A transfer device

Abstract

The present invention relates to a transfer device, including a frame, on which a loading and unloading mechanism, a grabbing and handling mechanism, a positioning and calibration mechanism, and a pallet folding and releasing mechanism are connected, and the loading and unloading mechanism, the positioning and calibration mechanism, and the pallet folding and releasing mechanism are all within the moving range of the grabbing and handling mechanism; the positioning and calibration mechanism includes a transverse adjustment plate, a longitudinal adjustment plate, and a four-claw finger cylinder; the pallet folding and releasing mechanism includes a pallet lowering mechanism, a pallet collecting mechanism, and a pallet moving mechanism, the pallet lowering mechanism and the pallet collecting mechanism are arranged opposite to each other and a limited slide rail is connected between the pallet lowering mechanism and the pallet collecting mechanism, and the pallet moving mechanism is located below the pallet lowering mechanism, the pallet collecting mechanism, and the limited slide rail. The transfer device described in the present invention can automatically transfer and place products, avoid manual participation, improve efficiency, and ensure transfer quality.

Description

Technical Field

[0001] The invention relates to the field of mechanical production, and in particular to a transfer device. Background Art

[0002] Transfer equipment is a device that moves products from one carrier to another. In the field of mechanical production, the way raw materials are placed is often different from the way they are loaded into the assembly machine. For example, when loading chip heat sinks, the raw materials are stacked in a square cylindrical shell, while the products required for the assembly equipment need to be placed on the pallet in a 2X5 format.

[0003] The existing method is to manually take out the products from the square cylindrical shell one by one and place them in the placement slot of the tray, which is time-consuming, labor-intensive and inefficient. In addition, when placing the products manually, misalignment often occurs, which affects subsequent production. Summary of the invention

[0004] The purpose of the present invention is to provide a transfer device which can automatically transfer and place products, avoid manual participation, improve efficiency and ensure transfer quality.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A transfer equipment comprises a frame, to which a loading and ejecting mechanism, a grabbing and handling mechanism, a positioning and calibration mechanism and a pallet folding and releasing mechanism are connected, and the loading and ejecting mechanism, the positioning and calibration mechanism and the pallet folding and releasing mechanism are all within the moving range of the grabbing and handling mechanism; the positioning and calibration mechanism comprises a transverse adjustment plate, a longitudinal adjustment plate and a four-claw finger cylinder; the pallet folding and releasing mechanism comprises a pallet lowering mechanism, a pallet collecting mechanism and a pallet moving mechanism, the pallet lowering mechanism and the pallet collecting mechanism are arranged opposite to each other and a limiting slide rail is connected between the pallet lowering mechanism and the pallet collecting mechanism, and the pallet moving mechanism is located below the pallet lowering mechanism, the pallet collecting mechanism and the limiting slide rail.

[0007] Furthermore, the material loading and lifting mechanism and the tray retracting and placing mechanism are arranged in parallel, the material loading and lifting mechanism and the grasping and transporting mechanism are arranged vertically, and the positioning and calibration mechanism is located between the material loading and lifting mechanism and the tray retracting and placing mechanism.

[0008] Furthermore, the pallet moving mechanism includes a first belt linear module, and the two ends of the moving platform on the first belt linear module are respectively connected to a clamping cylinder, a first connecting rod, a second connecting rod and a clamping finger; the clamping cylinder is fixed on the moving platform on the first belt linear module, and the piston rod of the clamping cylinder is connected to a pushing block; one end of the first connecting rod is hinged to the moving platform on the first belt linear module, and the other end is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the pushing block, and the clamping finger is fixed on the second connecting rod.

[0009] Furthermore, the transverse adjustment plate is provided with a transverse slotted hole, and the longitudinal adjustment plate is provided with a longitudinal slotted hole. The transverse adjustment plate is connected to the frame through a nut assembly passing through the transverse slotted hole, and the longitudinal adjustment plate is connected to the transverse adjustment plate through another nut assembly passing through the longitudinal slotted hole; there are specifically two four-claw finger cylinders, which are respectively connected to the longitudinal adjustment plate at intervals.

