Grabbing and overturning mechanism

Abstract

The grabbing and overturning mechanism comprises a rubber contact block, a hard arc-shaped rod, an air cylinder, a steel strip belt, a strip-shaped carrying frame, an inner tooth transmission belt, a dual-output motor and a U-shaped partition plate. The device has the beneficial effects that the four groups of rubber contact blocks which are distributed in a matrix and are provided with the magnetic pin heads are respectively arranged at the four corners of the thin material sheet, and the upwards pulled steel strip belts apply force to the rubber contact blocks to form displacement change, so that gripping forces of the rubber contact blocks in different directions, which are folded inwards, act on the corresponding parts of the thin material sheet; a plurality of groups of magnetic pin heads can be inserted into the edge parts of the thin material sheets, and the grabbed thin material sheets are arched, so that the problem that the thin material sheets are inconvenient to convey, feed and grab is solved; the turnover device is simple in structure and convenient to operate, can complete fast turnover, is small in turnover occupied space, supports and separates the corresponding parts of the thin material sheet by means of the U-shaped partition plate arranged between the two inner tooth transmission belts, and solves the problem that the thin material sheet falls down due to the thin thickness, and normal turnover of the rear parts is affected.

Description

Technical Field

[0001] The invention relates to the field of sheet product processing and conveying equipment, in particular to a grabbing and turning mechanism. Background Art

[0002] Conveying equipment is widely used for conveying various products. Some thin and soft sheet products are stacked together and have large sizes, which makes it difficult to grab, flip and convey them. However, in the process of grabbing and flipping sheet products, we found that the existing grabbing and flipping mechanism has the following problems: 1. The grabbing structure is single, with few effective action parts, and it is difficult to grab and detach the stacked sheets from the lower layer. At the same time, the space occupied by the grabbing and flipping is large; 2. Due to the thinness and softness of the sheet products and the large size, the sheets are loose and drooping, and they are easy to entangle when flipping, so that its flipping structure cannot solve the problem of thin material sheets drooping due to their thin thickness, affecting the normal flipping of the rear parts. Therefore, a grabbing and flipping mechanism is proposed to address the above problems. Summary of the invention

[0003] The purpose of the present invention is to provide a grasping and turning mechanism in order to solve the above-mentioned problem.

[0004] The present invention achieves the above-mentioned purpose through the following technical solutions: a grabbing and flipping mechanism, comprising a rubber contact block, a hard arc rod, a pulling plate, a cylinder, a steel strip, a strip carrier, an internal tooth transmission belt, a dual-output motor and a U-shaped partition, a rectangular plate is fixedly installed at the bottom of the rubber contact block at both ends of the hard arc rod, and a plurality of magnetic pin heads are vertically installed on the surface of the rectangular plate, one end of the cavity inside each of the rubber contact blocks is fixedly connected to one end of the steel strip, and the plurality of magnetic pin heads located on the surface of the rectangular plate form different directions of grasping forces that are inwardly gathered through the force displacement of the same rubber contact block to act on the corresponding parts of the thin material sheet; The hard arc-shaped rod has holes on both sides, the portion between the two ends of the steel strip is arranged inside the corresponding hole, and the other ends of the two steel strips are fixedly connected to the output end of the same cylinder; The middle part of the hard arc rod is fixedly connected to the bottom of the pulling plate, and one end of a group of two pulling plates is fixedly installed alternately on the same internal tooth transmission belt. The two gears located at both ends of the strip carrier are connected to each other through the internal tooth transmission belt, and the shaft end on one side of one of the gears is connected to the corresponding shaft end of the dual-output motor through a transmission rod.

[0005] Preferably, the active end of the magnetic pin head is divided into a pointed cone end and a round surface end.

[0006] Preferably, two strip-shaped carriers are provided, and the U-shaped partition is arranged between the two strip-shaped carriers.

[0007] Preferably, both ends of the U-shaped partition are fixedly mounted on the middle of the same V-shaped support rod, and a gap is left between both sides of the U-shaped partition and the corresponding strip carrier.

