Multifunctional transfer device

Abstract

The utility model discloses a multifunctional transfer device, which comprises a frame, a plurality of transfer devices, a plurality of transfer devices and a plurality of transfer devices, a clamping mechanism and an adsorption mechanism are arranged on the rack and can work independently or cooperatively; the clamping mechanism at least comprises two clamping pieces capable of moving relatively, and the moving direction of the clamping pieces is consistent with the arrangement direction of the rack; the adsorption mechanism moves in the height direction of the rack and at least comprises a lifting driving assembly, a telescopic sleeve and a suction cup. The lifting driving assembly drives the telescopic sleeve to extend downwards step by step and drives the suction cup to move downwards until the surface of a product is adsorbed; the suction cup is arranged in the middle of the two clamping pieces. The lifting device has the advantages that the sleeve structure is adopted and matched with the pulley and the rope to be connected with the sleeves of different levels, the telescopic sleeve can extend or contract downwards step by step through one lifting motor, long-distance movement is achieved, the pulley and the rope further play a role in stabilizing and balancing in the moving process, and the lifting device is convenient to use. And the whole lifting process is more stable and smooth.

Description

TECHNICAL FIELD

[0001] The utility model belongs to robot transfer fixture technical field, especially, it relates to a multifunctional transfer device. BACKGROUND

[0002] With the development of automation and intelligent technology, robot transfer technology is more and more widely used in the fields of agriculture, industry and so on. In the field of automatic transfer, robot clamp technology is the key to realize accurate and efficient transfer. The existing robot transfer clamp technology is usually through the clamps or suction cups to hold or adsorb products, and then combines the linear moving mold to realize the transfer and conveying of the products. However, the structure of the clamps or suction cups is single, and the products may fall during the moving process, which affects the yield of the products.

[0003] The existing patent CN110271031B "Lifting clamping type vacuum chuck clamp and using method" proposes a technical solution to solve the above technical problems. In this technical solution, the clamp and the suction cup are combined to ensure the quality of the products during the moving and conveying process. However, the existing technology including this patent usually uses air cylinders or motors to realize the lifting function. However, these technologies have some limitations in practical application. For example: moving distance limitation: air cylinders and motors are suitable for short-distance movement, but once the moving distance is long, the products will shake, which will cause instability during the moving process. This instability seriously affects the safety and efficiency of product conveying.

[0004] To solve the above problems, designing a multifunctional transfer device is an important technical problem for the technical personnel in this field. INVENTION CONTENTS

[0005] The purpose of the utility model is to solve the above problems in the prior art and provide a multifunctional transfer device.

[0006] The purpose of the utility model is achieved by the following technical solutions:

[0007] The multifunctional transfer device comprises a rack; a clamping mechanism and an adsorption mechanism are arranged on the rack, and the two can work independently or be used in cooperation; the clamping mechanism comprises at least two clamping pieces that can move relative to each other, and the moving direction of the clamping pieces is consistent with the arrangement direction of the rack; the adsorption mechanism moves along the height direction of the rack, and the adsorption mechanism comprises at least a lifting driving assembly, a telescopic sleeve arranged on the power output end of the lifting driving assembly and at least one suction cup arranged at the bottom of the telescopic sleeve; the lifting driving assembly drives the telescopic sleeve to extend step by step downward, and drives the suction cup to move downward until the suction cup adsorbs the surface of the product; and the suction cup is arranged centrally in the two clamping pieces.

[0008] Preferably, the telescopic sleeve comprises, from outside to inside, a first sleeve, a second sleeve, a third sleeve and a fourth sleeve; the top end of the first sleeve is fixed on a support, and the support is fixedly connected with the rack; the lifting motor in the lifting driving assembly is fixed on the outside of the first sleeve.

[0009] Preferably, the lifting driving assembly comprises the lifting motor and a lead screw; the top of the lead screw is arranged on the first sleeve through a bushing; the output end of the lifting motor is connected with the input end of the lead screw through a synchronous belt, and drives the lead screw to rotate synchronously; a sliding nut is arranged on the lead screw, a connecting bridge is fixed on the sliding nut, and the end of the connecting bridge is fixed in the second sleeve; the lifting motor is started to drive the second sleeve to lift relative to the first sleeve.

