WO2020103370A1 - 抓取装置及转移机构 - Google Patents

抓取装置及转移机构

Info

Publication number
WO2020103370A1
WO2020103370A1 PCT/CN2019/080344 CN2019080344W WO2020103370A1 WO 2020103370 A1 WO2020103370 A1 WO 2020103370A1 CN 2019080344 W CN2019080344 W CN 2019080344W WO 2020103370 A1 WO2020103370 A1 WO 2020103370A1
Authority
WO
WIPO (PCT)
Prior art keywords
rubbing
reclaiming
workpiece
assembly
gripping device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/080344
Other languages
English (en)
French (fr)
Inventor
黎焰峰
叶卫国
刘永刚
吴红卫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhuhai Shangjin Intelligent Machinery Equipment Co Ltd
Original Assignee
Zhuhai Shangjin Intelligent Machinery Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=65611545&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2020103370(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Zhuhai Shangjin Intelligent Machinery Equipment Co Ltd filed Critical Zhuhai Shangjin Intelligent Machinery Equipment Co Ltd
Publication of WO2020103370A1 publication Critical patent/WO2020103370A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/14—Packaging paper or like sheets, envelopes, or newspapers, in flat, folded, or rolled form

Definitions

  • the invention relates to the technical field of sheet material processing, in particular to a gripping device and a transfer mechanism.
  • Facial masks have been widely used in daily life. Their manufacturers are mainly small enterprises. Their main production methods are: one is full manual folding and bag production. This production method has low production efficiency and high labor costs; another way It is semi-automated production, using manual mask distribution, mechanical folding and bagging, the efficiency is not high, and can not substantially solve the production needs of small enterprises, and these two methods are manually operated, which is easy to cause secondary pollution and does not meet the mask production Standard requirements for safety and health.
  • One type of facial mask consists of a layer of non-woven fabric and a layer of pearlescent film, and the other type has only one layer of non-woven fabric.
  • the non-woven fabric mask has a tendency to gradually replace the pearlescent mask.
  • This type of separating and retrieving mechanism is designed for a non-woven fabric mask with a pearlescent film
  • the single-layer non-woven fabric mask is composed of countless crisscross fibers, so the surface of the non-woven fabric is rough. Therefore, the vacuum suction non-woven fabric in the above patent is used for separation and retrieving, and the non-woven fabric mask cannot be absorbed. , The separation effect and the result of the material extraction must be unsatisfactory.
  • the present invention provides a grasping device and a transfer mechanism with a simple structure that can effectively separate multiple layers of nonwoven fabrics.
  • a gripping device includes: a mounting member, a rubbing assembly and a reclaiming assembly; the rubbing assembly can be installed on the mounting member up and down, and at least two sets of rubbing members are provided; the output ends of all the rubbing members are disposed away from each other, And it can be stretched along the direction of the stacking plane of the workpiece stack; the retrieving assembly is installed on the rubbing member, and the retrieving member is provided; all the rubbing assemblies can drive the corresponding retrieving member to stretch and take up the workpiece.
  • the reclaiming assembly includes a mounting base body installed on the output end of the rubbing member and a guide structure provided on the mounting base body, the reclaiming member is installed in the guide structure and can be along the guide structure In the direction of the guide; a gap is provided between the reclaiming member and the guide structure.
  • one end of the retrievable member extending beyond the guide structure is provided with at least two convex structures, the convex structures protrude outward; the side walls and / or ends of the tips of the convex structures
  • the part is provided with a hooking structure which can hook the surface structure of the workpiece.
  • a sliding cavity is provided in the mounting base, the guide structure is installed at a lower end of the sliding cavity, a slider is provided in the sliding cavity, and the mounting end of the reclaiming member is connected to the slider ;
  • the installation base is provided with a reclaiming cylinder, and the output end of the reclaiming cylinder extends into the sliding cavity and is connected with the slider.
  • the guide structure is provided with at least two groups, and each of the guide structures is correspondingly provided with the reclaiming members, and the mounting ends of all the reclaiming members are installed on the slider.
  • a shoulder is provided on the lower outer wall of the reclaiming member, and an elastic member is provided between the shoulder and the slider.
  • the rubbing assembly includes a lifting cylinder installed downward on the mounting member, a rubbing seat provided at the output end of the lifting cylinder, and a mounting frame. All the rubbing members are installed on the rubbing seat.
  • the mounting bracket is mounted on the output end of the rubbing member; the mounting bracket is provided with at least one mounting position, and the reclaiming assembly is mounted on the mounting position.
  • a transfer mechanism includes a receiving component and the gripping device; the receiving component is used to receive a workpiece carried by the retrieving component and move the workpiece away from the retrieving component.
  • the receiving assembly includes a linear module, a receiving arm mounted on the linear module, a receiving plate, and a clamping unit that can cooperate with the receiving plate to clamp a workpiece;
  • the linear module is mounted on the mounting member ,
  • the output end of the clamping unit can be opened and closed relative to the receiving plate;
  • the side of the receiving plate close to the reclaiming component is provided with a number of inclined downward protruding tongues, and there is a retreat between adjacent protruding tongues Avoidance openings for components.
  • the receiving arm is provided with a first mounting block and a second mounting block
  • the clamping unit includes a clamping cylinder, a lever arm, and a top pressure head, and one end of the clamping cylinder passes through
  • the first rotating shaft is mounted on the first mounting block, the other end of the clamping cylinder is hinged with one end of the lever arm;
  • the middle of the lever arm is mounted on the second mounting block through the second rotating shaft, and the top pressure head extends the length Adjustably installed at the other end of the lever arm;
  • the top pressing head corresponds to the position of the protruding tongue;
  • a U-shaped plate is installed on the second mounting block, the U-shaped plate surrounds the top pressing head and forms a protective frame
  • the lever arm can drive the top pressure head to swing around the second rotating shaft, and cooperate with the extended tongue to clamp the workpiece.
