Material taking and placing device aiming at left-right inclination of materials in vertical stock bin

Abstract

The utility model discloses a material taking and placing device for materials inclining left and right in a vertical stock bin, which comprises a quick-change assembly, and a sucker assembly is arranged at the front end of the quick-change assembly. The suction cup assembly comprises a suction cup fixing base. The suction cup fixing base is provided with a lifting assembly with the driving direction arranged along the Z axis and a suction cup set. The suction cup set comprises a floating suction cup set and a fixed suction cup set, and the floating suction cup set and the fixed suction cup set are connected to the vacuum generator through pipelines. The floating suction cup set is connected to the driving end of the lifting assembly and driven by the lifting assembly to get away from or get close to the suction cup fixing base in the Z-axis direction. According to the material taking and placing device, materials inclined left and right in the vertical stock bin can be taken and placed rapidly, and the materials are prevented from being stained or indented.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, and particularly relates to a material picking and placing device for left - right inclination of materials in a vertical silo. Background Art

[0002] With the rapid development of the 3C industry, the demand for improving production capacity is increasing day by day. To reduce labor costs and the feeding frequency, the silo is often fed with full materials during production. For some materials, there is a height difference on the left and right sides. When the silo is full, this height difference will accumulate, resulting in difficulties for the automatic material picking device to pick materials. In the prior art, for this situation of left - right inclination of materials, a flat - type picking head or a universal swinging picking head is often used for picking. However, the above two picking methods are likely to cause material contamination and are likely to produce indentations for lighter - weight materials. Therefore, a special material picking and placing structure is needed to achieve rapid material picking, placing, and avoid material damage. Summary of the Utility Model

[0003] To solve the above - mentioned technical problems, the utility model provides a material picking and placing device for left - right inclination of materials in a vertical silo, which can achieve rapid material picking, placing, and avoid material contamination or indentation for materials with left - right inclination in a vertical silo.

[0004] The technical solution of the utility model is as follows:

[0005] A material picking and placing device for left - right inclination of materials in a vertical silo, characterized in that it includes a quick - change assembly, and a suction cup assembly is provided at the front end of the quick - change assembly;

[0006] The suction cup assembly includes a suction cup fixing seat, and a lifting assembly and a suction cup group with the driving direction along the Z - axis are provided on the suction cup fixing seat; the suction cup group includes a floating suction cup group and a fixed suction cup group, and both the floating suction cup group and the fixed suction cup group are connected to a vacuum generator through pipelines;

[0007] The floating suction cup group is connected to the driving end of the lifting assembly and is driven by the lifting assembly to move away from or close to the suction cup fixing seat along the Z - axis.

[0008] Further, it is characterized in that the quick - change assembly includes a flange seat and a quick - change head connected to the flange seat;

[0009] The flange seat is connected to a robot arm, and the suction cup assembly is connected to the front end of the quick - change head.

[0010] Further, the suction cup fixing seat includes an upper fixing seat and a lower fixing seat;

[0011] The upper fixing seat is fixedly connected to the front end face of the quick-change head. Two vertical plates are arranged in parallel and at intervals along the Z-axis direction on the upper fixing seat. The lower fixing seat is fixedly connected to the common front end face of the two vertical plates facing the material bin. The suction cup group is arranged on the lower fixing seat.

[0012] Further, the floating suction cup group includes a jaw seat and two floating suction cups symmetrically arranged at intervals on the jaw seat.

[0013] Further, the lifting assembly includes a Z-axis guide rail and a lifting cylinder with a driving direction along the Z-axis direction.

[0014] The fixed end of the lifting cylinder is connected to the upper fixing seat.

[0015] One top end of the Z-axis guide rail is connected to the upper fixing seat, and the other top end is connected to the lower fixing seat and is located between the two vertical plates.

[0016] One side of the jaw seat is connected to the driving end of the lifting cylinder, and the other side is slidably connected to the Z-axis guide rail. The jaw seat and the two floating suction cups on the jaw seat pass through the avoidance holes of the lower fixing seat at the front end and move up and down along the Z-axis with the lifting cylinder.

[0017] Further, a guide rail groove along the Z-axis direction is provided on the side surface of each vertical plate facing the jaw seat.

[0018] The side surfaces of each jaw seat are respectively slidably placed on the guide rail grooves of their corresponding sides.

[0019] Further, each of the floating suction cups is a bellows suction cup.

[0020] Further, the fixed suction cup group includes a group of film suction cups and a group of flat suction cups.

