Carrying and grabbing mechanism

Abstract

The utility model belongs to the technical field of carrying, and discloses a carrying grabbing mechanism which comprises a frame body, a negative pressure adsorption device and a fishing grabbing clamping device, the negative pressure adsorption device comprises a plurality of sets of first linear driving mechanisms and a suction nozzle assembly, and the first linear driving mechanisms are located on the same horizontal plane; one end of each group of first linear driving mechanism is located in the edge area of the frame body, the other end of each group of first linear driving mechanism is located in the center area of the frame body, the suction nozzle assembly is arranged at the moving end of the first linear driving mechanism, and the fishing and grabbing clamping device comprises a second linear driving mechanism and a fishing and grabbing assembly, and the two ends of the second linear driving mechanism are located on the two opposite sides of the frame body correspondingly; the fishing and grabbing assembly is arranged on the second linear driving mechanism. The carrying and grabbing mechanism can be integrated on the frame body through the first linear driving mechanism and the second linear driving mechanism, so that the carrying and grabbing mechanism can achieve the functions of paper taking, sheet taking and box fishing, the cost is reduced, the structure is simple, the occupied space is small, and the carrying and grabbing mechanism can be suitable for various use scenes.

Description

TECHNICAL FIELD

[0001] The utility model relates to a carrying technology field especially relates to a carrying and grabbing mechanism. BACKGROUND

[0002] The display panel is a kind of equipment for displaying image, usually by controlling the arrangement of liquid crystal molecules to display image, is widely used in television, computer and mobile phone and other electronic products.

[0003] During the manufacturing process of display panel, paper, sheet and box need to be transferred by different carrying devices.The existing carrying device uses suction nozzle assembly to adsorb and grab by using negative pressure for paper taking and sheet taking, and uses fishing grab to clamp for box, so that three different structures of carrying device are needed to realize the functions of paper taking, sheet taking and box fishing, with high cost, complex structure and large space occupation, which limits the use occasion.

[0004] Therefore, a new carrying and grabbing mechanism needs to be designed to improve the above problems. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a kind of carrying and grabbing mechanism to solve the technical problems that three different structures of grabbing mechanism are needed to carry out paper taking, sheet taking and box fishing operation, with high cost, complex structure and large space occupation, which limits the use occasion.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The carrying and grabbing mechanism comprises:

[0008] Frame body;

[0009] Negative pressure adsorption device, the negative pressure adsorption device includes first linear drive mechanism and suction nozzle assembly, the first linear drive mechanism is provided with multiple groups and is in the same horizontal plane, one end of each group first linear drive mechanism is located in the edge area of the frame body, the other end is in the central region of the frame body, the suction nozzle assembly is set to the moving end of the first linear drive mechanism;

[0010] Fishing grab clamping device, the fishing grab clamping device includes second linear drive mechanism and fishing grab assembly, two ends of the second linear drive mechanism are located at opposite sides of the frame body respectively, the fishing grab assembly is set to the moving end of the second linear drive mechanism;

[0011] One of the negative pressure adsorption device and the fishing grab clamping device is located at the upper end surface of the frame body, and the other is located at the lower end surface of the frame body.

[0012] As a preferred scheme of carrying and grabbing mechanism, the frame body is rectangular frame structure.

[0013] As a preferred solution of the carrying and grabbing mechanism, the first linear driving mechanism comprises slide rails and slide blocks, four slide rails are arranged at the same horizontal plane, one end of each of the four slide rails is located at a corner of the frame body, and the other end extends to the central region of the frame body, the slide blocks are connected to the slide rails one by one, and the suction nozzle assembly is connected to the slide blocks.

[0014] As a preferred solution of the carrying and grabbing mechanism, the first linear driving mechanism further comprises a first driving member, and the first driving member is configured to drive the four slide blocks to synchronously slide on the slide rails.

[0015] As a preferred solution of the carrying and grabbing mechanism, the first driving member comprises:

[0016] a first driving wheel, which is rotationally arranged at the center of the frame body;

[0017] a first driven wheel, one end of each of the slide rails is rotationally connected with a first driven wheel at a corner of the frame body;

[0018] a first synchronous belt, which is arranged around the first driving wheel and the first driven wheels, and the suction nozzle assembly is arranged on the first synchronous belt;

[0019] a guide wheel, which is arranged in multiple, and the guide wheels are arranged in the central region of the frame body to guide the first synchronous belt to be located in the extension direction of each of the slide rails;

[0020] a first rotation driving member, an output end of the first rotation driving member is connected with the first driving wheel and is configured to drive the first driving wheel to rotate.

