Runner splitting and combining machine

Abstract

The utility model relates to the field of material handling equipment, in particular to a runner splitting and combining machine. A jig for grabbing products is mounted on a manipulator; at least one carrier used for carrying products is mounted on the moving device, and the moving device is used for positioning the carrier to a preset product handover position; if the manipulator is in the shunting state, the manipulator is used for transferring products at an upstream station to the plurality of carriers; if the carriers are in the confluence state, the manipulator is used for transferring the products on the carriers to a downstream station; according to the utility model, the traditional manual carrying or assembly line conveying of easily damaged products is replaced, the orderly transfer of the products in the shunting and converging processes is realized, and the automation level and the overall operation efficiency of a production line are improved.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment, specifically to a flow channel separating and combining material machine. Background Technology

[0002] In modern industrial production, to improve overall production efficiency and equipment utilization, the production cycle time of equipment in different processes on the production line is often inconsistent. Therefore, it is often necessary to distribute the material produced by a single process to multiple subsequent parallel processes, or to aggregate materials from multiple upstream processes to a single downstream process, thus realizing the diversion and merging of materials.

[0003] Currently, material diversion and merging operations on production lines still rely on manual handling and distribution in some cases. This method not only consumes a lot of labor costs but is also prone to inefficiency or errors due to human factors. Another common method is to use traditional assembly line conveyor systems for material transfer. However, traditional assembly line conveyors, such as those using belt conveyors, may cause scratches, contamination, and other damage to materials (especially products with high surface quality requirements) due to friction and collisions during the contact and relative movement between the material and the conveyor belt surface. This affects product quality, may even lead to product scrap, and increases production costs. Utility Model Content

[0004] The technical problem to be solved by this utility model is how to effectively solve the needs of material diversion and merging in the process of automated production, while avoiding damage to the materials during the transfer process. The purpose is to provide a flow channel material diversion and merging machine that realizes the automated diversion and merging of materials on the production line.

[0005] This utility model is achieved through the following technical solution:

[0006] A flow channel separating and combining machine is disposed between an upstream station and a downstream station, the flow channel separating and combining machine comprising:

[0007] A robotic arm, wherein the robotic arm is equipped with a fixture for grasping products;

[0008] A mobile device, on which at least one carrier for carrying products is mounted, the mobile device being used to position the carrier at a predetermined product handover location;

[0009] If in a diversion state, the robotic arm is used to transfer products from one upstream station to multiple carriers;

[0010] If in a confluence state, the robotic arm is used to transfer products from multiple carriers to a downstream workstation.

[0011] Furthermore, the flow channel separating and combining machine also includes a platform, a frame, and casters. The robotic arm and the moving device are both mounted on the platform, the platform is fixed on the frame, and the casters are fixed to the bottom of the frame.

[0012] Optionally, the moving device is a linear motor, and a plurality of the linear motors are arranged in parallel on the upper side of the platform, and the carrier is fixedly connected to the moving part of the linear motor.

[0013] Specifically, the fixture includes:

[0014] A lifting cylinder is mounted on a cylinder mounting plate, and the cylinder mounting plate is fixedly connected to the end of the robotic arm;

[0015] A horizontal connecting plate installed at the lifting end of the lifting cylinder;

[0016] Two picking arms are slidably connected to the lower side of the horizontal connecting plate. The two picking arms move towards or in opposite directions and are used to clamp the product.

[0017] Furthermore, the fixture also includes:

[0018] Two material-receiving cylinders are fixedly connected to the lower side of the horizontal connecting plate. The telescopic parts of the two material-receiving cylinders are fixedly connected to the two material-receiving arms respectively, and drive the two material-receiving arms to move towards or in opposite directions.

[0019] Optionally, a slide rail is provided on the lower side of the horizontal connecting plate, and the material picking arm is slidably connected to the slide rail via a slider.

[0020] Optionally, the lifting end of the lifting cylinder is fixedly connected to the middle of the upper side of the horizontal connecting plate, and the two material picking arms are symmetrically arranged with the lifting cylinder as the axis of symmetry.

[0021] Optionally, the two material-picking cylinders are disposed between the two material-picking arms, and the telescopic parts of the two material-picking cylinders are coaxially arranged.