[0010] Furthermore, a placement plate is connected to the top of the four-claw finger cylinder, and a clapping plate is connected to the four clamping claws of the four-claw finger cylinder; in-position sensors are connected to the two opposite angles of the placement plate; and rubber pads are provided on the inner sides of the four clapping plates.

[0011] Furthermore, the feeding and ejecting mechanism includes a base plate, which is connected to the frame, and both ends of the base plate are connected to second belt linear modules, and the two second belt linear modules are staggered at the contacting ends, and the moving platforms of the two second belt linear modules are connected to multiple rectangular array discharge fixed frames; a lifting servo linear module is connected to the middle of the bottom surface of the base plate, and one end of two ejecting rods is connected to the moving platform of the lifting servo linear module, and the other ends of the two ejecting rods pass through the base plate and are respectively located in the two discharge fixed frames.

[0012] Furthermore, the grabbing and handling mechanism includes a handling servo linear module, and a first grabbing group and a second grabbing cylinder are connected to a moving table of the handling servo linear module, and the piston rod of the second grabbing cylinder is connected to two second suction claws set at intervals; the first grabbing group includes an adjusting cylinder and two first grabbing cylinders, and the piston rods of the two first grabbing cylinders are both connected to first suction claws, the adjusting cylinder and one of the first grabbing cylinders are fixed on the moving table of the handling servo linear module, and the other first grabbing cylinder is connected to the piston rod of the adjusting cylinder.

[0013] Furthermore, an auxiliary positioning mechanism is connected to the frame just above the two ejecting rods; the auxiliary positioning mechanism includes a lower pressure plate, on which two interval-arranged material feeding holes are provided, and both ends of the lower pressure plate are provided with a lower pressure cylinder, which is fixedly connected to the frame; the bottom surfaces of the two material feeding holes are provided with chamfers, and the two material feeding holes are arranged corresponding to the two ejecting rods.

[0014] The beneficial effects of the present invention are:

[0015] 1. During the grabbing and handling process, a positioning and calibration mechanism is set up, and the material is transported after calibration to ensure the accurate placement of the material and the quality of the transfer.

[0016] 2. Use auxiliary positioning mechanism to position the feeding pipe to avoid deviation of the second belt linear module and affect the suction claw to grab the material; use two sets of second belt linear modules to drive the discharge fixed frame to carry out staggered feeding, shorten the interval time of feeding and improve efficiency.

[0017] 3. Use pallet collection and release mechanism to place and collect pallets, avoiding manual participation and reducing labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an axonometric diagram of a transfer device of the present invention;

[0019] Figure 2 It is a partial structural diagram of a transfer device of the present invention;

[0020] Figure 3 This is a first angle view of the feeding and ejecting mechanism of the present invention;

[0021] Figure 4 A second angle view of the feeding and ejecting mechanism of the present invention;

[0022] Figure 5 It is an axonometric diagram of the grabbing and handling mechanism of the present invention;

[0023] Figure 6 It is an axonometric diagram of the positioning and calibration mechanism of the present invention;

[0024] Figure 7 It is an axonometric diagram of the tray retracting and releasing mechanism of the present invention;

[0025] Figure 8 It is an axonometric diagram of the pallet moving mechanism of the present invention;

[0026] Fig. 9 for Figure 8 A magnified view of part A;

[0027] Fig.10 It is an axonometric diagram of the auxiliary positioning mechanism of the present invention;

