Material pick-up and placement mechanism

Abstract

The present application provides a material picking and placing mechanism, which includes a workbench with a material picking station and a material placing station, a slide rail located above the workbench, a slide slidably connected to the slide rail, and a clamping fixture connected to the slide. The clamping fixture includes a vertical driving member connected to the slide, a rotating cylinder connected to the vertical driving member, a transmission assembly connected to the rotating cylinder and having a rotating shaft, and a plurality of clamps connected to the transmission assembly. The slide drives the clamping fixture to reciprocate along the slide rail between the material picking station and the material placing station, the vertical driving member drives the rotating cylinder to drive the transmission assembly and the plurality of clamps to move in a direction perpendicular to the workbench, and the rotating cylinder drives the transmission assembly to drive the plurality of clamps to close or open to pick and place materials. The material picking and placing mechanism is beneficial to the working efficiency of material picking and placing and the yield of material picking and placing.

Description

Technical Field

[0001] The present application relates to the technical field of material clamping, and in particular to a material taking and placing mechanism. Background Art

[0002] At present, the picking and placing of materials on the production line is done manually by operators. In addition, in the existing material picking and placing method, the operator at the picking station can only place a single piece of material on the conveyor belt at a time, and then the conveyor belt transfers the single piece of material to the unloading station. The operators pick and place frequently, which has low production efficiency and high labor intensity. Moreover, improper operation by operators may cause scratches on the materials, affecting the yield of material picking and placing. Utility Model Content

[0003] In view of the above, it is necessary to propose a material picking and placing mechanism to reduce the picking and placing frequency of operators and improve production efficiency and the yield rate of material picking and placing.

[0004] The present application embodiment provides a material picking and placing mechanism, the material picking and placing mechanism comprising:

[0005] A workbench with a material taking station and a material placing station arranged at intervals;

[0006] A slide rail is located above the workbench and is arranged corresponding to the material taking station and the material placing station;

[0007] a slide table, slidably connected to the slide rail; and

[0008] Clamping fixture, including:

[0009] A vertical driving member connected to the slide;

[0010] A rotary cylinder connected to the vertical driving member, wherein the vertical driving member drives the rotary cylinder to move up and down, and the rotary cylinder includes a rotary shaft;

[0011] a transmission assembly connected to the rotating shaft; and

[0012] A plurality of clamping jaws connected to the transmission assembly;

[0013] Among them, the slide table drives the clamping fixture to reciprocate along the slide rail between the material picking station and the material placing station, the vertical driving member drives the rotating cylinder to drive the transmission assembly and the multiple jaws to move in a direction perpendicular to the workbench, and the rotating cylinder drives the transmission assembly to drive the multiple jaws to close or open to pick up and place materials.

[0014] The working process of the above-mentioned material picking and placing mechanism is roughly as follows: the operator places a carrier carrying multiple materials on the material picking station, and the clamping fixture moves to the top of the material picking station under the drive of the slide, and the telescopic cylinder drives the rotating cylinder to drive the transmission assembly and multiple jaws to move in the direction close to the workbench. When the multiple jaws are aligned with the material to be grasped, the rotating shaft of the rotating cylinder rotates to drive the transmission assembly to drive the multiple jaws to close or open to clamp a material, and then the telescopic cylinder drives the rotating cylinder to drive the transmission assembly and multiple jaws to move away from the workbench, and the slide drives the clamping fixture to move along the slide rail to the top of the material discharging station, and the rotating shaft of the rotating cylinder rotates to drive the transmission assembly to drive the multiple jaws to open or close to release the material; then the clamping fixture moves to the material picking station again under the drive of the slide to clamp another material, and so on.