[0022] Optionally, the carrier is detachably connected to the mobile device; the horizontal connecting plate is detachably connected to the lifting cylinder.

[0023] Optionally, the opposing surfaces of the two picking arms are provided with a buffer layer to prevent damage to the product.

[0024] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0025] The robotic arm in this invention is equipped with a fixture for gripping products, and a carrier for carrying products is provided on the moving device. The carrier is driven to be positioned at a predetermined product transfer location. During the diversion operation, the robotic arm distributes products from the upstream station to multiple carriers on the moving device. During the merging operation, the robotic arm picks up materials carrying upstream products from multiple carriers and gathers them to the downstream station. This replaces traditional manual handling or assembly line conveying that can damage products, realizing the orderly transfer of products during the diversion and merging processes, and improving the automation level and overall operating efficiency of the production line. Attached Figure Description

[0026] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention, and are included in and constitute a part of this specification, but do not constitute a limitation on the embodiments of the present invention.

[0027] Figure 1 This is a structural schematic diagram of a flow channel separating and combining material machine according to the present utility model.

[0028] Figure 2 This is an isometric view of a flow channel separating and combining machine according to the present invention.

[0029] Figure 3 This is an isometric drawing of the fixture described in this utility model.

[0030] Figure 4 This is a front view of the fixture according to the present invention.

[0031] Figure 5 This is a bottom view of the fixture according to the present invention.

[0032] Reference numerals: 1-robotic arm, 2-moving device, 3-jig, 4-carrier, 5-platform, 6-frame, 7-caster, 31-cylinder mounting plate, 32-lifting cylinder, 33-horizontal connecting plate, 34-picking arm, 35-picking cylinder, 36-slide rail, 37-slider, 100-product. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this utility model.

[0034] It should also be noted that, for ease of description, only the parts relevant to this utility model are shown in the accompanying drawings.

[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] Where there is no conflict, the embodiments and features described herein can be combined with each other. Reference will be made below. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The present invention will be described in detail with reference to its implementation methods.

[0038] Example 1

[0039] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, this embodiment discloses a flow channel separating and merging machine for performing flow separation or merging operations on industrial production lines. It is typically installed between one or more upstream stations (where product 100 originates) and one or more downstream stations (where product 100 is destined). The flow channel separating and merging machine includes: a robotic arm 1 and a moving device 2.

[0040] The robotic arm 1 is equipped with a fixture 3, which is used to precisely grasp and position the product 100. The robotic arm 1 picks up or places the product 100 by moving its arm and using the fixture 3.

[0041] The mobile device 2 is equipped with at least one carrier 4, which is a platform or container that directly supports the product 100. The function of the mobile device 2 is to drive the carrier 4 on it to move and position the carrier 4 to a predetermined product 100 handover position. The handover position may be the point where the robot arm 1 picks up and places the product 100, or the point where it docks with upstream and downstream equipment.

[0042] If in a diversion state, the robot arm 1 is used to transfer the product 100 from one upstream station to multiple carriers 4; that is, when it is necessary to distribute the product 100 from one upstream station to multiple downstream paths, the robot arm 1 will grab the product 100 from the upstream station and then place the product 100 onto multiple different carriers 4 on the mobile device 2 in sequence.

[0043] In a confluence state, the robotic arm 1 is used to transfer products 100 from multiple carriers 4 to a downstream workstation; that is, when it is necessary to gather products 100 from multiple upstream paths (or batches from the same upstream path) into one place, these products 100 are first placed on multiple carriers 4 of the mobile device 2. The robotic arm 1 then picks up the products 100 one by one from these carriers 4 and transfers them to the same downstream workstation.

[0044] In addition, in order to support and realize the stable operation and deployment of the entire equipment, the flow channel separating and combining machine in this embodiment also includes some basic structural components: platform 5, frame 6 and casters 7. The robot arm 1 and the moving device 2 are both installed on the platform 5. The platform 5 is fixed on the frame 6, and the casters 7 are fixed to the bottom of the frame 6, so that the entire flow channel separating and combining machine has mobility, which facilitates position adjustment or redeployment in the production workshop.

[0045] The operation process can be summarized as follows:

[0046] Product 100 input:

[0047] Product 100 arrives at the working range of the flow channel separating and combining machine from the upstream station.