[0021] The beneficial technical effects of the present utility model are:

[0022] Compared with the prior art, the pick-and-place device of the present utility model includes a quick-change assembly. A suction cup assembly is provided at the front end of the quick-change assembly. The suction cup assembly includes a suction cup fixing seat. A lifting assembly and a suction cup group are provided on the suction cup fixing seat. The suction cup group includes a pair of bellows suction cups, a pair of film suction cups and a pair of parallel suction cups. And the pair of bellows suction cups can be independently lifted relative to the suction cup fixing seat driven by the lifting assembly.

[0023] When facing the materials placed obliquely left and right in the material bin, the materials have an inclined surface. If a film suction cup and a flat suction cup are directly used to pick up the materials, it is easy to press and fold the materials or it is not easy to suck the materials evenly and firmly. Therefore, the material picking and placing device of the present application divides the material picking step into two steps. First, the suction cup head of the bellows suction cup has a laminated structure, which has elasticity and a certain buffer amount, and can exert pressure on the materials without deforming the materials. It can be used to adsorb materials with uneven surfaces or inclined surfaces. Control the bellows suction cup to first descend to the surface of the inclined materials to pick up the materials. Then, the materials are driven by the bellows suction cup to retract. When the materials run to the suction cup fixing seat, the film suction cup and the parallel suction cup are used to perform secondary suction of the materials. And because a pair of film suction cups and a pair of parallel suction cups are fixedly arranged in a rectangular array on the suction cup fixing plate, a uniform suction force can be generated on the materials, so that the materials are stably sucked and fixed while avoiding the problems of material pressing and folding or contamination. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of the whole of the present utility model;

[0025] Figure 2 is a schematic diagram of another angle of the present utility model;

[0026] Figure 3 is a schematic diagram of the suction cup assembly of the present utility model;

[0027] Figure 4 is Figure 3 a schematic diagram of removing the upper fixing seat;

[0028] Figure 5 is Figure 3 a schematic diagram of another angle;

[0029] Figure 6 is a schematic diagram of the jaw seat of the present utility model.

[0030] Wherein:

[0031] 100 - Quick change assembly, 101 - Flange seat, 102 - Quick change head; 200 - Suction cup assembly; 300 - Z-axis guide rail, 301 - Lifting cylinder, 302 - Guide rail mounting plate; 401 - Upper fixing seat, 4011 - Mounting through hole, 402 - Lower fixing seat, 403 - Column; 601 - Jaw seat, 6011 - Seat body, 6012 - Jaw arm, 6012a - Arm column, 6012b - Ring arm seat, 602 - Floating suction cup; 701 - Film suction cup, 702 - Flat suction cup. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] In order to more clearly understand the technical means of the present utility model and be able to implement it in accordance with the content of the specification, the following further describes in detail the specific implementation manners of the present utility model in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present utility model but are not used to limit the scope of the present utility model.

[0033] As Figures 1-6 shown, the present utility model provides a pick-and-place device for the left-right inclination of materials in a vertical silo, which includes a quick-change assembly 100. A suction cup assembly 200 is provided at the front end of the quick-change assembly 100, and a lifting assembly with a driving direction along the Z-axis direction is further provided on the suction cup assembly 200. It is defined that the direction in which the floating suction cup 602 in the suction cup assembly 200 approaches or moves away from the material is the Z-axis direction.

[0034] The quick-change assembly 100 includes a flange seat 101 and a quick-change head 102 connected to the flange seat 101. The flange seat 101 is used to connect to a manipulator, and the pick-and-place device of the present utility model is driven by the manipulator to move to the material bin. The quick-change head 102 is used to replace suction cup assemblies 200 of different models, which is a common quick-change device in the prior art and will not be elaborated here.

[0035] The suction cup assembly 200 includes a suction cup fixing seat and a suction cup group provided on the suction cup fixing seat.

[0036] The suction cup fixing seat includes an upper fixing seat 401 and a lower fixing seat 402. The upper fixing seat 401 is fixed on the front end face of the quick-change head 102 facing the material bin. And to increase the space utilization rate of the device, an installation through hole 4011 is further provided on the upper fixing seat 401. On the front end face of the upper fixing seat 401 facing the material bin, two vertical plates 403 are fixedly arranged in parallel and at intervals along the Z-axis direction, and the lower fixing seat 402 is fixedly connected to the front end faces of the two vertical plates 403 facing the material bin.

