Tray clamping mechanism and tray carrying device

Abstract

The utility model relates to a tray clamping mechanism and a tray carrying device, the tray clamping mechanism comprises a fixing piece, a driving device, a quick-change piece and a clamping hand device, the driving device is arranged on the fixing piece; the quick-change piece is detachably connected with the fixing piece; the clamping hand device is arranged on the quick-change part, in the assembling state, the clamping hand device is connected with the driving device, and the driving device can drive the clamping hand device to be switched between the clamping state and the releasing state so as to clamp / release the material disc. Overall disassembly and assembly of the clamping hand device and the quick-change piece can be achieved only by disassembling and assembling the quick-change piece, the situation that multiple scattered parts of the clamping hand device need to be independently disassembled and assembled is avoided, the disassembly and assembly process is simple and convenient, consumed time is short, the parts are not prone to being lost, and compatibility of trays of different specifications can be achieved by replacing the clamping hand devices of different specifications on the quick-change piece.

Description

Technical Field

[0001] The utility model relates to the technical field of tray conveying, in particular to a tray clamping mechanism and a tray conveying device. Background Art

[0002] In the prior art tray handling device, when it is necessary to switch trays of different specifications, it is usually necessary to remove the guide pins on the clamp mounting plate and the clamp hands on the clamp rotating rod and other parts separately, and replace them with corresponding positioning pins and clamp hands to achieve compatibility with trays of different specifications.

[0003] However, since the tray handling device is installed inside the machine and a large number of parts need to be replaced, the difficulty of mechanism switching is increased to a certain extent, and its replacement process can only be carried out when the machine is shut down, which will seriously affect production capacity. In addition, since the replacement parts or installation screws are small, they are very likely to fall into the machine during replacement, which not only causes cost losses but also poses a great safety hazard. Utility Model Content

[0004] Based on this, it is necessary to provide a clamping mechanism and a tray handling device to address the above problems, so as to facilitate the replacement of accessories and achieve compatibility with trays of different specifications.

[0005] The utility model first provides a chuck mechanism, comprising: a fixing part; a driving device, which is arranged on the fixing part; a quick-change part, which is detachably connected to the fixing part; and a hand clamping device, which is arranged on the quick-change part. In an assembled state, the hand clamping device is connected to the driving device, and the driving device can drive the hand clamping device to switch between a clamping state and a releasing state to clamp / release the material tray.

[0006] In the above-mentioned chuck mechanism, when it is necessary to switch to material trays of different specifications, first disassemble the original quick-change part from the fixing part, so that the hand clamping device is removed together with the quick-change part, and the hand clamping device is separated from the driving device. Then, the new hand clamping device is installed on the fixing part together with the quick-change part, so that the hand clamping device is connected to the driving device; thus, the overall disassembly and assembly of the hand clamping device and the quick-change part can be achieved only by disassembling and assembling the quick-change part. The disassembly and assembly process is simple and convenient, takes less time, and parts are not easily lost. In addition, compatibility with material trays of different specifications can be achieved by replacing hand clamps of different specifications on the quick-change part.

[0007] In one of the embodiments, one of the fixing member and the quick-change member is provided with a pin protruding toward the other, and the other is provided with a pin hole capable of being plugged and matched with the pin.

[0008] With such arrangement, the cooperation between the pin and the pin hole can facilitate the user to position the quick-change part and the fixing part.

[0009] In one of the embodiments, the pin hole has an insertion hole position and a locking hole position that are interconnected, and the pin can be inserted from the insertion hole position and slide to the locking hole position, so that the fixing member and the quick-change member are fixedly connected.

[0010] With such arrangement, the insertion hole position can facilitate the user to align the pin and the insertion hole position when installing the quick-change part, and the locking hole position can ensure the reliability of the cooperation between the pin and the locking hole position.

[0011] In one embodiment, the chuck mechanism further includes a fastener, and the fixing member and the quick-change member are detachably fixed via the fastener.

[0012] With such arrangement, the fastener can ensure the stability and reliability of the fixing part and the quick-change part in the assembled state, and ensure the safety in the use of the chuck mechanism.

[0013] In one embodiment, the driving device includes a driving member and a sliding member connected to the output end of the driving member. In the assembled state, the sliding member is connected to the clamping device. The driving member can drive the sliding member to slide along a first preset direction to drive the clamping device to switch between the clamping state and the release state.

