WO2022267567A1

WO2022267567A1 - Limiting apparatus and hoisting conveying mechanism

Info

Publication number: WO2022267567A1
Application number: PCT/CN2022/080968
Authority: WO
Inventors: 欧阳效文; 张瑞俊; 黄诚; 张锦宙; 李厚洪; 钟俊; 陶择恒; 卢政君; 刘汉水; 左文翔; 黄大练; 胡杨; 唐竞; 林长波; 展新; 冯高山
Original assignee: 东风柳州汽车有限公司
Priority date: 2021-06-25
Filing date: 2022-03-15
Publication date: 2022-12-29
Also published as: CN113443424A; CN113443424B

Abstract

A limiting apparatus and a hoisting conveying mechanism. The limiting apparatus (100) is applied to a hoisting conveying mechanism. The limiting apparatus (100) has a first direction and a second direction crossing the first direction; the limiting apparatus (100) comprises a base (1) and a limiting assembly (2); the base (1) has a pickup station; the limiting assembly (2) is movably mounted on the base (1) in directions close to and distant from the pickup station; the limiting assembly (2) is configured to move, when a hoisting assembly hoists a workpiece to the pickup station, towards the pickup station so as to limit the workpiece to move in the first direction and the second direction. By providing the limiting assembly, the workpiece can be rapidly limited when the workpiece is hoisted to the pickup station, so as to avoid an offset, and guarantee that the workpiece is located at a set position, thereby facilitating a robot gripper to grasp the workpiece.

Description

A limit device and hoisting conveying mechanism

This application claims the priority of Chinese Patent Application No. 202110715546.5 filed on June 25, 2021, the entire contents of which are hereby incorporated by reference.

technical field

The present application relates to the technical field of conveying equipment, in particular to a limit device and a hoisting conveying mechanism.

Background technique

Conveyors are equipment used to transport automotive workpieces. The emergence of conveyors has greatly improved the production efficiency of automotive workpieces. After the existing conveyor lifts the workpiece from the loading station to the pick-up station, it will stop conveying. After the robot gripper in the next process grabs the workpiece at the pick-up station, it will start again to pick up the next work piece. The workpiece is transported to the pick-up station. During the process of conveying the workpiece, the conveyor often starts and stops, and the workpiece will shift due to inertia. After arriving at the pick-up station, the actual position of the workpiece is different from the preset position. There is a deviation in the position, and the robot gripper cannot be aligned with the positioning hole of the workpiece, resulting in grasping failure.

technical problem

The main purpose of this application is to propose a limit device and a lifting conveying mechanism, which aims to solve the problem that the position of the workpiece on the conveying mechanism is shifted during the frequent start-up of the existing conveyor, which leads to the failure of the robot gripper to grasp. question.

technical solution

In order to achieve the above purpose, the present application proposes a limiting device, which is applied to a hoisting and conveying mechanism. The limiting device has a first direction and a second direction intersecting with the first direction. The limiting device includes:

a base having a pick-up station; and,

The limit assembly is movably installed on the base in the direction of approaching and away from the pick-up station, and the limit assembly is used to move toward the pick-up station when the lifting assembly lifts the workpiece to the pick-up station The pick-up station moves to restrict the movement of workpieces along the first direction and the second direction.

In one embodiment, the limiting assembly includes:

The first limit assembly is arranged on one side of the pick-up station, and is movable in the direction of approaching and away from the pick-up station, so as to be in contact with the workpiece when approaching the pick-up station. side abutment in the first direction to limit movement of the workpiece in the first direction; and,

The second limit assembly is movable in the direction of approaching and away from the pick-up station, so as to abut against the side of the workpiece in the second direction when approaching the pick-up station, so as to Movement of the workpiece in the second direction is restricted.

In one embodiment, the first limiting component includes two limiting members, the two limiting members are arranged at intervals along the first direction, and are located on both sides of the pick-up station. The stoppers are movable along the second direction, so that when approaching the pick-up station along the second direction, the two stoppers are respectively arranged to be in contact with the workpiece in the first direction The opposite two sides abut against each other.

In one embodiment, the second limit assembly includes two clamping arms, each of the clamping arms has a clamping side disposed toward the pick-up station, and the two clamping arms are positioned along the The second direction is arranged at intervals and respectively located on both sides of the pick-up station, at least one of the two clamping arms is movable along the second direction, so that when the two clamping arms are close to each other , the two clamping sides are arranged to abut against the opposite two sides of the workpiece.

In one embodiment, one ends of the two clamping arms are rotatably mounted on the base along the axis of the first direction, so that the other ends of the two clamping arms approach or move away from each other, and the The second limit assembly further includes a driving mechanism for driving the two clamping arms to rotate.