[0008] Preferably, both ends of the V-shaped support rod are fixedly connected to the side walls of one end of the two strip-shaped carriers respectively, and a manipulator connecting rod is fixedly installed on the middle side wall of the V-shaped support rod.

[0009] Preferably, the middle position of the manipulator connecting rod is fixedly connected to the top of the dual-output motor.

[0010] Preferably, the cylinder body end of the cylinder is fixedly connected to the top surface of the carrier plate, and the cylinder is covered in a short tube, and the interior of the short tube is communicated with the channel.

[0011] Preferably, the surface of the internal toothed transmission belt is not limited to one connection position for the carrier plate.

[0012] The beneficial effects of the present invention are: 1. Four groups of rubber contact blocks with magnetic pin heads distributed in a matrix are placed at the four corners of the thin material sheet, and the rubber contact blocks are applied with force by the steel strips pulled upward to form displacement changes, so that the different directions of gripping of the rubber contact blocks inwardly act on the corresponding parts of the thin material sheet, which is conducive to the insertion of multiple magnetic pin heads located on the surface of the rectangular plate into the edge of the thin material sheet, and the gripped part of the thin material sheet is arched, which solves the problem of inconvenience in the feeding and gripping of thin materials, and is more suitable for the gripping of foamed thin sheets; Second, two parallel and spaced inner tooth transmission belts are used as traction power for flipping the thin material sheet, and combined with a U-shaped partition plate set between the two inner tooth transmission belts, the thin material sheet can be flipped and the problem of the thin material sheet falling down and affecting the normal flipping of the rear part can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0014] Figure 1 It is a three-dimensional diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the connection structure of the strip carrier, V-shaped support rod and dual-output motor of the present invention; Figure 3 It is a schematic diagram of the connection structure between the rubber contact block and the short cylinder of the present invention; Figure 4 for Figure 3 Another angle diagram of the diagram; Figure 5 It is a schematic diagram of the connection structure between the overall structure of the present invention and the thin material sheet; Figure 6 for Figure 5 The running demonstration diagram in; Figure 7 It is a schematic diagram of the connection structure between the rubber contact block and the steel strip of the present invention.

[0015] In the figure: 1, rubber contact block; 110, rectangular plate; 120, magnetic pin head; 2, hard arc rod; 210, channel; 3, pulling plate; 4, short cylinder; 410, cylinder; 420, steel strip; 5, strip carrier; 510, gear; 6, internal tooth transmission belt; 7, V-shaped support rod; 8, transmission rod; 9, dual output motor; 10, U-shaped partition; 11, robot connecting rod; 12, thin material sheet. DETAILED DESCRIPTION

[0016] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0018] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0019] See also Figure 1-7As shown, a grabbing and flipping mechanism comprises a rubber contact block 1, a hard arc rod 2, a pulling plate 3, a cylinder 410, a steel strip 420, a strip carrier 5, an inner tooth transmission belt 6, a dual output motor 9 and a U-shaped partition 10, a rectangular plate 110 is fixedly installed at the bottom of the rubber contact block 1 located at both ends of the hard arc rod 2, and a plurality of magnetic pin heads 120 are vertically installed on the surface of the rectangular plate 110, one end of the cavity inside each of the rubber contact blocks 1 is fixedly connected to one end of the steel strip 420, and the plurality of magnetic pin heads 120 located on the surface of the rectangular plate 110 form different directions of grasping forces that are inwardly gathered through the force displacement of the same rubber contact block 1, and act on the corresponding parts of the thin material sheet 12; The hard arc-shaped rod 2 has holes 210 on both sides, and the portion between the two ends of the steel strip 420 is arranged inside the corresponding hole 210, and the other ends of the two steel strips 420 are fixedly connected to the output end of the same cylinder 410; Combination Figure 3 , Figure 4 and Figure 5 As shown, the cylinder 410 is in an extended state, so that the two steel strips 420 connected to its output end and located in the internal channels 210 on both sides of the hard arc rod 2 are pulled upward, and combined with the channels 210 inside the hard arc rod 2 and the two ends of the hard arc rod 2 are facing inward, and at the same time, one end of the steel strip 420 is fixedly connected to one end of the cavity inside the rubber contact block 1, so as to achieve the effect of different directions of grasping forces that are inwardly gathered when the rubber contact block 1 is displaced by force, which is conducive to the insertion of multiple magnetic pin heads 120 located on the surface of the rectangular plate 110 into the edge of the thin material sheet 12, and the thin material sheet 12 part between the two rubber contact blocks 1 at the two ends of the same hard arc rod 2 is arched upward, which plays a role in firmly grasping the corresponding part of the thin material sheet 12.