  • the gripping device is provided with a rubbing assembly that can be raised and lowered, which can adapt to non-woven fabric stacks of different heights and improve the flexibility of picking and placing; secondly, the use of the retractable characteristics of multiple sets of rubbing members can drive the picking member well Perform rubbing and separate the uppermost non-woven fabric of the non-woven fabric stack, and all the features of the output end of the rubbing member facing away from the non-woven fabric can also stretch the non-woven fabric to achieve reclaiming.
  • the component can bring up the separated non-woven fabric.
  • the grabbing device has a simple structure, and can well separate and bring up the non-woven fabric.
  • the present application also provides a transfer mechanism, which can cooperate with the grasping device to carry the non-woven fabric after separation.
  • FIG. 1 is a schematic structural diagram of an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a rubbing assembly in an embodiment of the present invention.
  • FIG. 3 is a schematic structural view of a reclaiming component in an embodiment of the present invention.
  • FIG. 5 is a schematic structural view of a reclaiming member in an embodiment of the present invention.
  • FIG. 6 is a state diagram of the retrieving member and the workpiece in the embodiment of the present invention.
  • FIG. 7 is a partial enlarged view of the first embodiment at A in FIG. 5;
  • FIG. 8 is a partial enlarged view of the second embodiment at A in FIG. 5;
  • FIG. 9 is a schematic structural diagram of a receiving component in an embodiment of the present invention.
  • a gripping device of the present invention includes: a mounting member 1, a rubbing assembly 2, a rubbing assembly 2, and a reclaiming assembly 3; wherein, the rubbing assembly 2 can be installed on the mounting member 1 by lifting On it, at least two sets of rubbing members 21 are provided; the output ends of all the rubbing members 21 are facing away from each other, and they can all expand and contract in the direction of the stacking plane of the workpiece stack; the retrieving assembly 3 is installed on the rubbing member 21, and It is provided with a reclaiming member 31; wherein, all the rubbing assemblies 2 can drive the corresponding reclaiming member 31 to expand and take up the work piece.
  • the main function of the rubbing member 21 is to rub the workpiece by driving the reclaiming member 31, In addition to separating the topmost workpiece of the workpiece stack from other workpieces, it can also drive the reclaiming member 31 to move outward through the cooperation of multiple rubbing members 21, and then interact with the structure of the surface of the workpiece through the retrieving member 31 , The workpiece can be lifted up and the workpiece can be picked up.
  • the work piece is mainly a sheet-like or layered structure, and of course it is preferably a non-woven fabric mask, especially having a sheet-like structure such as fibers.
  • the rubbing assembly 2 in the present application includes a lifting cylinder 22 installed downward on the mounting member 1, a rubbing seat 23 and a mounting frame 24 provided at the output end of the lifting cylinder 22, all the rubbing members All 21 are mounted on the rubbing base 23, the mounting frame 24 is mounted on the output end of the rubbing member 21; the mounting frame 24 is provided with at least one mounting position 25, and the reclaiming assembly 3 is mounted on the mounting position 25 on.
  • the rubbing member 21 can be regarded as a component that can realize the similar action of the cylinder.
  • the main function of the lifting cylinder 22 is to take up the entire reclaiming assembly 3 and the workpiece, so the selection and stroke of the lifting cylinder 22 are set according to the entire work. Fixed.
  • the cooperation of the retrieving assembly 3 is also required, which will be explained in detail below and will not be repeated here.
  • the position of the mounting position 25 provided on the mounting frame 24 is subject to certain requirements, and different mounting positions 25 have a certain mounting distance, which facilitates the realization of the post-spreading action.
  • the reclaiming assembly 3 includes a mounting base 32 installed on the output end of the rubbing member 21 and a guide structure 33 provided on the mounting base 32, the reclaiming member 31 is installed in the guide structure 33, and It moves along the guide direction of the guide structure 33; a gap 34 is provided between the reclaiming member 31 and the guide structure 33.
  • the reclaiming assembly 3 can be raised and lowered, so the height of the rubbing member 21 can be adjusted, and the reclaiming member 31 mounted on the rubbing member 21 can also follow the rubbing member 21 to move, so The lifting mechanism on the reclaiming assembly 3 can drive the rubbing member 21 to press into the surface of the uppermost workpiece.
  • the present application designs a gap 34 between the reclaiming member 31 and the guide structure 33.
  • the gap 34 enables the rubbing member 21 to repeatedly rub the workpiece while separating the reclaiming member 31. Insert it well into the workpiece to prepare for the next step.
  • the next action is that the retrieving member 31 takes up the separated workpiece, that is, the uppermost nonwoven fabric that has been separated from the nonwoven fabric stack.
  • the rubbing member 21 rubs the workpiece while rubbing the workpiece.
  • the relative movement of the retrieving member 31 and the guide structure 33 will be affected, making the movement During the process, the picking member 31 has a high rigidity, and the picking member 31 needs to be inserted into the workpiece, which often requires a lot of force.
  • the relative guide structure 33 is oscillated so that the retrieving member 31 can be inserted into the workpiece better while extending relative to the guide structure 33, thereby improving the efficiency and success rate of retrieving the material.
  • the workpieces in the present application are non-woven fabrics.
  • At least one convex structure 311 is provided at one end of the reclaiming member 31 of the present application extending from the guide structure 33.