[0021] As a preferred solution of the carrying and grabbing mechanism, the guide wheels are arranged in six, and each of the six guide wheels is located in the central region of the frame body, wherein two of the slide rails form a group, and the two slide rails of each group are guided by three guide wheels.

[0022] As a preferred solution of the carrying and grabbing mechanism, the first driving wheel and the first driven wheel are in gear structure, and the surface of the first synchronous belt is provided with a first tooth groove engaged with the first driving wheel and the first driven wheel.

[0023] As a preferred solution of the carrying and grabbing mechanism, the second linear driving mechanism comprises:

[0024] a second driving wheel, which is rotationally arranged at one side of the frame body;

[0025] A second driven wheel is rotatably arranged on the other side of the frame body;

[0026] A second synchronous belt is arranged around the circumferential side of the second driving wheel and the second driven wheel, and two groups of the fishing and grabbing assemblies are arranged, one group of the fishing and grabbing assemblies is arranged on one side of the second synchronous belt, and the other group is arranged on the other side of the second synchronous belt;

[0027] A second rotary driving member is connected with the output end of the second driving wheel and configured to drive the second driving wheel to rotate.

[0028] As a preferred solution of the carrying and grabbing mechanism, the second driving wheel and the second driven wheel are gear structures, and the surface of the second synchronous belt is provided with a second gear groove engaged with the second driving wheel and the second driven wheel.

[0029] As a preferred solution of the carrying and grabbing mechanism, the suction nozzle assembly is provided with a guide block, and a guide rod is arranged between the guide blocks of every two suction nozzle assemblies.

[0030] The beneficial effects of the utility model are as follows:

[0031] When it is needed to take paper or sheet, according to the size of the paper or sheet, the first linear driving mechanism of each group drives the corresponding connected suction nozzle assembly to move synchronously along the extension direction of the first linear driving mechanism, and when the size is small, the suction nozzle assembly is adjusted to move towards the center area of the frame body, and when the size is large, the suction nozzle assembly is adjusted to move towards the edge area of the frame body.

[0032] When it is needed to fish a box, the two fishing and grabbing assemblies arranged oppositely are driven to move relatively by the second linear driving mechanism to fish up the box to be transferred.

[0033] When the fishing and grabbing assembly is fished, the first linear driving mechanism needs to adjust the suction nozzle assembly to move to the edge area of the frame body to avoid the fishing and grabbing assembly, and the negative pressure suction device and the fishing and grabbing device are respectively located on the upper end face and the lower end face of the frame body, so that the first linear driving mechanism and the second linear driving mechanism can be integrated on the frame body, the carrying and grabbing mechanism can realize the functions of taking paper, taking sheet and fishing a box, the cost is reduced, the structure is simple, the occupied space is small, and the carrying and grabbing mechanism can be applied to various use scenes. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a top view of the carrying and grabbing mechanism provided by the utility model embodiment;

[0035] Figure 2 is Figure 1 is an enlarged view of part A in figure 6;

[0036] Figure 3 is a side view of the carrying and grabbing mechanism provided by the embodiment of the utility model.

[0037] In the drawings:

[0038] 1, frame body;

[0039] 2, first linear drive mechanism; 21, slide rail; 22, sliding block; 23, first drive part; 231, first driving wheel; 232, first driven wheel; 233, guide wheel; 2331, first guide wheel; 2332, second guide wheel; 2333, third guide wheel; 234, first rotary drive part;

[0040] 3, suction nozzle assembly; 31, guide block; 32, guide rod;

[0041] 4, second linear drive mechanism; 41, second driving wheel; 42, second driven wheel; 43, second synchronous belt; 44, second rotary drive part;

[0042] 5, fishing and grabbing assembly. DETAILED DESCRIPTION

[0043] The utility model will be further explained in detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the utility model, and not limited to the utility model. In addition, it should be noted that, in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all structures.

[0044] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0045] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0046] In the description of the present embodiment, the terms "upper", "lower", "right", "left", and the like, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0047] During the manufacturing process of the display panel, paper, sheet material and boxes need to be transferred by different conveying devices. The existing conveying device uses a suction nozzle assembly to adsorb and grab the paper and sheet material by negative pressure, and uses a fishing grab to clamp the box, so that three different structures of conveying devices are needed to realize the functions of taking paper, taking sheet material and fishing box, which has high cost, complex structure and large space occupation, and leads to limited use occasions.

