Carrying device accurate in positioning

Abstract

The utility model relates to the technical field of carrying equipment, in particular to an accurate-positioning carrying device, which comprises a mounting seat, a cross beam arranged on the mounting seat, an incoming material sensor arranged on the cross beam, a plurality of material suction components arranged on the cross beam and a plurality of positioning components arranged on the cross beam, the multiple material suction assemblies and the multiple positioning assemblies are distributed in the axis direction of the cross beam, and one positioning assembly is located between every two adjacent material suction assemblies. The positioning assembly comprises a positioning lock ring arranged on the cross beam, a positioning connecting rod connected to the positioning lock ring, a positioning driver arranged on the positioning connecting rod and a positioning pin arranged at the driving end of the positioning driver, and the positioning driver is used for driving the positioning pin to move in a reciprocating mode. The material taking and placing device is simple in structure and low in cost, workpieces can be accurately positioned during material taking, the position precision is high during material placing, the stability is good, the material taking and placing precision is ensured, and the stability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a handling device with accurate positioning. Background Art

[0002] The handling device is used to carry the workpiece from one position to another to achieve the workpiece picking and placing. The current handling device or pick-and-place robot directly picks and places the workpiece through a suction cup or a clamp, or controls the moving accuracy of the handling device or the pick-and-place robot to ensure the accuracy of picking and placing, but this method will affect the accuracy of picking and placing once the position of the workpiece deviates, or uses a CCD visual positioning mechanism to visually position the workpiece to ensure the accuracy of picking and placing, but this method is costly.

[0003] Among the existing patents, the Chinese patent document with application number 201220271252.4 discloses a robotic arm plate picking and placing movement device, the Chinese patent document with application number 201720407124.0 discloses a precisely positioned picking and placing material robotic arm, and the Chinese patent document with application number 202321119186.3 discloses a picking and placing robot device and an automatic loading and unloading device. All of these three patent documents directly suck up the workpiece through a suction cup, and the positioning accuracy and stability of the picking and placing are difficult to guarantee.

[0004] Therefore, the defects are very obvious and a solution is urgently needed. Utility Model Content

[0005] In order to solve the above technical problems, the purpose of the utility model is to provide a transport device with accurate positioning.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A precisely positioned handling device comprises a mounting seat, a crossbeam mounted on the mounting seat, an incoming material sensor mounted on the crossbeam, a plurality of suction assemblies mounted on the crossbeam and a plurality of positioning assemblies mounted on the crossbeam, wherein the plurality of suction assemblies and the plurality of positioning assemblies are distributed along the axial direction of the crossbeam, a positioning assembly is located between two adjacent suction assemblies, the positioning assembly comprises a positioning locking ring mounted on the crossbeam, a positioning connecting rod connected to the positioning locking ring, a positioning driver mounted on the positioning connecting rod and a positioning pin mounted on the driving end of the positioning driver, and the positioning driver is used for driving the positioning pin to move back and forth.

[0008] Furthermore, the positioning lock ring can be rotatably and horizontally slidably sleeved outside the crossbeam, and the positioning lock ring is locked on the crossbeam via a locking piece.

[0009] Furthermore, the positioning driver is a cylinder.

[0010] Furthermore, the suction assembly includes a suction lock ring installed on the crossbeam, a suction connecting rod connected to the suction lock ring, a connecting head installed on the suction connecting rod, a shaft rod installed on the connecting head, and a suction cup installed on the shaft rod.

[0011] Furthermore, the shaft rod can rotate and move horizontally relative to the connecting head, and the shaft rod is locked on the connecting head via a locking member.

[0012] Furthermore, the connecting head can be rotatably and liftably sleeved outside the material suction connecting rod, and the connecting head is locked on the material suction connecting rod via a locking screw.

[0013] Furthermore, the material suction locking ring can be rotatably and horizontally slidably sleeved outside the crossbeam, and the material suction locking ring is locked on the crossbeam via a locking screw.

[0014] Furthermore, the positioning connecting rod is connected to the positioning locking ring in a lifting and sliding manner, and the positioning connecting rod is locked on the positioning locking ring via a locking piece.

[0015] Furthermore, a quick-change positioning ring is installed on the top of the mounting seat, and the quick-change positioning ring is used to be fixedly connected to the output end of the manipulator.

[0016] Furthermore, the crossbeam is an aluminum tube.