[0020] The middle part of the hard arc rod 2 is fixedly connected to the bottom of the pulling plate 3, and one end of the two pulling plates 3 located on the same side is fixedly installed on the same internal tooth transmission belt 6 at intervals, and the two gears 510 located at both ends of the strip carrier 5 are mutually connected through the internal tooth transmission belt 6, and the shaft end of one side of the gear 510 is connected to the corresponding shaft end of the dual output motor 9 through the transmission rod 8. There are two strip carriers 5, and the U-shaped partition 10 is arranged between the two strip carriers 5; Combination Figure 1 , Figure 5 and Figure 6As shown, the operation of the dual-output motor 9 synchronously drives the corresponding gear 510 connected to the transmission rod 8 to rotate, so as to drive the corresponding internal tooth transmission belt 6 to run synchronously, so as to achieve the effect of driving the pulling plate 3, the short cylinder 4, the hard arc rod 2 and the rubber contact block 1 connected to the internal tooth transmission belt 6 to move. Under the effect of the magnetic pin head 120 connected to the rubber contact block 1 inserted into the edge of the thin material sheet 12 to grasp and fix it, one end of the thin material sheet 12 is further moved from the bottom to the right, and then turned upward to the horizontal direction, so as to complete the flipping of the thin material sheet 12 from the bottom to the top to be placed horizontally; like Figure 6 As shown, the lower rightward movement: when the thin material sheet 12 is grabbed and moved, it can be seen from the figure that the thin material sheet 12 is initially located at the bottom (at the lower belt of the inner tooth transmission belt 6), and with the inner tooth transmission belt 6 counterclockwise as a reference, the rightmost end of the thin material sheet 12 moves rightward to the arc section of the inner tooth transmission belt 6, and this process is the lower rightward movement; Backward rotation and upward movement: When the thin material sheet 12 is grasped and moved, as can be seen from the figure, the rightmost end of the thin material sheet 12 enters the arc segment of the inner tooth transmission belt 6, and at the same time, the rightmost end of the thin material sheet 12 moves from the lowest end of the arc segment to the top of the arc segment. This process is backward rotation and upward movement; Horizontal movement: when the thin material sheet 12 is grabbed and moved, as can be seen from the figure, the rightmost end of the thin material sheet 12 moves from the top of the arc segment of the internal tooth transmission belt 6 to the upper side (the upper belt of the internal tooth transmission belt 6), until the thin material sheet 12 is completely placed on the upper belt of the internal tooth transmission belt 6. This process is horizontal movement; In summary: four groups of rubber contact blocks 1 with magnetic pin heads 120 are arranged in a matrix and placed at the four corners of the thin material sheet 12, and the rubber contact blocks 1 are applied with force by the steel strip 420 pulled upward to form displacement changes, so that the different directions of gripping of the rubber contact blocks 1 contracting inward act on the corresponding parts of the thin material sheet 12, which is conducive to the insertion of the multiple magnetic pin heads 120 located on the surface of the rectangular plate 110 into the edge of the thin material sheet 12, and the gripped part of the thin material sheet 12 is arched, which solves the problem of inconvenience in the feeding and gripping of thin materials, and is more suitable for the gripping of foamed thin sheets; Two parallel and spaced inner tooth drive belts 6 are used as traction power for flipping the thin material sheet 12, and combined with a U-shaped partition 10 set between the two inner tooth drive belts 6, the thin material sheet 12 can be flipped and the problem of the thin material sheet 12 drooping and affecting the normal flipping of the rear part can be solved.