  • the structure 311 protrudes outward, so that the lifting member on the reclaiming assembly 3 can drive the reclaiming member 31 into the workpiece.
  • the convex structure 311 is inserted into the workpiece, there will be a phenomenon that the workpiece falls.
  • the non-woven fabric is composed of many visible limits, so the side wall and / or end of the tip of the convex structure 311 is provided with a hook structure 312, the hook structure 312 can hook the surface structure of the workpiece.
  • the hook structure 312 mentioned above, after the convex structure 311 is inserted into the surface structure of the workpiece, the fibers on the surface of the workpiece will inevitably surround the tip of the convex structure 311. Since the fibers on the nonwoven fabric are criss-cross, when the lifting member on the reclaiming assembly 3 drives the reclaiming member 31 to raise, the convex structure 311 gradually pulls out of the workpiece during the process of pulling out the workpiece.
  • the fiber pits formed on the surface of the workpiece are withdrawn. Due to their own elasticity, the fibers will gradually tighten the pits formed by the backfill to a certain extent. The rebound fibers will inevitably interact with the hook structure 312, and the fibers will hook On the hook structure 312.
  • the hooking structure 312 is spread over the sidewalls and / or ends of the tip of the convex structure 311, so when the hooking structure 312 is located at the side wall of the tip of the convex structure 311, we can think of the convex structure 311 as A pointed cone structure, such as described in FIG.
  • the convex structure 311 may be a polygonal pyramid, of course, may also be a cone structure, but when the cone structure is used, the The hooking structure 312 is relatively inferior to other polygonal pyramid structures in that the hooking structure 312 takes up a workpiece. As shown in FIG. 8, when the hooking structure 312 is at the end of the tip of the convex structure 311, it can be seen that the hooking structure 312 and the tip of the convex structure 311 form a sharp hook, so that it can also hook fibers and bring Its artifacts.
  • At least two convex structures 311 exist on the reclaiming member 31 in this application, such a design can avoid that when only one convex structure 311 exists, the retrieving member 31 cannot hook to the workpiece The phenomenon of surface fibers.
  • the design of at least two convex structures 311 in this application also has another function. In order to take up the workpiece, if only relying on the hooking structure 312 to hook the fibers on the surface of the workpiece, it is difficult to bring up the entire workpiece. Therefore, in this application, a rubbing member 21 is designed.
  • a plurality of rubbing structures can also cooperate with the corresponding convex structure 311 to spread the workpiece.
  • the convex shape The fibers around the tip of the structure 311 must be deformed by force.
  • the mounting base 32 is provided with a sliding cavity 35, and the guide structure 33 is installed at the lower end of the sliding cavity 35.
  • a slider 36 is provided in the sliding cavity 35, and the mounting end of the reclaiming member 31 is connected to the slider 36; a reclaiming cylinder 37 is provided on the mounting base 32, and the output end of the retrieving cylinder 37 extends into the slide
  • the cavity 35 is connected to the slider 36.
  • the mounting base 32 is similar to a frame structure in this application, and is composed of an upper mounting plate 321, a lower mounting plate 322, and two vertical plates 323 disposed between the upper mounting plate 321 and the lower mounting plate 322, so that
  • the sliding cavity 35 is composed of an inner cavity formed by joining the upper mounting plate 321, the lower mounting plate 322 and the vertical plate 323 together, the slider 36 is slid between the two vertical plates 323, and the guide structure 33 is mounted on the lower mounting plate 322
  • the guide structure 33 is a structure of a guide cylinder
  • the reclaiming member 31 is a rod-shaped structure, so the retrieving member 31 can slide freely in the guide structure 33.
  • the main function of the reclaiming cylinder 37 is to drive the reclaiming member 31 to insert into the workpiece to take out the film, and at the same time there is another important application. Since it has been explained above that the rubbing assembly 2 in the present application is provided with several groups, if there is no reclaiming cylinder 37, then after all the reclaiming members 31 are inserted into the surface structure of the workpiece, the rubbing member 21 cannot be retracted to achieve rubbing If the workpiece is moving, the action of rubbing the workpiece can only be that the reclaiming cylinder 37 on one side lifts the reclaiming member 31, and the rubbing member 21 on the other side drives the retrieving member 31 by telescoping to drive the workpiece to rub.
  • the retrieving cylinder 37 on this side lifts the retrieving member 31, and the retrieving member 31 on the previous side is lowered by the corresponding retrieving cylinder 37 and inserted into the surface structure of the workpiece, while the side corresponds to
  • the rubbing member 21 extends to drive the workpiece to move back, and the rubbing member 21 on the side that has been rubbed previously retracts to wait for the next rubbing operation or other motion. After the rubbing action is completed, all the rubbing members 21 have been retracted to the base point, and then simultaneously extended outwards, and at the same time all the reclaiming cylinders 37 are also gradually extended.
  • the rubbing member 21 When the rubbing member 21 reaches a certain stroke, take The material member 31 is also inserted to a predetermined depth, and at the same time, the work piece is also stretched out to the extent that it can carry the weight of the whole work piece. At this time, the vertical force of the fiber on the workpiece relative to the acting force of all the hooking structures 312 is greater than or equal to the gravity of the workpiece itself. At this time, the lifting cylinder 22 rises to a certain height, waiting for the next action.
  • the guide structure 33 is provided with at least two groups, and each group of guide structures 33 is correspondingly provided with the reclaiming member 31, and the mounting ends of all the reclaiming members 31 are installed on the sliding Block 36.
  • This arrangement can avoid the situation that a single retrieving member 31 on the same retrieving assembly 3 cannot effectively grasp the workpiece.