[0015] The material picking and placing mechanism can adjust the moving distance of the clamping fixture on the slide rail through the slide table and can adjust the height of the clamping fixture relative to the workbench through the telescopic cylinder. In this way, the operator can place multiple pieces of material on the material picking station through the carrier through one placement action, and no matter whether the stacking method of the materials in the carrier is stacked up and down or distributed at intervals along the extension direction of the slide rail, they can be clamped by the material picking and placing mechanism and transferred to the material discharging station. Therefore, compared with the existing method of placing only one piece of material at the material picking station each time, the material picking and placing mechanism greatly reduces the picking and placing frequency of the staff, which is conducive to reducing the work intensity of the operators, improving the work efficiency of material picking and placing, and helping to reduce the situation of material collision and scratching, thereby helping to improve the yield of material picking and placing.

[0016] In some embodiments, the rotating cylinder includes a cylinder body connected to the vertical driving member and the rotating shaft, the cylinder body is located between the vertical driving member and the rotating shaft, the clamping fixture also includes a fixing member connected to the cylinder body, the transmission assembly and the multiple clamps are located on a side of the fixing member close to the workbench, the rotating shaft passes through the fixing member and is connected to the transmission assembly, and the multiple clamps surround the rotating shaft and are respectively rotatably connected to the fixing member.

[0017] In some embodiments, the transmission assembly includes:

[0018] A rotating disk connected to the rotating shaft;

[0019] A plurality of guide members are arranged around the rotating disk and are respectively connected to the fixing members;

[0020] A plurality of sliding blocks, slidably connected to the plurality of guide members in a one-to-one correspondence;

[0021] A plurality of push-pull rods, one end of each of the push-pull rods is fixedly connected to the rotating disk, and the other end of each push-pull rod is hinged to a corresponding slider; and

[0022] A plurality of connecting rods, one end of each connecting rod is hinged to a corresponding slider, and the other end of each connecting rod is hinged to a corresponding clamping claw;

[0023] When the rotating shaft is reversed, the rotating shaft drives the plurality of slide blocks to move along the corresponding guide members respectively through the rotating disk and the plurality of push-pull rods, so that the plurality of connecting rods drive the plurality of clamps to open;

[0024] When the rotating shaft rotates forward, the rotating shaft drives the multiple sliding blocks to move along the corresponding guide members respectively through the rotating disk and the multiple push-pull rods, so that the multiple connecting rods drive the multiple clamping claws to retract.

[0025] In some embodiments, the transmission assembly further includes a plurality of limit members, two of the limit members are spaced apart on each of the guide members, and each of the sliders slides between two corresponding limit members.

[0026] In some embodiments, the number of the guide members, the sliders, and the push-pull rods are two each, and the number of the connecting rods and the clamps are four each; the two guide members are arranged opposite to each other, two connecting rods are hinged on each slider, and the two connecting rods hinged to the same slider are respectively located on opposite sides of the same guide member.

[0027] In some embodiments, each of the clamping jaws includes a rotating portion rotatably connected to the fixing member, the rotating portion is provided with a sliding groove, and a corresponding connecting rod is hinged in each of the sliding grooves.

[0028] In some embodiments, each of the clamping jaws further includes a clamping portion connected to the rotating portion, and the clamping portion is flexible.

[0029] In some embodiments, each of the clamping jaws further includes a clamping portion connected to the rotating portion, the clamping portion is in a conical column shape, and a size of the clamping portion gradually increases in a direction away from the rotating portion.

[0030] In some embodiments, the plurality of clamps fix the material by inner supporting or outer clamping.

[0031] In some embodiments, the material loading and unloading mechanism further includes a controller, wherein the controller is electrically connected to the slide, and the controller controls the movement of the slide along the slide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of the material picking and placing mechanism according to an embodiment of the present application.

[0033] Figure 2 for Figure 1 Schematic diagram of the structure of the telescopic cylinder of the clamping fixture of the material picking and placing mechanism in the retracted state.

[0034] Figure 3 for Figure 1 Schematic diagram of the structure of the telescopic cylinder of the clamping fixture of the material picking and placing mechanism in the extended state.

[0035] Figure 4 for Figure 1 Schematic diagram of the structure of the clamping fixture of the material picking and placing mechanism from another perspective.