[0017] The beneficial effects of the utility model are as follows: in actual application, the utility model is installed at the output end of the manipulator, and the manipulator drives the utility model to move to the workpiece. When the incoming material sensor senses the presence of the workpiece, the incoming material sensor feeds back information to the external control system, so that the external control system controls the positioning component and the suction component to work, and the positioning driver of the positioning component drives the positioning pin to extend so that the positioning pin is inserted into the positioning hole of the workpiece to locate and align the position of the workpiece, and then multiple suction components suck the positioned workpiece tightly, and then the manipulator drives the utility model to transfer the workpiece to the discharge position. During the discharge process, multiple suction components suck the workpiece tightly while pressing the workpiece at the discharge position, and then the positioning cylinder drives the positioning pin to retract, so that the positioning pin moves out of the positioning hole of the workpiece to avoid shaking or offset of the workpiece when the positioning pin moves out of the positioning hole, thereby ensuring the accuracy of picking and placing the workpiece, and finally the suction component releases the suction force on the workpiece to complete the discharge action. The utility model has the advantages of simple structure, low cost, and can accurately position the workpiece when taking materials, and has high position accuracy and good stability when placing materials, thus ensuring high accuracy and stability of taking and placing materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the utility model and the workpiece.

[0019] Figure 2 It is a partial structural schematic diagram of the utility model.

[0020] Description of reference numerals:

[0021] 1. Mounting base; 2. Crossbeam; 3. Incoming material sensor; 4. Suction assembly; 5. Positioning assembly; 6. Positioning lock ring; 7. Positioning connecting rod; 8. Positioning driver; 9. Positioning pin; 10. Suction lock ring; 11. Suction connecting rod; 12. Connector; 13. Shaft; 14. Suction cup; 15. Quick-change positioning ring; 16. Workpiece. DETAILED DESCRIPTION

[0022] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0023] like Figure 1 and Figure 2 As shown, the utility model provides a precisely positioned transport device, which includes a mounting base 1, a beam 2 mounted on the mounting base 1, an incoming material sensor 3 mounted on the beam 2, a plurality of suction components 4 mounted on the beam 2, and a plurality of positioning components 5 mounted on the beam 2, the plurality of suction components 4 and the plurality of positioning components 5 are distributed along the axial direction of the beam 2, one positioning component 5 is located between two adjacent suction components 4, the positioning component 5 includes a positioning locking ring 6 mounted on the beam 2, a positioning connecting rod 7 connected to the positioning locking ring 6, a positioning driver 8 mounted on the positioning connecting rod 7, and a positioning pin 9 mounted on the driving end of the positioning driver 8, and the positioning driver 8 is used to drive the positioning pin 9 to move back and forth.

[0024] In actual application, the utility model is installed at the output end of an external manipulator, and the manipulator drives the utility model to move to the workpiece 16. When the incoming material sensor 3 senses the presence of the workpiece 16, the incoming material sensor 3 feeds back information to the external control system, so that the external control system controls the positioning component 5 and the suction component 4 to work, and the positioning driver 8 of the positioning component 5 drives the positioning pin 9 to extend, so that the positioning pin 9 is inserted into the positioning hole of the workpiece 16 to locate and align the position of the workpiece 16, and then multiple suction components 4 suck the positioned workpiece 16, and then the manipulator drives the utility model to transfer the workpiece 16 to the discharge position. During the discharge process, multiple suction components 4 suck the workpiece 16 and hold the workpiece 16 at the discharge position. Then the positioning cylinder drives the positioning pin 9 to retract, so that the positioning pin 9 moves out of the positioning hole of the workpiece 16, avoiding the workpiece 16 shaking or offset caused by the positioning pin 9 moving out of the positioning hole, thereby ensuring the pick-up and placement accuracy of the workpiece 16, and finally the suction component 4 releases the suction force on the workpiece 16 to complete the discharge action. The utility model has a simple structure and low cost, can accurately position the workpiece 16 when taking materials, has high position accuracy and good stability when placing materials, and ensures high accuracy and stability of taking and placing materials.

[0025] In this embodiment, the positioning lock ring 6 is rotatably and horizontally slidably mounted outside the cross beam 2, and the positioning lock ring 6 is locked on the cross beam 2 via a locking piece. This structural design enables the positioning lock ring 6 to rotate and move horizontally relative to the cross beam 2 to adjust the angle and horizontal position of the positioning pin 9 to meet the positioning of different workpieces 16.

[0026] In this embodiment, the positioning driver 8 is a cylinder.