[0014] With such arrangement, the structure and driving method of the driving device are simple, thus avoiding increasing the complexity of the chuck mechanism.

[0015] In one embodiment, the gripping device includes a plurality of gripping assemblies and at least one transmission assembly, each of the transmission assemblies being used to connect the sliding member and at least one of the gripping assemblies; the plurality of gripping assemblies enclose a gripping space for accommodating the material tray, and each of the gripping assemblies is capable of rotating around its own axis to switch between the gripping state and the release state.

[0016] With such arrangement, the connection method between the gripper assembly and the quick-change component is simple and occupies little space, thus avoiding increasing the size of the quick-change component.

[0017] In one embodiment, the transmission assembly includes a connecting rod group, and in an assembled state, the connecting rod group is quickly connected to the sliding member through a connecting member.

[0018] With such arrangement, the connecting rod assembly is easy to install, the movement process is stable and reliable, and no radial force is applied to the main rod, thereby extending the service life of the hand clamping device.

[0019] In one embodiment, the connecting member includes a waist-shaped hole provided on one of the sliding member and the connecting rod assembly and a connecting pin connected to the other, and the waist-shaped hole extends along a second preset direction; in the assembled state, the connecting pin is inserted into the waist-shaped hole and can slide relative to the sliding member along the second preset direction.

[0020] With such arrangement, while the sliding member drives the connecting member to slide along the first preset direction, the connecting member can also slide along the second preset direction in the waist-shaped hole to avoid interfering with the movement of the connecting rod assembly, so that the connecting rod assembly can drive each gripper assembly to rotate around its own axis.

[0021] In one embodiment, the chuck mechanism further includes a plurality of positioning pins disposed on the side of the quick-change part away from the fixed part, and the plurality of positioning pins are arranged at intervals along the circumference of the quick-change part; and / or, the chuck mechanism further includes a floating cover plate stacked with the quick-change part and located on the side of the quick-change part away from the fixed part; and / or, the chuck mechanism further includes a sensor disposed on the fixed part and / or the quick-change part, and the sensor is used to detect the number of the material trays.

[0022] With such an arrangement, the positioning pin is used to position the material tray so that the material tray can accurately enter the clamping space; the floating cover plate can play the role of a pressure plate to prevent the material tray from deforming during the clamping process and to prevent the material tray from spilling when being transported; the clamping mechanism can control the drive device to drive the gripping device to operate according to the number of material trays detected by the sensor.

[0023] The utility model also provides a material tray transporting device, comprising the above-mentioned clamping tray mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a three-dimensional structural schematic diagram of a chuck mechanism according to one embodiment of the utility model;

[0026] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the chuck mechanism in a disassembled state;

[0027] Figure 3 for Figure 1 A schematic diagram of the structure of the chuck mechanism from a top view;

[0028] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the quick change and hand clamping device;

[0029] Figure 5 for Figure 4 A schematic diagram of the three-dimensional structure of the quick-change parts and the gripping device at another angle;

[0030] Figure 6 for Figure 5 A schematic diagram of the enlarged structure at A in the middle;

[0031] Figure 7 for Figure 1 A schematic diagram of a partial structure of the chuck mechanism from an upward perspective, wherein the hand clamping device is in a released state;

[0032] Figure 8 for Figure 1 A schematic diagram of a partial structure of the chuck mechanism in a bottom-up perspective, wherein the hand clamping device is in a first clamping state;

[0033] Fig. 9 for Figure 1 A schematic diagram of a partial structure of the chuck mechanism in an upward perspective, wherein the hand clamping device is in a second clamping state;

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of a tray handling device according to one embodiment of the utility model.

[0035] Figure numerals: 1. fixing part; 11. pin hole; 111. insertion hole position; 112. locking hole position; 2. driving device; 21. driving part; 22. sliding part; 221. waist-shaped hole; 3. quick-change part; 31. pin; 4. clamping device; 41. clamping assembly; 411. main rod; 412. first clamp; 413. second clamp; 42. transmission assembly; 421. connecting pin; 422. connecting rod group; 4221. first connecting rod; 4222. second connecting rod; 4223. third connecting rod; 5. positioning pin; 6. floating cover plate; 7. sensor; 8. fastener; 9. transfer mechanism. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0037] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0040] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0041] In the prior art tray handling device, when it is necessary to switch between trays of different specifications, it is usually necessary to remove the guide pins on the clamp mounting plate and the clamp hands on the clamp rotating rod and other parts, and replace them with matching positioning pins and clamp hands to achieve compatibility with trays of different specifications. However, since the tray handling device is installed inside the machine and a large number of accessories need to be replaced, the difficulty of mechanism switching is increased to a certain extent, and the replacement process can only be carried out when the machine is shut down, which will seriously affect production capacity. In addition, since the replacement accessories or installation screws are small, they are very likely to fall into the machine during replacement, which not only causes cost losses but also poses a great safety hazard.