[0028] In the figure: 1, frame; 2, feeding and ejecting mechanism; 21, bottom plate; 22, second belt linear module; 23, unloading fixed frame; 24, jacking servo linear module; 241, ejecting rod; 3, grabbing and transporting mechanism; 31, transporting servo linear module; 32, second grabbing cylinder; 321, second suction claw; 33, adjusting cylinder; 34, first grabbing cylinder; 341, first suction claw; 4, positioning and calibration mechanism; 41, horizontal adjustment plate; 411, horizontal straight hole; 42, longitudinal adjustment plate; 421, Longitudinal slotted hole; 43, four-claw finger cylinder; 44, placement plate; 45, clapper board; 46, in-place sensor; 5, pallet retracting and releasing mechanism; 51, pallet lowering mechanism; 52, pallet collecting mechanism; 53, pallet moving mechanism; 531, first belt linear module; 532, clamping cylinder; 533, first connecting rod; 534, second connecting rod; 535, clamping finger; 54, limiting slide rail; 6, auxiliary positioning mechanism; 61, lower pressure plate; 62, material taking hole; 621, chamfering; 63, lower pressure cylinder. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] refer to Figures 1 to 10 A transfer equipment comprises a frame 1, to which a loading and ejecting mechanism 2, a grabbing and handling mechanism 3, a positioning and calibration mechanism 4 and a pallet folding and releasing mechanism 5 are connected, and the loading and ejecting mechanism 2, the positioning and calibration mechanism 4 and the pallet folding and releasing mechanism 5 are all within the moving range of the grabbing and handling mechanism 3; the positioning and calibration mechanism 4 comprises a transverse adjustment plate 41, a longitudinal adjustment plate 42 and a four-claw finger cylinder 43; the pallet folding and releasing mechanism 5 comprises a pallet lowering mechanism 51, a pallet collecting mechanism 52 and a pallet moving mechanism 53, the pallet lowering mechanism 51 and the pallet collecting mechanism 52 are arranged opposite to each other and a limiting slide rail 54 is connected between the pallet lowering mechanism 51 and the pallet collecting mechanism 52, and the pallet moving mechanism 53 is located below the pallet lowering mechanism 51, the pallet collecting mechanism 52 and the limiting slide rail 54.

[0031] The feeding and lifting mechanism 2 and the tray retracting and placing mechanism 5 are arranged in parallel, the feeding and lifting mechanism 2 and the grabbing and transporting mechanism 3 are arranged vertically, and the positioning and calibration mechanism 4 is located between the feeding and lifting mechanism 2 and the tray retracting and placing mechanism 5 .

[0032] The pallet moving mechanism 53 includes a first belt linear module 531, and the two ends of the moving platform on the first belt linear module 531 are respectively connected to a clamping cylinder 532, a first connecting rod 533, a second connecting rod 534 and a clamping finger 535; the clamping cylinder 532 is fixed on the moving platform on the first belt linear module 531, and the piston rod of the clamping cylinder 532 is connected to a pushing block; one end of the first connecting rod 533 is hinged to the moving platform on the first belt linear module 531, and the other end is hinged to one end of the second connecting rod 534, the other end of the second connecting rod 534 is hinged to the pushing block, and the clamping finger 535 is fixed on the second connecting rod 534.

[0033] The pallet lowering mechanism 51 and the pallet collecting mechanism 52 are both prior art (patent number CN209160959U, a continuous automatic pallet collecting and releasing mechanism of a detection device has been summarized in detail), which are used for automatic unloading and collecting of pallets; the pallet moving mechanism 53 is used to drive the pallet from the pallet lowering mechanism 51 to the pallet collecting mechanism 52; the clamping cylinder 532 is used to extend and drive the clamping finger 535 to move downward in an arc along the second connecting rod 534 and the first connecting rod 533, and retract and drive the clamping finger 535 to move upward in an arc along the second connecting rod 534 and the first connecting rod 533; the first belt linear module 531 is used to drive the pallet to move.

[0034] The transverse adjustment plate 41 is provided with a transverse straight hole 411, and the longitudinal adjustment plate 42 is provided with a longitudinal straight hole 421. The transverse adjustment plate 41 is connected to the frame 1 through a nut assembly passing through the transverse straight hole 411, and the longitudinal adjustment plate 42 is connected to the transverse adjustment plate 41 through another nut assembly passing through the longitudinal straight hole 421; there are specifically two four-claw finger cylinders 43, which are respectively connected to the longitudinal adjustment plate 42 at intervals.

