A material handling system

Abstract

The present invention discloses a material handling system, including a conveyor belt 1, a conveyor belt 2, and a handling and grabbing device. The handling and grabbing device is arranged between the conveyor belt 1 and the conveyor belt 2, and is used to carry the workpiece on the conveyor belt 1 to the conveyor belt 2. The handling and grabbing device includes a handling device, a connecting frame, and a grabbing device. The number of the handling devices is two, and the two handling devices are connected to the connecting frame together, and are connected to the grabbing device through the connecting frame. The present invention has a simple structure, is easy to assemble and maintain, is compact, has a clever structure, and is stable to carry, and is particularly suitable for carrying large and bulky materials.

Description

Technical Field

[0001] The invention relates to a material handling system, in particular to a material handling system in a production workshop, and belongs to the field of auxiliary equipment of production workshops. Background Art

[0002] Materials often need to be moved in production workshops, such as moving materials from production line A to production line B. However, industrial robots are currently used for transportation, such as industrial handling robots produced by ABB or Yaskawa Electric. However, this type of robot is large in size, expensive, and has high maintenance costs, which is not conducive to the expansion of production scale by small and medium-sized enterprises. At the same time, this type of robot is mostly a serial robot configuration, which requires teaching in advance, which invisibly increases the difficulty of applicability. It is also worth mentioning that when the material being transported is of large mass and volume, the existing robot is prone to damage, that is, overload damage, especially the damage to the motor and internal circuit is most obvious. At the same time, it is difficult to match the corresponding end gripping mechanism at the end, which further limits its application scope. Summary of the invention

[0003] In view of the above problems, the present invention provides a material handling system, and more particularly, relates to a material handling device with simple structure, convenient operation and low price. The specific technical solution of the present invention is as follows:

[0004] A material handling system comprises a first conveyor belt, a second conveyor belt, and a handling and grabbing device. The handling and grabbing device is arranged between the first conveyor belt and the second conveyor belt, and is used to transport the workpiece on the first conveyor belt to the second conveyor belt. The handling and grabbing device comprises a handling device, a connecting frame, and a grabbing device. There are two handling devices, and the two handling devices are connected to the connecting frame together, and are connected to the grabbing device through the connecting frame.

[0005] Further, the carrying device includes a bracket A, a driving motor, a cam plate rod, a short rod, a fixed rod, a connecting rod one, a connecting rod two, a connecting rod three, an end vertical rod, and a bracket B, wherein the bottom ends of the bracket A and the bracket B are supported on the ground, the top end of the bracket A supports the driving motor, the output shaft of the driving motor is connected to the circular plate portion at one end of the cam plate rod and constitutes a cam driving structure, the other end of the cam plate rod is connected to the short rod, the other end of the short rod is connected to one end of the hinge shaft through a hinge shaft passing through one end of the fixed rod, the other end of the hinge shaft is connected to one end of the connecting rod one, the other end of the connecting rod one is connected to one end of the connecting rod two, the other end of the connecting rod two is connected to one end of the connecting rod three, the other end of the connecting rod three is connected to the other end of the fixed rod, one end of the end vertical rod is connected to the middle part of the connecting rod two, the other end of the end vertical rod is connected to the connecting frame, and the top end of the bracket B is connected to the middle part of the fixed rod.

[0006] Furthermore, the connecting frame is a frame-shaped structure, and there are two grabbing devices, which are respectively arranged in parallel on the frames on both sides of the connecting frame.

[0007] Furthermore, the gripping device comprises a driving cylinder, a driving rod and a plurality of end clamps, and the driving cylinder drives the driving rod to drive the plurality of end clamps to perform opening and closing movements.

[0008] Furthermore, the end clamp includes a tripod, two upper and lower clamping jaw cover plates, a pulling rod 1, a pulling rod 2, a pulling rod 3, a clamping jaw body, and a pushing rod. One end of the tripod is hinged to the driving rod, the second end of the tripod is hinged to an end of the pulling rod 1, the third end of the tripod is hinged to an end of the pushing rod, the other end of the pulling rod 1 is hinged to an end of the pulling rod 2, the other end of the pulling rod 2 is hinged to an end of the pulling rod 3, the other end of the pulling rod 3 is hinged to one clamping jaw body, and the other end of the pushing rod is hinged to another clamping jaw body.