[0042] In order to solve the above problems, Figures 1 to 9 As shown, the utility model first provides a clamping disc mechanism to facilitate the replacement of accessories and achieve compatibility with material discs of different specifications.

[0043] like Figure 1 to Figure 2 As shown, specifically, the chuck mechanism includes a fixing part 1, a driving device 2, a quick-change part 3 and a hand clamping device 4, wherein: the driving device 2 is arranged on the fixing part 1; the quick-change part 3 is detachably connected to the fixing part 1; the hand clamping device 4 is arranged on the quick-change part 3, and in the assembled state, the hand clamping device 4 is connected to the driving device 2, and the driving device 2 can drive the hand clamping device 4 to switch between a clamping state and a release state to clamp or release the material tray (not shown in the figure).

[0044] In the above-mentioned chuck mechanism, when it is necessary to switch to a material tray of different specifications, first disassemble the original quick-change component 3 from the fixing component 1, so that the hand clamping device 4 is disassembled together with the quick-change component 3, and the hand clamping device 4 is separated from the driving device 2, and then the new hand clamping device 4 is installed on the fixing component 1 together with the quick-change component 3, so that the hand clamping device 4 is connected to the driving device 2; since the hand clamping device 4 usually includes a plurality of scattered parts, after the hand clamping device 4 is set on the quick-change component 3, it is only necessary to disassemble and assemble the quick-change component 3 to realize the overall disassembly and assembly of the hand clamping device 4 and the quick-change component 3, avoiding the need to separately disassemble and assemble multiple scattered parts of the hand clamping device 4, the disassembly and assembly process is simple and convenient, the time is short, the parts are not easy to be lost, and the compatibility of material trays of different specifications can be achieved by replacing the hand clamping devices 4 of different specifications on the quick-change component 3.

[0045] like Figures 1 to 3 As shown, in one embodiment, the chuck mechanism further includes a fastener 8, and the fixing member 1 and the quick-change member 3 are detachably fixed by the fastener 8. The fastener 8 can ensure the stability and reliability of the fixing member 1 and the quick-change member 3 in the assembled state, and prevent the quick-change member 3 from accidentally falling off, thereby ensuring the safety of the chuck mechanism. Among them, the fastener 8 can be set as a structure such as a screw, a bolt, etc., and the number of the fasteners 8 can be one, two or more, and multiple fasteners 8 are arranged at intervals.

[0046] In other embodiments, the fastener 8 can be provided on the fixing part 1 and used to adjust the flatness between the fixing part 1 and the quick-change part 3. During the first assembly, the fixing part 1 and the quick-change part 3 are parallel to each other by adjusting the different heights of the multiple fasteners 8, and then the screws, bolts and other components are passed through the fasteners 8 and locked and fixed with the quick-change part 3; during the subsequent assembly, it is possible to ensure that the fixing part 1 and the quick-change part 3 are parallel to each other in the assembled state without adjusting the fasteners 8. Thus, the fastener 8 can ensure the flatness between the fixing part 1 and the quick-change part 3, and the screws, bolts and other components locked on the fastener 8 and the quick-change part 3 can ensure that the fixing part 1 and the quick-change part 3 are reliably connected. Of course, the fixing part 1 and the quick-change part 3 can also be fixed by other means such as snap-in and plug-in, as long as the connection between the quick-change part 3 and the fixing part 1 can be reliably connected, the embodiment of the utility model is not specifically limited here.

[0047] like Figures 1 to 3 As shown, one of the fixing member 1 and the quick-change member 3 is provided with a pin 31 protruding toward the other, and the other is provided with a pin hole 11 that can be plugged and matched with the pin 31. The pin 31 cooperates with the pin hole 11 to facilitate the user to position the quick-change member 3 and the fixing member 1, so that in the assembled state, the fastener 8 for passing the screw on the fixing member 1 can be aligned with the mounting hole for locking the screw on the quick-change member 3, and the gripping device 4 can be accurately connected with the driving device 2, so as to facilitate the user to assemble.

