Carrying device

Abstract

The utility model discloses a carrying device, and belongs to the technical field of automation. The carrying device comprises a rack, a moving mechanism and a grabbing mechanism, and the fixed end of the moving mechanism is arranged on the rack; the grabbing mechanism comprises a plurality of grabbing assemblies which are sequentially arranged in the first direction, the distance between at least two adjacent grabbing assemblies is adjustable, and the output end of the moving mechanism is connected with the grabbing mechanism and used for driving the grabbing mechanism to move relative to the rack. The device can adapt to the to-be-machined parts with different intervals, the shutdown adjustment time caused by the interval change of the to-be-machined parts is shortened, and the carrying efficiency and the use flexibility are improved.

Description

Technical Field

[0001] This application belongs to the field of automation technology, and in particular relates to a handling device. Background Technology

[0002] In the product manufacturing process, in order to improve production efficiency, multiple products are often moved simultaneously using handling devices. However, current handling devices are often only suitable for scenarios where products are equidistant from each other. Considering that products on the production line may have deviations in spacing due to processing technology, equipment precision, or human factors, the handling efficiency is low, making it difficult to accurately grab and move multiple products, thus affecting the continuity and stability of production. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a handling device that can adapt to workpieces with different spacing, reduce downtime for adjustment caused by changes in the spacing of the workpieces, and improve handling efficiency and flexibility of use.

[0004] In a first aspect, this application provides a conveying device, comprising:

[0005] frame;

[0006] A moving mechanism, wherein the fixed end of the moving mechanism is disposed on the frame;

[0007] The gripping mechanism includes a plurality of gripping components arranged sequentially along a first direction, the spacing between at least two adjacent gripping components is adjustable, and the output end of the moving mechanism is connected to the gripping mechanism for driving the gripping mechanism to move relative to the frame.

[0008] According to the handling device of this application, the frame serves to fix and install the device, ensuring sufficient strength and stability. A moving mechanism drives a gripping mechanism to move, allowing multiple sequentially arranged gripping components to simultaneously approach multiple workpieces to be processed. The gripping mechanism includes multiple gripping components arranged sequentially along a first direction, and the spacing between at least two adjacent gripping components along the first direction is adjustable. This allows it to adapt to workpieces with different spacing and sizes, flexibly responding to various production scenarios and improving production efficiency and the utilization rate of the handling device.

[0009] According to one embodiment of this application, a plurality of gripping components form two gripping groups arranged sequentially along a first direction, each gripping group including two gripping components with adjustable spacing.

[0010] According to one embodiment of this application, the gripping mechanism further includes:

[0011] A connector is connected to the output end of the moving mechanism, and one of the gripping components in each gripping group is connected to the connector;

[0012] Two variable pitch drive components are provided, each corresponding to one of the gripping groups. The fixed end of the variable pitch drive component is connected to the connector, and the output end of the variable pitch drive component is connected to the other gripping component in the corresponding gripping group.

[0013] According to one embodiment of this application, the gripping components of the two gripping groups that are close to each other are connected to the connector; the gripping components of the two gripping groups that are far apart from each other are respectively connected to the output terminals of the two variable pitch drive components; and / or

[0014] The two pitch drive components are arranged symmetrically.

[0015] According to one embodiment of this application, the variable pitch drive assembly includes:

[0016] The mounting base is connected to the connector.

[0017] A variable pitch drive component, the fixed end of which is disposed on the mounting base;

[0018] A lead screw is rotatably mounted on the mounting base, and the output end of the variable pitch drive is connected to the lead screw to drive the lead screw to rotate along its own axis.

[0019] The mounting component is screwed to the lead screw and connected to the corresponding gripping assembly.

[0020] According to one embodiment of this application, the moving mechanism includes:

[0021] A first driving member has its fixed end disposed on the frame and its output end connected to the gripping mechanism, for driving the gripping mechanism to move along a second direction, which intersects with the first direction.

[0022] According to one embodiment of this application, the moving mechanism further includes:

[0023] A mating component extends along the first direction, and the gripping mechanism is disposed on the mating component; wherein, there are two first driving components, and the output ends of the two first driving components are respectively connected to the two ends of the mating component.