[0048] In order to solve the above problems, in combination with Figures 1-3 As shown in the drawings, the present embodiment provides a conveying and grabbing mechanism, which comprises a frame body 1, a negative pressure adsorption device and a fishing grab clamping device.

[0049] The negative pressure adsorption device comprises a first linear drive mechanism 2 and a suction nozzle assembly 3. The first linear drive mechanism 2 is provided in multiple groups and in the same horizontal plane. One end of each group of first linear drive mechanisms 2 is located in the edge area of the frame body 1, and the other end of each group of first linear drive mechanisms 2 is located in the center area of the frame body 1. The suction nozzle assembly 3 is arranged at the moving end of the first linear drive mechanism 2. When paper or sheet material needs to be taken, according to the size of the paper or sheet material, each group of first linear drive mechanisms 2 drives the corresponding connected suction nozzle assembly 3 to move synchronously along the extension direction of each group of first linear drive mechanisms 2. When the size is small, adjust the suction nozzle assembly 3 to move towards the center area of the frame body 1, and when the size is large, adjust the suction nozzle assembly 3 to move towards the edge area of the frame body 1, so that different sizes of paper or sheet material can be transferred, and the applicability is wider. Multiple suction nozzle assemblies 3 simultaneously adsorb, have strong suction force and higher reliability. The suction nozzle assembly 3 adsorbs the paper or sheet material by negative pressure. Since the specific structure of the suction nozzle assembly 3 is prior art, it is not described in detail here.

[0050] The fishing grab clamping device comprises a second linear drive mechanism 4 and a fishing grab assembly 5. The two ends of the second linear drive mechanism 4 are respectively located on the opposite sides of the frame body 1. The fishing grab assembly 5 is arranged at the moving end of the second linear drive mechanism 4. When the box needs to be fished, the two fishing grab assemblies 5 arranged oppositely are driven by the second linear drive mechanism 4 to move relatively to fish up the box to be transferred. Since the specific structure of the fishing grab assembly 5 is prior art, it is not described in detail here.

[0051] It should be noted that when scooping a box, the first linear drive mechanism 2 needs to adjust the suction nozzle assembly 3 to move to the edge area of ​​the frame 1 to avoid the scooping assembly 5, ensuring that the suction nozzle assembly 3 is not within the moving range of the scooping assembly 5. In addition, one of the negative pressure adsorption device and the scooping and clamping device is located on the upper end face of the frame 1, and the other is located on the lower end face of the frame 1. The negative pressure adsorption device of this embodiment is arranged on the upper end face of the frame 1, and the scooping and clamping device is arranged on the lower end face of the frame 1, so that the first linear drive mechanism 2 and the second linear drive mechanism 4 respectively have sufficient installation space and do not interfere with each other, ensuring that both can be integrated into the frame 1, so that the transporting and grasping mechanism can realize the functions of picking up paper, taking sheets and scooping a box, reducing costs, having a simple structure and occupying little space, and can be applied to a variety of usage scenarios.

[0052] Preferably, if Figure 1 As shown, the frame 1 of this embodiment has a rectangular frame structure, and the first linear drive mechanism 2 includes a slide rail 21, a slider 22, and a first drive member 23. There are four slide rails 21, and the four slide rails 21 are all in the same horizontal plane. The four slide rails 21 are distributed in an "X" shape, that is, one end of the four slide rails 21 is respectively located at the four corners of the frame 1, and the other end of the four slide rails 21 extends to the center area of ​​the frame 1. The sliders 22 are slidably connected to the slide rails 21 in a one-to-one correspondence. The suction nozzle assembly 3 is connected to the slider 22, and the suction end of the suction nozzle assembly 3 extends to the lower end surface of the frame 1. The first drive member 23 is used to drive the four sliders 22 to slide synchronously on the slide rail 21. The four suction nozzle assemblies 3 are driven by the first drive member 23 to move synchronously to the center area of ​​the frame 1 to absorb small-sized paper or sheets, and move to the four corner areas of the frame 1 to absorb large-sized paper or sheets, so that the handling and grasping mechanism has good versatility.