[0048] In other embodiments, the pin 31 and the pin hole 11 can also be initially fixed by friction and tension between the outer surface of the pin 31 and the hole surface of the pin hole 11 to improve the stability of positioning.

[0049] like Figure 3 As shown, the pin hole 11 has an insertion hole 111 and a locking hole 112 that are interconnected, and the pin 31 can be inserted from the insertion hole 111 and slide to the locking hole 112, so that the fixing member 1 and the quick-change member 3 are fixedly connected. Specifically, the inner diameter of the insertion hole 111 is larger than the diameter of the pin 31, so that the user can align the pin 31 and the insertion hole 111 when installing the quick-change member 3; the inner diameter of the locking hole 112 is equal to or slightly smaller than the diameter of the pin 31, so as to ensure the reliability of the matching between the pin 31 and the locking hole 112.

[0050] Taking the example of setting a pin 31 on the quick-change part 3 and opening a pin hole 11 on the fixing part 1, the insertion hole position 111 and the locking hole position 112 are arranged along the ±X direction as shown in the figure. When installing the quick-change part 3, first align and insert the pin 31 into the insertion hole position 111, and then control the quick-change part 3 to slide relative to the fixing part 1 along the +X direction, so that the pin 31 slides to a position that matches the locking hole position 112. At this time, the quick-change part 3 can be fixed to the fixing part 1 and the quick-change part 3 cannot be directly disassembled. The clamping device 4 is connected to the driving device 2, and finally the fixing part 1 and the quick-change part 3 are fixed by screws, bolts and other components. When removing the quick-change part 3, first remove the screws, bolts and other components, and then pull the quick-change part 3 to the side away from the fixing part 1, so that the pin 31 disengages from the locking hole 112, and the quick-change part 3 is removed from the fixing part 1; alternatively, after removing the screws, bolts and other components, first control the quick-change part 3 to slide relative to the fixing part 1 along the -X direction, so that the pin 31 slides to the insertion hole 111, and then remove the quick-change part 3 from the fixing part 1.

[0051] like Figure 1 and Figure 3 As shown, the driving device 2 includes a driving member 21 and a sliding member 22 connected to the output end of the driving member 21. The driving member 21 is fixedly arranged on the fixing member 1. In the assembled state, the sliding member 22 is connected to the hand clamping device 4. The driving member 21 can drive the sliding member 22 to slide back and forth along a first preset direction to drive the hand clamping device 4 to switch between the clamping state and the release state. In this way, the structure and driving method of the driving device 2 are simple, avoiding increasing the complexity of the chuck mechanism.

[0052] In one embodiment, the first preset direction is parallel to the ±X direction. When the pin 31 is inserted into the hole 111, the sliding member 22 can be connected to the hand clamping device 4 first. Since the sliding direction of the quick-change member 3 relative to the fixing member 1 is the same as the sliding direction of the sliding member 22, the connection between the sliding member 22 and the hand clamping device 4 will not interfere with the pin 31 sliding to the locking hole 112. Of course, in other embodiments, the first preset direction can also be at an angle to the ±X direction. After the pin 31 slides to the locking hole 112, the sliding member 22 is connected to the hand clamping device 4.

[0053] like Figure 1 to, Figure 4 and Figure 5As shown, the gripping device 4 includes a plurality of gripping assemblies 41 and at least one transmission assembly 42, each transmission assembly 42 is used to connect the sliding member 22 and at least one gripping assembly 41; the plurality of gripping assemblies 41 enclose a clamping space for accommodating the material tray. In one embodiment, each gripping assembly 41 can rotate around its own axis to switch between a clamping state and a release state. The connection method between the gripping assembly 41 and the quick-change member 3 is simple, and the gripping assembly 41 always rotates around its own axis, occupies a small space, and avoids increasing the size of the quick-change member 3. Taking the first preset direction parallel to the ±X direction as an example, when the driving member 21 drives the sliding member 22 to slide along the +X direction (or -X direction), the transmission assembly 42 can drive each clamping assembly 41 to rotate around its own axis to a released state, so that the material tray can enter or exit the clamping space; when the material tray enters the clamping space, the driving member 21 can drive the sliding member 22 to slide along the -X direction (or +X direction), and the transmission assembly 42 can drive each clamping assembly 41 to rotate in the opposite direction around its own axis to a clamping state to clamp the material tray located in the clamping space.