[0036] Figure 5 for Figure 1 Schematic diagram of the structure of the clamping fixture of the material picking and placing mechanism fixing the material by external clamping.

[0037] Figure 6 for Figure 1 Schematic diagram of the structure in which the clamping fixture of the material picking and placing mechanism fixes the material in an internal support manner.

[0038] Description of main component symbols:

[0039] Material picking and placing mechanism 100

[0040] Workbench 10

[0041] Reclaiming station 11

[0042] Unloading station 12

[0043] Bracket 20

[0044] Slide 30

[0045] Slide 40

[0046] Clamping jig 50

[0047] Vertical drive member 51

[0048] First cylinder 511

[0049] Telescopic end 512

[0050] Rotary cylinder 52

[0051] Second cylinder 521

[0052] Rotation axis 522

[0053] Fixing 53

[0054] Through hole H

[0055] Transmission components 54

[0056] Rotating disk 541

[0057] Guide 542

[0058] Slider 543

[0059] Push-pull rod 544

[0060] Connecting rod 545

[0061] Limiting piece 546

[0062] Gripper 55

[0063] Rotating part 551

[0064] Clamping part 552

[0065] Chute S

[0066] Vehicle 200

[0067] Loading position 210

[0068] Material P DETAILED DESCRIPTION

[0069] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0070] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application 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 application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0071] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication, it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0072] like Figure 1 As shown, the material picking and placing mechanism 100 includes a workbench 10, a bracket 20 installed above the workbench 10, a slide rail 30 installed on the bracket 20, a slide table 40 slidably connected to the slide rail 30, and a clamping fixture 50 installed on the slide table 40.

[0073] In this embodiment, the workbench 10 is provided with a material taking station 11 and a material placing station 12 at intervals, the number of the slide rails 30 is two, and the extension direction of the slide rails 30 is the same as the direction from the material taking station 11 to the material placing station 12. The slide 40 is mounted between the two slide rails 30 and can slide along the slide rails 30. The clamping fixture 50 is fixedly installed on the slide 40 and is located below the slide 40.

[0074] During the production process, the operator can place the carrier 200 carrying multiple materials P on the material picking station 11. The carrier 200 includes multiple bearing positions 210, each of which can hold one material P, or each of which can hold multiple materials P stacked up and down. The multiple materials P can be placed in the carrier 200 in the following manner: all arranged at intervals along the extension direction of the slide rail 30, or all stacked up and down, or some arranged at intervals along the extension direction of the slide rail 30, and some arranged at intervals along the extension direction of the slide rail 30. In this embodiment, Figure 1 Only two carrying positions 210 of the carrier 200 are shown, and each carrying position 210 is used to place a material P. It is understandable that the number of carrying positions 210 on the carrier 200 is not limited to two. The material picking and placing mechanism 100 also includes a controller (not shown) electrically connected to the slide 40, and the controller controls the sliding distance of the slide 40 along the slide rail 30, so that the slide 40 drives the clamping fixture 50 to reciprocate between the material picking station 11 and the material placing station 12.

[0075] See also Figure 2 The clamping fixture 50 includes a vertical driving member 51 connected to the slide 40, a rotating cylinder 52 connected to the vertical driving member 51, a fixing member 53 connected to the rotating cylinder 52, a transmission assembly 54 connected to the fixing member 53, and a plurality of clamps 55 that simultaneously connect the fixing member 53 and the transmission assembly 54.