In one embodiment, the driving mechanism includes two driving cylinders, and the two driving cylinders are respectively connected to the two clamping arms, so as to drive the two clamping arms to abut against the sides of the workpiece successively. .

In one embodiment, the two stoppers are arranged on one of the clamping arms, and protrude from the clamping side in the direction toward the pick-up station, so that the clamping arm When moving toward the pick-up station, the clamping arm drives the two limiters to move toward the pick-up station.

In one embodiment, there are multiple limiting components, and the multiple limiting components are arranged at intervals along the first direction.

The present application also provides a hoisting conveying mechanism, the hoisting conveying mechanism includes a hoisting assembly and the limit device described in the above technical solution, the hoisting conveying mechanism has a loading station, and the loading station is connected to the take-out station. The workpiece stations are arranged at intervals along the first direction, and the hoisting assembly is used to hoist the workpiece from the loading station to the picking station.

In one embodiment, the hoisting and conveying mechanism further includes a detection component, the detection component is arranged above the pick-up station, and the detection component is configured to detect the position of the hoisting component at the pick-up station. location information.

Beneficial effect

In the technical solution of the present application, the limit device includes a base and a limit assembly, the base has a pick-up station, and the limit assembly is movably installed in the direction of approaching and away from the pick-up station For the base, when the hoisting and conveying mechanism lifts the workpiece to the pick-up station, the limit assembly moves toward the pick-up station to cooperate with the workpiece, so as to limit the workpiece along the first pick-up station. The purpose of moving in one direction and the second direction is to set the limit assembly, when the workpiece is hoisted to the pick-up station, it can quickly limit the workpiece, avoid deviation, and ensure that the workpiece is in the set position , so that it is convenient for the robot gripper to grab the workpiece.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to the structures shown in these drawings without creative effort.

Fig. 1 is the three-dimensional schematic diagram of an embodiment of the limiting device of the present application;

Fig. 2 is a schematic front view of the limit device and the detection assembly in Fig. 1;

Fig. 3 is a three-dimensional schematic diagram of the limiting assembly in Fig. 1;

Fig. 4 is a schematic front view of the limiting assembly in Fig. 3;

FIG. 5 is a schematic perspective view of an embodiment of the delivery mechanism of the present application.

Explanation of reference numbers:

标号 label	名称 name	标号 label	名称 name
100 100	限位装置 Limiter	221 221	夹紧臂 clamping arm
1 1	底座 base	2211 2211	连接臂 connecting arm
2 2	限位组件 Limit component	2212 2212	夹紧件 clamping parts
21 twenty one	第一限位组件 The first limit component	222 222	驱动机构 Drive mechanism
211 211	限位件 Limiting parts	200 200	吊装组件 Lifting components
22 twenty two	第二限位组件 Second limit component	300 300	检测组件 Detection components

The realization, functional features and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiment of the present application, the directional indications are only used to explain the position in a certain posture (as shown in the attached figure). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be interpreted as indications or hints Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "and/or" appearing in the whole text includes three parallel schemes, taking "A and/or B" as an example, including scheme A, scheme B, or schemes that both A and B satisfy. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

In view of this, this application provides a limit device, which aims to solve the problem that the position of the workpiece on the conveying mechanism is shifted during the frequent start-up of the existing conveyor, which leads to the failure of the robot gripper to grasp, as shown in Figure 1 to Fig. 4 is an embodiment of the limiting device provided by the present application, and Fig. 5 is an embodiment of the conveying mechanism provided by the present application.

Please refer to Fig. 1 to Fig. 2, the limiting device 100 is applied to the hoisting conveying mechanism, the limiting device 100 has a first direction and a second direction intersecting with the first direction, the limiting device 100 It includes a base 1 and a limit assembly 2, the base 1 has a pick-up station; the limit assembly 2 is movably installed on the base 1 in the direction of approaching and away from the pick-up station, the limit The position assembly 2 is used to move toward the pick-up station when the lifting assembly 200 lifts the workpiece to the pick-up station, so as to limit the movement of the workpiece along the first direction and the second direction.

In the technical solution of the present application, when the hoisting assembly 200 in the hoisting and conveying mechanism lifts the workpiece to the pick-up station, the limit assembly 2 moves toward the pick-up station to cooperate with the workpiece , so as to achieve the purpose of restricting the movement of the workpiece along the first direction and the second direction. By setting the limit assembly 2, when the workpiece is hoisted to the pick-up station, the workpiece can be quickly restricted to avoid the occurrence of Offset, to ensure that the workpiece is in the set position, so that it is convenient for the robot gripper to grab the workpiece.