  • a shoulder is provided on the lower outer wall of the reclaiming member 31, and an elastic member 38 is provided between the shoulder and the slider 36.
  • the elastic member 38 is a spring, which is sleeved Outside the material member 31, the two ends are respectively connected to the shoulder and the slider 36, which can effectively avoid the rigid movement of the reclaiming cylinder 37 when it is extended and make hard contact with the workpiece, which has a certain shock absorption effect.
  • the gripping device is provided with a rubbing assembly 2 that can be raised and lowered, which can be adapted to non-woven fabric stacks of different heights and improve the flexibility of picking and placing;
  • the material member 31 rubs and separates the uppermost non-woven fabric of the non-woven fabric stack, and all the features of the output end of the rubbing member 21 facing away from the non-woven fabric can also stretch the non-woven fabric. In this way, the reclaiming member 31 can bring up the separated non-woven fabric.
  • the grabbing device has a simple structure, and can well separate and bring up the non-woven fabric.
  • the present invention also provides a transfer mechanism, which includes a receiving assembly 4 and the gripping device; the receiving assembly 4 is used to receive the workpiece carried by the reclaiming assembly 3 and transfer the workpiece Move away from the reclaim assembly 3.
  • the receiving assembly 4 includes a linear module 41, a receiving arm 42 mounted on the linear module 41, a receiving plate 43, and a clamping unit 44 that can cooperate with the receiving plate 43 to clamp a workpiece;
  • the group 41 is mounted on the mounting member 1, and the output end of the clamping unit 44 can be opened and closed relative to the receiving plate 43;
  • the side of the receiving plate 43 near the reclaiming assembly 3 is provided with a plurality of protruding tongues 45 inclined downward Between the adjacent protruding tongues 45, an escape opening 46 for avoiding the retrieving assembly 3 is provided.
  • the linear module 41 drives the receiving arm 42 to drive the clamping unit 44 and the receiving plate 43 to move to the vicinity of the gripping device, that is, the side of the retrieving assembly 3 Since the lifting height of the picking assembly 3 is related to the height of the clamping unit 44 and the receiving plate 43, after the receiving arm 42 moves into position, the clamping unit 44 moves relative to the receiving plate 43 to cooperate with the clamping of the picking assembly 3 Separated artifacts.
  • the design of the protruding tongue 45 can effectively ensure that the receiving plate 43 is inserted well below the workpiece, and when the entire receiving assembly 4 is being unloaded later, the workpiece can better slide out or withdraw from the receiving plate 43.
