A grasping and flipping mechanism

Abstract

The present invention discloses a grabbing and flipping mechanism, including a rubber contact block, a hard arc rod, a cylinder, a steel strip, a strip carrier, an inner tooth transmission belt, a dual output motor and a U-shaped partition. The present invention is beneficial in that: four groups of rubber contact blocks with magnetic pin heads are arranged at the four corners of a thin material sheet by using a matrix distribution, and the steel strips pulled upward exert force on the rubber contact blocks to form a displacement change, so that the different directions of the gripping force of the rubber contact blocks that are gathered inward act on the corresponding parts of the thin material sheet, which is conducive to the insertion of multiple groups of magnetic pin heads into the edge of the thin material sheet, and the grabbed thin material sheet is arched, solving the problem of inconvenient feeding and grabbing of thin materials; it can complete rapid flipping, and the flipping occupies a small space. With the help of a U-shaped partition arranged between two inner tooth transmission belts, the corresponding parts of the thin material sheet are supported and separated, solving the problem of the thin material sheet drooping due to its thin thickness, affecting the normal flipping of the rear part.

Description

Technical Field

[0001] The present invention relates to the field of sheet product processing and conveying equipment, and specifically to a grasping and flipping mechanism. Background Art

[0002] Conveying equipment is widely used for the conveyance of various products. Some thin and soft sheet products are stacked together and have large size specifications, resulting in great difficulty in grasping, flipping, and conveying. However, in the process of grasping and flipping sheet products by the existing grasping and flipping mechanisms, we found the following problems: 1. The grasping structure form is single, the effective acting parts are few, the operation difficulty of grasping and separating from the lower stacked sheets is large, and at the same time, the space range occupied by completing the grasping and flipping function is large; 2. Due to the thin and soft sheet products with large size specifications, the sheets are loose and drooping, and are prone to entanglement during flipping, so that its flipping structure cannot solve the problem that the thin thickness of the thin material sheet causes drooping and affects the normal flipping of the subsequent parts. Therefore, a grasping and flipping mechanism is proposed for the above problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a grasping and flipping mechanism to solve the above problems.

[0004] The present invention realizes the above purpose through the following technical solutions. A grasping and flipping mechanism includes rubber contact blocks, hard arc-shaped rods, load-carrying plates, cylinders, steel strip belts, strip-shaped carriers, internal tooth drive belts, double-output motors, and U-shaped partitions. Rectangular plates are fixedly installed at the bottoms of the rubber contact blocks at both ends of the hard arc-shaped rod, and a plurality of magnetic plug needles are vertically installed on the surfaces of the rectangular plates. One end of the cavity inside each rubber contact block is fixedly connected to one end of the steel strip belt. The plurality of magnetic plug needles on the surface of the rectangular plate form inwardly converging grasping forces in different directions through the force displacement of the same rubber contact block and act on the corresponding parts of the thin material sheet;

[0005] Channels are opened inside both sides of the hard arc-shaped rod. The part between the two ends of the steel strip belt is arranged inside the corresponding channels, and the other ends of the two steel strip belts are fixedly connected to the output end of the same cylinder;

[0006] The middle part of the hard arc-shaped rod is fixedly connected to the bottom of the load-carrying plate, and one end of a group of two load-carrying plates is fixedly installed on the same internal tooth drive belt at intervals. The two gears at both ends of the strip-shaped carrier are mutually driven through the internal tooth drive belt. The shaft end on one side of one of the gears is connected to the corresponding shaft end of the double-output motor through a transmission rod.

[0007] Preferably, the acting end part of the magnetic plug needle is a pointed cone end and a round surface end.

[0008] Preferably, there are two strip-shaped carriers, and the U-shaped partition is arranged between the two strip-shaped carriers.

[0009] Preferably, both ends of the U-shaped partition are fixedly installed in the middle of the same V-shaped support rod, and there is a gap between both sides of the U-shaped partition and the corresponding strip-shaped carrier.

[0010] 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.

[0011] Preferably, the middle position of the manipulator connecting rod is fixedly connected to the top of the double-output motor.

[0012] Preferably, the end of the cylinder block of the air cylinder is fixedly connected to the top surface of the traction plate, and the air cylinder is covered in the short cylinder, and the inside of the short cylinder is communicated with the hole channel.

[0013] Preferably, the surface of the internal tooth transmission belt is not limited to one place as the connection position of the traction plate.

