A material transfer device

Abstract

The application discloses a material transfer device, characterized in that the device comprises at least one rotating part, at least one arm assembly installed below the rotating part, the arm assembly being provided with a grabbing part and being driven to make intermittent rotating movement by the rotating part, at least two stations located below the arm assembly, the stations comprising a first station and a second station respectively used for taking and / or placing materials, a fixed lifting mechanism and a clutching mechanism connecting or separating the lifting mechanism and the arm assembly. In the application, the arm assembly is driven to rotate by the rotating part, and the lifting mechanism and the clutching mechanism are additionally arranged. When lifting is needed, the clutching mechanism connects the lifting mechanism and the arm assembly, so that the grabbing part can lift the workpiece, and when rotating is needed, the clutching mechanism separates the lifting mechanism and the arm assembly, and the rotating part independently drives the arm assembly to rotate, thereby avoiding interference between different movements.

Description

TECHNICAL FIELD

[0001] The present application relates to a material transfer device. BACKGROUND

[0002] The material transfer mechanism is used to move the material from one position to another position, which generally includes a clamping part for clamping the material, and a moving mechanism for moving the clamped material from position A to position B. In addition, because the material is usually arranged on a jig or carrier, the clamping part needs to be lifted to the height of the jig or carrier before clamping the material, and the clamped material needs to be lifted to a certain height to avoid interference during movement after clamping, and finally the material is lowered to the height of the jig or carrier after moving to the position.

[0003] The material transfer mechanism in the prior art generally directly sets the lifting mechanism and the moving mechanism on the execution end, which has high requirements for installation, and the respective movements interfere with each other, affecting the movement accuracy. SUMMARY

[0004] The purpose of the present application is to provide a material transfer mechanism with independent movements.

[0005] To solve the above problems, the present application provides a material transfer device, characterized in that it comprises:

[0006] At least one rotating part;

[0007] At least one arm assembly installed below the rotating part, the arm assembly being provided with a grabbing part, and the arm assembly being driven by the rotating part to make intermittent rotary motion;

[0008] At least two stations located below the arm assembly, the stations including a first station and a second station respectively used for taking material and / or placing material, and the grabbing part being capable of stopping above the first station and / or the second station during rotation;

[0009] A lifting mechanism fixedly arranged and a clutch mechanism for connecting or disconnecting the lifting mechanism and the arm assembly, when the grabbing part is above the first station and / or the second station, the clutch mechanism connects the lifting mechanism and the arm assembly, so that the lifting mechanism can drive the arm assembly to lift.

[0010] As a further improvement of the present application,

[0011] The rotating part is provided with a mounting part below, the arm assembly is provided with two and is slidably mounted on the mounting part;

[0012] The lifting mechanism is a rotary drive device, and the output end thereof is a rotating shaft;

[0013] The clutching mechanism comprises a driving block eccentrically installed on the rotating shaft, and a matching piece installed on the arm assembly, the matching piece is provided with a horizontal through channel, and a first stopper and a second stopper are respectively arranged above and below the channel, the rotation of the rotating part makes the driving block enter and pass through the channel of the matching piece from the horizontal direction, the driving block is in contact with the first stopper and the second stopper through eccentric rotation, and the arm assembly is driven to make lifting movement.

[0014] As a further improvement of the present application, the clutching mechanism further comprises:

[0015] A first sliding installation block is slidably installed on the installation portion in the vertical direction;

[0016] A connecting arm is slidably installed on the first sliding installation block in the horizontal direction, and the matching piece is installed on the connecting arm.

[0017] As a further improvement of the present application, the work station is located directly below the intermittent stop position in the rotating stroke of the arm assembly, and the work station further comprises a third work station and a fourth work station, wherein:

[0018] The third work station is located between the first work station and the second work station, and the fourth work station is located between the second work station and the first work station;

[0019] The first work station and the second work station are provided with a jig plate for storing workpieces;

[0020] The third work station and the fourth work station are provided with a first visual assembly.

[0021] As a further improvement of the present application, the grabbing part comprises a suction cup and a gas cylinder for inflating and exhausting the suction cup.

[0022] As a further improvement of the present application, the first work station and the second work station are each provided with at least two groups of jig plates, and each group of jig plates is moved into or out of the first work station or the second work station through horizontal movement.

[0023] As a further improvement of the present application,

[0024] The driving device of the rotating part is a first motor; and / or

[0025] The rotating shaft of the lifting mechanism is driven to rotate by a second motor; and / or

[0026] The jig plate is driven to move horizontally by a horizontal linear guide rail.

[0027] As a further improvement of the present application, a return spring is arranged between the installation portion and the arm assembly.

[0028] As a further improvement of the present application, a second visual assembly is arranged above the first and second workstations respectively, and the first and / or second visual assembly is electrically connected with the control mechanism for controlling the linear guide.

[0029] As a further improvement of the present application, the first and / or second visual assembly comprises a CCD camera and a light source.