  • the clamping unit 44 includes a clamping cylinder 441, a lever arm 442, and a pressing head 443.
  • One end of the clamping cylinder 441 is mounted on the first mounting block 47 through a first rotating shaft, and the other end of the clamping cylinder 441 is hinged with one end of the lever arm 442 ;
  • the middle part of the lever arm 442 is installed on the second mounting block 48 through the second rotating shaft, the extension length of the top pressure head 443 is adjustablely installed at the other end of the lever arm 442; the top pressure head 443 and the extension
  • the position of the tongue 45 corresponds;
  • the U-shaped plate 49 is installed on the second mounting block 48, the U-shaped plate 49 surrounds the top head 443 and forms a protective frame, and the lever arm 442 can drive the top head 443 around the second The rotating shaft swings and cooperates with the extended tongue 45 to clamp the workpiece.
  • the receiving plate 43 is fixed, and the clamping unit 44 is relatively movable, so when the receiving arm 42 is in place, the receiving plate 43 can be moved directly below the workpiece while clamping
  • the unit 44 can drive the pressing head 443 to swing around the second rotating shaft by clamping the cylinder 441, press the upper surface of the workpiece from top to bottom, and cooperate with the extended tongue 45 to clamp the entire workpiece.
  • a common clamping cylinder can also be used for clamping, but it is impossible to clamp the workpiece smoothly as in this application.
  • the present application also provides a transfer mechanism, which can cooperate with the grasping device to carry the non-woven fabric after separation. It can completely replace the manual process in the whole process, reducing the number of people and films in the process of folding and bagging. Contact, reduce the probability of secondary contamination of the membrane cloth, effectively improve production efficiency and product safety and hygiene level, good stability, high precision, compact structure, novelty, and fast running speed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

一种抓取装置，包括安装构件(1)、搓动组件(2)和取料组件(3)。其中，搓动组件(2)可升降地安装在安装构件(1)上，且设置有至少两组搓动构件(21)；所有搓动构件(21)输出端背向设置，且均可沿工件堆叠的层叠平面方向伸缩；取料组件(3)安装在搓动构件(1)上，且设置有取料构件(31)；所有搓动组件(2)可驱动对应的取料构件(31)撑开并带起工件。一种转移机构，包括接收组件(4)和所述抓取装置；该机构可以很好配合抓取装置进行搬运分离后的无纺布，整个过程中可完全代替人工，减少了在折膜装袋过程中人与膜的接触，降低膜布被二次污染的概率，有效地提高生产效率和产品的安全卫生水平，稳定性好，精度高，结构紧凑，运行速度快。

Description

抓取装置及转移机构
技术领域
本发明涉及薄片材料加工技术领域，尤其涉及一种抓取装置及转移机构。
背景技术
面膜在生活中已大量使用，其生产厂商主要是小企业，他们的主要生产方式有种：一种是全手工折叠装袋生产，这种生产方式生产效率低，人工成本高；另一种方式是半自动化生产，利用手工分发面膜，机械折叠装袋，效率也不高，不能从实质上解决小企业的生产需要，而且这二种方式采用手工操作，易造成二次污染，不符合面膜生产的安全卫生的标准要求。目前市场上的面膜从结构上分主要有两大类，一类面膜由一层无纺布和一层珠光膜叠加在一起为一份，另一类为只有一层无纺布。因珠光膜在面膜中起的作用是支撑无纺布，方便加工，在实际使用过程是没用的，随着人们环保意识的提高，越来越多人开始选用没有珠光膜的面膜，因此单层无纺布的面膜有慢慢取代带珠光膜面膜的趋势。