[0024] According to one embodiment of this application, the moving mechanism further includes:

[0025] The second driving member has a fixed end disposed on the mating member and an output end connected to the gripping mechanism, which is used to drive the gripping mechanism to move along the first direction.

[0026] According to one embodiment of this application, the moving mechanism further includes:

[0027] A first guide component is disposed between the mating member and the gripping mechanism for guiding the gripping mechanism to move along the first direction.

[0028] According to one embodiment of this application, the moving mechanism further includes:

[0029] The third driving component has its fixed end disposed at the output end of the second driving component. The output end of the third driving component is connected to the gripping mechanism and is used to drive the gripping mechanism to move along a third direction. The third direction, the first direction, and the second direction intersect each other.

[0030] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0031] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0032] Figure 1 This is one of the structural schematic diagrams of the conveying device provided in the embodiments of this application;

[0033] Figure 2 This is a second schematic diagram of the structure of the conveying device provided in the embodiments of this application;

[0034] Figure 3 This is the third schematic diagram of the structure of the conveying device provided in the embodiments of this application;

[0035] Figure 4 This is a partial schematic diagram of the conveying device provided in the embodiments of this application, with the connecting parts hidden.

[0036] Figure label:

[0037] 10. Parts to be processed;

[0038] 100. Rack;

[0039] 210. First drive component; 220. Mating component; 230. Second drive component; 240. First guide assembly; 250. Third drive component; 260. Second guide assembly; 270. Assembly part;

[0040] 310. Grabbing component; 320. Connector;

[0041] 330. Pitch drive assembly; 331. Mounting base; 332. Pitch drive component; 333. Lead screw; 334. Mounting component; 400. Vacuum pressure gauge. Detailed Implementation

[0042] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0043] The following is for reference. Figures 1-4 The present application describes a conveying device including a frame 100, a moving mechanism, and a gripping mechanism. The frame 100 is made of materials including, but not limited to, stainless steel, aluminum alloy, or titanium alloy.

[0044] The fixed end of the moving mechanism is disposed on the frame 100; the gripping mechanism includes a plurality of gripping components 310 arranged sequentially along a first direction, the spacing between at least two adjacent gripping components 310 is adjustable, and the output end of the moving mechanism is connected to the gripping mechanism for driving the gripping mechanism to move relative to the frame 100. It should be noted that the number of gripping components 310 can be designed according to actual needs, and this embodiment does not impose a specific limitation on this.

[0045] Understandably, the frame 100 serves to fix and install the device, ensuring sufficient strength and stability for the handling equipment. The moving mechanism drives the gripping mechanism to move, allowing multiple sequentially arranged gripping components 310 to simultaneously approach multiple workpieces 10 to be processed. The gripping mechanism includes multiple gripping components 310 arranged sequentially along a first direction, and the spacing between at least two adjacent gripping components 310 along the first direction is adjustable. This allows it to accommodate workpieces 10 with different spacing and different sizes, flexibly responding to various production scenarios and improving production efficiency and the utilization rate of the handling equipment.

[0046] It should be noted that the workpiece 10 to be processed includes, but is not limited to, at least one of a product and a carrier.

[0047] The handling device provided in the embodiments of this application can adapt to workpieces 10 with different spacing, reduce downtime for adjustment caused by changes in the spacing of workpieces 10, and improve handling efficiency and flexibility of use.

[0048] In some embodiments, such as Figures 1 to 4 As shown, multiple gripping components 310 form two gripping groups arranged sequentially along the first direction, and each gripping group includes two gripping components 310 with adjustable spacing.

[0049] It is understandable that each gripping group can simultaneously grip two workpieces 10 to be processed through two gripping components 310, which can improve handling efficiency. At the same time, the adjustable spacing between the two gripping components 310 in each gripping group can also accommodate workpieces 10 with different spacing, improving handling efficiency and flexibility of use. Of course, in other embodiments, if cost is not a concern, the spacing between each gripping component 310 and its adjacent gripping components can also be adjusted directly; this embodiment does not impose specific limitations on this.