[0076] In this embodiment, the vertical driving member 51 is a telescopic cylinder, and the vertical driving member 51 includes a first cylinder body 511 fixedly connected to the slide 40 and a telescopic end 512 connected to the side of the first cylinder body 511 away from the slide 40. The rotary cylinder 52 includes a second cylinder body 521 connected to the telescopic end 512 and a rotating shaft 522 connected to the side of the second cylinder body 521 away from the vertical driving member 51. The rotating shaft 522 passes through the fixed member 53 and is connected to the transmission assembly 54. The transmission assembly 54 and the plurality of clamps 55 are all located on the side of the fixed member 53 away from the vertical driving member 51. The plurality of clamps 55 surround the rotating shaft 522 and are respectively rotatably connected to the fixed member 53. It should be noted that the fixed member 53 is used to fix the transmission assembly 54 and the plurality of clamps 55 to the second cylinder body 521, and there is no fixed connection relationship between the fixed member 53 and the rotating shaft 522. That is, when the rotating shaft 522 rotates, there is no relative movement between the fixed member 53 and the rotating shaft 522.

[0077] Please also read Figure 1 and Figure 3 The telescopic end 512 of the vertical driving member 51 can be telescopic relative to the first cylinder body 511 to adjust the height of the rotating cylinder 52 and the fixing member 53 connected to the rotating cylinder 52, the transmission assembly 54 and the plurality of clamps 55 relative to the workbench 10.

[0078] See also Figure 4 The transmission assembly 54 includes a rotating disk 541, a plurality of guide members 542, a plurality of sliders 543, a plurality of push-pull rods 544, a plurality of connecting rods 545 and a plurality of stoppers 546. The fixing member 53 has a through hole H, and the rotating shaft 522 passes through the through hole H and is fixedly connected to the rotating disk 541. The plurality of guide members 542 are arranged around the rotating disk 541 and are respectively connected to the fixing member 53. The plurality of sliders 543 are slidably connected to the plurality of guide members 542 in a one-to-one correspondence. Two stoppers 546 are arranged at intervals on each guide member 542, and each slider 543 slides between the corresponding two stoppers 546. One end of each push-pull rod 544 is fixedly connected to the rotating disk 541, and the other end is hinged to a corresponding slider 543. One end of each connecting rod 545 is hinged to a corresponding slider 543, and the other end is hinged to a corresponding clamp 55.

[0079] Each clamping claw 55 includes a rotating portion 551 rotatably connected to the fixing member 53 and a clamping portion 552 connected to the rotating portion 551. The rotating portion 551 is provided with a sliding slot S, and a corresponding connecting rod 545 is hinged in each sliding slot S.

[0080] In this embodiment, the number of guide members 542, sliders 543, and push-pull rods 544 are all two, and the number of connecting rods 545 and clamping claws 55 are all four. The two guide members 542 are respectively located on opposite sides of the rotating disk 541, and two connecting rods 545 are hinged on each slider 543, and the two connecting rods 545 hinged on the same slider 543 are respectively located on opposite sides of the same guide member 542. Each slider 543 has two extreme states, corresponding to the position closest to the rotating disk 541 and the position farthest from the rotating disk 541. Among them, when the two sliders 543 are not at the position farthest from the rotating disk 541, when the rotating shaft 522 reverses (or rotates counterclockwise), the rotating shaft 522 can drive the rotating disk 541 to reverse, so that the two push-pull rods 544 respectively drive the two sliders 543 to move along the corresponding guide members 542 in the direction away from the rotating disk 541, and then the connecting rod 545 drives the multiple clamping claws 55 to gradually open. When the two sliders 543 are not at the position closest to the rotating disk 541, the rotating shaft 522 rotates forward (or clockwise), and the rotating shaft 522 can drive the rotating disk 541 to rotate forward, so that the two push-pull rods 544 respectively drive the two sliders 543 to move along the corresponding guide members 542 toward the direction close to the rotating disk 541, and then the multiple connecting rods 545 drive the multiple clamps 55 to gradually retract.

[0081] It should be noted that the rotating shaft 522 of the rotating cylinder 52 has a variety of rotation angles. By adjusting the rotation angle of the rotating shaft 522 of the rotating cylinder 52, the distance between the two sliders 543 is adjusted, and then the degree of retraction or opening of the multiple clamps 55 is adjusted, so that the multiple clamps 55 can internally support or externally clamp materials P of different shapes and sizes, thereby expanding the application range of the material picking and placing mechanism 100. Specifically, the rotating shaft 522 of the rotating cylinder 52 can be arbitrarily adjusted between 0° and 90°. When the rotation angle of the rotating shaft 522 is 0° and 90°, it corresponds to the two extreme states of the slider 543 on the guide member 541, but the range of the rotation angle of the rotating shaft 522 of the rotating cylinder 52 is not limited to the above.