目前这些无纺布材质的面膜再加工的时候，为了提高加工的效率，大多是采用多层无纺布同时堆叠在一起，然后进行冲裁、整形加工成市场上常见的形状，这样方便加工同时运输和存储方便。然而在需要后期加工时，例如折叠装袋，往往又需要将加工好的无纺布材质的面膜一张张分离后才能进行折叠装袋。正如上面所说的，无论是人工和半自动化加工均不适用现在的市场。而在专利号为201610855529.0-真空吸附搓动式分离取料机构公开了一种面膜的取料分离结构，该种类型的分离取料机构是针对于带有珠光膜的无纺布面膜进行设计的，而单层的无纺布面膜其由无数纵横交错的纤维组成，因此无纺布的表面是粗糙结构，因此采用上述专利中真空吸附无纺布进行分离取料，无法吸附起无纺布面膜，其分离效果和取料结果必然是不尽人意的。
发明内容
为了克服上述现有技术的不足，本发明提供了一种结构简单，能有效分离多层无纺布的抓取装置及转移机构。
本发明解决其技术问题所采用的技术方案为：
一种抓取装置，包括：安装构件、搓动组件和取料组件；搓动组件可升降安装在安装构件上，且设置有至少两组搓动构件；所有搓动构件输出端背向设置，且均可沿工件堆叠的层叠平面方向伸缩；取料组件安装在搓动构件上，设置有取料构件；所有搓动组件可驱动对应的取料构件撑开并带起工件。
作为上述技术方案的改进，所述取料组件包括安装在搓动构件输出端上的安装基体以及设置在安装基体上的导向结构，所述取料构件安装在导向结构内，并可沿导向结构的导向方向运动；所述取料构件与导向结构之间设置有间隙。
作为上述技术方案的改进，所述取料构件可伸出导向结构的一端设置有至少两个凸状结构，所述凸状结构向外突出；所述凸状结构尖端的侧壁和/或端部设置钩挂结构，所述钩挂结构可勾动工件的表面结构。
作为上述技术方案的改进，所述安装基体内设置有滑动腔，所述导向结构安装在滑动腔的下端，所述滑动腔内设置有滑块，所述取料构件的安装端与滑块连接；所述安装基体上设置有取料气缸，所述取料气缸的输出端伸入滑动腔内，并与滑块连接。
作为上述技术方案的改进，所述导向结构设置有至少两组，每组导向结构内均对应设置有所述的取料构件，所有取料构件的安装端均安装在滑块上。
作为上述技术方案的改进，所述取料构件的下部外壁上设置有台肩，所述台肩与滑块之间设置有弹性件。
作为上述技术方案的改进，所述搓动组件包括向下安装在安装构件上的升降气缸、设置在升降气缸输出端的搓动座以及安装架，所有搓动构件均安装在搓动座上，所述安装架安装在搓动构件的输出端上；所述安装架上设置有至少一个安装位，所述取料组件安装在安装位上。
一种转移机构，包括接收组件和所述的抓取装置；所述接收组件用于接收取料组件所带起的工件，并将工件搬离取料组件。
作为上述技术方案的改进，所述接收组件包括直线模组、安装在直线模组上的收料臂、接收板以及可配合接收板夹持工件的夹持单元；直线模组安装在安装构件上，所述夹持单元的输出端可相对接收板开合；所述接收板靠近取料组件的一侧设置有若干倾斜向下的伸出舌，相邻伸出舌之间设置有避让取料组件的避让开口。
作为上述技术方案的改进，所述收料臂上设置有第一安装块和第二安装块，所述夹持单元包括夹持气缸、杠杆臂以及顶压头，所述夹持气缸的一端通过第一转轴安装在第一安装块上，夹持气缸的另一端与杠杆臂的一端铰接；所述杠杆臂的中部通过第二转轴安装在第二安装块上，所述顶压头伸出长度可调地安装在杠杆臂的另一端；所述顶压头与伸出舌位置对应；所述第二安装块上安装有U型板，所述U型板围绕在顶压头并形成防护框，杠杆臂可带动顶压头围绕第二转轴摆动，并配合伸出舌夹持工件。
本发明的有益效果有：
本抓取装置设置有可以升降的搓动组件，可以适应不同高度的无纺布堆层，提高取放的灵活性；其次利用多组搓动构件可以伸缩的特性，能很好带动取料构件进行搓动并分离无纺布堆层最上层的无纺布，而所有的搓动构件输出端背向设置的特性除了能搓动无纺布外，还能撑开无纺布，实现取料构件能带起已经分离的无纺布。本抓取装置结构简单，能很好分离并带起无纺布。此外，本申请还提供一种转移机构，该机构可以很好配合抓取装置进行搬运分离后的无纺布，整个过程中可完全代替人工，减少了在折膜装袋过程中人与膜的接触，降低膜布被二次污染的概率，有效的提高生产效率和产品的安全卫生水平，稳定性好，精度高，结构紧凑，新颖，运行速度快。
附图说明
下面结合附图及具体实施例对本发明作进一步说明，其中：
图1是本发明实施例的结构示意图；
图2是本发明实施例中搓动组件的结构示意图；
图3是本发明实施例中取料组件的结构示意图；
图4是本发明实施例中取料组件的剖视图；
图5是本发明实施例中取料构件的结构示意图；
图6是本发明实施例中取料构件与工件配合的状态图；
图7是图5中A处第一种实施例的局部放大图；
图8是图5中A处第二种实施例的局部放大图；
图9是本发明实施例中接收组件的结构示意图。
具体实施方式
参见图1至图8，本发明的一种抓取装置，包括：安装构件1、搓动组件2、搓动组件2以及取料组件3；其中，搓动组件2可升降安装在安装构件1上，其上设置有至少两组搓动构件21；所有搓动构件21输出端背向设置，且均可沿工件堆叠的层叠平面方向伸缩；取料组件3安装在搓动构件21上，并且其上设置有取料构件31；其中，所有搓动组件2可驱动对应的取料构件31撑开并带起工件，当然搓动构件21的主要作用除了通过驱动取料构件31搓动工件，使得工件堆叠最上层的工件能够与其他工件进行分离之外，还可以通过多个搓动构件21的共同配合驱动取料构件31向外运动，进而通过取料构件31与工件表面的结构相互作用，撑开工件进而可以带起工件。在本申请中，工件主要是片状或者层状的结构，当然优选是无纺布面膜，尤其是具有纤维之类的片状结构。
参见图1至图5，本申请中所述搓动组件2包括向下安装在安装构件1上的升降气缸22、设置在升降气缸22输出端的搓动座23以及安装架24，所有搓动构件21均安装在搓动座23上，所述安装架24安装在搓动构件21的输出端上；所述安装架24上设置有至少一个安装位25，所述取料组件3安装在安装位25上。搓动构件21可以认为是能实现类似气缸动作一类的部件，升降气缸22的主要作用是带起整个取料组件3以及连同工件，因此该升降气缸22的选用以及行程是根据整个工作进行设定的。而为了实现上述的搓动分离工件的动作，除了需要搓动构件21的配合外当然还需取料组件3的配合，下文进行详细解释，这里不累述。在本申请中，安装架24上设置的安装位25的位置由一定的要求，不同的安装位25具有一定的安装距离，这样便于后期撑开动作的实现。