Please refer to Fig. 3 to Fig. 4 specifically, the specific form of the limit assembly 2 is not limited, as long as it can limit the movement of the workpiece along the first direction and the second direction at the pick-up station. , in this embodiment, the limit assembly 2 includes a first limit assembly 21 and a second limit assembly 22, the first limit assembly 21 is arranged on one side of the pick-up station, and is close to and move away from the pick-up station, so as to abut against the side of the workpiece in the first direction when approaching the pick-up station, so as to limit the workpiece in the first direction. Movement in one direction; the second limit assembly 22 is movable in the direction of approaching and away from the pick-up station, so as to be in the second direction with the workpiece when approaching the pick-up station. abutting against the side of the workpiece to limit movement of the workpiece in the second direction. With such a setting, the workpiece can be quickly limited without interfering with the lifting of the workpiece.

Further, the first limiting component 21 includes two limiting members 211, the two limiting members 211 are arranged at intervals along the first direction, and are located on both sides of the pick-up station, two The limiting members 211 are movable along the second direction, so that when approaching the pick-up station along the second direction, the two limiting members 211 are respectively arranged to be in contact with the workpiece in the first position. The opposite sides in the direction abut against each other.

Further, the second limiting assembly 22 includes two clamping arms 221, each of the clamping arms 221 has a clamping side disposed toward the pick-up station, and the two clamping arms 221 are arranged along the The second direction is arranged at intervals and respectively located on both sides of the pick-up station, at least one of the two clamping arms 221 is movable along the second direction, so that the two clamping arms 221 When approaching each other, the two clamping sides are arranged to abut against opposite sides of the workpiece.

One ends of the two clamping arms 221 are rotatably mounted on the base 1 along the axis of the first direction, so that the other ends of the two clamping arms 221 approach or move away from each other, and the second limit The bit assembly 22 also includes a driving mechanism 222 for driving the two clamping arms 221 to rotate. Such setting can reduce the volume of the device and save space.

Specifically, the driving mechanism 222 includes two driving cylinders, and the two driving cylinders are respectively connected to the two clamping arms 221 to drive the two clamping arms 221 to abut against the side of the workpiece successively. . In specific use, when the workpiece is hoisted to the pick-up station, one of the clamping arms 221 moves toward the workpiece first, abuts against the side of the workpiece for a limit, and then the other clamping arm 221 The clamping arm 221 moves toward the workpiece, abuts against the other side of the workpiece to limit the position, and clamps and fixes the workpiece.

The driving cylinder may be a pressing arm cylinder, the pressing arm cylinder has an output shaft extending along the first direction, the output shaft is arranged to rotate along the axis of the first direction, and the output shaft is connected to the The clamping arm 221 is fixedly connected to drive the clamping arm 221 to rotate through the output shaft.

Further, the clamping arm 221 includes a connecting arm 2211 and a clamping piece 2212, one end of the connecting arm 2211 is connected to the output shaft, and the clamping piece 2212 is provided with a clamping side towards the pick-up station. , the clamping member 2212 is mounted on the other end of the connecting arm 2211 through screws and positioning pins.

The clamping arm 221 is also provided with an elastic member, the elastic member is arranged between the clamping member 2212 and the connecting arm 2211, and the two ends are connected to the clamping member 2212 and the connecting arm 2211 respectively. so that the clamping member 2212 is elastically arranged in the second direction, so that when the clamping member 2212 abuts against the workpiece, there is a certain amount of cushioning to avoid two clamping The fasteners 2212 clamp and damage the workpiece.

Since the structures of different types of workpieces also have certain differences, in order to limit the position in the second direction on a variety of different types of workpieces, the clamping member 2212 is movably installed on the connecting arm 2211 along the length direction. The other end of the connecting arm 2211 is such that the position of the clamping member 2212 in the length direction of the connecting arm 2211 can be adjusted, so that corresponding adjustments can be made according to the model of the workpiece.

The connecting arm 2211 is provided with a plurality of mounting parts at intervals along the length direction, and the clamping part 2212 is provided with a matching part for the mounting parts, and the clamping part 2212 can select different mounting parts for installation. , so that the position of the clamping member 2212 in the length direction of the connecting arm 2211 is adjustable.

In this embodiment, the mounting part includes threaded holes arranged at intervals along the length direction of the connecting arm 2211; The different threaded holes are installed so that the position of the clamping member 2212 in the length direction of the connecting arm 2211 can be adjusted.