[0054] Of course, in other embodiments, each gripper assembly 41 may also be slidably disposed on the quick-change component 3 and can slide toward each other to a clamping state or slide in the opposite direction to a releasing state.

[0055] The number of the gripper assemblies 41 can be set to four, six, or eight, etc., and can be set specifically according to actual conditions. In the illustrated embodiment, the number of the gripper assemblies 41 is set to four, and the four gripper assemblies 41 are arranged on the quick-change member 3 in a rectangular array, and the four gripper assemblies 41 are simultaneously connected to the drive device 2 through the transmission assembly 42, so as to be driven by the drive device 2 to move simultaneously.

[0056] like Figure 5 to Figure 6 As shown, in one embodiment, each gripper assembly 41 includes a main rod 411, a first gripper 412 and a second gripper 413. The main rod 411 is arranged on the quick-change member 3 and can rotate around the axis a of the main rod 411. The first gripper 412 and the second gripper 413 are both arranged on the main rod 411 and are arranged at intervals along the axial direction of the main rod 411 and the circumferential direction of the main rod 411. That is, the first gripper 412 and the second gripper 413 are arranged at intervals along the length direction of the axis a of the main rod 411, and are arranged in an interlaced manner along the circumferential direction b of the main rod 411. The main rod 411 is rotatably arranged on the quick-change member, and the axis a of the main rod 411 is perpendicular to the quick-change member 3. The transmission assembly 42 is connected to the main rod 411 and can drive the main rod 411 to rotate around the axis a of the main rod 411. The first gripper 412 and the second gripper 413 can rotate around the axis a of the main rod 411 together with the main rod 411.

[0057] like Figure 7As shown, the first gripper 412 and the second gripper 413 are both in a released state; when the driving device 2 drives the main rod 411, the first gripper 412 and the second gripper 413 to rotate around the axis a of the main rod 411 to Figure 8 When the driving device 2 drives the main rod 411, the first gripper 412 and the second gripper 413 to rotate around the axis a of the main rod 411 to the position shown in FIG. Fig. 9 In the position shown, the second gripper 413 is in a clamping state, and the first gripper 412 is in a released state. Since the distance between the first gripper 412 and the quick-change member 3 is smaller than the distance between the second gripper 413 and the quick-change member 3, the chuck mechanism can clamp two different thicknesses of material trays, effectively simplifying the structure of the chuck mechanism, reducing the overall size of the chuck mechanism, and thus reducing costs. Here, the material trays of different thicknesses specifically refer to material trays that are stacked in different numbers, that is, the chuck mechanism can be used to clamp material trays of different numbers.

[0058] Of course, the number of grippers on each gripper assembly 41 may be one, three or more, so as to grip trays of different numbers or thicknesses by controlling different grippers to move to a gripping state.

[0059] In one embodiment, the driving member 21 can be configured as a cylinder, preferably a double-stroke cylinder, so that when the driving member 21 is working, it can realize two-stroke reciprocating motion according to the use requirements to meet the needs of the clamping hand assembly 41. Figures 7 to 9 Of course, in other embodiments, the driving member 21 can also be configured as a hydraulic cylinder, a linear telescopic motor or other linear reciprocating driving element, and the embodiment of the utility model does not make any specific limitation here.

[0060] like Figures 2 to 4 As shown, the transmission assembly 42 includes a connecting rod group 422, and in the assembled state, the connecting rod group 422 is quickly connected to the sliding member 22 through a connecting piece. When the driving member 21 drives the sliding member 22 to slide along the ±X direction, the sliding member 22 can drive the connecting rod group 422 to move synchronously through the connecting piece, and under the action of the connecting rod group 422, each clamping assembly 41 can rotate around the axis a of the main rod 411. The connecting rod group 422 is easy to install, the movement process is stable and reliable, and no radial force is applied to the main rod 411, so as to avoid jamming of the clamping assembly 41 when rotating around the axis a of the main rod 411, thereby extending the service life of the clamping device 4.

