Material transfer device

Abstract

The invention relates to a material transfer device which comprises a first conveying belt and a second conveying belt which are perpendicular to each other in the conveying direction on the horizontal plane, a mechanical arm is arranged above the first conveying belt or the second conveying belt, and a connecting piece is arranged at the free end of the mechanical arm. Mounting bases are arranged on the two opposite sides of the surface of the end, away from the manipulator, of the connecting piece, two first vacuum suction cups are fixedly arranged on one mounting base, a second vacuum suction cup sliding up and down relative to the mounting base is arranged on the other mounting base in a sliding mode, and the two first vacuum suction cups and the second vacuum suction cup are arranged in a triangular structure. By means of the material suction device, materials can be sucked conveniently, and damage to the materials is avoided when the materials are sucked.

Description

Technical Field

[0001] The invention relates to the field of automated production line equipment, in particular to a material transfer device. Background Art

[0002] With the development of technology, the material transfer on the production line has changed from manual transfer to automated mechanical transfer. In automated mechanical transfer, manipulators are usually used to grab materials and transfer them from one station to another. The actuators of manipulators used to grab objects are diverse, including suction cup type, grabbing type, electromagnetic type, hook type, etc. Suction cup manipulators are good at grabbing objects with flat and regular surfaces, so they are used in logistics, production sorting, food industry, automobile production, glass handling, sheet metal handling and other fields. Their number and types are the largest among grabbing manipulators. However, when the suction cup on the existing suction cup type manipulator sucks up an object, in order to avoid the movement of the sucked object, a large force is applied instantly to stick the suction cup to the surface of the object, and then suction is performed. At this time, the instantaneous force has the risk of causing potential damage to the sucked object, especially for some materials with a cake-like structure formed by pressing powder. Since the internal bonding of the cake-like structure is not tight enough, it is more likely to cause damage to the cake-like structure when subjected to a large force. For example, the zirconia blank before firing of the zirconia ceramic block used for preparing dentures is obtained by pressing the zirconia powder in the mold groove of a powder press to form a cake to obtain the zirconia blank, and finally sintering the zirconia blank to obtain the zirconia ceramic block for dentures. Summary of the invention

[0003] In view of the existing deficiencies, the present invention provides a material transfer device.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a material transfer device, including a first conveyor belt and a second conveyor belt arranged perpendicular to each other in the horizontal plane in conveying directions, a manipulator is arranged above the first conveyor belt or the second conveyor belt, a connecting piece is arranged at the free end of the manipulator, and mounting seats are arranged on opposite sides of the surface of an end of the connecting piece away from the manipulator, two first vacuum suction cups are fixedly arranged on one of the mounting seats, and a second vacuum suction cup that slides up and down relative to the mounting seat is slidably arranged on the other mounting seat, and the two first vacuum suction cups and the second vacuum suction cups are arranged in a triangular structure.

[0005] Preferably, the second vacuum suction cup slides on the mounting seat by being driven by a cylinder arranged on the mounting seat.

[0006] Preferably, an industrial camera for detecting the location of the material is provided on any one of the mounting seats.

[0007] Preferably, the first vacuum suction cup and the second vacuum suction cup are the same vacuum suction cups, and the vacuum suction cup includes a suction cup base for connecting to a mounting seat, a connecting seat installed on the bottom surface of the suction cup base, a rotating seat rotatably mounted on the connecting seat, and a plastic disc body installed on the rotating seat that can be elastically deformed into an inverted bowl-shaped structure, and the plastic disc body, the rotating seat and the connecting seat are provided with an exhaust channel for vacuuming.

[0008] Preferably, a spherical connector is provided at the bottom end of the connecting seat, and a connecting seat through hole is provided at the bottom end of the spherical connector that passes through the connecting seat; a spherical groove that matches and rotates with the spherical connector is provided at the top of the rotating seat, and a rotating seat through hole that is connected to the connecting seat through hole is provided at the bottom of the spherical groove; and a disk body through hole that is connected to the rotating seat through hole is provided at the top of the plastic disk body.