The adjustment method of the clamping member 2212 can also be that the connecting arm 2211 is provided with a sliding groove along the length direction, the sliding groove is arranged in a T shape, and the clamping member 2212 is provided with a sliding groove suitable for the sliding groove. The slider is provided, the slider is slidably installed in the chute, and the slider is also provided with a locking screw facing the bottom of the chute, after the slider slides to the required position, The purpose of fixing the slider is achieved by the locking screw abutting against the groove bottom of the chute.

In some embodiments, two stoppers 211 are arranged on one of the clamping arms 221, and protrude from the clamping side in the direction toward the pick-up station, so as to When the clamping arm 221 moves toward the pick-up station, the clamping arm 221 drives the two limiting members 211 to move toward the pick-up station. That is, the two limiting members 211 are installed on the connecting arm 2211 and/or the clamping member 2212, and in the direction toward the clamping station, the two limiting members 211 protrude from the clip The clamping part 2212 is provided. When the clamping arm 221 moves toward the workpiece, the two limiting parts 211 first abut against the side of the workpiece along the first direction, and then the clamping arm 221 is in contact with the workpiece. The side abutment along the second direction is arranged in this way, and the clamping arm 221 and the two stoppers 211 can be simultaneously driven to move by one driving mechanism 222, which reduces the number of driving mechanisms 222 and saves cost .

Specifically, in order to limit the position in the first direction on different types of workpieces, the two limit members 211 can be adjusted up and down, so as to adjust the limit members according to different shapes of workpieces. 211 location.

In this embodiment, the limiting member 211 is installed on the clamping member 2212, so that the movement of the limiting member 211 is driven by the movement of the clamping member 2212 along the length direction of the connecting arm 2211; Alternatively, the connecting arm 2211 is provided with a plurality of connecting parts, and the plurality of connecting parts are arranged at intervals along the length direction of the connecting arm 2211, and the limiting member 211 is provided with a connecting matching part matched with the connecting parts, The limiting member 211 can be installed at different connecting parts according to usage conditions, so that the limiting member 211 can be adjusted up and down.

In order to be able to accurately limit the workpiece, there are multiple limit assemblies 2 arranged at intervals along the first direction, through which multiple workpieces can be Limiting is performed at different positions to achieve a better limiting effect. In this embodiment, according to the shape of the workpiece, there are three sets of limiting components 2 .

Specifically, the limit assembly 2 is movably installed on the base 1 along the first direction, so that the limit assembly 2 can be adjusted in the first direction, and the limit assembly 2 can be adjusted according to actual usage conditions. The position of the limiting assembly 2 is described to apply to more different models and expand the scope of use.

Further, the limit assembly 2 also includes a mounting seat, the two clamping arms 221 are rotatably mounted on the mounting seat along the axis of the first direction, and the mounting seat is arranged along the first direction There are threaded holes, the limiting device 100 also includes a screw rod, the screw rod is rotatably mounted on the base 1, and the screw rod is extended along the first direction, and the screw rod is connected to the The mounting seat is threadedly matched to drive the mounting seat to move along the first direction by rotating the screw rod, so as to adjust the position of the limit assembly 2 in the first direction. The structure is simple and the adjustment accuracy is high. .

Further, the specific form of driving the screw to rotate is not limited, it can be manually driven, that is, the limiting device 100 also includes a hand wheel, and the hand wheel is connected to one end of the screw . It may also be an electronically controlled driving manner, that is, the limiting device 100 further includes a driving motor, and the driving motor is connected to one end of the screw rod.

In this embodiment, since the workpiece is arranged in a T-shape as a whole, the two limiting members 211 can be respectively arranged on the clamping arms 221 in the two groups of the second limiting components 22, so as to control the workpiece along the The two sides in the first direction are limited.

Please refer to FIG. 5 , the present application also provides a hoisting and conveying mechanism, the hoisting and conveying mechanism includes a hoisting assembly 200 and the limit device 100 described in the above technical solution, the hoisting and conveying mechanism has an upper station, and the upper The workpiece station and the pick-up station are arranged at intervals along the first direction, and the hoisting assembly 200 is used for hoisting the workpiece from the loading station to the pick-up station. In specific use, at the loading station, the workpiece is hung on the lifting assembly 200, and then the lifting assembly 200 lifts the workpiece to the pick-up station, and the first limiting assembly 21 and the second limiting assembly 21 The two limit assemblies 22 move towards the direction of the workpiece respectively to limit the workpiece. After the robot gripper correctly grasps the workpiece, the first limit assembly 21 and the second limit assembly 22 respectively face away from the workpiece. Move, release the restriction on the workpiece, and the robot gripper will move the workpiece to the next process.