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

[0015] 1. Four groups of rubber contact blocks each with a magnetic plug head distributed in a matrix are respectively placed at the four corners of the thin material sheet, and combined with the upwardly pulled steel strip to apply force to the rubber contact blocks to form a displacement change, so that the different-direction grasping forces of the rubber contact blocks that are inwardly closed act on the corresponding parts of the thin material sheet, which is beneficial for the multiple magnetic plug heads located on the surface of the rectangular plate to insert into the edge part of the thin material sheet, and the grasped part of the thin material sheet is arched, solving the problem of inconvenient grasping during the feeding of the thin material, and being more suitable for the grasping of foamed thin sheets;

[0016] 2. By operating two internal tooth transmission belts arranged in parallel and at intervals as the driving force for flipping and pulling the thin material sheet, and combined with the U-shaped partition arranged between the two internal tooth transmission belts, the thin material sheet can be flipped, and the problem that the thin material sheet sags due to its thin thickness and affects the normal flipping of the subsequent parts can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a three-dimensional view of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the connection structure of the strip-shaped carrier, V-shaped support rod and double-output motor of the present invention;

[0020] Figure 3 This is a schematic diagram of the connection structure between the rubber contact block and the short cylinder of the present invention;

[0021] Figure 4 is Figure 3 Another perspective schematic diagram in

[0022] Figure 5 This is a schematic diagram of the connection structure between the overall structure of the present invention and the thin material sheet;

[0023] Figure 6 is Figure 5 The operation demonstration diagram in

[0024] Figure 7 This is a schematic diagram of the connection structure between the rubber contact block and the steel strip of the present invention.

[0025] In the figure: 1. Rubber contact block; 110. Rectangular plate; 120. Magnetic plug head; 2. Hardened arc rod; 210. Channel; 3. Traction plate; 4. Short cylinder; 410. Cylinder; 420. Steel strip; 5. Strip-shaped carrier; 510. Gear; 6. Internal tooth transmission belt; 7. V-shaped support rod; 8. Transmission rod; 9. Double-output motor; 10. U-shaped partition; 11. Manipulator connecting rod; 12. Thin material sheet. Detailed implementation manners

[0026] To make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation manners.

[0028] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on the orientation 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 should not be construed as a limitation to the present invention.

[0029] Please refer to 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;

[0030] 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;

[0031] 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.

[0032] 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;

[0033] Combination Figure 1 , Figure 5 and Figure 6As shown, the dual-output motor 9 operates to synchronously drive the corresponding gears 510 connected via the transmission rod 8, causing the corresponding internal-tooth drive belts 6 to run synchronously, achieving the effect of driving the load-carrying plate 3, short cylinder 4, rigid arc-shaped rod 2, and rubber contact block 1 connected to the internal-tooth drive belt 6 to move. Under the action of the magnetic plug needles 120 connected at the rubber contact block 1 inserting into the edge part of the thin material sheet 12 for grasping and fixing, further, one end of the thin material sheet 12 is first moved rightward from the bottom, then rotated upward at the back side and moved horizontally, completing the flipping of the thin material sheet 12 from the bottom to the horizontal placement above.

[0034] As Figure 6 shown, moving rightward downward: With the thin material sheet 12 being grasped and moved, as can be seen from the figure, the thin material sheet 12 is initially located below (at the lower belt of the internal-tooth drive belt 6). Taking the counterclockwise direction of the internal-tooth drive belt 6 as a reference, the rightmost end of the thin material sheet 12 moves rightward to the arc section of the internal-tooth drive belt 6. This process is moving rightward downward.

[0035] Rotating upward at the back side: With the thin material sheet 12 being grasped and moved, as can be seen from the figure, the rightmost end of the thin material sheet 12 enters the arc section of the internal-tooth drive belt 6, and at the same time, the rightmost end of the thin material sheet 12 moves from the lowest point of the arc section to the topmost point of the arc section. This process is rotating upward at the back side.

[0036] Moving horizontally: With the thin material sheet 12 being grasped and moved, as can be seen from the figure, the rightmost end of the thin material sheet 12 rotates from the topmost point of the arc section of the internal-tooth drive belt 6 to enter above (at the upper belt of the internal-tooth drive belt 6) until the entire thin material sheet 12 is placed on the upper belt of the internal-tooth drive belt 6. This process is moving horizontally.

[0037] In summary: Four groups of rubber contact blocks 1 with magnetic plug needles 120 distributed in a matrix are respectively placed at the four corners of the thin material sheet 12, and combined with the steel strip 420 being pulled upward to apply force to the rubber contact block 1 to form a displacement change, so that the gripping forces in different directions of the rubber contact block 1 closing inward act on the corresponding parts of the thin material sheet 12, which is beneficial for the multiple magnetic plug needles 120 on the surface of the rectangular plate 110 to insert into the edge part of the thin material sheet 12, and the grasped part of the thin material sheet 12 is arched, solving the problem of inconvenient grasping during the feeding of thin materials, and being more suitable for grasping foamed thin sheets.