[0010] Preferably, the inside bottom end of the first sleeve is provided with a first fixed block, and the outer wall of the first fixed block is provided with a first rope fixing block; the upper and lower ends of the second sleeve are respectively provided with second fixed blocks protruding from the inner and outer surfaces thereof, the inner wall of the second fixed block is provided with a first upper pulley, and the outer wall of the second fixed block is provided with a first lower pulley; the upper and lower ends of the third sleeve are respectively provided with third fixed blocks protruding from the inner and outer surfaces thereof, the inner wall of the third fixed block is provided with a second upper pulley, and the outer wall of the third fixed block is provided with a second lower pulley; the inner wall of the upper end of the third sleeve extends a second rope fixing block; the upper and lower ends of the fourth sleeve are respectively provided with fourth fixed blocks protruding from the inner and outer surfaces thereof, and the inner wall of the upper end of the fourth sleeve extends a fourth rope fixing block.

[0011] Preferably, the first end of a first rope is fixed on the first rope fixing block and passes through the first lower pulley, and the end of the first rope is fixed on the third fixed block; the first end of a second rope is fixed on the first fixed block and passes through the first upper pulley, and the end of the second rope is fixed on the second rope fixing block; the first end of a third rope is fixed on the first rope fixing block and passes through the second lower pulley, and the end of the third rope is fixed on the fourth fixed block; the first end of a fourth rope is fixed on the third fixed block and passes through the second upper pulley, and the end of the fourth rope is fixed on the fourth rope fixing block.

[0012] Preferably, the suction disc holder is fixedly connected with the bottom end of the fourth sleeve through bolts, and a through hole is formed in the suction disc holder to facilitate the passing of the second lower pulley.

[0013] Preferably, the clamping mechanism comprises a clamping motor arranged on the rack, a horizontal lead screw arranged at the output end of the clamping motor, and the clamping pieces arranged on the horizontal lead screw; the clamping pieces reciprocate on the horizontal lead screw, so that the two clamping pieces move towards each other or away from each other to clamp or release the product.

[0014] Preferably, a guide rail is arranged on the frame, and the guide rail is arranged in parallel with the horizontal screw rod; and the two ends of the clamping member are connected with the guide rail and the screw rod through sliding blocks.

[0015] Preferably, the output end of the clamping motor is connected with the horizontal screw rod through a synchronous belt to drive the horizontal screw rod to rotate, thereby driving the clamping member to move.

[0016] Preferably, the bottom end of the clamping member is lower than the bottom surface of the suction cup in the initial state and higher than the bottom surface of the suction cup in the adsorbed state.

[0017] The advantages of the technical scheme of the utility model mainly embody in:

[0018] In the utility model, sleeves of different levels are connected through pulleys and ropes, one driving structure can make the telescopic sleeves extend or contract step by step, realize long-distance movement, and the pulleys and ropes also play the role of stabilizing and balancing during movement, so that the whole lifting process is more stable and smooth.

[0019] During movement, the fixed blocks between the sleeves of different levels are used for mutual limiting, so that any sleeve cannot be taken out of the structure, and the reliability during use is ensured.

[0020] The suction mechanism and the clamping mechanism are arranged on the frame, and the two mechanisms are driven to work by respective driving sources, the work is not interfered with each other, and the two mechanisms can work independently or simultaneously, so that the demand of different types of products for transplanting can be met, and the flexibility is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The utility model discloses a preferred embodiment of the utility model is the perspective drawing of the utility model;

[0022] Figure 2 The utility model discloses a preferred embodiment of the utility model is the first direction cross section drawing of the utility model;

[0023] Figure 3 The utility model discloses a preferred embodiment of the utility model is the second direction cross section drawing of the utility model;

[0024] Figure 4 The utility model discloses a preferred embodiment of the utility model is the initial state structure diagram of the utility model;

[0025] Figure 5 The utility model discloses a preferred embodiment of the utility model is the adsorbed state structure diagram of the utility model. DETAILED DESCRIPTION

[0026] The purposes, advantages and characteristics of the utility model will be illustrated and explained through the following non-restrictive description of preferred embodiments. These embodiments are only typical examples of application of the technical scheme of the utility model, and any technical scheme formed by equivalent replacement or equivalent transformation falls within the scope of the utility model.