[0035] The top of the four-claw finger cylinder 43 is connected to a placement plate 44, and the four clamping claws of the four-claw finger cylinder 43 are connected to a clapping plate 45; the two opposite angles of the placement plate 44 are connected to in-position sensors 46; the inner sides of the four clapping plates 45 are provided with rubber pads.

[0036] The feeding and ejecting mechanism 2 includes a base plate 21, which is connected to the frame 1. Both ends of the base plate 21 are connected to second belt linear modules 22. The two second belt linear modules 22 are staggered at the contacting ends. The moving tables of the two second belt linear modules 22 are connected to a plurality of discharge fixing frames 23 in a rectangular array. The discharge fixing frames 23 in this embodiment are arranged in a 2X5 rectangular array. A lifting servo linear module 24 is connected to the middle of the bottom surface of the base plate 21. One end of two ejecting rods 241 are connected to the moving table of the lifting servo linear module 24. The other ends of the two ejecting rods 241 pass through the base plate 21 and are respectively located in the two discharge fixing frames 23.

[0037] The grabbing and handling mechanism 3 includes a handling servo linear module 31, and a first grabbing group and a second grabbing cylinder 32 are connected to the movable platform of the handling servo linear module 31, and the piston rod of the second grabbing cylinder 32 is connected to two second suction claws 321 arranged at intervals; the first grabbing group includes an adjusting cylinder 33 and two first grabbing cylinders 34, and the piston rods of the two first grabbing cylinders 34 are connected to the first suction claws 341, the adjusting cylinder 33 and one of the first grabbing cylinders 34 are fixed on the movable platform of the handling servo linear module 31, and the other first grabbing cylinder 34 is connected to the piston rod of the adjusting cylinder 33.

[0038] An auxiliary positioning mechanism 6 is connected to the frame 1 just above the two ejecting rods 241; the auxiliary positioning mechanism 6 includes a lower pressure plate 61, on which two interval-arranged material feeding holes 62 are provided, and both ends of the lower pressure plate 61 are provided with a lower pressure cylinder 63, which is fixedly connected to the frame 1; the bottom surfaces of the two material feeding holes 62 are provided with chamfers 621, and the two material feeding holes 62 are arranged corresponding to the two ejecting rods 241.

[0039] Working principle: the loading and ejecting mechanism 2 loads the two square cylindrical shells in turn to the bottom of the auxiliary positioning mechanism 6, the auxiliary positioning mechanism 6 positions the two square cylindrical shells, and the loading and ejecting mechanism 2 ejects the products in turn. The first grabbing group on the grabbing and transporting mechanism 3 grabs the materials and adjusts the cylinder position to transport them to the positioning and calibration mechanism 4 for calibration. At the same time, the second grabbing cylinder 32 drives the two second suction claws 321 to position and transport the calibrated products on the original positioning and calibration mechanism 4 to the tray groove on the tray folding and releasing mechanism 5 located at the limit slide rail 54. The trays are automatically stacked to complete the transfer action.

[0040] Among them, in the pallet folding and releasing mechanism 5, the pallet lowering mechanism 51 lowers the pallets one by one to the moving table of the first belt linear module 531 of the pallet moving mechanism 53, and the clamping cylinders 532 at both ends of the moving table retract to drive the first connecting rod 533 and the second connecting rod 534 to flip upward, so that the clamping fingers 535 clamp the pallet, and then the first belt linear module 531 gradually moves along the slide rail to cooperate with the grabbing and transporting mechanism 3 to collect the materials, and finally moves to the pallet collecting mechanism 52, and the clamping cylinders 532 at both ends of the moving table extend to drive the first connecting rod 533 and the second connecting rod 534 to flip downward, so that the clamping fingers 535 release the pallet, and the pallet is stacked and folded by the pallet folding and releasing mechanism 5.