[0037] To facilitate the installation of the suction cup group and other components, the lower fixing seat 402 is in the shape of a box body, and its box-shaped interior has a receiving cavity. And to avoid scratching the material, the front end face of the lower fixing seat 402 facing the material bin is a Teflon plate, and a number of avoidance holes for the suction cup group to pass through are provided on the box body.

[0038] Preferably, in order to make the following floating suction cup group operate more stably, guide rail grooves along the Z-axis direction are provided on the opposite side faces of the two vertical plates 403.

[0039] The lifting assembly includes a Z-axis guide rail 300 and a lifting cylinder 301 with a driving direction along the Z-axis direction. To facilitate the installation and fixation of the Z-axis guide rail 300, the lifting assembly further includes a guide rail mounting plate 302.

[0040] The fixed end of the lifting cylinder 301 is connected to one side of the upper fixing seat 401. One end of the guide rail mounting plate 302 is fixedly connected to the lower fixing seat 402, and the other end is fixedly connected to the upper fixing seat 401. The guide rail mounting plate 302 is located between the two vertical plates 403. The Z-axis guide rail 300 is fixedly arranged on the guide rail mounting plate 302 along the Z-axis direction, and one end of the Z-axis guide rail 300 extends to the inner wall of the mounting through hole 4011.

[0041] The suction cup group includes a floating suction cup group and a fixed suction cup group.

[0042] The fixed suction cup group includes a group of film suction cups 701 and a group of flat suction cups 702. In the present utility model, a group of film suction cups 701 includes two film suction cups 701, and a group of flat suction cups 702 includes two flat suction cups 702. One ends of the two film suction cups 701 and the two flat suction cups 702 are fixedly received in the accommodation chamber of the lower fixing seat 402. The suction cup working heads at the other ends of each film suction cup 701 and each flat suction cup 702 pass through the front end face of the fixing seat 402 facing the material bin. Each film suction cup 701 and each flat suction cup 702 are connected to a vacuum generator (not shown) through a pipeline (not shown) for sucking materials.

[0043] Preferably, the two film suction cups 701 are respectively arranged on two opposite sides of the lower fixing seat 402, and the two flat suction cups 702 are respectively arranged on the other two opposite sides of the lower fixing seat 402. That is, the two film suction cups 701 and the two flat suction cups 702 are arranged in a rectangular array, which can generate uniform suction force on the material, so that the material is stably sucked and fixed.

[0044] The floating suction cup group includes a jaw seat 601 and two floating suction cups 602 arranged on the jaw seat 601.

[0045] The jaw seat 601 includes a seat body 6011 and two jaw arms 6012 respectively arranged at both ends of the seat body 6011. To facilitate the installation of the floating suction cups 602, each jaw arm 6012 includes an arm column 6012a with an arc-shaped groove and an annular arm seat 6012b fixed to the bottom surface of the arm column 6012a. The annular arm seat 6012b has a through hole. Each floating suction cup 602 is arranged in the arm column 6012a, and the suction cup working head at the other end passes through the through hole of the annular arm seat 6012b.

[0046] One side of the seat body 6011 of the above-mentioned jaw seat 601 is connected to the driving end of the lifting cylinder 301, and the other side of the seat body 6011 is slidably connected to the Z-axis guide rail 300 through a slider. The two jaw arms 6012 pass through the avoidance holes on the lower fixing seat 402 with the two floating suction cups 602, so that they can lift relative to the lower fixing seat 402. And the two floating suction cups 602 on the jaw arms 6012 are located within the rectangular array formed by the two film suction cups 701 and the two flat suction cups 702. With this setting, when the material has an inclined surface, the two floating suction cups 602 can act on the middle part of the material as much as possible, further ensuring uniform force application.

[0047] Preferably, the seat body 6011 is placed below the installation through hole 4011. When the lifting cylinder 301 drives the jaw seat 601 to rise, one end of the seat body 6011 can be received in the installation through hole 4011 to increase space utilization.

[0048] Preferably, the two jaw arms 6012 are respectively placed in the guide groove of the corresponding column 403 facing the side surface of the column 403, so that the two jaw arms 6012 run more stably during the lifting process with the lifting cylinder 301.

[0049] Each floating suction cup 602 is a bellows suction cup, and each bellows suction cup is connected to a vacuum generator (not shown) through a pipeline (not shown). The suction cup head of the bellows suction cup has a laminated structure, is elastic, has a certain buffer amount, can apply pressure to the material without deforming the material, and can be used to adsorb materials with uneven surfaces or inclined surfaces.