[0030] The present application has the advantage that the arm assembly is driven to rotate by the rotating part, and the lifting mechanism and the clutch mechanism are arranged, when lifting is needed, the clutch mechanism connects the lifting mechanism with the arm assembly, so that the grabbing part can grab the workpiece by lifting, when rotation is needed, the clutch mechanism disconnects the lifting mechanism from the arm assembly, and the rotating part drives the arm assembly to rotate independently, so that the interference between different movements is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a structural schematic diagram of the present application.

[0032] Figure 2 is a layout diagram of the workstations in the present application.

[0033] Figure 3 is a structural schematic diagram of part of the structure in the present application.

[0034] Figure 4 is a structural schematic diagram of another view of part of the structure in the present application.

[0035] In the figure: 200-rotating part; 202-arm assembly; 204-grabbing part; 208-first workstation; 210-second workstation; 212-lifting mechanism; 214-clutch mechanism; 216-mounting part; 217-driving block; 218-mating piece; 220-channel; 222-first stop block; 224-second stop block; 226-connecting arm; 228-first sliding mounting block; 230-third workstation; 232-fourth workstation; 234-jig plate; 236-first visual assembly; 238-second visual assembly; 240-return spring. DETAILED DESCRIPTION

[0036] The technical solutions of the present application will be further described below in combination with the drawings and through specific embodiments.

[0037] Example one

[0038] As Figures 1-4As shown, in the embodiment, the material is placed in the carrier tray 234 and moved to the first station 208 through the horizontal linear guide (i.e. in this process, the clutch mechanism 214 makes the lifting driving motor and the arm assembly in the disconnected state), and then the mounting portion 216 and the arm assembly 202 are rotated to the upper side of the first station 208 by the rotation driving motor of the rotating part 200, at this time, the driving block 217 connected with the lifting mechanism 212 is located in the channel 220 of the matching piece 218, in the embodiment, the lifting mechanism 212 adopts a motor, i.e. the lifting driving motor as the driving force, the driving block 217 is eccentrically arranged with the output shaft of the lifting driving motor, constituting a cam mechanism, when the driving block 217 rotates, it contacts the second stop block 224 below the matching piece 218, drives the whole matching block to move downward, the matching block is connected with the arm assembly 202 through the connecting arm 226, so as to drive the whole arm assembly 202 to descend through the connecting arm 226 (i.e. in this process, the clutch mechanism 214 makes the lifting driving motor and the arm assembly in the connected state).

[0039] In the embodiment, the connecting arm 226 horizontally slides on the first sliding mounting block 228, which is used for the compensation of the connecting arm 226 in the horizontal direction when moving vertically, in addition, the first sliding block is vertically slidably mounted on the mounting hole, which is used for guiding the arm assembly 202 in the vertical sliding process.

[0040] In the embodiment, after the arm assembly 202 descends to the predetermined position, the suction cup on the grabbing part 204 sucks the workpiece on the carrier tray 234, then the lifting driving motor rotates to drive the driving block 217 to rotate, separate from the second stop block 224, contact the first stop block 222, drive the whole connecting arm 226 and the arm assembly 202 to move upward, in another embodiment of the application, a return spring 240 is connected between the mounting portion 216 and the arm assembly 202, which can also drive the connecting arm 226 and the arm assembly 202 to move upward (the driving block 217 only needs to separate from the second stop block 224) alone or jointly.

[0041] In the embodiment, when the arm assembly 202 rises to the set position, the rotating driving motor drives the whole arm assembly 202 to rotate to the upper side of the second station 210, and the material is placed on the carrier tray 234 of the second station 210 through lifting, similarly, the carrier tray 234 of the second station 210 can be arranged on the horizontal linear guide and moved to the second station 210 through horizontal movement.

[0042] Embodiment two

[0043] In the embodiment, two sets of arm assemblies 202 are arranged oppositely, when one arm assembly 202 is located on the first station 208, the other arm assembly 202 is located on the second station 210, the arm assembly 202 can realize the two actions of sucking and placing the material on the first station 208 and the second station 210 at the same time, for example, on the first station 208, the first arm assembly 202 places the material sucked from the second station 210 in the previous process on the first station 208, and then sucks another workpiece from the first station 208, the arm assembly 202 on the second station 210 is the same, which will not be described here, in the embodiment, the linear guide rail drives the carrier disc 234 to adjust the position on the first station 208 and the second station 210, which can ensure that the material on the carrier disc 234 moves to the position directly below the suction of the grabbing part 204.

[0044] Embodiment three

[0045] In the embodiment, the first vision assembly 236 is arranged above the first station 208 and the second station 210, the first vision assembly 236 includes a CCD camera and a light source, the specific position information of the specific material is determined by photographing and positioning the material on the carrier disc 234 in the first station 208 and the second station 210, the carrier disc 234 is moved by controlling the linear guide rail, so that the material moves to the set position, and the correction of the position of the material is completed, in addition, the CCD camera recognizes the material that has been processed and the material that has not been processed, and the carrier disc 234 is moved by the position information obtained by the CCD camera, so that the material moves to the position directly below the grabbing part 204.