[0027] In the description of the scheme, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of description and simplification of the description, and does not indicate or imply that the device or element 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 utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Moreover, in the description of the scheme, the operator is taken as the reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0028] As shown in Figure 1 The utility model discloses a multifunctional transfer device, including frame 1. Frame 1 is provided with clamping mechanism 2 and adsorption mechanism 3, and two can be relatively independent work, also can cooperate and use. When clamping mechanism 2 works alone, can be used for clamping product, and completes the transplanting work of product, when adsorption mechanism 3 works alone, can be used for adsorbing product, and completes the transplanting work of product, when two work simultaneously, adsorption mechanism 3 adsorbs product surface, and simultaneously clamping mechanism 2 clamps product, and two cooperate and complete the transplanting work of product. Simultaneous adsorption mechanism and clamping mechanism on the frame, two kinds of mechanisms are driven to work by respective drive source, and work is not interfered with each other, and two can work alone or simultaneously, to satisfy the demand of different types of products for transplanting, improve flexibility.

[0029] Further, clamping mechanism 2 at least includes two relatively movable clamping pieces 21, and the moving direction of clamping piece 21 is consistent with the setting direction of frame 1. As shown in Figures 2-3 Further, frame 1 is further provided with guide rail 23, and the setting direction of guide rail 23 is parallel with horizontal screw rod 22, and two ends of clamping piece 21 are connected with guide rail 23 and screw rod 22 through sliding block. Horizontal screw rod 22 and guide rail 23 cooperate, effectively enhance the stability of clamping piece 21 in the moving process, guarantee smoothness and smoothness in the clamping process.

[0030] The output end of the clamping motor 20 is connected with the horizontal screw rod 22 through a synchronous belt. The clamping motor 20 is started to drive the horizontal screw rod 22 to rotate, so that the slider and the clamping pieces 21 fixed on the slider reciprocate on the horizontal screw rod 22, and the two clamping pieces 21 simultaneously move towards each other or move away from each other to clamp or release the product.

[0031] In the clamping state, the clamping motor 20 is started to drive the horizontal screw rod 22 to rotate, thereby driving the slider on the horizontal screw rod 22 to move close to the adsorption mechanism 3 until the two clamping pieces 21 fixedly connected with the slider are in abutment with the outer wall of the product and apply a certain force to the product, so as to clamp the product and move to a specified position.

[0032] As shown in Figure 1 , Figure 4 and Figure 5 , the adsorption mechanism 3 moves along the height direction of the rack 1, and the adsorption mechanism 3 at least includes a lifting driving assembly 31, a telescopic sleeve 32 arranged at the power output end of the lifting driving assembly 31, and at least one suction cup 33 arranged at the bottom of the telescopic sleeve 32. The lifting driving assembly 31 drives the telescopic sleeve 32 to extend step by step downward, and drives the suction cup 33 to move downward until the suction cup 33 is adsorbed to the surface of the product. Further, the suction cup 33 is arranged centrally in the two clamping pieces 21; and the bottom end of the clamping piece 21 is lower than the bottom surface of the suction cup 33 in the initial state and higher than the bottom surface of the suction cup 33 in the adsorbed state.

[0033] In the utility model, a group of the suction cups 33 are preferably arranged, and at least two control air paths are arranged, and the two control air paths control the suction cups 33 respectively. When the surface of the product is small, one of the suction cups 33 corresponding to one of the air paths can be opened to adsorb the product; when the surface of the product is large, the two air paths can be opened simultaneously to adsorb the product by all the suction cups 33. In addition, the control mode and the specific structure of the suction cup 33 are known technologies, so they are not described here. In addition, the suction force of the suction cup 33 can be adjusted by adjusting the size of the air source.