[0009] Preferably, the outer wall of the rotating seat extends along the lower end edge with a first step extending around the circumference of the rotating seat, and the outer wall of the rotating seat extends around the circumference of the rotating seat at the upper end adjacent to the first step. The outer wall of the rotating seat is provided with a rotating seat groove around the circumference of the rotating seat and above the second step, and the inner wall of the plastic disc body is provided with a disc body groove matching the first step; the outer wall of the rotating seat is sleeved with a top cover that presses against the tread of the second step and is sleeved on the outer wall of the plastic disc body, and the rotating seat groove is matched with a buckle ring in the shape of an open ring that can press against the top of the top cover.

[0010] Preferably, the buckle ring has an extension arm extending from an outer edge on a side opposite to the opening and parallel to the axial center line of the buckle ring.

[0011] Preferably, the buckle is provided with a U-shaped inner groove on the inner wall away from the opening, and the buckle is provided with a U-shaped outer groove on the outer wall away from the opening, the inner groove and the outer groove are staggered, a card block is provided on the bottom surface of the groove wall of the inner groove away from the opening, and a top cover card slot into which the card block is inserted is provided on the top of the top cover.

[0012] Preferably, a first mounting frame is provided above the first conveyor belt or the second conveyor belt, and the manipulator is installed on the first mounting frame; a universal wheel with a brake and / or a lifting support foot are provided at the bottom of the first mounting frame.

[0013] Preferably, both the first conveyor belt and the second conveyor belt are provided with adjustment pads.

[0014] The beneficial effects of the present invention are as follows: the invention utilizes a manipulator to realize the transfer of materials on two conveyor belts, and at the same time utilizes two different vacuum suction cups to absorb the materials to be transferred, so that the materials can be transferred more safely and conveniently. First, a fixed first vacuum suction cup is used to abut against the material to be transferred, so that the material to be transferred is positioned and the movement of the material to be transferred is avoided. Then the second vacuum suction cup is slid and abutted against the material to be transferred. Finally, the two vacuum suction cups are vacuumed to absorb the materials. The triangular structure formed by the two vacuum suction cups can apply a force on the surface of the materials more evenly when absorbing the materials, which facilitates absorption while avoiding damage to the materials caused by the concentration of force points. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of a transfer device according to an embodiment of the present invention;

[0016] Figure 2 is a diagram of the connection structure of the manipulator and the vacuum suction cup according to an embodiment of the present invention;

[0017] Figure 3 Embodiment of the present invention Figure 2 A magnified structural diagram of the middle part;

[0018] Figure 4 is a cross-sectional structural diagram of a vacuum suction cup according to an embodiment of the present invention;

[0019] Figure 5 is an exploded structural diagram of a vacuum suction cup according to an embodiment of the present invention;

[0020] Figure 6 is a structural diagram of a rotating seat according to an embodiment of the present invention;

[0021] Figure 7 is a structural diagram of the bottom surface of a buckle ring according to an embodiment of the present invention;