[0046] Embodiment four

[0047] In this embodiment, a third station 230 is arranged between the first station 208 and the second station 210, and a fourth station 232 is arranged between the second station 210 and the first station 208. A second vision assembly 238 is arranged on the second station 210 and the fourth station 232, and the second vision assembly 238 comprises a CCD camera and a light source. The second vision assembly 238 is used to determine the position of the material on the grabbing part 204, so that the material can be accurately placed on the carrier tray 234 of the second station 210 and the first station 208. Specifically, after the grabbing part 204 sucks the material from the first station 208, the grabbing part 204 passes through the third station 230 during the rotation. The CCD camera on the third station 230 takes a picture of the material on the grabbing part 204 to obtain the position information of the material. Then, the linear guide is controlled to move the carrier tray 234 on the second station 210, so that the grabbing part 204 can be accurately placed above the second station 210, and the material can be accurately placed in the hole position of the carrier tray 234 by lifting. The fourth station 232 is used to take a picture of the grabbing part 204 (with the material) after the material is grabbed from the second station 210. After the position of the material is determined, the movement of the first carrier tray 234 is adjusted, so that the material can be accurately placed in the hole position of the carrier tray 234.

[0048] The technical principles of the present application are described above in combination with specific embodiments. These descriptions are only for explaining the principles of the present application, and cannot be interpreted as limiting the protection scope of the present application in any way. Based on the explanations herein, other specific embodiments of the present application can be conceived by those skilled in the art without creative efforts, and these embodiments will fall within the protection scope of the present application.

Claims

1. A material transfer device, characterized in that, include: At least one rotating part (200); At least one arm assembly (202) is installed below the rotating part (200), the arm assembly (202) is provided with a gripping part (204), and the arm assembly (202) is driven by the rotating part (200) to perform intermittent rotational motion; At least two workstations located below the arm assembly (202), the workstations including a first workstation (208) and a second workstation (210) for picking up and / or discharging materials respectively, the gripping part (204) being able to stop directly above the first workstation (208) and / or the second workstation (210) during rotation; The fixed lifting mechanism (212) and the clutch mechanism (214) that connects or separates the lifting mechanism (212) from the arm assembly (202) are provided. When the gripping part (204) is located above the first station (208) and / or the second station (210), the clutch mechanism (214) connects the lifting mechanism (212) to the arm assembly (202), so that the lifting mechanism (212) can drive the arm assembly (202) to lift.

2. The material transfer device according to claim 1, characterized in that, A mounting part (216) is provided below the rotating part (200), and two arm assemblies (202) are provided, which are slidably mounted on the mounting part (216) respectively; The lifting mechanism (212) is a rotary drive device, and its output end is a rotating shaft; The clutch mechanism (214) includes a drive block (217) eccentrically mounted on the rotating shaft and a mating member (218) mounted on the arm assembly (202). The mating member (218) is provided with a horizontally penetrating channel (220) and a first stop (222) and a second stop (224) located above and below the channel (220), respectively. The rotation of the rotating part (200) causes the drive block (217) to enter and exit the channel (220) of the mating member (218) horizontally. The drive block (217) contacts the first stop (222) and the second stop (224) through eccentric rotation, and drives the arm assembly (202) to perform lifting and lowering movements.

3. The material transfer device according to claim 2, characterized in that, The clutch mechanism (214) further includes: A first sliding mounting block (228) is slidably mounted on the mounting part (216) in a vertical direction; A connecting arm (226) is slidably mounted on the first sliding mounting block (228) in a horizontal direction, and the mating part (218) is mounted on the connecting arm (226).

4. The material transfer device according to claim 3, characterized in that, The workstation is located directly below the intermittent stop position during the rotational stroke of the arm assembly (202), and the workstation further includes a third workstation (230) and a fourth workstation (232), wherein: The third workstation is located between the first workstation (208) and the second workstation (210), and the fourth workstation (232) is located between the second workstation (210) and the first workstation (208); The first station (208) and the second station (210) are provided with fixture plates (234) for storing workpieces; The third station (230) and the fourth station (232) are equipped with a first vision component (236).

5. The material transfer device according to claim 4, characterized in that, The gripping part (204) includes a suction cup and a cylinder for inflating and deflating the suction cup.

6. The material transfer device according to claim 5, characterized in that, The first station (208) and the second station (210) are each equipped with at least two sets of fixture plates (234), and each set of fixture plates (234) moves into or out of the first station (208) or the second station (210) by horizontal movement.

7. The material transfer device according to claim 6, characterized in that, The driving device for the rotating part (200) is a first motor; and / or The shaft of the lifting mechanism (212) is driven to rotate by a second motor; and / or The fixture plate (234) is driven to move horizontally by a horizontal linear guide rail.

8. The material transfer device according to claim 7, characterized in that, A return spring (240) is provided between the mounting part (216) and the arm assembly (202).

9. The material transfer device according to claim 8, characterized in that, A second vision component (238) is respectively provided above the first workstation (208) and the second workstation (210), and the first vision component (236) and / or the second vision component (238) are electrically connected to the control mechanism that controls the linear guide rail.

10. A material transfer device according to claim 9, characterized in that, The first vision component (236) and / or the second vision component (238) include a CCD camera and a light source.

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