[0034] As shown in Figures 2-3 , the telescopic sleeve 32 includes a first sleeve 321, a second sleeve 322, a third sleeve 323 and a fourth sleeve 324 from outside to inside. The top end of the first sleeve 321 is fixed on the support 103, and the support 103 is fixedly connected with the rack 1, that is, the position of the first sleeve 321 is fixed. Figures 1-2 As shown in , the lifting motor 311 in the lifting driving assembly 31 is fixed on the outside of the first sleeve 321.

[0035] Further, as shown inFigure 2 As shown, the lifting driving assembly 31 comprises the lifting motor 311 and a lead screw 312. The top of the lead screw 312 is arranged on the primary sleeve 321 through a bushing and can rotate relative to the primary sleeve 321. Specifically, the output end of the lifting motor 311 is connected with the input end of the lead screw 312 through a synchronous belt and drives the lead screw 312 to rotate synchronously, that is, the primary sleeve 321 is formed with a through hole for facilitating the synchronous belt to pass through. The lead screw 312 is arranged with a sliding nut 313, the sliding nut 313 is fixed with a connecting bridge 314, and the end of the connecting bridge 314 is fixed in the secondary sleeve 322. Starting the lifting motor 311 drives the lead screw 312 to rotate, so that the sliding nut 313, the connecting bridge 314 and the secondary sleeve 322 are lifted relative to the primary sleeve 321, and in turn drive the tertiary sleeve 323 and the quaternary sleeve 324 to be lifted step by step, so as to drive the suction cup 33 to move upward or downward. The suction cup holder 331 of the suction cup 33 is fixedly connected with the bottom end of the quaternary sleeve 324 through bolts, and the suction cup holder 331 is formed with a through hole for facilitating the second lower pulley 3232 to pass through.

[0036] As Figure 3As shown, the inner bottom end of the primary sleeve 321 is provided with a first fixed block 3210, and the outer wall is provided with a first rope fixed block 3211. The upper and lower ends of the secondary sleeve 322 are respectively provided with a second fixed block 3220 protruding from the inner and outer surfaces thereof, and the inner wall of the second fixed block 3220 is provided with a first upper pulley 3221, and the outer wall is provided with a first lower pulley 3222. The upper and lower ends of the tertiary sleeve 323 are respectively provided with a third fixed block 3230 protruding from the inner and outer surfaces thereof, and the inner wall of the third fixed block 3230 is provided with a second upper pulley 3231, and the outer wall is provided with a second lower pulley 3232. The inner wall of the upper end of the tertiary sleeve 323 extends a second rope fixed block 3233. The upper and lower ends of the quaternary sleeve 324 are respectively provided with a fourth fixed block 3240 protruding from the inner and outer surfaces thereof, and the inner wall of the upper end of the quaternary sleeve 324 extends a fourth rope fixed block 3241. The first end of the first rope 41 is fixed to the first rope fixed block 3211 and passes through the first lower pulley 3222, and the end of the first rope 41 is fixed to the third fixed block 3230. The first end of the second rope 42 is fixed to the first fixed block 3210 and passes through the first upper pulley 3221, and the end of the second rope 42 is fixed to the second rope fixed block 3233. The first end of the third rope 43 is fixed to the second rope fixed block 3220 and passes through the second lower pulley 3232, and the end of the third rope 43 is fixed to the fourth fixed block 3240. The first end of the fourth rope 44 is fixed to the second fixed block 3220 and passes through the second upper pulley 3231, and the end of the fourth rope 44 is fixed to the fourth rope fixed block 3241.

[0037] The initial state is as shown in Figure 4 As shown, the sliding nut 313 is close to the input end of the lead screw 312, at this time, the telescopic sleeve 32 is in a contracted state, the main bodies of the quaternary sleeve 324, the tertiary sleeve 323 and the secondary sleeve 322 are located in the primary sleeve 321, and the suction cup 33 is located between the two clamping members 21 and is higher than the bottom end of the clamping member 21.