[0053] Specifically, the first driving member 23 includes a first driving wheel 231, a first driven wheel 232, a first synchronous belt, a guide wheel 233, and a first rotating driving member 234. The first driving wheel 231 is mounted at the center of the frame 1 via a support rod. The output end of the first rotating driving member 234 is connected to the first driving wheel 231 to drive the first driving wheel 231 to rotate. One end of each slide rail 21 located at the four corners of the frame 1 is rotatably connected to a first driven wheel 232. The first synchronous belt is wound around the first driving wheel 231 and each first driven wheel 232. A plurality of guide wheels 233 are provided, and multiple guide wheels 233 are arranged in the central area of ​​the frame 1 to guide the first synchronous belt in the extension direction of each slide rail 21.

[0054] More specifically, if Figure 3As shown, the guide wheels 233 are provided with six, six guide wheels 233 are located in the central region of the frame body 1, wherein each two slide rails 21 is a group, two slide rails 21 of each group is guided by three guide wheels 233, wherein the six guide wheels 233 are two first guide wheels 2331, two second guide wheels 2332 and two third guide wheels 2332, a first guide wheel 2331, a second guide wheel 2332 and a third guide wheel 2333 are a group and cooperate with two first driven wheels 232 of two slide rails 21 to drive the first synchronous belt to be kept on the moving stroke of the slider 22.

[0055] The first driving wheel 231 is driven to rotate by the first rotating driving member 234, the first driving wheel 231 drives the first synchronous belt transmission, the first driven wheel 232 and the guide wheel 233 rotate in cooperation with the transmission of the first synchronous belt, thereby driving the four suction nozzle assemblies 3 connected with the first synchronous belt to move synchronously, which is simple and compact in structure.

[0056] Preferably, the first driving wheel 231 and the first driven wheel 232 of the embodiment are gear structures, the surface of the first synchronous belt is provided with a first tooth groove engaged with the first driving wheel 231 and the first driven wheel 232, and the engagement of the first tooth groove with the first driving wheel 231 and the first driven wheel 232 guarantees the stability of the transmission of the first driving wheel 231 and the first synchronous belt. In addition, in order to improve the consistency of the moving distance of each suction nozzle assembly 3, the guide block 31 is arranged on each suction nozzle assembly 3, and a guide rod 32 is arranged between the guide blocks 31 of every two suction nozzle assemblies 3. The guide block 31 of the suction nozzle assembly 3 slides on the guide rod 32 during the movement, so that the moving stroke of the suction nozzle assembly 3 is more reliable, the moving precision is better, and the precise suction work can be performed.

[0057] Preferably, as shown in FIG. 6, Figure 1 and Figure 2As shown, the second linear drive mechanism 4 and the first linear drive mechanism 2 are arranged in a "M" shape. The second linear drive mechanism 4 includes a second driving wheel 41, a second driven wheel 42, a second synchronous belt 43 and a second rotating drive member 44. The second driving wheel 41 is rotatably arranged on one side of the frame 1, and the second driven wheel 42 is rotatably arranged on the other side of the frame 1. The second synchronous belt 43 is wound around the second driving wheel 41 and the second driven wheel 42. There are two groups of grabbing components 5, one group of which is arranged on one side of the second synchronous belt 43, and the other group is arranged on the other side of the second synchronous belt 43. The output end of the second rotating drive member 44 is connected to the second driving wheel 41, and the second rotating drive member 44 is used to drive the second driving wheel 41 to rotate. The second driving wheel 41 is driven to rotate forward or reverse by the second rotating driving member 44, and the second driving wheel 41 drives the second synchronous belt 43 for transmission. The second driven wheel 42 cooperates with the transmission rotation of the second synchronous belt 43 to drive the two catching assemblies 5 to move closer to or away from each other to scoop the box body. The structure is simple.

[0058] Similarly, the second driving wheel 41 and the second driven wheel 42 are gear structures, and the surface of the second synchronous belt 43 is provided with a second tooth groove that meshes with the second driving wheel 41 and the second driven wheel 42. The engagement of the second tooth groove with the second driving wheel 41 and the second driven wheel 42 ensures the stability of the transmission between the second driving wheel 41 and the second synchronous belt 43.

[0059] Preferably, the first rotation driving member 234 and the second rotation driving member 44 are both motors.

[0060] In summary, this embodiment cleverly combines the suction nozzle assembly 3 and the scooping assembly 5, so it can simultaneously have the functions of picking up paper, picking up sheets and scooping boxes, reducing the use of raw materials and thus reducing costs. In terms of operation and assembly, the structure is simple, thereby reducing the difficulty of assembly and operation, making the transport and grabbing mechanism suitable for a variety of usage scenarios.