[0009] Furthermore, a hinge shaft is provided at the middle portion of the tripod rod, and the hinge shaft is also provided at the third end of the second pull rod, and the upper and lower clamping jaw cover plates are connected via the hinge shaft.

[0010] Furthermore, the clamping jaw body includes two vertical clamping rods, and the two vertical clamping rods are used to clamp the workpiece.

[0011] Furthermore, the number of the end clamps on the driving rod is three.

[0012] The present invention has the following beneficial technical effects: the present invention has a simple structure, is easy to assemble and maintain, is small in size, has an ingenious structure, and is stable to carry, and is particularly suitable for carrying large and heavy materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is an overall schematic diagram of the material handling system of the present invention;

[0014] Figure 2 It is a schematic diagram of the material handling process of the material handling system of the present invention (the material is above the first conveyor belt);

[0015] Figure 3 It is a schematic diagram of the material handling process of the material handling system of the present invention (the material is above the second conveyor belt);

[0016] Figure 4 It is a schematic diagram of the initial stage of the movement process of the handling device of the present invention;

[0017] Figure 5 It is a schematic diagram of the middle stage of the movement process of the handling device of the present invention;

[0018] Figure 6 It is a schematic diagram of the final stage of the movement process of the handling device of the present invention;

[0019] Figure 7 A schematic diagram of a grabbing device of the present invention;

[0020] Figure 8 for Figure 7 A magnified view of middle;

[0021] Fig. 9 This is a schematic diagram of the gripping device of the present invention from another angle. DETAILED DESCRIPTION

[0022] First, the specific features indicated by the reference numerals in the accompanying drawings of the present invention are described, wherein:

[0023] The first conveyor belt 1, the second conveyor belt 2,

[0024] Carrying and grabbing device 3,

[0025] Transport device 31, bracket A 311, drive motor 312, cam plate rod 313, short rod 314, fixed rod 315, connecting rod 1 316, connecting rod 2 317, connecting rod 3 318, end vertical rod 319, bracket B 320,

[0026] Connecting frame 32,

[0027] Grasping device 33, driving cylinder 331, driving rod 333,

[0028] End clamping claw 332, three-prong rod 3321, clamping claw cover plate 3322, pulling rod 1 3323, pulling rod 2 3324, pulling rod 3 3325, clamping claw body 3326, pushing rod 3327, vertical clamping rod 3328,

[0029] Artifact 4.

[0030] Reference Figure 1-3 The material handling system of the present invention comprises a first conveyor belt 1, a second conveyor belt 2, and a handling and grabbing device 3, wherein the first conveyor belt 1 conveys the workpiece 4 to the side of the handling and grabbing device 3, the handling and grabbing device 3 transports the workpiece 4 to the second conveyor belt 2, and then the second conveyor belt 2 transfers the workpiece 4 to the next workstation, wherein the workpiece 4 here is a frame-shaped structure, for example, it can be a car chassis frame, an aerospace engine fixing frame, a heavy machinery hanger, and is mainly a workpiece with larger size and mass.

[0031] The transporting and grabbing device 3 of the present invention is arranged between two parallel first conveyor belts 1 and second conveyor belts 2. The transporting and grabbing device 3 includes a transporting device 31, a connecting frame 32, and a grabbing device 33. There are two transporting devices 31, and the two transporting devices 31 are connected to the connecting frame 32 and connected to the grabbing device 33 through the connecting frame 32. The two transporting devices 31 work together to realize the transport of heavy workpieces between the first conveyor belt 1 and the second conveyor belt 2.

[0032] Reference Figure 4-6 The transport device 31 of the present invention comprises a bracket A311, a driving motor 312, a cam plate rod 313, a short rod 314, a fixing rod 315, a connecting rod 1 316, a connecting rod 2 317, a connecting rod 318, an end vertical rod 319, and a bracket B320, wherein the bracket A311 and the bracket B320 play a supporting role, and their bottom ends are supported on the ground or a base, the top end of the bracket A311 supports the driving motor 312, the output shaft of the driving motor 312 is connected to the circular plate portion at one end of the cam plate rod 313 and constitutes a cam driving structure, the other end of the cam plate rod 313 is connected to the short rod 314, and the short rod 31 The other end of the hinged rod 314 is connected to one end of the hinged shaft through the hinged shaft passing through one end of the fixed rod 315, the other end of the hinged shaft is connected to one end of the connecting rod 1 316, the other end of the connecting rod 1 316 is connected to one end of the connecting rod 2 317, the other end of the connecting rod 2 317 is connected to one end of the connecting rod 318, the other end of the connecting rod 318 is connected to the other end of the fixed rod 315, one end of the terminal vertical rod 319 is connected to the middle part of the connecting rod 2 317, the other end of the terminal vertical rod 319 is connected to the connecting frame 32, the connecting frame 32 is fixedly connected to the grasping device 33, and the top end of the bracket B 320 is connected to the middle part of the fixed rod 315.