[0038] The adsorbed state is as shown in Figure 5As shown, the lifting motor 311 is started to drive the screw rod 312 to rotate, so as to drive the sliding nut 313 and the second sleeve 322 to move downward relative to the first sleeve 321. Meanwhile, the first rope 41 and the second rope 42 wound around the first upper pulley 3221 and the first lower pulley 3222 rotate the first upper pulley 3221 and the first lower pulley 3222. When the second sleeve 322 moves downward, the distance between the first lower pulley 3222 and the first fixed block 3210 increases, and the distance between the first lower pulley 3222 and the third fixed block 3230 decreases under the driving of the first rope 41, that is, the second sleeve 322 drives the third sleeve 323 to move downward.

[0039] When the third sleeve 323 moves downward, the distance between the second lower pulley 3232 and the second fixed block 3220 increases, and the fourth sleeve 324 moves downward under the driving of the third rope 43. Meanwhile, the distance between the second upper pulley 3231 and the second fixed block 3220 decreases under the driving of the fourth rope 44.

[0040] In addition, the distance between the first upper pulley 3221 and the first fixed block 3210 decreases under the driving of the second rope 42, and the fourth sleeve 324 moves downward under the driving of the second rope 42. Thus, when the second sleeve 322 moves downward, the third sleeve 323 and the fourth sleeve 324 are driven to move downward synchronously, and when the third sleeve 323 moves downward, the fourth sleeve 324 is further lowered to increase the moving stroke.

[0041] When the lifting motor 311 reverses to rotate after the adsorption product is adsorbed, the second sleeve 322, the third sleeve 323 and the fourth sleeve 324 are driven to move upward to the initial state. In this process, each component can be reversely operated according to the working process of the adsorption state, which will not be described in detail.

[0042] In the utility model, the sleeve structure is adopted, and the pulleys and ropes are used to connect different levels of sleeves. One driving structure can make the telescopic sleeves extend or contract step by step, realize long-distance movement, and the pulleys and ropes also play a stabilizing and balancing role in the movement process, so that the whole lifting process is more stable and smooth. In the movement process, the fixed blocks between different levels of sleeves are used for mutual limiting, so that any sleeve cannot be taken out of the structure, and the reliability in use is ensured.

[0043] The utility model still has various implementation manners, all technical schemes formed by equivalent transformation or equivalent transformation fall within the protection scope of the utility model.

Claims

1. A multi-functional transfer device, characterized by: The utility model provides a kind of product suction and clamping device, including rack (1);The rack (1) is provided with clamping mechanism (2) and suction mechanism (3), and two can be relatively independent work, also can be used in cooperation;The clamping mechanism (2) at least includes two relatively movable clamping piece (21), and the moving direction of the clamping piece (21) is consistent with the setting direction of the rack (1);The suction mechanism (3) moves along the height direction of the rack (1), and the suction mechanism (3) at least includes lifting drive assembly (31), telescopic sleeve (32) being arranged on the power output end of the lifting drive assembly (31) and at least one suction disc (33) being arranged on the bottom of the telescopic sleeve (32);The lifting drive assembly (31) drives the telescopic sleeve (32) to extend downwards gradually, and drives the suction disc (33) to move downwards, until the surface of product is adsorbed;The suction disc (33) is centrally arranged in two clamping pieces (21).

2. The multi-functional transfer device according to claim 1, characterized by: The telescopic sleeve (32) includes primary sleeve (321), secondary sleeve (322), tertiary sleeve (323) and quaternary sleeve (324) in turn from outside to inside;The top end of the primary sleeve (321) is fixed on support (103), and the support (103) is fixedly connected with the rack (1);Lifting motor (311) in the lifting drive assembly (31) is fixed on the outside of the primary sleeve (321).

