiece 102 is stably positioned. Optionally, one clamping bin 132 corresponds to at least two press-connection arms 131, and the two press-connection arms 131 respectively press down the front end and the rear end of the workpiece 102, so as to ensure the processing quality. On the other hand, since the lengths of each workpiece 102 are not uniform, the distances between the two press-fit arms 131 corresponding to the workpieces 102 of different sizes are also not uniform during the bottom pressing process, and therefore, the adjuster 136 is arranged between the two press-fit arms 131, the adjuster 136 comprises a motor and a screw rod, a nut on the screw rod is connected with any one of the press-fit arms 131, and the screw rod is driven by the motor to realize adjustment of the press-fit arms 131 connected with the nut, so that the distance adjustment of the press-fit arms 131 is realized, and the process consistency of the processing of the workpieces 102 of different sizes is improved.

Referring to fig. 6 and 7, the bottom press 130 is provided at the top with a mounting plate 140, the mounting plate 140 is provided with a fixing member 138 hinged with the rotating part 137, and the swing cylinder 139 is fixed to the top of the mounting plate 140 while the rotating part 137 is located at one side of the press arm 131. It can be appreciated that the fixing member 138 is fixedly mounted on the mounting plate 140, the press-connection arm 131 is hinged to the fixing member 138 through the rotating portion 137, so that the press-connection arm 131 swings, and meanwhile, the swing cylinder 139 pushes from one end of the press-connection arm 131, so that the press-connection arm 131 swings around the hinged portion of the rotating portion 137 and the fixing member 138, when the transfer robot 120 clamps the workpiece 102 to feed the bottom pressing machine 130, a space is reserved for the workpiece 102, interference is avoided, and flexibility and safety of a production process are improved. Alternatively, the rotating parts 137 of the two pressing arms 131 are disposed close to each other, so that the two pressing arms 131 can deflect towards the center direction close to the bottom pressing machine 130 at the same time, so as to avoid occupying the space outside the bottom pressing machine 130, and thus avoid interference or collision with other devices.

Referring to fig. 1 and 8, the blanking conveying line 104 is located at a side, far away from the feeding mechanism 100, of the conveying robot 120, at least two sets of in-place sensors 105 are arranged on the blanking conveying line 104, the in-place sensors 105 are used for detecting positions of the workpieces 102, the at least two sets of in-place sensors 105 are beneficial to improving redundancy of detection, the workpieces 102 are prevented from being detained on the blanking conveying line 104, and collision is caused by interference with the workpieces 102 subjected to next blanking, so that production safety is improved. Alternatively, the in-place sensor 105 is a photosensor, including an opposite-type and a reflective photosensor.

Optionally, an automatic control system is further provided, the automatic control system controls the cooperative operation of the transfer robot 120, the clamping mechanism 121, the feeding mechanism 100, the bottom pressing machine 130 and the blanking conveying line 104, and the automatic control system transmits the signal transmitted by the size sensor 111 to the bottom pressing machine 130, so that real-time adjustment is realized, manual participation is not needed, and the production flexibility is high.

In summary, the embodiments described above are not limited to the production process of footwear processing, but may be used in other production processes of automatic loading and unloading processing.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present utility model have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the utility model, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. An automatic grasping and transferring device, comprising:

the conveying robot is provided with a clamping mechanism, the clamping mechanism comprises at least two clamping jaws which can be opened and closed and are used for clamping a workpiece, a fixedly installed connecting piece is arranged in the workpiece, and the clamping jaws can be used for conveying the workpiece by clamping the connecting piece; the feeding mechanism is provided with a detection device for positioning the workpiece, the detection device comprises a blocking block and size sensors which are arranged oppositely, the end part of the workpiece is abutted against the side surface of the blocking block, and a plurality of size sensors are arranged along the length direction of the feeding mechanism so as to detect the length of the workpiece; the bottom pressing machine is provided with a pressing arm for pressing and touching the workpiece, the pressing arm is provided with a rotating part movably connected to the top of the bottom pressing machine, the top of the bottom pressing machine is provided with a swinging cylinder connected with the pressing arm, and one end of the pressing arm is pushed by the swinging cylinder to enable the pressing arm to swing around the rotating part.

2. An automatic grasping and transferring device according to claim 1, wherein: the clamping mechanism is provided with a driving block and a fixing frame, the driving block is provided with a guide groove, one end of the clamping jaw is slidably connected in the guide groove, and the middle of the clamping jaw is rotatably connected to the fixing frame.

3. An automatic grasping and transferring device according to claim 1, wherein: the detection device is provided with a reference block and a clamping cylinder, the reference block and the clamping cylinder are arranged along the width direction of the feeding mechanism, and the workpiece is located between the reference block and the clamping cylinder.

4. An automatic grasping and transferring device according to claim 1, wherein: the bottom pressing machine top is provided with a mounting plate, the mounting plate is provided with a fixing piece hinged with the rotating part, and the swinging air cylinder is fixed on the mounting plate top.

5. An automatic grasping and transferring device according to claim 2, wherein: the middle part of the driving block is provided with a guide groove, the fixing frame is provided with a guide post penetrating through the guide groove, and the driving block is in sliding connection with the guide post.

6. An automatic grasping and transferring device according to claim 1, wherein: the clamping bin is arranged below the crimping arm and used for clamping a workpiece, and comprises an end clamping block and a lateral clamping block, so that the workpiece is fixed.

7. An automatic grasping and transferring device according to claim 6, wherein: the clamping bin is located on the lifting table, and the lifting table is lifted to enable the workpiece to be in press contact with the press-connection arm.

8. An automatic grasping and transferring device according to claim 1, wherein: the blanking conveying line is provided with at least two groups of in-place sensors, and the in-place sensors are used for detecting the positions of the workpieces.

9. An automatic grasping and transferring device according to claim 1, wherein: the clamping mechanism is also provided with an extension plate, and two ends of the extension plate are respectively connected with the clamping mechanism and the transfer robot.

10. An automatic grasping and transferring device according to claim 3, wherein: the reference block is positioned in the middle of the detection device and divides the width of the detection device into two areas, and the detection device positions at least two workpieces at a time.

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