[0048] Robot Arm 1 Operation:

[0049] In the diversion mode, the robot arm 1 grabs product 100 from a single upstream source and places it onto one or more carriers 4 positioned by the mobile device 2.

[0050] In the merging mode, the robotic arm 1 grabs the product 100 from one or more carriers 4 that are positioned by the mobile device 2 and already carrying the upstream product 100.

[0051] Operation of Mobile Device 2:

[0052] The mobile device 2 drives the carrier 4 on it according to the instructions to move and precisely position between different product 100 handover points (such as the working point of the robot arm 1, the upstream material receiving point, and the downstream material receiving point).

[0053] Product 100 Output:

[0054] During the diversion process, the carrier 4, which already carries product 100, delivers product 100 to its respective downstream workstation.

[0055] During the merging process, the robot 1 will transport the products 100 collected from each carrier 4 to a unified downstream workstation.

[0056] Example 2

[0057] This embodiment will first describe the moving device 2, which is a linear motor. Multiple linear motors are arranged in parallel on the upper side of the platform 5, and the carrier 4 is fixedly connected to the moving part of the linear motor.

[0058] A linear motor is a drive device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism (such as a lead screw, rack, or belt). It typically consists of a stator (primary) and a mover (secondary). The mover is driven to move linearly along the direction of the stator through the principle of electromagnetic induction, thereby moving the carrier 4 fixed to the mover.

[0059] In addition to the linear motor used in this embodiment, theoretically, the moving device 2 that enables the carrier 4 to move between predetermined positions can also consider the following common technical forms: ball screw drive mechanism, synchronous belt drive mechanism, gear and rack drive mechanism, cylinder / hydraulic cylinder drive mechanism, etc.

[0060] The specific structure of fixture 3 will be described below. Fixture 3 includes:

[0061] A lifting cylinder 32 is mounted on a cylinder mounting plate 31, which is fixedly connected to the end of the robot 1. The cylinder mounting plate 31 is used to fix the lifting cylinder 32, and the cylinder mounting plate 31 is connected to the end effector of the robot 1.

[0062] A horizontal connecting plate 33 is installed at the lifting end of the lifting cylinder 32; when the lifting cylinder 32 is activated, the horizontal connecting plate 33 will rise or fall vertically accordingly, and the horizontal connecting plate 33 forms the base platform of the subsequent clamping mechanism.

[0063] Two picking arms 34 are slidably connected to the lower side of the horizontal connecting plate 33. The two picking arms 34 move towards or away from each other, that is, the two picking arms 34 can move closer or further away. When they are close together, they clamp the product 100, and when they are far apart, they release the product 100. That is, the picking arms 34 are used to hold the product 100.

[0064] The two material-picking cylinders 35 are fixedly connected to the lower side of the horizontal connecting plate 33, and the telescopic parts of the two material-picking cylinders 35 are fixedly connected to the two material-picking arms 34 respectively, and drive the two material-picking arms 34 to move towards or in opposite directions.

[0065] To ensure that the material picking arm 34 slides smoothly under the horizontal connecting plate 33, a slide rail 36 is provided on the lower side of the horizontal connecting plate 33, and the material picking arm 34 is slidably connected to the slide rail 36 through a slider 37.

[0066] The working principle of fixture 3 is to achieve precise positioning and reliable clamping in three-dimensional space by using two-stage pneumatic drive: lifting cylinder 32 is responsible for the movement in the Z-axis (vertical) direction, while picking cylinder 35, together with slide rail 36 and picking arm 34, realizes the clamping action in the X or Y-axis (horizontal) direction.

[0067] Example 3

[0068] This embodiment further optimizes the structural features of the structures in Embodiment 1 and Embodiment 2.

[0069] The lifting end of the lifting cylinder 32 is fixedly connected to the middle of the upper side of the horizontal connecting plate 33. This center-point connection facilitates torque balance, making the horizontal connecting plate 33 more stable during lifting and less prone to tilting. The two picking arms 34 are symmetrically arranged about the lifting cylinder 32. This symmetrical design helps to distribute the force evenly on both sides when gripping the product 100, improving the stability and accuracy of the gripping.

[0070] The two material-picking cylinders 35 are arranged between the two material-picking arms 34, and the telescopic parts of the two material-picking cylinders 35 are coaxially arranged, that is, the central axes of the two piston rods are located on the same straight line.