[0082] like Figure 5 As shown, when the multiple jaws 55 are closed, the multiple jaws 55 can fix the strip material P by external clamping and correct the position of the strip material P. In this case, when the multiple jaws 55 are opened outward, the multiple jaws 55 can release the material P clamped outside. In addition, the clamping portion 552 can be flexible to avoid damaging the material P and improve the yield of taking and placing the material P. In this embodiment, the clamping portion 552 is in a conical column shape, and the size of the clamping portion 552 gradually increases from the direction away from the rotating portion 551 to increase the clamping force of the clamping jaw 55, which is conducive to improving the stability of clamping. In other embodiments, the clamping portion 552 can be straight.

[0083] like Figure 6 As shown, in other embodiments, when the plurality of clamps 55 are retracted to a certain extent, the plurality of clamps 55 can fix the annular material P by internal support and correct the position of the annular material P. When the plurality of clamps 55 are further retracted, the plurality of clamps 55 can release the internally supported material P.

[0084] The working process of the material picking and placing mechanism 100 is roughly as follows:

[0085] The operator places the carrier 200 carrying multiple materials P on the material picking station 11, and the clamping fixture 50 is moved to the top of the material picking station 11 under the drive of the slide 40, and the telescopic end 512 of the vertical driving member 51 is extended, so that the vertical driving member 51 drives the rotary cylinder 52 to drive the transmission component 54 and the multiple clamps 55 to move in the direction close to the workbench 10; when the multiple clamps 55 are aligned with the material P to be grasped, the rotating shaft 522 of the rotary cylinder 52 rotates to drive the transmission component 54 to drive the multiple clamps 55 to close or open to grasp a material P; After that, the telescopic end 512 of the vertical driving member 51 is retracted, so that the vertical driving member 51 drives the rotating cylinder 52 to drive the transmission assembly 54 and multiple clamps 55 to move away from the workbench 10, and the slide 40 drives the clamping fixture 50 to move along the slide rail 30 to the top of the discharge station 12, and the rotating shaft 522 of the rotating cylinder 52 rotates to drive the transmission assembly 54 to drive the multiple clamps 55 to open or close to release the material P; then the clamping fixture 50 is driven by the slide 40 to move to the material picking station 11 again for the next material picking and feeding, and so on.

[0086] It should be noted that when multiple materials P are stacked up and down on the carrier 200, the height of the multiple clamps 55 to the material P to be clamped can be adjusted by the moving stroke of the telescopic end 512 of the vertical driving member 51. When multiple materials P are distributed along the extension direction of the slide rail 30 on the carrier 200, the distance between the multiple clamps 55 and the material P to be clamped can be achieved by adjusting the moving distance of the slide 40 along the slide rail 30 by the controller. Therefore, in the material picking and placing mechanism 100 of the embodiment of the present application, the operator can place multiple pieces of material P at the material picking station 11 at one time through the carrier 200, and the stacking method of the material P can be stacked up and down or distributed at intervals along the extension direction of the slide rail 30. Compared with the existing method of placing only one piece of material P at the material picking station 11 each time, the picking and placing frequency of the operator is greatly reduced, which is conducive to reducing the work intensity of the operator, improving the work efficiency of the operator, and reducing the situation of scratching the material P, thereby facilitating the improvement of the yield of the material P.