[0021] The active end of the magnetic pin head 120 is divided into a pointed cone end and a round surface end. A suitable magnetic pin head 120 is selected according to the material of the thin material sheet 12. The specific situation is as follows: If the thin material sheet 12 is a non-metallic sheet such as a foamed thin sheet, the active end of the magnetic pin head 120 is selected as a pointed cone end; If the thin material sheet 12 is a magnetically attractive metal thin sheet, the active end of the magnetic pin head 120 is selected as a round end, and the round ends of several magnetic pin heads 120 can be used to form a magnetic fixing surface.

[0022] like Figure 1 and Figure 5 As shown, both ends of the U-shaped partition 10 are fixedly installed in the middle of the same V-shaped support rod 7, and a gap is left between both sides of the U-shaped partition 10 and the corresponding strip carrier 5. By leaving a gap between both sides of the U-shaped partition 10 and the corresponding strip carrier 5, obstruction to the movement of the pulling plate 3 is avoided.

[0023] like Figure 2 As shown, the two ends of the V-shaped support rod 7 are respectively fixedly connected to the side walls of one end of the two strip carriers 5, and a manipulator connecting rod 11 is fixedly installed on the middle side wall of the V-shaped support rod 7, which can not only strengthen the stability and firmness of the connection to the strip carrier 5, but also can be connected to an external manipulator through the manipulator connecting rod 11.

[0024] Furthermore, the middle position of the manipulator connecting rod 11 is fixedly connected to the top of the dual-output motor 9 .

[0025] Furthermore, the cylinder end of the cylinder 410 is fixedly connected to the top surface of the pulling plate 3 , and the cylinder 410 is covered in the short tube 4 , and the interior of the short tube 4 is communicated with the channel 210 .

[0026] Furthermore, the surface of the internal tooth transmission belt 6 is not limited to one connection position for the carrier plate 3 .

[0027] Working principle: Combination Figure 3 , Figure 4 and Figure 5 As shown, the cylinder 410 is in an extended state, so that the two steel strips 420 connected to the output end thereof and located in the internal channels 210 on both sides of the hard arc rod 2 are pulled upward, and combined with the channels 210 inside the hard arc rod 2 and the two ends of the hard arc rod 2, both are facing inward, and at the same time, one end of the steel strip 420 is fixedly connected to one end of the cavity inside the rubber contact block 1, so as to achieve the effect of different directions of grasping forces that are inwardly gathered when the rubber contact block 1 is displaced by force to act on the corresponding parts of the thin material sheet 12, which is conducive to the insertion of the multiple magnetic pin heads 120 located on the surface of the rectangular plate 110 into the edge part of the thin material sheet 12, and the thin material sheet 12 part between the two rubber contact blocks 1 at the two ends of the same hard arc rod 2 is arched upward, which plays a role in firmly grasping the corresponding parts of the thin material sheet 12; Combination Figure 1 , Figure 5 and Figure 6 As shown, the operation of the dual-output motor 9 synchronously drives the corresponding gear 510 connected to the transmission rod 8 to rotate, so as to drive the corresponding internal tooth transmission belt 6 to run synchronously, so as to achieve the effect of driving the pulling plate 3, the short cylinder 4, the hard arc rod 2 and the rubber contact block 1 connected to the internal tooth transmission belt 6 to move. Under the effect of the magnetic pin head 120 connected to the rubber contact block 1 inserted into the edge of the thin material sheet 12 to grasp and fix it, one end of the thin material sheet 12 is further moved from the bottom to the right, and then turned upward to the horizontal direction, so as to complete the flipping of the thin material sheet 12 from the bottom to the top to be placed horizontally; In summary: four groups of rubber contact blocks 1 with magnetic pin heads 120 are arranged in a matrix and placed at the four corners of the thin material sheet 12, and the rubber contact blocks 1 are applied with force by the steel strip 420 pulled upward to form displacement changes, so that the different directions of gripping of the rubber contact blocks 1 contracting inward act on the corresponding parts of the thin material sheet 12, which is conducive to the insertion of the multiple magnetic pin heads 120 located on the surface of the rectangular plate 110 into the edge of the thin material sheet 12, and the gripped part of the thin material sheet 12 is arched, which solves the problem of inconvenience in the feeding and gripping of thin materials, and is more suitable for the gripping of foamed thin sheets; Two parallel and spaced inner tooth drive belts 6 are used as traction power for flipping the thin material sheet 12, and combined with a U-shaped partition 10 set between the two inner tooth drive belts 6, the thin material sheet 12 can be flipped and the problem of the thin material sheet 12 drooping and affecting the normal flipping of the rear part can be solved.