[0061] like Figure 3 to Figure 4As shown, the connecting member includes a waist-shaped hole 221 provided on one of the sliding member 22 and the connecting rod assembly 422, and a connecting pin 421 connected to the other, and the waist-shaped hole 221 extends along the second preset direction; in the assembled state, the connecting pin 421 is inserted into the waist-shaped hole 221 and can slide along the second preset direction relative to the sliding member 22. The second preset direction and the first preset direction are mutually angled, so that when the sliding member 22 slides along the ±X direction, it can drive the connecting pin 421 to slide synchronously along the ±X direction, and at the same time, the connecting pin 421 can also slide in the waist-shaped hole 221 along the second preset direction to avoid interfering with the movement of the connecting rod assembly 422, so that the connecting rod assembly 422 can drive each gripper assembly 41 to rotate around the axis a of the main rod 411.

[0062] In the illustrated embodiment, the number of transmission assemblies 42 can be two, and the two transmission assemblies 42 are respectively arranged on both sides of the drive device 2 along the ±X direction. The second preset direction is perpendicular to the first preset direction, that is, the second preset direction is parallel to the ±Y direction, and the sliding member 22 extends along the ±Y direction. A waist-shaped hole 221 is provided on the sliding member 22, and a waist-shaped hole 221 is provided at both ends of the sliding member 22, and a connecting pin 421 is convexly provided at the middle position of the connecting rod group 422, and the two connecting pins 421 are respectively matched with the two waist-shaped holes 221. Among the four gripping hand assemblies 41, two gripping hand assemblies 41 are provided at both ends of one of the connecting rod groups 422 and are connected to the connecting rod group 422 in transmission, and the other two gripping hand assemblies 41 are provided at both ends of another connecting rod group 422 and are connected to the connecting rod group 422 in transmission. Each connecting rod group 422 includes a first connecting rod 4221, two second connecting rods 4222 and two third connecting rods 4223, one end of the two second connecting rods 4222 are rotatably connected to the two ends of the first connecting rod 4221, one end of the two second connecting rods 4222 away from the first connecting rod 4221 are rotatably connected to one end of the two third connecting rods 4223, and one end of the two third connecting rods 4223 away from the second connecting rods 4222 are fixedly connected to the main rods 411 of the two gripping hand assemblies 41, so as to drive the main rods 411 to rotate around the axis a of the main rod 411 through the connecting rod group 422.

[0063] like Figure 5 to Figure 6 As shown, the chuck mechanism further includes a plurality of positioning pins 5 disposed on the side of the quick-change member 3 away from the fixing member 1, and the plurality of positioning pins 5 are arranged at intervals along the circumference of the quick-change member 3. The positioning pins 5 are disposed corresponding to the clamping device 4 and are disposed outside the clamping space. The positioning pins 5 are used to position the material tray so that the material tray can accurately enter the clamping space and can be accurately clamped by the clamping device 4.

[0064] like Figure 5As shown, the chuck mechanism further includes a floating cover plate 6 which is stacked with the quick-change member 3 and is located on the side of the quick-change member 3 away from the fixing member 1. The floating cover plate 6 can press the material tray under the drive of the quick-change member 3, so that when the chuck mechanism clamps the material tray, the floating cover plate 6 can cover the material tray to play a pressing effect, thereby preventing the material tray from being deformed during the clamping process and preventing the material tray from being scattered when being transported.

[0065] Since the gripping device 4, the positioning pin 5, the floating cover plate 6 and other components are all fixed on the quick-change component 3, when any one of them needs to be replaced or repaired, the quick-change component 3 can be removed from the fixing component 1 for operation, so as to avoid the phenomenon that the components are dropped and lost in the machine of the tray handling device due to the small size of the components and the difficult installation position, thereby making the later maintenance more convenient. Moreover, in actual use, the gripping device 4, the positioning pin 5, the floating cover plate 6 and other components can be assembled to the quick-change component 3 in advance to form a quick-change assembly, and a plurality of assembled quick-change assemblies can be reserved as spare parts, so that the quick-change assembly can be quickly replaced during shutdown, reducing the replacement time of the quick-change assembly.