[0038] By operating two parallel and spaced internal-tooth drive belts 6 as the flipping traction power for the thin material sheet 12, and combining with the U-shaped partition 10 arranged between the two internal-tooth drive belts 6, it can not only flip the thin material sheet 12 but also solve the problem that the thin material sheet 12 sags due to its thin thickness, affecting the normal flipping of the subsequent parts.

[0039] The acting end part of the magnetic plug head 120 is a pointed cone end and a round surface end. Select a suitable magnetic plug head 120 according to the material of the thin material sheet 12. The specific situation is as follows:

[0040] If the thin material sheet 12 is a non-metallic sheet such as a foamed thin sheet, the acting end of the magnetic plug head 120 is selected as the pointed cone end;

[0041] If the thin material sheet 12 is a magnetizable metal thin sheet, the acting end of the magnetic plug head 120 is selected as the round surface end, and a magnetic adsorption fixing surface can be formed by using the round surface ends of a plurality of magnetic plug heads 120.

[0042] Such as 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 there is a gap between both sides of the U-shaped partition 10 and the corresponding strip-shaped carrier 5. By leaving a gap between both sides of the U-shaped partition 10 and the corresponding strip-shaped carrier 5, the movement of the traction plate 3 is prevented from being blocked.

[0043] Such as Figure 2 As shown, both ends of the V-shaped support rod 7 are fixedly connected to the side walls of one end of the two strip-shaped carriers 5 respectively, 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-shaped carrier 5, but also be connected to an external manipulator through the manipulator connecting rod 11.

[0044] Further, the middle position of the manipulator connecting rod 11 is fixedly connected to the top of the double-output motor 9.

[0045] Further, the cylinder end of the air cylinder 410 is fixedly connected to the top surface of the traction plate 3, and the air cylinder 410 is covered in the short cylinder 4, and the inside of the short cylinder 4 is in communication with the duct 210.

[0046] Further, the connection position of the traction plate 3 is not limited to one place on the surface of the internal tooth transmission belt 6.

[0047] Working principle: Combining Figure 3 、 Figure 4 and Figure 5As shown, the air cylinder 410 is in the extended state, so that the two steel strips 420 located in the inner channels 210 on both sides of the rigid arc-shaped rod 2 connected to its output end are pulled upward. Combining with the inner channel 210 inside the rigid arc-shaped rod 2 and both ends of the rigid arc-shaped rod 2 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, achieving the effect of forming inwardly converging grasping forces in different directions on the corresponding parts of the thin material sheet 12 due to the force displacement of the rubber contact block 1, which is beneficial for the multiple magnetic insertion needles 120 located on the surface of the rectangular plate 110 to insert into the edge part of the thin material sheet 12. And the part of the thin material sheet 12 between the two rubber contact blocks 1 at both ends of the same rigid arc-shaped rod 2 bulges upward, playing the role of firmly grasping the corresponding part of the thin material sheet 12;

[0048] Combined with Figure 1 、 Figure 5 and Figure 6 As shown, the double-output motor 9 runs synchronously to drive the corresponding gears 510 connected through the transmission rod 8 to rotate, so that the respective corresponding internal tooth drive belts 6 are driven to run synchronously, achieving the effect of driving the load-carrying plate 3, the short cylinder 4, the rigid arc-shaped rod 2 and the rubber contact block 1 connected to the internal tooth drive belt 6 to move. Under the action of the magnetic insertion needles 120 connected and arranged at the rubber contact block 1 inserting into the edge part of the thin material sheet 12 to implement grasping and fixing, further, one end of the thin material sheet 12 is first moved from bottom to right, then rotated backward and moved upward to the horizontal direction, completing the flipping of the thin material sheet 12 from bottom to horizontal placement above;

[0049] In summary: Four groups of rubber contact blocks 1 with magnetic insertion needles 120 distributed in a matrix are respectively placed at the four corners of the thin material sheet 12. Combined with the force exerted by the upwardly pulled steel strip 420 on the rubber contact block 1 to form a displacement change, the inwardly converging grasping forces in different directions of the rubber contact block 1 act on the corresponding parts of the thin material sheet 12, which is beneficial for the multiple magnetic insertion needles 120 located on the surface of the rectangular plate 110 to insert into the edge part of the thin material sheet 12, and the grasped part of the thin material sheet 12 is arched, solving the problem of inconvenient grasping during the feeding of thin materials, and being more suitable for grasping foamed thin sheets;

[0050] By running two parallel and spaced internal tooth drive belts 6 as the traction power for flipping the thin material sheet 12, and combining with the U-shaped partition 10 arranged between the two internal tooth drive belts 6, it can not only flip the thin material sheet 12, but also solve the problem that the thin material sheet 12 droops due to its thin thickness, affecting the normal flipping of the subsequent parts.

[0051] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the same elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0052] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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. A grabbing and flipping mechanism according to claim 4, 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. A grabbing and flipping mechanism according to claim 5, 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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