[0071] The carrier 4 is detachably connected to the mobile device 2, and can be easily replaced or adjusted according to the size, shape, or handling requirements of different products 100. Even the entire linear motor can be replaced.

[0072] The horizontal connecting plate 33 is detachably connected to the lifting cylinder 32, making the maintenance and component replacement of the fixture 3 (e.g., replacing the horizontal connecting plate 33 of different specifications to adapt to different material handling arms 34, or replacing the lifting cylinder 32) more convenient, reducing maintenance difficulty and cost, and also facilitating modular upgrades or reconstruction of the fixture 3 for specific tasks.

[0073] The two picking arms 34 are provided with a buffer layer on their opposite surfaces to prevent damage to the product 100. The buffer layer can be made of materials with a certain elasticity and coefficient of friction, such as rubber, sponge, or polyurethane. When the picking arms 34 clamp the product 100, they provide a flexible contact interface to absorb part of the impact force, increase the contact area, and reduce stress concentration, thereby effectively avoiding scratches, indentations, or other forms of damage to the surface of the product 100.

[0074] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0075] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0076] Those skilled in the art should understand that the above embodiments are merely for clearly illustrating the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications can be made based on the above-described invention, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A runner dividing and combining machine characterized by, It is positioned between the upstream and downstream workstations, and the flow channel separating and combining machine includes: A robotic arm (1) is equipped with a fixture (3) for gripping a product (100); A mobile device (2) is equipped with at least one carrier (4) for carrying a product (100), and the mobile device (2) is used to position the carrier (4) to a predetermined product (100) handover position. If in a diversion state, the robot (1) is used to transfer the product (100) of one upstream station to multiple carriers (4); If in a confluence state, the robotic arm (1) is used to transfer products (100) from multiple carriers (4) to a downstream workstation.

2. A stream channel dividing and combining machine according to claim 1, wherein It also includes a platform (5), a frame (6) and casters (7). The robotic arm (1) and the moving device (2) are both mounted on the platform (5). The platform (5) is fixed on the frame (6), and the casters (7) are fixed to the bottom of the frame (6).

3. A stream channel dividing and combining machine according to claim 2, wherein The moving device (2) is a linear motor, and multiple linear motors are arranged in parallel on the upper side of the platform (5). The carrier (4) is fixedly connected to the moving part of the linear motor.

4. The flow channel dividing and combining machine according to claim 1, wherein The fixture (3) includes: A lifting cylinder (32) is mounted on a cylinder mounting plate (31), and the cylinder mounting plate (31) is fixedly connected to the end of the manipulator (1); A horizontal connecting plate (33) is installed at the lifting end of the lifting cylinder (32); Two picking arms (34) are slidably connected to the lower side of the horizontal connecting plate (33). The two picking arms (34) move toward or in opposite directions and are used to hold the product (100).

5. A stream channel dividing and combining machine according to claim 4, wherein The fixture (3) also includes: Two material-picking cylinders (35) are fixedly connected to the lower side of the horizontal connecting plate (33). The telescopic parts of the two material-picking cylinders (35) are fixedly connected to the two material-picking arms (34) respectively, and drive the two material-picking arms (34) to move towards or in opposite directions.

6. A flow channel separating and combining material machine according to claim 4, characterized in that, The lower side of the horizontal connecting plate (33) is provided with a slide rail (36), and the material picking arm (34) is slidably connected to the slide rail (36) through a slider (37).

7. A stream channel dividing and combining device according to claim 5, wherein The lifting end of the lifting cylinder (32) is fixedly connected to the middle of the upper side of the horizontal connecting plate (33), and the two material picking arms (34) are symmetrically arranged with the lifting cylinder (32) as the axis of symmetry.

8. A stream channel dividing and combining device according to claim 7, wherein The two material-picking cylinders (35) are disposed between the two material-picking arms (34), and the telescopic parts of the two material-picking cylinders (35) are coaxially arranged.

9. A stream channel dividing and combining device according to claim 4, wherein The carrier (4) is detachably connected to the moving device (2); the horizontal connecting plate (33) is detachably connected to the lifting cylinder (32).

10. A stream channel dividing and combining machine according to claim 4, wherein The two picking arms (34) are provided with a buffer layer on their opposite sides to prevent damage to the product (100).

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