[0033] The working principle of the conveying device 31 of the present invention is as follows: the driving motor 312 rotates, driving the circular plate-shaped cam mechanism at one end of the cam plate rod 313 to rotate, and then driving the short rod 314 to rotate through the thin rod on the other side of the cam plate rod 313, and the short rod 314 drives the connecting rod 1 316 to rotate through the hinge shaft passing through the fixed rod 315, and the connecting rod 1 316, the connecting rod 2 317, the connecting rod 3 318, and the fixed rod 315 constitute a four-bar mechanism, so that the connecting rod 1 316 can drive the connecting rod 2 317 and the connecting rod 3 318 to rotate in space, and while the connecting rod 2 317 rotates, it drives the end vertical rod 319 fixed thereto to achieve translational motion in space, and finally drives the grasping device 33 to achieve translational conveying motion.

[0034] Reference Figure 1-3 The present invention comprises two gripping devices 33, which are respectively arranged in parallel on the frames on both sides of the connecting frame 32. The specific arrangement is reverse symmetrical, that is, the two driving cylinders 331 are respectively located at the two ends of the connecting frame 32. This will stabilize the center of gravity of the entire gripping device 33 and the connecting frame 32, which is conducive to the stable transportation of the workpiece 4.

[0035] Reference Figure 7-9 The gripping device 33 of the present invention includes a driving cylinder 331, a driving rod 333 and a plurality of end clamps 332. The driving cylinder 331 drives the driving rod 333 to drive the plurality of end clamps 332 to open and close and clamp the workpiece 4 together. The end clamps 332 include a tripod rod 3321, two upper and lower clamping jaw covers 3322, a pull rod 1 3323, a pull rod 2 3324, a pull rod 3 325, a clamp body 3326 and a push rod 3327. The tripod rod 3321 has three bifurcated rods, one end of which is hinged to the driving rod 333, the second end of which is hinged to one end of the pull rod 1 3323, and the three The third end of the fork rod 3321 is hinged to one end of the push rod 3327, the other end of the pull rod 1 3323 is hinged to one end of the pull rod 2 3324 (the pull rod 2 3324 is in a bent check mark shape), the other end of the pull rod 2 3324 is hinged to one end of the pull rod 3 3325, the other end of the pull rod 3 3325 is hinged to one clamping claw body 3326, and the other end of the push rod 3327 is hinged to the other clamping claw body 3326. A hinge shaft 3329 is provided in the middle of the three-fork rod 3321, and a hinge shaft 3329 is also provided at the third end of the pull rod 2 3324, and the upper and lower clamping claw cover plates 3322 are connected by the hinge shaft 3329.

[0036] Due to the arrangement relationship between the grasping device 33 and the connecting frame 32 , in order to clamp the workpiece 4 , two vertical clamping rods 3328 are provided on the clamping claw body 3326 , and the purpose of clamping the workpiece 4 is achieved by utilizing the two vertical clamping rods 3328 .

[0037] The working principle of the gripping device 33 of the present invention is as follows: the cylinder rod of the driving cylinder 331 is extended, driving the driving rod 333 to also be extended. During the extension of the driving rod 333, one end of the tripod rod 3321 pulls the pulling rod 1 3323 closer. During the pulling process, the pulling rod 1 3323 pulls the pulling rod 2 3324 to rotate. While the pulling rod 2 3324 rotates, it pushes the pulling rod 3 3325 to be flattened. While the pulling rod 3 3325 is flattened, it pushes a clamping claw body 3326 connected to it to approach the other clamping claw body 3326. At the same time, the other end of the tripod rod 3321 also pushes the pushing rod 3327 to rotate. While the pushing rod 3327 rotates, it further pushes the two clamping claw bodies 3326 closer, thereby finally realizing that one driving source drives multiple clamping claws to open and close to clamp the workpiece.