[0027] In this embodiment, the suction assembly 4 includes a suction lock ring 10 mounted on the cross beam 2, a suction connecting rod 11 connected to the suction lock ring 10, a connector 12 mounted on the suction connecting rod 11, a shaft 13 mounted on the connector 12, and a suction cup 14 mounted on the shaft 13, the suction cup 14 is used to suck the workpiece 16; specifically, the shaft 13 can rotate and move horizontally relative to the connector 12, and the shaft 13 is locked on the connector 12 via a locking member. This structural design can adjust the angle and horizontal position of the suction cup 14 to meet the needs of sucking different workpieces 16.

[0028] In this embodiment, the connector 12 is rotatably and liftably sleeved outside the material suction connecting rod 11, the connector 12 is locked on the material suction connecting rod 11 via a locking screw, the material suction locking ring 10 is rotatably and horizontally slidably sleeved outside the crossbeam 2, and the material suction locking ring 10 is locked on the crossbeam 2 via a locking screw. This structural design increases the degree of freedom of adjustment of the suction cup 14, and the adjustment is more convenient.

[0029] In this embodiment, the positioning connecting rod 7 is connected to the positioning locking ring 6 in a lifting and sliding manner, and the positioning connecting rod 7 is locked on the positioning locking ring 6 via a locking piece. This structural design can adjust the starting height of the positioning pin 9.

[0030] In this embodiment, a quick-change positioning ring 15 is installed at the top of the mounting seat 1, and the quick-change positioning ring 15 is used to be fixedly connected to the output end of the manipulator. The quick-change positioning ring 15 facilitates the utility model to be quickly installed at the output end of the external manipulator.

[0031] While ensuring strength, the weight is reduced. The crossbeam 2 in this embodiment is an aluminum tube.

[0032] Specifically, both the locking member and the tightening member may be bolts.

[0033] All technical features in this embodiment can be freely combined according to actual needs.

[0034] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A transport device with precise positioning, characterized in that: The invention comprises a mounting seat (1), a crossbeam (2) mounted on the mounting seat (1), a material incoming sensor (3) mounted on the crossbeam (2), a plurality of material suction components (4) mounted on the crossbeam (2), and a plurality of positioning components (5) mounted on the crossbeam (2); the plurality of material suction components (4) and the plurality of positioning components (5) are distributed along the axial direction of the crossbeam (2); a positioning component (5) is located between two adjacent material suction components (4); the positioning component (5) comprises a positioning locking ring (6) mounted on the crossbeam (2), a positioning connecting rod (7) connected to the positioning locking ring (6), a positioning driver (8) mounted on the positioning connecting rod (7), and a positioning pin (9) mounted on the driving end of the positioning driver (8); the positioning driver (8) is used for driving the positioning pin (9) to move back and forth.

2. A precisely positioned handling device according to claim 1, characterized in that: The positioning lock ring (6) is rotatably and horizontally slidably sleeved outside the cross beam (2), and the positioning lock ring (6) is locked on the cross beam (2) via a locking piece.

3. The precise positioning handling device according to claim 1, characterized in that: The positioning driver (8) is a cylinder.

4. The precise positioning handling device according to claim 1, characterized in that: The material suction assembly (4) comprises a material suction lock ring (10) mounted on the cross beam (2), a material suction connecting rod (11) connected to the material suction lock ring (10), a connecting head (12) mounted on the material suction connecting rod (11), a shaft rod (13) mounted on the connecting head (12), and a suction cup (14) mounted on the shaft rod (13).

5. The precise positioning handling device according to claim 4, characterized in that: The shaft rod (13) can rotate and move horizontally relative to the connecting head (12), and the shaft rod (13) is locked on the connecting head (12) via a locking member.

6. The precise positioning handling device according to claim 4, characterized in that: The connecting head (12) is sleeved outside the material suction connecting rod (11) in a rotatable and liftable manner, and the connecting head (12) is locked on the material suction connecting rod (11) via a locking screw.

7. The precise positioning handling device according to claim 4, characterized in that: The material suction lock ring (10) is sleeved outside the cross beam (2) in a rotatable and horizontally slidable manner, and the material suction lock ring (10) is locked on the cross beam (2) via a locking screw.

8. The precise positioning handling device according to claim 2, characterized in that: The positioning connecting rod (7) is connected to the positioning locking ring (6) in a lifting and sliding manner, and the positioning connecting rod (7) is locked on the positioning locking ring (6) via a locking piece.

9. The precise positioning handling device according to claim 1, characterized in that: A quick-change positioning ring (15) is installed at the top end of the mounting seat (1), and the quick-change positioning ring (15) is used for fixedly connecting with the output end of the manipulator.

10. The precise positioning handling device according to claim 1, characterized in that: The crossbeam (2) is an aluminum tube.

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