更进一步，所述取料组件3包括安装在搓动构件21输出端上的安装基体32以及设置在安装基体32上的导向结构33，所述取料构件31安装在导向结构33内，并可沿导向结构33的导向方向运动；所述取料构件31与导向结构33之间设置有间隙34。在本申请中，取料组件3是可以升降的，因此搓动构件21的高度可以调节，进而安装在搓动构件21上的取料构件31是一样可以跟随搓动构件21进行运动的，因此取料组件3上的升降机构可以驱动搓动构件21压入最上层工件的表面。然而根据常识可以知道，想要取料构件31压入一个物品内，除了压力足够大之外还可以通过不断摇动插入的部分，使得压入部分的活动空间逐渐变大，进而工件对压入部件的反作用力减少，进而使得压入部件能更好地深入到工件内部，本实施例中的压入部件是取料构件31的工作端。因此在作用力一样的情况下，本申请在取料构件31与导向结构33之间设计了间隙34，通过间隙34使得搓动构件21在反复搓动工件分离的同时能让取料构件31很好地插入到工件内，为下一步的动作做准备。在本申请中，下一步动作是取料构件31带起已经分离的工件，即带起已经与无纺布堆层分离的最上层无纺布。需要特别的说明，如果没有间隙34，搓动构件21在搓动工件的同时，很容易将工件搓烂，此外因为缺少间隙，取料构件31与导向结构33的相对运动会受到影响，使得在运动的过程中取料构件31刚度大，取料构件31需要插入到工件内，往往需要很大的力，而有了间隙34，搓动构件21在搓动运动的过程中，取料构件31能相对导向结构33进行摆动，这样取料构件31能在相对导向结构33伸出运动的同时，能更好地插入到工件内，进而提高了取料的效率以及成功率。
为了更好地带起已经分离的工件，本申请中的工件是无纺布，本申请所述取料构件31可伸出导向结构33的一端设置有至少两个凸状结构311，所述凸状结构311向外突出，这样方便取料组件3上的升降部件能驱使取料构件31插入到工件内。当然即使凸状结构311插入到工件内，也会存在工件掉落的现象。由于本申请所作用的无纺布，无纺布是由许多肉眼可见的限位组成，因此所述凸状结构311尖端的侧壁和/或端部设置钩挂结构312，所述钩挂结构312可勾动工件的表面结构。通过上述的钩挂结构312使得凸状结构311在插入到工件表面结构内后，工件表面的纤维必然会围绕在凸状结构311尖端的周围。无纺布上的纤维由于是纵横交错的，因此在取料组件3上的升降部件驱动取料构件31升起的时候，凸状结构311拔出工件的过程中，随着凸状结构311逐渐退出工件表面所形成的纤维凹坑，纤维由于自身的弹性必然会在一定程度上逐渐收紧回填所冲击形成的凹坑，回弹的纤维必然会与钩挂结构312相互作用，纤维会钩挂在钩挂结构312上。在本申请中，钩挂结构312遍布凸状结构311尖端的侧壁和/或端部，因此当钩挂结构312位于凸状结构311尖端的侧壁时，我们可以将凸状结构311看作一个尖锥的结构，例如图7中所述，为了更好地带起工件，该凸状结构311可以是多棱锥，当然也可以是圆锥的结构，只不过当采用圆锥的结构时，其上的钩挂结构312相对其他多棱锥结构上钩挂结构312带起工件的效果相对差一些。如图8所示，当钩挂结构312在凸状结构311尖端的端部时，这时可以看作钩挂结构312与凸状结构311尖端组成尖钩，这样亦是可以钩挂纤维并带其工件。
参见图6，正如前面所说的，本申请中取料构件31上至少同时存在两个凸状结构311，这样的设计可以避免只存在一个凸状结构311时，取料构件31无法勾到工件表面纤维的现象。除了上述的作用之外，本申请设计至少两个凸状结构311还有另外一个作用，为了带起工件，如果仅仅依靠钩挂结构312进行钩挂工件表面的纤维时很难带起整个工件的，因此本申请中设计有搓动构件21，搓动结构除了通过带动凸状结构311搓动工件外，多个搓动结构还可以通过对应的凸状结构311配合撑开工件，这时凸状结构311尖端周围的纤维必然会受力变形。参见图8，凸状结构311尖端指向搓动构件21运动向外的一侧的纤维受力变形且顶压在凸状结构311尖端侧壁的表面，这时的钩挂结构312可以很好地与受力变形的纤维配合，这时升降结构在升起时就能很好地通过凸状结构311带起整个工件。
参见图3至图6，为了更好地实现上面如何进行插入以及搓动工件的动作，所述安装基体32内设置有滑动腔35，所述导向结构33安装在滑动腔35的下端，所述滑动腔35内设置有滑块36，所述取料构件31的安装端与滑块36连接；所述安装基体32上设置有取料气缸37，所述取料气缸37的输出端伸入滑动腔35内，并与滑块36连接。当然安装基体32在本申请中类似于一个框架结构，由上安装板321、下安装板322以及设置在上安装板321和下安装板322之间的两块立板323相互拼接构成的，因此滑动腔35由上安装板321、下安装板322以及立板323相互拼接所形成的内腔构成的，滑块36是滑动在两块立板323中间的，导向结构33是安装在下安装板322上，在本申请中为了更好地进行导向，导向结构33为导向筒的结构，而取料构件31则是一根棒状的结构，因此取料构件31可以在导向结构33内自由滑动。
取料气缸37的主要作用是驱动取料构件31进行插入工件内进行取膜，同时还有另外一个重要的用途。由于上文已经说明了本申请中搓动组件2设置有若干组，如果没有取料气缸37，那当所有的取料构件31插入到工件表面结构后，搓动构件21是无法通过伸缩实现搓动工件的，因此搓动工件的动作只能是，一侧的取料气缸37将取料构件31升起，另一侧的搓动构件21通过伸缩驱动取料构件31带动工件搓动。当达到行程后，该侧的取料气缸37将取料构件31升起，之前升起的那侧取料构件31被对应的取料气缸37放下插入到工件表面结构内，而该侧对应的搓动构件21伸出带动工件往回程运动，之前已搓动一侧的搓动构件21回缩等待下一次的搓动动作或者是其他动作。在完成搓动动作后，所有的搓动构件21已经回缩到基础点，然后同时向外伸出，同时所有的取料气缸37也逐渐伸出，当搓动构件21达到一定行程后，取料构件31也正好插入到预设的深度，同时也撑开工件到足够带起整个工件重量的程度。此时工件上纤维相对所有钩挂结构312上的作用力在竖直方向的力大于或者等于工件的自身重力，这时升降气缸22升起到一定高度，等待下一步的动作。
更进一步参见图3至图6，所述导向结构33设置有至少两组，每组导向结构33内均对应设置有所述的取料构件31，所有取料构件31的安装端均安装在滑块36上。这样的设置在一定程度上可以避免同一个取料组件3上单个取料构件31无法进行有效抓取工件的情况出现。当然为了更好地进行动作，所述取料构件31的下部外壁上设置有台肩，所述台肩与滑块36之间设置有弹性件38，具体是弹性件38为弹簧，套装在取料构件31外，两端分别连接台肩和滑块36，这样可以有效地避免取料气缸37在伸出时动作生硬与工件进行硬接触，有一定的减震作用。
本抓取装置设置有可以升降的搓动组件2，可以适应不同高度的无纺布堆层，提高取放的灵活性；其次利用多组搓动构件21可以伸缩的特性，能很好带动取料构件31进行搓动并分离无纺布堆层最上层的无纺布，而所有的搓动构件21输出端背向设置的特性除了能搓动无纺布外，还能撑开无纺布，实现取料构件31能带起已经分离的无纺布。本抓取装置结构简单，能很好分离并带起无纺布。