[0022] Names and serial numbers of parts in the figure: 1-first conveyor belt 10-first mounting frame 11-adjusting foot pad 100-universal wheel 101-support foot 2-second conveyor belt 3-manipulator 4-connecting piece 5-mounting seat 50-industrial camera 6-first vacuum suction cup 60-suction cup base 61-connecting seat 62-rotating seat 63-plastic disc body 610-spherical connecting head 611-connecting seat through hole 620-spherical groove 621-rotating seat through hole 622-first step 623-second step 624-rotating seat slot 630-disc body through hole 631-disc body slot 7-second vacuum suction cup 70-cylinder 8-top cover 80-top cover slot 9-buckle 90-extension arm 91-inner slot 92-outer slot 93-block. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the purpose, technical solutions and advantages of the embodiments of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments for a clear and complete description. Obviously, the embodiments described are partial embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0024] Embodiments of the present invention Figures 1 to 7As shown in the figure, a material transfer device includes a first conveyor belt 1 and a second conveyor belt 2 which are arranged perpendicular to each other in the conveying directions on a horizontal plane. The two conveyor belts are arranged according to different usage requirements. For example, the first conveyor belt 1 adopts a belt conveyor belt with belt transmission, which is arranged in the front-to-back direction and in front of the second conveyor belt 2, and its height is higher than that of the second conveyor belt 2; the second conveyor belt 2 adopts a roller conveyor belt with roller transmission, which is arranged in the left-right direction; at this time, the material to be transferred can be loaded in a storage container and transported from the second conveyor belt 2 to the position of the first conveyor belt 1, and then the material can be transferred from the first conveyor belt 1 to the second conveyor belt 2 by a robot 3. The second conveyor belt 2 is placed on the first conveyor belt 1 after suction to realize the transfer of materials; and in order to prevent the materials from slipping from the conveyor belts during transportation, it is necessary to keep the conveyor belts in a horizontal direction. At this time, the first conveyor belt 1 and the second conveyor belt 2 are both provided with adjusting pads 11, that is, the first conveyor belt 1 and the second conveyor belt 2 both include a conveyor belt body and a mounting bracket for mounting the conveyor belt body, and the adjusting pads 11 are installed at the bottom of the mounting bracket to form four vertices of a rectangle. At this time, the adjusting pads 11 are installed on the mounting bracket by threaded connection, and the conveyor belt is kept in a horizontal position by adjusting the height of the four adjusting pads 11. A manipulator 3 is arranged above the first conveyor belt 1 or the second conveyor belt 2, and the manipulator 3 can be selected from any existing manipulators. The setting structure of the manipulator 3 is to set up a first mounting frame 10 above the first conveyor belt 1 or the second conveyor belt 2, and the manipulator 3 is installed on the first mounting frame 10. The first mounting frame 10 includes a top plate, a rectangle is selected on the bottom surface of the top plate, and four vertical support rods are arranged at the four vertices of the rectangle. The manipulator 3 is installed on the bottom surface of the top plate and is located between the four support rods, and the end of the manipulator 3 away from the bottom surface of the top plate is the free end of the manipulator 3; the first mounting frame 10 is erected above the second conveyor belt 2, that is, two support rods of the first mounting frame 10 are arranged on the front side of the second conveyor belt 2, and the other two support rods are arranged on the rear side of the second conveyor belt 2, and the top ends of the four support rods are all connected to the bottom surface of the top plate; The bottom of a mounting frame 10 is provided with a universal wheel 100 with a brake and / or a support foot 101 that can be raised and lowered, that is to say, the universal wheel 100 with a brake is installed at the bottom of the four support rods, or the support foot 101 that can be raised and lowered is installed, or the universal wheel 100 and the support foot 101 are provided at the same time. When the universal wheel 100 and the support foot 101 are provided at the same time, a horizontal base in the horizontal direction is installed at the bottom of the support rod, and then support seats are provided on the left and right sides of the horizontal base, and vertical strip-shaped adjustment through holes are provided on the support seat, and then the horizontal base and the support seat are connected by bolts passing through the adjustment through holes. When adjustment is required, the connection between the two is loosened, and then the horizontal base is moved up or down relative to the support seat. The horizontal base and the support seat constitute the support foot 101. At this time, the bottom surface of the horizontal base is provided with a universal wheel 100 with a brake.Moving the horizontal base downward can make the universal wheel 100 supported on the ground while the support seat leaves the contact with the ground. Moving the horizontal base upward can make the universal wheel 100 leave the contact with the ground while the support seat supports the ground. At the same time, a foot pad the same as the adjustment foot pad 11 on the conveyor belt can be set on the bottom surface of the horizontal base. The foot pad and the two supporting feet form a triangular structure, thereby stabilizing the installation structure of the manipulator 3 and ensuring that the manipulator 3 can move more accurately during application. The free end of the manipulator 3 is provided with a connecting piece 4, and the connecting piece 4 moves with the movement of the free end of the manipulator 3. Synchronous movement, the connecting member 4 is provided with mounting seats 5 on opposite sides of the surface of one end away from the manipulator 3, one of the mounting seats 5 is fixedly provided with two first vacuum suction cups 6, and the other mounting seat 5 is slidably provided with a second vacuum suction cup 7 which slides up and down relative to the mounting seat 5, that is, the free end of the manipulator 3 is connected to the top of the connecting member 4, and the mounting seat 5 is installed at the bottom of the connecting member 4. The two mounting seats 5 are correspondingly arranged on the left and right sides of the bottom surface of the connecting member 4, which can be called the left mounting seat and the right mounting seat. The first vacuum suction cup 6 is arranged on the right mounting seat, and the two first vacuum suction cups 6 are arranged on the right mounting seat. The plates 6 are arranged in parallel with each other at intervals in front and back, and the second vacuum suction cup 7 is arranged on the left mounting seat and can move up and down on the left mounting seat. Its movement on the left mounting seat is driven by the cylinder 70 arranged on the left mounting seat. The cylinder 70 uses an electric cylinder, that is, the cylinder 70 is arranged on the left mounting seat, and the piston of the cylinder 70 moves up and down. At this time, a sliding block is connected to the piston of the cylinder 70, and the second vacuum suction cup 7 is installed on the sliding block and moves up and down under the drive of the cylinder. The two first vacuum suction cups 6 and the second vacuum suction cup 7 are arranged in a triangular structure. The two first vacuum suction cups 6 and a second vacuum suction cup 7 form an acute triangle structure. When in use, the first vacuum suction cup 6 first contacts the surface of the material to be transferred. At this time, the first vacuum suction cup 6 only contacts the surface of the material to be transferred, and the material to be transferred is positioned by the friction between the two. Then, the second vacuum suction cup 7 moves down and contacts the surface of the material to be transferred under the drive of the cylinder 70. Finally, the three vacuum suction cups are evacuated to absorb the material to be transferred. The three vacuum suction cups can apply force more evenly on the surface of the material to be transferred, and protect the material while absorbing it.