[0038] Preferably, the number of the end clamping jaws 332 on the single-side driving rod 333 is three, and of course it can also be more, as long as the workpiece can be stably grasped.

[0039] It can be seen from the technical solution of the present invention that the present invention has a simple structure, is easy to assemble and maintain, is small in size, has an ingenious structure, and is stable to carry, and is particularly suitable for carrying large and heavy materials.

[0040] Finally, it should be noted that any inventions that do not deviate from the core technical concept of the present invention should be deemed to be included in the protection scope of the present invention.

Claims

1. A material handling system, comprising a first conveyor belt (1), a second conveyor belt (2), and a handling and grabbing device (3), wherein the handling and grabbing device (3) is arranged between the first conveyor belt (1) and the second conveyor belt (2), and is used to carry a workpiece (4) on the first conveyor belt (1) to the second conveyor belt (2), characterized in that: The transport and grasping device (3) comprises a transport device (31), a connecting frame (32), and a grasping device (33); the number of the transport devices (31) is two, and the two transport devices (31) are connected to the connecting frame (32) and connected to the grasping device (33) via the connecting frame (32); The connecting frame (32) is a frame-shaped structure, and the grabbing devices (33) are two and are respectively arranged in parallel on the frames on both sides of the connecting frame (32); The grasping device (33) comprises a driving cylinder (331), a driving rod (333) and a plurality of end clamps (332), wherein the driving cylinder (331) drives the driving rod (333) to drive the plurality of end clamps (332) to perform opening and closing movements; The end clamp (332) includes a tripod (3321), two upper and lower clamping jaw covers (3322), a pulling rod 1 (3323), a pulling rod 2 (3324), a pulling rod 3 (3325), a clamping jaw body (3326), and a pushing rod (3327). One end of the tripod (3321) is hinged to the driving rod (333), and the second end of the tripod (3321) is hinged to one end of the pulling rod 1 (3323). The third end of the fork rod (3321) is hinged to one end of the push rod (3327), the other end of the pull rod (3323) is hinged to one end of the pull rod (3324), the other end of the pull rod (3324) is hinged to one end of the pull rod (3325), the other end of the pull rod (3325) is hinged to one clamping claw body (3326), and the other end of the push rod (3327) is hinged to another clamping claw body (3326); The middle part of the tripod rod (3321) is provided with a hinge shaft (3329), and the third end of the second pulling rod (3324) is also provided with the hinge shaft (3329), and the upper and lower clamping jaw cover plates (3322) are connected via the hinge shaft (3329).

2. The material handling system according to claim 1, characterized in that: The transport device (31) comprises a bracket A (311), a drive motor (312), a cam plate rod (313), a short rod (314), a fixed rod (315), a connecting rod 1 (316), a connecting rod 2 (317), a connecting rod 3 (318), an end vertical rod (319), and a bracket B (320), wherein the bottom ends of the bracket A (311) and the bracket B (320) are both supported on the ground, the top end of the bracket A (311) supports the drive motor (312), the output shaft of the drive motor (312) is connected to the circular plate portion at one end of the cam plate rod (313) to form a cam drive structure, the other end of the cam plate rod (313) is connected to the short rod (314), and the short rod (31 4) is connected to one end of the hinge shaft through a hinge shaft passing through one end of the fixed rod (315), the other end of the hinge shaft is connected to one end of the connecting rod one (316), the other end of the connecting rod one (316) is connected to one end of the connecting rod two (317), the other end of the connecting rod two (317) is connected to one end of the connecting rod three (318), the other end of the connecting rod three (318) is connected to the other end of the fixed rod (315), one end of the terminal vertical rod (319) is connected to the middle part of the connecting rod two (317), the other end of the terminal vertical rod (319) is connected to the connecting frame (32), and the top end of the bracket B (320) is connected to the middle part of the fixed rod (315).

3. The material handling system according to claim 1, characterized in that: The clamping jaw body (3326) includes two vertical clamping rods (3328), and the two vertical clamping rods (3328) are used to clamp the workpiece (4).

4. The material handling system according to claim 1, characterized in that: The number of the end clamping claws (332) on the driving rod (333) is three.

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