参见图1和图9，本发明还提供了一种转移机构，包括接收组件4和所述的抓取装置；所述接收组件4用于接收取料组件3所带起的工件，并将工件搬离取料组件3。
其中，参见图9，所述接收组件4包括直线模组41、安装在直线模组41上的收料臂42、接收板43以及可配合接收板43夹持工件的夹持单元44；直线模组41安装在安装构件1上，所述夹持单元44的输出端可相对接收板43开合；所述接收板43靠近取料组件3的一侧设置有若干倾斜向下的伸出舌45，相邻伸出舌45之间设置有避让取料组件3的避让开口46。当抓取装置将工件从工件叠堆中分离成功后，直线模组41驱动收料臂42带动夹持单元44连同接收板43一起运动到抓取装置附近，也就是取料组件3的一侧，由于取料组件3的提升高度与夹持单元44以及接收板43的高度有关，因此收料臂42运动到位之后，夹持单元44相对接收板43运动即可配合夹持取料组件3所分离的工件。伸出舌45的设计可以有效地保证接收板43很好地插入到工件的下方，以及在后期整个接收组件4在下料时，工件能更好地从接收板43上滑出或者退出。
更进一步，在本申请中给出了一种关于夹持单元44的具体实施例，其中所述收料臂42上设置有第一安装块47和第二安装块48，所述夹持单元44包括夹持气缸441、杠杆臂442以及顶压头443，所述夹持气缸441的一端通过第一转轴安装在第一安装块47上，夹持气缸441的另一端与杠杆臂442的一端铰接；所述杠杆臂442的中部通过第二转轴安装在第二安装块48上，所述顶压头443伸出长度可调地安装在杠杆臂442的另一端；所述顶压头443与伸出舌45位置对应；所述第二安装块48上安装有U型板49，所述U型板49围绕在顶压头443并形成防护框，杠杆臂442可带动顶压头443围绕第二转轴摆动，并配合伸出舌45夹持工件。
需要说明的是在本申请中接收板43是固定的，而夹持单元44是可以相对运动的，因此在收料臂42运动到位时，接收板43可以直接运动到工件的下方，而夹持单元44可以通过夹持气缸441进行驱动顶压头443围绕第二转轴摆动，从上至下顶压工件的上表面，并配合伸出舌45夹持整个工件。当然除了采用上述的夹持方式之外，还可以使用常用的夹持气缸进行夹持，只是无法像本申请中这样可以能平整地夹持工件。
此外，本申请还提供一种转移机构，该机构可以很好配合抓取装置进行搬运分离后的无纺布，整个过程中可完全代替人工，减少了在折膜装袋过程中人与膜的接触，降低膜布被二次污染的概率，有效的提高生产效率和产品的安全卫生水平，稳定性好，精度高，结构紧凑，新颖，运行速度快。
以上所述，只是本发明的较佳实施方式而已，但本发明并不限于上述实施例，只要其以任何相同或相似手段达到本发明的技术效果，都应属于本发明的保护范围。

Claims (10)

  1. 一种抓取装置，其特征在于，包括：安装构件（1）、搓动组件（2）和取料组件（3）；搓动组件（2）可升降安装在安装构件（1）上，且设置有至少两组搓动构件（21）；所有搓动构件（21）输出端背向设置，且均可沿工件堆叠的层叠平面方向伸缩；取料组件（3）安装在搓动构件（21）上，设置有取料构件（31）；所有搓动组件（2）可驱动对应的取料构件（31）撑开并带起工件。
  2. 根据权利要求1所述的一种抓取装置，其特征在于：所述取料组件（3）包括安装在搓动构件（21）输出端上的安装基体（32）以及设置在安装基体（32）上的导向结构（33），所述取料构件（31）安装在导向结构（33）内，并可沿导向结构（33）的导向方向运动；所述取料构件（31）与导向结构（33）之间设置有间隙（34）。
  3. 根据权利要求2所述的一种抓取装置，其特征在于：所述取料构件（31）可伸出导向结构（33）的一端设置有至少两个凸状结构（311），所述凸状结构（311）向外突出；所述凸状结构（311）尖端的侧壁和/或端部设置钩挂结构（312），所述钩挂结构（312）可勾动工件的表面结构。
  4. 根据权利要求2所述的一种抓取装置，其特征在于：所述安装基体（32）内设置有滑动腔（35），所述导向结构（33）安装在滑动腔（35）的下端，所述滑动腔（35）内设置有滑块（36），所述取料构件（31）的安装端与滑块（36）连接；所述安装基体（32）上设置有取料气缸（37），所述取料气缸（37）的输出端伸入滑动腔（35）内，并与滑块（36）连接。
  5. 根据权利要求4所述的一种抓取装置，其特征在于：所述导向结构（33）设置有至少两组，每组导向结构（33）内均对应设置有所述的取料构件（31），所有取料构件（31）的安装端均安装在滑块（36）上。
  6. 根据权利要求4或5所述的一种抓取装置，其特征在于：所述取料构件（31）的下部外壁上设置有台肩，所述台肩与滑块（36）之间设置有弹性件（38）。
  7. 根据权利要求1-5任一项所述的一种抓取装置，其特征在于：所述搓动组件（2）包括向下安装在安装构件（1）上的升降气缸（22）、设置在升降气缸（22）输出端的搓动座（23）以及安装架（24），所有搓动构件（21）均安装在搓动座（23）上，所述安装架（24）安装在搓动构件（21）的输出端上；所述安装架（24）上设置有至少一个安装位（25），所述取料组件（3）安装在安装位（25）上。
  8. 一种转移机构，其特征在于：包括接收组件（4）和权利要求1-7任一项所述的抓取装置；所述接收组件（4）用于接收取料组件（3）所带起的工件，并将工件搬离取料组件（3）。
  9. 根据权利要求8所述的一种转移机构，其特征在于：所述接收组件（4）包括直线模组（41）、安装在直线模组（41）上的收料臂（42）、接收板（43）以及可配合接收板（43）夹持工件的夹持单元（44）；直线模组（41）安装在安装构件（1）上，所述夹持单元（44）的输出端可相对接收板（43）开合。
  10. 根据权利要求9所述的一种转移机构，其特征在于：所述夹持单元（44）包括夹持气缸（441）、杠杆臂（442）以及顶压头（443），所述夹持气缸（441）的一端铰接在收料臂（42）上，夹持气缸（441）的另一端与杠杆臂（442）的一端铰接；所述杠杆臂（442）的中部铰接在收料臂（42）上；所述顶压头（443）伸出长度可调地安装在杠杆臂（442）的另一端；杠杆臂（442）可带动顶压头（443）围绕第二转轴摆动，并配合接收板（43）夹持工件。
PCT/CN2019/080344 2018-11-23 2019-03-29 抓取装置及转移机构 Ceased WO2020103370A1 (zh)

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