[0025] Further improvements, such as Figure 3 As shown in the figure, an industrial camera 50 for detecting the position of the material is provided on any mounting seat 5. The industrial camera 50 can be used to monitor the position of the material to be transferred on the conveyor belt in real time, and then the vacuum suction cup is moved to the top of the material to be transferred by moving the manipulator 3.

[0026] Further improvements, such as Figures 3 to 7As shown in the figure, the first vacuum suction cup 6 and the second vacuum suction cup 7 are the same vacuum suction cups, and the vacuum suction cup includes a suction cup base 60 for connecting with the mounting seat 5, a connecting seat 61 installed on the bottom surface of the suction cup base 60, a rotating seat 62 rotatably sleeved on the connecting seat 61, and a plastic plate body 63 installed on the rotating seat 62 and capable of elastic deformation into an inverted bowl-shaped structure. Corresponding to the two first vacuum suction cups 6, a suction cup base 60 is shared, and the suction cup base 60 is installed at the bottom end of the right mounting seat, and then A connecting seat 61 is installed on the front and rear sides of the seat 60 respectively, and then a rotating seat 62 and a plastic disc body 63 are correspondingly arranged on each connecting seat 61. The second vacuum suction cup 7 installs the suction cup base 60 on the piston of the cylinder 70. The plastic disc body 63, the rotating seat 62 and the connecting seat 61 are provided with an exhaust channel for vacuuming. When the vacuum suction cup abuts against the surface of the material to be transferred, the exhaust channel is used to evacuate the inside of the plastic disc body 63, so that the material to be transferred is adsorbed on the vacuum suction cup. At this time, a spherical connector 610 is provided at the bottom end of the connecting seat 61, and a connecting seat through hole 611 that penetrates the connecting seat 61 is provided at the bottom end of the spherical connector 610. The connecting seat 61 and the spherical connector 610 are integrally formed, and the connecting seat through hole 611 is arranged in an inverted L-shaped structure, that is, one end of the connecting seat through hole 611 is located on the side wall of the connecting seat 61 and the other end is located at the bottom of the spherical connector 610. The end located on the side wall of the connecting seat 61 is convenient for installing the exhaust equipment; a spherical groove 620 that is rotatably connected to the spherical connector 610 is provided at the top of the rotating seat 62, and a rotating seat through hole 621 that is connected to the connecting seat through hole 611 is provided at the bottom of the spherical groove 620. The rotating seat through hole 621 is coaxial with the connecting seat through hole 611, and the groove wall of the spherical groove 620 wraps the outer wall of the spherical connector 610, and the rotating seat 62 It can rotate freely in multiple directions relative to the connecting seat 61, and there is no need to adjust the angle between the plastic disc 63 and the surface of the material to be transferred in advance. When the plastic disc 63 abuts against the surface of the material to be transferred, it can be automatically adjusted so that the plastic disc 63 is adsorbed on the surface of the material to be transferred in a way that its axis is perpendicular to the surface of the material to be transferred; the top of the plastic disc 63 is provided with a disc through hole 630 connected to the rotating seat through hole 621, and the disc through hole 630 is coaxial with the rotating seat through hole 621. At this time, the disc through hole 630, the rotating seat through hole 621 and the connecting seat through hole 611 can be correspondingly arranged at the top of the plastic disc 63, the bottom of the spherical groove 620 of the rotating seat 62 and the center position of the bottom surface of the spherical connector 610 on the connecting seat 61, and the disc through hole 630, the rotating seat through hole 621 and the connecting seat through hole 611 constitute an exhaust channel.As for the connection of the plastic plate 63 on the rotating seat 62, the outer wall of the rotating