[0050] The movement process and principle of the present utility model are as follows:

[0051] The material picking and placing device of the present utility model is driven by a manipulator to move above the material bin, facing the materials placed obliquely left and right in the material bin, so that the materials have inclined surfaces. If the film suction cups and flat suction cups are directly used to pick materials, it is easy to wrinkle the materials or it is not easy to uniformly and firmly suck the materials. At this time, start the lifting cylinder 301 and start the vacuum generator, so that it drives the jaw seat 601 and the two floating suction cups 602 on the jaw seat 601 to descend along the avoidance holes of the lower fixing seat 402 to the surface of the inclined material. The two floating suction cups 602 suck the material, and then control the lifting cylinder 301 to drive the jaw seat 601, the two floating suction cups 602 and the material on the floating suction cups 602 to rise. When the material rises and contacts the Teflon plate at the front end of the lower fixing seat, disconnect the vacuum generator of the floating suction cup 602, open the vacuum of the film suction cup and the flat suction cup, suck the material, and after completing the material picking, the manipulator runs to the discharging place to discharge the material.

[0052] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present utility model, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present utility model.

Claims

1. A device for taking and placing materials in a vertical silo with left and right tilts, characterized in that: It comprises a quick-change assembly (100), wherein a suction cup assembly (200) is provided at the front end of the quick-change assembly (100); The suction cup assembly (200) comprises a suction cup fixing seat, on which a lifting assembly and a suction cup group are arranged with a driving direction along the Z axis; the suction cup group comprises a floating suction cup group and a fixed suction cup group, and both the floating suction cup group and the fixed suction cup group are connected to a vacuum generator via a pipeline; The floating suction cup group is connected to the driving end of the lifting assembly and is driven by the lifting assembly to move away from or approach the suction cup fixing seat along the Z-axis.

2. The device for taking and placing materials in a vertical silo with left and right tilts according to claim 1 is characterized in that: The quick-change assembly (100) comprises a flange seat (101) and a quick-change head (102) connected to the flange seat (101); The flange seat (101) is connected to the robot, and the suction cup assembly (200) is connected to the front end of the quick-change head (102).

3. The device for taking and placing materials in a vertical silo with left and right tilts according to claim 2 is characterized in that: The suction cup fixing seat comprises an upper fixing seat (401) and a lower fixing seat (402); The upper fixed seat (401) is fixedly connected to the front end surface of the quick-change head (102); two vertical plates (403) are arranged on the upper fixed seat (401) in parallel and at intervals along the Z-axis direction; the two vertical plates (403) are fixedly connected to the lower fixed seat (402) on the front end surfaces facing the material bin; and the suction cup group is arranged on the lower fixed seat (402).

4. The device for taking and placing materials in a vertical silo tilted left and right according to claim 3, characterized in that: The floating suction cup assembly comprises a clamping claw seat (601) and two floating suction cups (602) symmetrically arranged on the clamping claw seat (601) at intervals.

5. The device for taking and placing materials in a vertical silo with materials tilted left and right according to claim 4, characterized in that: The lifting assembly comprises a Z-axis guide rail (300) and a lifting cylinder (301) whose driving direction is along the Z-axis direction; The fixed end of the lifting cylinder (301) is connected to the upper fixing seat (401); One top end of the Z-axis guide rail (300) is connected to the upper fixing seat (401), and the other top end is connected to the lower fixing seat (402), and is located between the two vertical plates (403); One side of the clamping claw seat (601) is connected to the driving end of the lifting cylinder (301), and the other side thereof is slidably connected to the Z-axis guide rail (300), and the front ends of the clamping claw seat (601) and the two floating suction cups (602) on the clamping claw seat (601) pass through the avoidance hole of the lower fixed seat (402), and rise and fall along the Z-axis with the lifting cylinder (301).

6. The device for taking and placing materials in a vertical silo tilted left and right according to claim 5, characterized in that: A guide groove along the Z-axis direction is provided on the side of each of the vertical plates (403) facing the clamping jaw seat (601); The side surfaces of each clamping jaw seat (601) are slidably placed on the guide rail grooves on the corresponding sides.

7. The device for taking and placing materials in a vertical silo with left and right tilts according to claim 4 is characterized in that: Each of the floating suction cups (602) is an accordion suction cup.

8. The device for taking and placing materials in a vertical silo with materials tilted left and right according to claim 1, characterized in that: The fixed suction cup group includes a group of film suction cups (701) and a group of flat suction cups (702).

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