[0087] The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred implementation modes, a person skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A material picking and placing mechanism, characterized in that: include: A workbench with a material taking station and a material placing station arranged at intervals; A slide rail is located above the workbench and is arranged corresponding to the material taking station and the material placing station; A slide table, slidably connected to the slide rail; as well as Clamping fixture, including: A vertical driving member connected to the slide; A rotary cylinder connected to the vertical driving member, wherein the vertical driving member drives the rotary cylinder to move up and down, and the rotary cylinder includes a rotary shaft; a transmission assembly connected to the rotating shaft; and A plurality of clamping jaws connected to the transmission assembly; Among them, the slide table drives the clamping fixture to reciprocate along the slide rail between the material picking station and the material placing station, the vertical driving member drives the rotating cylinder to drive the transmission assembly and the multiple jaws to move in a direction perpendicular to the workbench, and the rotating cylinder drives the transmission assembly to drive the multiple jaws to close or open to pick up and place materials.

2. The material taking and placing mechanism according to claim 1, characterized in that: The rotating cylinder includes a cylinder body connected to the vertical driving member and the rotating shaft, and the cylinder body is located between the vertical driving member and the rotating shaft. The clamping fixture also includes a fixing member connected to the cylinder body. The transmission assembly and the multiple clamps are located on a side of the fixing member close to the workbench. The rotating shaft passes through the fixing member and is connected to the transmission assembly. The multiple clamps surround the rotating shaft and are respectively rotatably connected to the fixing member.

3. The material taking and placing mechanism according to claim 2, characterized in that: The transmission assembly comprises: A rotating disk connected to the rotating shaft; A plurality of guide members are arranged around the rotating disk and are respectively connected to the fixing members; A plurality of sliding blocks, slidably connected to the plurality of guide members in a one-to-one correspondence; A plurality of push-pull rods, one end of each of the push-pull rods is fixedly connected to the rotating disk, and the other end of each push-pull rod is hinged to a corresponding slider; and A plurality of connecting rods, one end of each connecting rod is hinged to a corresponding slider, and the other end of each connecting rod is hinged to a corresponding clamping claw; When the rotating shaft is reversed, the rotating shaft drives the plurality of slide blocks to move along the corresponding guide members respectively through the rotating disk and the plurality of push-pull rods, so that the plurality of connecting rods drive the plurality of clamps to open; When the rotating shaft rotates forward, the rotating shaft drives the multiple sliding blocks to move along the corresponding guide members respectively through the rotating disk and the multiple push-pull rods, so that the multiple connecting rods drive the multiple clamping claws to retract.

4. The material taking and placing mechanism according to claim 3, characterized in that: The transmission assembly further includes a plurality of limit members, two of the limit members are spaced apart on each of the guide members, and each of the slide blocks slides between two corresponding limit members.

5. The material taking and placing mechanism according to claim 3, characterized in that: The number of the guide member, the slider, and the push-pull rod are all two, and the number of the connecting rod and the clamping claw are all four; The two guide members are arranged opposite to each other, and two connecting rods are hinged on each slider, and the two connecting rods hinged to the same slider are respectively located on opposite sides of the same guide member.

6. The material taking and placing mechanism according to claim 3, characterized in that: Each of the clamping jaws comprises a rotating part rotatably connected to the fixing member, the rotating part is provided with a sliding groove, and a corresponding connecting rod is hinged in each of the sliding grooves.

7. The material taking and placing mechanism according to claim 6, characterized in that: Each of the clamping jaws further includes a clamping portion connected to the rotating portion, and the clamping portion is flexible.

8. The material taking and placing mechanism according to claim 6, characterized in that: Each of the clamping jaws further comprises a clamping portion connected to the rotating portion, wherein the clamping portion is in a cone-column shape, and the size of the clamping portion gradually increases in a direction away from the rotating portion.

9. The material taking and placing mechanism according to any one of claims 1 to 8, characterized in that: The plurality of clamping jaws fix the material in an inner supporting or outer clamping manner.

10. The material taking and placing mechanism according to any one of claims 1 to 8, characterized in that: The material taking and placing mechanism further includes a controller, which is electrically connected to the slide table and controls the movement of the slide table along the slide rail.

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