[0041] In the feeding and ejecting mechanism 2, two second belt linear modules 22 are used for loading in turn: one of the second belt linear modules 22 drives the discharge fixing frame 23 to move to the outside, and places the square cylindrical shells containing the products on the discharge fixing frame 23 for loading. At the same time, the other second belt linear module 22 drives the discharge fixing frame 23 containing the full square cylindrical shells to move to the bottom of the auxiliary positioning mechanism 6, and the downward pressure cylinder 63 retracts to drive the downward pressure plate 61 to move downward, so that the two material taking holes 62 are sleeved on the top of the two square cylindrical shells according to the chamfer 621 of the bottom surface, and the square cylindrical shells are positioned to avoid movement deviation and failure to take out the products. Then the lifting servo linear module 24 drives the two ejecting rods 241 to move upward through the bottom plate 21, and are respectively located in the square cylindrical shells, and the products inside are lifted to the predetermined grabbing position in turn.

[0042] In the grabbing and transporting mechanism 3, the transport servo linear module 31 drives the first grabbing group and the second grabbing cylinder 32 to move simultaneously. When the first grabbing group is located above the auxiliary positioning mechanism 6, the adjusting cylinder 33 retracts to drive one of the first grabbing cylinders 34 to move, thereby expanding the distance between the two first suction claws 341, and then grabbing the product in the square cylindrical shell. When the first grabbing group moves to the positioning and calibration mechanism 4, the adjusting cylinder 33 extends to drive one of the first grabbing cylinders 34 to move, thereby reducing the distance between the two first suction claws 341, thereby facilitating placement on the top surfaces of the two four-claw finger cylinders 43 in the positioning and calibration mechanism 4. The second grabbing cylinder 32 is used to drive the two second suction claws 321 to grab the product from the positioning and calibration mechanism 4 and place it in the tray.

[0043] Among them, the positioning and calibration mechanism 4 adjusts the lateral positions of the two four-claw finger cylinders 43 by changing the installation position of the lateral adjustment plate 41 through the lateral straight hole 411, and changes the installation position of the longitudinal adjustment plate 42 through the longitudinal straight hole 421 to adjust the longitudinal positions of the two four-claw finger cylinders 43, thereby ensuring that the installation positions of the two four-claw finger cylinders 43 are accurate; the product is placed in the placement plate 44, and the in-position sensor 46 detects the presence of the product, and the four-claw finger cylinder 43 drives the four clappers 45 to move inward to calibrate the product position.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] The above embodiments are used to further illustrate the present invention, but the present invention is not limited to these specific embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.

Claims

1. A transfer device, characterized in that: The invention comprises a frame (1), the frame (1) is connected with a feeding and lifting mechanism (2), a grabbing and transporting mechanism (3), a positioning and calibration mechanism (4) and a pallet retracting and placing mechanism (5), the feeding and lifting mechanism (2), the positioning and calibration mechanism (4) and the pallet retracting and placing mechanism (5) are all within the moving range of the grabbing and transporting mechanism (3); the positioning and calibration mechanism (4) comprises a transverse adjustment plate (41), a longitudinal adjustment plate (42) and a four-claw finger cylinder (43); the pallet retracting and placing mechanism (5) comprises a pallet lowering mechanism (51), a pallet collecting mechanism (52) and a pallet collecting mechanism (53). The pallet lowering mechanism (51) and the pallet collecting mechanism (52) are arranged opposite to each other and a limiting slide rail (54) is connected between the pallet lowering mechanism (51) and the pallet collecting mechanism (52). The pallet moving mechanism (53) is located below the pallet lowering mechanism (51), the pallet collecting mechanism (52) and the limiting slide rail (54). The loading and unloading mechanism (2) comprises a bottom plate (21), the bottom plate (21) is connected to the frame (1), and both ends of the bottom plate (21) are connected to a second belt. A linear module (22), two of the second belt linear modules (22) are staggered at one end in contact with each other, and the moving tables of the two second belt linear modules (22) are connected to a plurality of material discharge fixing frames (23) in a rectangular array; a lifting servo linear module (24) is connected to the middle of the bottom surface of the base plate (21), and one end of two material discharge rods (241) are connected to the moving table of the lifting servo linear module (24), and the other ends of the two material discharge rods (241) pass through the base plate (21) and are respectively located in the two material discharge fixing frames (23), An auxiliary positioning mechanism (6) is connected to the frame (1) just above the two ejecting rods (241); the auxiliary positioning mechanism (6) comprises a lower pressing plate (61), the lower pressing plate (61) is provided with two material taking holes (62) arranged at intervals, both ends of the lower pressing plate (61) are provided with a lower pressing cylinder (63), and the lower pressing cylinder (63) is fixedly connected to the frame (1); the bottom surfaces of the two material taking holes (62) are provided with chamfers (621), and the two material taking holes (62) are arranged corresponding to the two ejecting rods (241).