seat 62 extends along the lower end edge in the radial direction with a first step 622 that surrounds the rotating seat 62, and the outer wall of the rotating seat 62 extends at the upper end adjacent to the first step 622 with a second step 623 that surrounds the rotating seat 62, and the outer wall of the rotating seat 62 is provided with a rotating seat slot 624 that surrounds the rotating seat 62 and is located above the second step 623, that is, a rotating seat slot 624 is provided on the outer wall of the rotating seat 62 from the lower end upward. The first step 622 and the second step 623 are connected in sequence, and a rotating seat slot 624 is provided above the second step 623 and is spaced a certain distance from the second step 623. The inner side wall of the plastic plate 63 is provided with a plate body slot 631 that matches the first step 622 to be inserted into the plastic plate body 63. The lower end of the rotating seat 62 is inserted into the plastic plate body 63 through the plate body through hole 630, and then the first step 622 on the rotating seat 62 is matched and inserted into the plate body slot 631 on the inner wall of the plastic plate body 63. At this time, the vertical surface of the second step 623 is The outer wall of the rotating seat 62 is sleeved with a top cover 8 which is pressed against the tread of the second step 623 and sleeved on the outer wall of the plastic disc body 63. The top cover 8 is a cylindrical structure and then an annular block with an annular structure extends into the cylinder at the top. The inner ring of the annular block is sleeved on the outer wall of the rotating seat 62. At this time, the bottom surface of the annular block adjacent to the center is pressed against the tread of the second step 623, and the top surface of the annular block is flush with the groove wall on the lower side of the rotating seat groove 624. The cylindrical inner wall of the top cover 8 It is sleeved on the outer wall of the plastic plate body 63, and a buckle ring 9 in the shape of an open ring that can press against the top of the top cover 8 is matched and installed in the rotating seat slot 624. The buckle ring 9 limits and fixes the top cover 8 on the rotating seat 62. Its open structure is convenient for installation in the rotating seat slot 624. The buckle ring 9 has an extension arm 90 extending from the outer edge of the side opposite to the opening and parallel to the axis of the buckle ring 9. That is to say, the extension arm 90 is in a vertical direction. The arrangement of the extension arm 90 facilitates the assembly and disassembly of the buckle ring 9 on the rotating seat 62. The buckle ring 9 is provided with a U-shaped inner slot 91 on the inner side wall away from the opening, and the buckle ring 9 is provided with a U-shaped outer slot 92 on the outer side wall away from the opening. The inner slot 91 and the outer slot 92 are arranged alternately, such as. Figure 5 and Figure 7As shown in the figure, the opening of the buckle ring 9 is set on the right side, and the inner groove 91 and the outer groove 92 are set on the left side of the buckle ring 9. At the same time, the inner groove 91 is on the left side of the outer groove 92, which makes the buckle ring 9 have a certain elasticity. The bottom surface of the groove wall of the inner groove 91 away from the opening side is provided with a clamping block 93, and the top of the top cover 8 is provided with a top cover groove 80 into which the clamping block 93 is clamped. That is, the bottom surface of the left groove wall of the inner groove 91 is provided with a clamping block 93, which can be directly provided on the bottom surface of the left groove wall of the inner groove 91, or an extension block can be extended from the left groove wall of the inner groove 91 into the ring of the buckle ring 9, and then the clamping block 93 is provided on the bottom surface of the extension block. At this time, the top cover groove 80 is provided on the top of the annular block of the top cover 8. The top cover groove 80 can be a groove that surrounds the top cover 8 in a circumferential direction. The clamping block 93 is matched and clamped in the top cover groove 80 and can slide along the extension direction of the top cover groove 80.