3. The multi-functional transfer device according to claim 2, wherein: The lifting drive assembly (31) includes the lifting motor (311) and screw rod (312);The top of the screw rod (312) is arranged on the primary sleeve (321) by bushing;The output end of the lifting motor (311) is connected with the input end of the screw rod (312) by synchronous belt, and drives the screw rod (312) to rotate synchronously;Sliding nut (313) is arranged on the screw rod (312), and connecting bridge (314) is fixed on the sliding nut (313), and the end of the connecting bridge (314) is fixed in the secondary sleeve (322);Start the lifting motor (311), drive the secondary sleeve (322) to lift relative to the primary sleeve (321).

4. The multi-functional transfer device according to claim 3, wherein: The inner bottom end of the first sleeve (321) is provided with a first fixing block (3210), and the outer wall of the first fixing block (3210) is provided with a first rope fixing block (3211); the upper and lower ends of the second sleeve (322) are respectively provided with second fixing blocks (3220) protruding from the inner and outer surfaces thereof, the inner wall of the second fixing block (3220) is provided with a first upper pulley (3221), and the outer wall of the second fixing block (3220) is provided with a first lower pulley (3222); the upper and lower ends of the third sleeve (323) are respectively provided with third fixing blocks (3230) protruding from the inner and outer surfaces thereof, the inner wall of the third fixing block (3230) is provided with a second upper pulley (3231), and the outer wall of the third fixing block (3230) is provided with a second lower pulley (3232); the inner wall of the upper end of the third sleeve (323) extends a second rope fixing block (3233); the upper and lower ends of the fourth sleeve (324) are respectively provided with fourth fixing blocks (3240) protruding from the inner and outer surfaces thereof, and the inner wall of the upper end of the fourth sleeve (324) extends a fourth rope fixing block (3241).

5. The multi-functional transfer device according to claim 4, wherein: The first end of a first rope (41) is fixed to the first rope fixing block (3211) and passes through the first lower pulley (3222), and the tail end of the first rope (41) is fixed to the third fixing block (3230); the first segment of a second rope (42) is fixed to the first fixing block (3210) and passes through the first upper pulley (3221), and the tail end of the second rope (42) is fixed to the second rope fixing block (3233); the first segment of a third rope (43) is fixed to the first rope fixing block (3211) and passes through the second lower pulley (3232), and the tail end of the third rope (43) is fixed to the fourth fixing block (3240); the first segment of a fourth rope (44) is fixed to the third fixing block (3230) and passes through the second upper pulley (3231), and the tail end of the fourth rope (44) is fixed to the fourth rope fixing block (3241).

6. The multi-functional transfer device according to claim 5, wherein: The suction disc holder (331) of the suction disc (33) is fixedly connected with the bottom end of the fourth sleeve (324) through bolts, and a through hole is formed in the suction disc holder (331) to facilitate the passing of the second lower pulley (3232).

7. The multi-functional transfer device according to claim 6, wherein: The clamping mechanism (2) comprises a clamping motor (20) arranged on the rack (1), a horizontal lead screw (22) arranged at the output end of the clamping motor (20), and the clamping pieces (21) arranged on the horizontal lead screw (22); the clamping pieces (21) reciprocate on the horizontal lead screw (22), so that the two clamping pieces (21) move towards each other or away from each other to clamp or release the product.

8. The multi-functional transfer device according to claim 7, wherein: The rack (1) is further provided with a guide rail (23), and the arrangement direction of the guide rail (23) is parallel to the horizontal lead screw (22); the two ends of the clamping piece (21) are connected with the guide rail (23) and the horizontal lead screw (22) through sliding blocks.

9. The multi-functional transfer device according to claim 8, wherein: The output end of the clamping motor (20) is connected with the horizontal screw rod (22) through a synchronous belt to drive the horizontal screw rod (22) to rotate, thereby driving the clamping piece (21) to move.

10. The multi-functional transfer device according to claim 9, wherein: The bottom end of the clamping piece (21) is lower than the bottom surface of the suction cup (33) in the initial state and higher than the bottom surface of the suction cup (33) in the adsorbed state.

Images