[0066] like Figure 1 to Figure 2 As shown, in one embodiment, the chuck mechanism further includes a sensor 7 disposed on the fixing member 1, and the sensor 7 is used to detect the number of material trays. The chuck mechanism can control the driving device 2 to drive the gripping device 4 to operate according to the number of material trays detected by the sensor 7. The sensor 7 is always connected to the fixing member 1 and is not disassembled with the quick-change member 3, which is convenient for disassembly and assembly and wiring. Of course, in other embodiments, the sensor 7 can also be on the quick-change member 3, or the sensor 7 can be respectively disposed on the fixing member 1 and the quick-change member 3.

[0067] like Fig.10 As shown, the embodiment of the utility model further provides a material tray handling device, including a transfer mechanism 9 and the above-mentioned chuck mechanism. The fixing part 1 of the chuck mechanism is installed on the transfer mechanism 9, and the chuck mechanism can be raised or lowered or translated under the drive of the transfer mechanism 9. When the material tray handling device is working, the movement of the grabbing material tray when the chuck mechanism is working can be realized by controlling the transfer mechanism 9. Among them, the transfer mechanism 9 can be set as a conventional linear motion mechanism in the prior art, and the embodiment of the utility model does not make specific restrictions here.

[0068] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. A chuck mechanism, characterized in that: include: A fixing member (1); A driving device (2) is arranged on the fixing member (1); a quick-change component (3) detachably connected to the fixing component (1); and A gripping device (4) is arranged on the quick-change component (3); in an assembled state, the gripping device (4) is connected to the driving device (2); the driving device (2) can drive the gripping device (4) to switch between a gripping state and a releasing state, so as to grip / release the material tray.

2. The chuck mechanism according to claim 1, characterized in that: One of the fixing member (1) and the quick-change member (3) is provided with a pin (31) protruding toward the other, and the other is provided with a pin hole (11) capable of plugging and cooperating with the pin (31).

3. The chuck mechanism according to claim 2, characterized in that: The pin hole (11) has an insertion hole position (111) and a locking hole position (112) which are interconnected, and the pin (31) can be inserted from the insertion hole position (111) and slide to the locking hole position (112), so that the fixing component (1) and the quick-change component (3) are fixedly connected.

4. The chuck mechanism according to claim 1, characterized in that: The chuck mechanism also includes a fastener (8), and the fixing member (1) and the quick-change member (3) are detachably fixed via the fastener (8).

5. The chuck mechanism according to claim 1, characterized in that: The driving device (2) comprises a driving member (21) and a sliding member (22) connected to an output end of the driving member (21); in an assembled state, the sliding member (22) is connected to the gripping device (4); the driving member (21) is capable of driving the sliding member (22) to slide back and forth along a first preset direction, so as to drive the gripping device (4) to switch between the gripping state and the releasing state.

6. The chuck mechanism according to claim 5, characterized in that: The gripping device (4) comprises a plurality of gripping assemblies (41) and at least one transmission assembly (42), each of the transmission assemblies (42) being used to connect the sliding member (22) and at least one of the gripping assemblies (41); A plurality of the gripper assemblies (41) enclose a gripping space for accommodating the material tray, and each of the gripper assemblies (41) is capable of rotating around its own axis to switch between the gripping state and the releasing state.

7. The chuck mechanism according to claim 6, characterized in that: The transmission assembly (42) comprises a connecting rod group (422). In an assembled state, the connecting rod group (422) is quickly connected to the sliding member (22) via a connecting member.

8. The chuck mechanism according to claim 7, characterized in that: The connecting member comprises a waist-shaped hole (221) provided on one of the sliding member (22) and the connecting rod group (422), and a connecting pin (421) connected to the other, wherein the waist-shaped hole (221) extends along a second preset direction; in an assembled state, the connecting pin (421) is inserted into the waist-shaped hole (221) and can slide relative to the sliding member (22) along the second preset direction.

9. The chuck mechanism according to any one of claims 1 to 8, characterized in that: The chuck mechanism further comprises a plurality of positioning pins (5) arranged on a side of the quick-change member (3) away from the fixing member (1), wherein the plurality of positioning pins (5) are arranged at intervals along the circumference of the quick-change member (3); and / or, The chuck mechanism further comprises a floating cover plate (6) which is stacked with the quick-change member (3) and is located on a side of the quick-change member (3) away from the fixing member (1); and / or, The chuck mechanism further comprises a sensor (7) arranged on the fixing part (1) and / or the quick-change part (3), and the sensor (7) is used to detect the number of the material trays.

10. A tray handling device, characterized in that: It comprises a chuck mechanism as described in any one of claims 1-9.

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