2. A transfer device according to claim 1, characterized in that: The material loading and ejecting mechanism (2) and the tray retracting and placing mechanism (5) are arranged in parallel, the material loading and ejecting mechanism (2) and the grabbing and transporting mechanism (3) are arranged vertically, and the positioning and calibration mechanism (4) is located between the material loading and ejecting mechanism (2) and the tray retracting and placing mechanism (5).

3. A transfer device according to claim 1 or 2, characterized in that: The pallet moving mechanism (53) comprises a first belt linear module (531), and two ends of a moving platform on the first belt linear module (531) are respectively connected to a clamping cylinder (532), a first connecting rod (533), a second connecting rod (534) and a clamping finger (535); the clamping cylinder (532) is fixed on the moving platform on the first belt linear module (531), and the piston rod of the clamping cylinder (532) is connected to a pushing block; one end of the first connecting rod (533) is hinged to the moving platform on the first belt linear module (531), and the other end is hinged to one end of the second connecting rod (534), the other end of the second connecting rod (534) is hinged to the pushing block, and the clamping finger (535) is fixed to the second connecting rod (534).

4. A transfer device according to claim 3, characterized in that: The transverse adjustment plate (41) is provided with a transverse slotted hole (411), and the longitudinal adjustment plate (42) is provided with a longitudinal slotted hole (421). The transverse adjustment plate (41) is connected to the frame (1) via a nut assembly passing through the transverse slotted hole (411), and the longitudinal adjustment plate (42) is connected to the transverse adjustment plate (41) via another nut assembly passing through the longitudinal slotted hole (421). Specifically, there are two four-claw finger cylinders (43), which are respectively connected to the longitudinal adjustment plate (42) at intervals.

5. A transfer device according to claim 4, characterized in that: The top end of the four-claw finger cylinder (43) is connected to a placement plate (44), and the four clamping claws of the four-claw finger cylinder (43) are all connected to a clapping plate (45); two opposing angles of the placement plate (44) are connected to in-position sensors (46); and the inner sides of the four clapping plates (45) are all provided with rubber pads.

6. A transfer device according to claim 1, characterized in that: The grabbing and transporting mechanism (3) comprises a transporting servo linear module (31), a first grabbing group and a second grabbing cylinder (32) are connected to a movable platform of the transporting servo linear module (31), and a piston rod of the second grabbing cylinder (32) is connected to two second suction claws (321) arranged at intervals; the first grabbing group comprises an adjusting cylinder (33) and two first grabbing cylinders (34), the piston rods of the two first grabbing cylinders (34) are both connected to first suction claws (341), the adjusting cylinder (33) and one of the first grabbing cylinders (34) are fixed on the movable platform of the transporting servo linear module (31), and the other first grabbing cylinder (34) is connected to the piston rod of the adjusting cylinder (33).

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