[0061] Obviously, the above-described embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the manner in which the present invention is to be implemented. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A handling gripper mechanism characterised in that, The utility model relates to a kind of negative pressure suction device and fishing gripper device, including: Frame (1); Negative pressure suction device, the negative pressure suction device includes first linear drive mechanism (2) and suction nozzle assembly (3), the first linear drive mechanism (2) is provided with multiple groups and is in the same horizontal plane, one end of each group the first linear drive mechanism (2) is located in the edge area of the frame (1), the other end is in the central region of the frame (1), the suction nozzle assembly (3) is arranged in the moving end of the first linear drive mechanism (2); Fishing gripper device, the fishing gripper device includes second linear drive mechanism (4) and fishing gripper assembly (5), two ends of the second linear drive mechanism (4) are located in opposite sides of the frame (1) respectively, the fishing gripper assembly (5) is arranged in the moving end of the second linear drive mechanism (4); One of the negative pressure suction device and the fishing gripper device is located in the upper end surface of the frame (1), and the other is located in the lower end surface of the frame (1).

2. The handling gripper mechanism of claim 1, wherein, The frame (1) is a rectangular frame structure.

3. The handling gripper mechanism of claim 2, wherein, The first linear drive mechanism (2) includes slide rail (21) and sliding block (22), the slide rail (21) is provided with four, four the slide rail (21) is in the same horizontal plane, one end of four the slide rail (21) is located in the four corners of the frame (1) respectively, the other end extends to the central region of the frame (1), the sliding block (22) is slidably connected to the slide rail (21) one by one, the suction nozzle assembly (3) is connected with the sliding block (22).

4. The handling gripper mechanism of claim 3, wherein, The first linear drive mechanism (2) further includes first driving part (23), and the first driving part (23) is configured to drive four the sliding block (22) to slide synchronously on the slide rail (21).

5. The handling gripper mechanism of claim 4, wherein, The first driving part (23) includes: First driving wheel (231), the first driving wheel (231) is rotationally arranged at the center of the frame (1); Each first driven wheel (232) is rotationally connected to one end of each slide rail (21) located at the four corners of the frame (1); First synchronous belt, the first synchronous belt is wound around the circumferential side of the first driving wheel (231) and each first driven wheel (232), and the suction nozzle assembly (3) is arranged on the first synchronous belt; Guide wheel (233), the guide wheel (233) is provided with a plurality of guide wheels (233), and the plurality of guide wheels (233) are arranged in the central region of the frame (1) to guide the first synchronous belt to be located in the extension direction of each slide rail (21); First rotary driving part (234), the output end of the first rotary driving part (234) is connected with the first driving wheel (231) and is configured to drive the first driving wheel (231) to rotate.

6. The handling gripper mechanism of claim 5, wherein, The guide wheel (233) is provided with six, and the six guide wheels (233) are all located in the central region of the frame (1), wherein every two slide rails (21) form a group, and the two slide rails (21) of each group are guided by three guide wheels (233).

7. The handling gripper mechanism of claim 5, wherein, The first driving wheel (231) and the first driven wheel (232) are gear structures, and the surface of the first synchronous belt is provided with first tooth grooves engaged with the first driving wheel (231) and the first driven wheel (232).

8. The handling gripper mechanism of claim 1, wherein, The second linear driving mechanism (4) comprises: A second driving wheel (41) is rotatably arranged on one side of the frame body (1); A second driven wheel (42) is rotatably arranged on the other side of the frame body (1); A second synchronous belt (43) is arranged around the circumferential side of the second driving wheel (41) and the second driven wheel (42), and the fishing grab assembly (5) is provided with two groups, one group of the fishing grab assembly (5) is arranged on one side of the second synchronous belt (43), and the other group is arranged on the other side of the second synchronous belt (43); A second rotary driving member (44) is connected with the second driving wheel (41) at the output end and is configured to drive the second driving wheel (41) to rotate.

9. The handling gripper mechanism of claim 8, wherein, The second driving wheel (41) and the second driven wheel (42) are gear structures, and the surface of the second synchronous belt (43) is provided with second tooth grooves engaged with the second driving wheel (41) and the second driven wheel (42).

10. The handling gripper mechanism of claim 3, wherein, The suction nozzle assembly (3) is provided with a guide block (31), and a guide rod (32) is arranged between the guide blocks (31) of every two suction nozzle assemblies (3).

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