[0028] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and scope of the elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0029] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A grabbing and flipping mechanism, characterized in that: The invention comprises a rubber contact block (1), a hard arc-shaped rod (2), a traction plate (3), a cylinder (410), a steel strip (420), a strip carrier (5), an internal tooth transmission belt (6), a dual-output motor (9) and a U-shaped partition (10), wherein a rectangular plate (110) is fixedly mounted on the bottom of the rubber contact block (1) at both ends of the hard arc-shaped rod (2), and a plurality of magnetic pin heads (120) are vertically mounted on the surface of the rectangular plate (110), one end of a cavity inside each of the rubber contact blocks (1) is fixedly connected to one end of the steel strip (420), and the plurality of magnetic pin heads (120) located on the surface of the rectangular plate (110) are formed by the force displacement of the same rubber contact block (1) to form inwardly contracted gripping forces in different directions acting on corresponding parts of the thin material sheet (12); Holes (210) are provided inside both sides of the hard arc-shaped rod (2), the portion between the two ends of the steel strip (420) is arranged inside the corresponding hole (210), and the other ends of the two steel strips (420) are fixedly connected to the output end of the same cylinder (410); The middle portion of the hard arc-shaped rod (2) is fixedly connected to the bottom of the pulling plate (3), and one end of two pulling plates (3) located on the same side are alternately fixedly mounted on the same internal tooth transmission belt (6), and the two gears (510) located at both ends of the strip carrier (5) are mutually transmission-connected via the internal tooth transmission belt (6), and the shaft end of one side of one of the gears (510) is connected to the corresponding shaft end of the dual-output motor (9) via a transmission rod (8).

2. A grabbing and flipping mechanism according to claim 1, characterized in that: The active end of the magnetic pin head (120) is divided into a pointed cone end and a round surface end.

3. The grabbing and flipping mechanism according to claim 1, characterized in that: Two strip-shaped carriers (5) are provided, and the U-shaped partition plate (10) is arranged between the two strip-shaped carriers (5).

4. The grabbing and flipping mechanism according to claim 1, characterized in that: The two ends of the U-shaped partition (10) are fixedly mounted on the middle of the same V-shaped support rod (7), and a gap is left between the two sides of the U-shaped partition (10) and the corresponding strip carrier (5).

5. The grabbing and flipping mechanism according to claim 1, characterized in that: The two ends of the V-shaped support rod (7) are respectively fixedly connected to the side walls of one end of the two strip-shaped carriers (5), and a manipulator connecting rod (11) is fixedly mounted on the middle side wall of the V-shaped support rod (7).

6. The grabbing and flipping mechanism according to claim 1, characterized in that: The middle position of the manipulator connecting rod (11) is fixedly connected to the top of the dual-output motor (9).

7. The grabbing and flipping mechanism according to claim 1, characterized in that: The cylinder body end of the cylinder (410) is fixedly connected to the top surface of the support plate (3), and the cylinder (410) is covered in the short cylinder (4), and the interior of the short cylinder (4) is connected to the hole (210).

8. The grabbing and flipping mechanism according to claim 1, characterized in that: The surface of the internal tooth transmission belt (6) is not limited to one connection position for the carrier plate (3).

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