[0027] Although the present invention has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, these modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A material transfer device, characterized in that: It includes a first conveyor belt and a second conveyor belt which are arranged perpendicular to each other in the conveying direction on a horizontal plane, a manipulator is arranged above the first conveyor belt or the second conveyor belt, a connecting piece is arranged at the free end of the manipulator, mounting seats are arranged on opposite sides of the surface of an end of the connecting piece away from the manipulator, two first vacuum suction cups are fixedly arranged on one of the mounting seats, and a second vacuum suction cup which slides up and down relative to the mounting seat is slidably arranged on the other mounting seat, and the two first vacuum suction cups and the second vacuum suction cups are arranged in a triangular structure.

2. The material transfer device according to claim 1, characterized in that The second vacuum suction cup slides on the mounting base by being driven by a cylinder arranged on the mounting base.

3. The material transfer device according to claim 1, characterized in that Any one of the mounting seats is provided with an industrial camera for detecting the location of the material.

4. The material transfer device according to claim 1, characterized in that: The first vacuum suction cup and the second vacuum suction cup are the same vacuum suction cups, and the vacuum suction cup includes a suction cup base for connecting to a mounting seat, a connecting seat installed on the bottom surface of the suction cup base, a rotating seat rotatably mounted on the connecting seat, and a plastic disc body installed on the rotating seat that can be elastically deformed into an inverted bowl-shaped structure, and the plastic disc body, the rotating seat and the connecting seat are provided with an exhaust channel for vacuuming.

5. The material transfer device according to claim 4, characterized in that: A spherical connector is provided at the bottom end of the connecting seat, and a connecting seat through hole is provided at the bottom end of the spherical connector that passes through the connecting seat; a spherical groove that matches and rotates with the spherical connector is provided at the top of the rotating seat, and a rotating seat through hole that is connected to the connecting seat through hole is provided at the bottom of the spherical groove; and a disk body through hole that is connected to the rotating seat through hole is provided at the top of the plastic disk body.

6. The material transfer device according to claim 5, characterized in that : The outer wall of the rotating seat extends along the lower end edge with a first step around the circumference of the rotating seat, and the outer wall of the rotating seat extends at the upper end adjacent to the first step and around the circumference of the rotating seat. The outer wall of the rotating seat is provided with a rotating seat groove around the circumference of the rotating seat and above the second step, and the inner wall of the plastic disc body is provided with a disc body groove matching the first step; the outer wall of the rotating seat is sleeved with a top cover that presses on the tread of the second step and is sleeved on the outer wall of the plastic disc body, and the rotating seat groove is matched with an open ring-shaped buckle ring that can press against the top of the top cover.

7. The material transfer device according to claim 6, characterized in that The buckle ring has an extension arm extending from the outer edge of the side opposite to the opening and parallel to the axis of the buckle ring.

8. The material transfer device according to claim 6 or 7, characterized in that The buckle ring is provided with a U-shaped inner groove on the inner side wall away from the opening, and the buckle ring is provided with a U-shaped outer groove on the outer side wall away from the opening. The inner groove and the outer groove are arranged alternately, and a card block is provided on the bottom surface of the groove wall of the inner groove away from the opening, and a top cover card slot into which the card block is inserted is provided on the top of the top cover.

9. The material transfer device according to claim 1, characterized in that : A first mounting frame is arranged above the first conveyor belt or the second conveyor belt, and the manipulator is mounted on the first mounting frame; a universal wheel with a brake and / or a lifting support foot are arranged at the bottom of the first mounting frame.

10. The material transfer device according to claim 1, characterized in that :The first conveyor belt and the second conveyor belt are both provided with adjustment pads.

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