Specifically, the hoisting and conveying mechanism further includes a detection component 300, the detection component 300 is arranged above the pick-up station, and the detection component 300 is configured to detect the lifting component 200 located at the pick-up station. location information.

Further, the hoisting assembly 200 includes positioning pins extending along the second direction, and the positioning pins are configured to cooperate with through holes on the workpiece so as to lift the workpiece through the positioning pins, and the detection assembly 300 includes A bracket and a bushing, the bracket is fixedly mounted on the base 1, the bracket is provided with a through hole adapted to the bushing, when the hoisting assembly 200 is located at the pick-up station and stops, The bushing passes through the through hole and cooperates with the positioning pin. When the bushing can be sleeved on the outer periphery of the positioning pin, the position of the positioning pin is at a preset position. When the bushing If it cannot be sleeved on the outer circumference of the positioning pin, it is determined that the positioning pin has deviated from the preset position, and the position of the positioning pin needs to be manually adjusted. With such an arrangement, the position of the positioning pin can be quickly detected, and the whole device has a simple structure, is easy to operate, and has low cost.

The above are only optional embodiments of the present application, and are not intended to limit the patent scope of the present application. Under the inventive concept of the present application, the equivalent structural transformations made by using the description of the application and the contents of the accompanying drawings, or direct/indirect Applications in other relevant technical fields are included in the patent protection scope of the present application.

Claims

A limiting device, which is applied to a hoisting and conveying mechanism, wherein the limiting device has a first direction and a second direction intersecting the first direction, and the limiting device includes:

a base having a pick-up station; and,

The limit assembly is movably installed on the base in the direction of approaching and away from the pick-up station, and the limit assembly is used to move toward the pick-up station when the lifting assembly lifts the workpiece to the pick-up station The pick-up station moves to restrict the movement of workpieces along the first direction and the second direction.
The limiting device according to claim 1, wherein the limiting component comprises:

The first limit assembly is arranged on one side of the pick-up station, and is movable in the direction of approaching and away from the pick-up station, so as to be in contact with the workpiece when approaching the pick-up station. side abutment in the first direction to limit movement of the workpiece in the first direction; and,

The second limit assembly is movable in the direction of approaching and away from the pick-up station, so as to abut against the side of the workpiece in the second direction when approaching the pick-up station, so as to Movement of the workpiece in the second direction is restricted.
The limiting device according to claim 2, wherein the first limiting component comprises two limiting members, the two limiting members are arranged at intervals along the first direction, and are located at the pick-up station. On both sides of the position, the two limiters are movable along the second direction, so that when approaching the pick-up station along the second direction, the two limiters are used to contact the workpiece respectively. The opposite side portions in the first direction abut against each other.
The position limiting device according to claim 2, wherein said second position limiting assembly comprises two clamping arms, each of said clamping arms has a clamping side disposed toward said pick-up station, two The clamping arms are arranged at intervals along the second direction, and are respectively located on both sides of the pick-up station, and at least one of the two clamping arms is movable along the second direction, so that the When the clamping arms are close to each other, the two clamping sides are used to abut against the two sides opposite to the workpiece.
The position limiting device according to claim 4, wherein one ends of the two clamping arms are rotatably mounted on the base along the axis of the first direction, so that the other ends of the two clamping arms To approach or move away from each other, the second limit assembly further includes a driving mechanism, and the driving mechanism is used to drive the two clamping arms to rotate.
The position limiting device according to claim 5, wherein the driving mechanism comprises two driving cylinders, and the two driving cylinders are respectively connected with the two clamping arms to drive the two clamping arms successively abut against the side of the workpiece.
The limiting device according to claim 3 or 4, wherein two limiting members are arranged on one of the clamping arms, and protrude from the clamping arm in the direction toward the pick-up station. side, so that when the clamping arm moves towards the pick-up station, the clamp arm drives the two stoppers to move towards the pick-up station.
The limiting device according to claim 1, wherein a plurality of the limiting components are provided, and the plurality of limiting components are arranged at intervals along the first direction.
A hoisting and conveying mechanism, wherein the hoisting and conveying mechanism includes a hoisting assembly and the limiting device according to any one of claims 1-8, the hoisting and conveying mechanism has a loading station, and the loading station Arranged at intervals with the pick-up station along the first direction, the hoisting assembly is used for hoisting the workpiece from the loading station to the pick-up station.
The hoisting conveying mechanism according to claim 9, wherein, the hoisting conveying mechanism further comprises a detection assembly, the detection assembly is arranged above the pick-up station, and the detection assembly is used to detect bit position information of the hoisting component.