[0050] In some embodiments, such as Figures 1 to 4 As shown, the gripping mechanism also includes a connector 320 and two variable-pitch drive assemblies 330. The connector 320 is connected to the output end of the moving mechanism, and one gripping assembly 310 in each gripping group is connected to the connector 320. Each of the two variable-pitch drive assemblies 330 corresponds to one gripping group. The fixed end of the variable-pitch drive assembly 330 is connected to the connector 320, and the output end of the variable-pitch drive assembly 330 is connected to the other gripping assembly 310 in the corresponding gripping group. The material of the connector 320 includes, but is not limited to, stainless steel, aluminum alloy, or titanium alloy.

[0051] It is understandable that by driving one gripping component 310 in each gripping group to move along the first direction through each pitch-adjustable drive component 330, not only can the interval between the two gripping components 310 in each gripping group be adjusted, but the complexity and cost of the entire gripping mechanism can also be reduced. Of course, in other embodiments, each gripping component 310 may correspond to a drive member, that is, the fixed end of each drive member is disposed on the connector 320, and the output end of each drive member is connected to the corresponding gripping component 310 to drive the corresponding gripping component 310 to move along the first direction. This embodiment does not impose specific limitations on this.

[0052] In some embodiments, such as Figures 1 to 4 As shown, the gripping components 310 of the two gripping groups that are close to each other are connected to the connector 320; the gripping components 310 of the two gripping groups that are far from each other are respectively connected to the output terminals of the two variable pitch drive components 330.

[0053] It is understood that the four gripping components 310 arranged sequentially along the first direction are respectively defined as the first gripping component 310, the second gripping component 310, the third gripping component 310, and the fourth gripping component 310. That is, the first gripping component 310 and the second gripping component 310 form one gripping group, and the third gripping component 310 and the fourth gripping component 310 form another gripping group. The first gripping component 310 and the fourth gripping component 310 are respectively connected to the output terminals of the two variable pitch drive components 330, and the second gripping component 310... Both component 310 and the third gripping component 310 are connected to the connector 320, thereby fixing the relative position between the second gripping component 310 and the third gripping component 310. The first gripping component 310 and the fourth gripping component 310 can move closer to or further away from the corresponding second gripping component 310 and the third gripping component 310 under the drive of the corresponding variable pitch drive component 330. This not only enables the distance between at least two adjacent gripping components 310 to be adjustable, but also reduces the possibility of mutual interference between gripping groups.

[0054] In some embodiments, such as Figures 1 to 3 As shown, the two variable pitch drive components 330 are symmetrically arranged, which makes the gripping mechanism more balanced during movement, reduces vibration and stress concentration caused by asymmetrical movement, improves the stability and reliability of the handling device, and extends the service life of the handling device.

[0055] In some embodiments, such as Figure 4 As shown, the variable pitch drive assembly 330 includes a mounting base 331, a variable pitch drive component 332, a lead screw 333, and a mounting member 334. The mounting base 331 is connected to the connector 320. The fixed end of the variable pitch drive component 332 is disposed on the mounting base 331. The lead screw 333 is rotatably disposed on the mounting base 331, and the output end of the variable pitch drive component 332 is connected to the lead screw 333 for driving the lead screw 333 to rotate along its own axis. The mounting member 334 is screwed to the lead screw 333 and connected to the corresponding gripping assembly 310. The variable pitch drive component 332 includes, but is not limited to, a rotary motor.

[0056] It is understandable that the lead screw 333 extends along the first direction, and the variable pitch drive 332 drives the lead screw 333 to rotate, so that the mounting part 334 drives the corresponding second gripping component 310 or third gripping component 310 to move along the first direction. That is, by converting the rotational motion into linear motion, the precise adjustment of the distance between the gripping components 310 is achieved, while making the entire gripping mechanism as compact as possible.

[0057] In some embodiments, such as Figures 1 to 4As shown, the gripping component 310 includes a lifting suction cup, which is suitable for adsorbing the workpiece 10 to be processed. That is, when the gripping component 310 moves above the workpiece 10 to be processed, the lifting suction cup can move downward relative to the connecting member 320 to adsorb the surface of the workpiece 10 to be processed; when the gripping component 310 moves to the target workstation, the lifting suction cup moves upward relative to the connecting member 320 and releases the workpiece 10 to be processed. This not only improves the flexibility of the gripping mechanism to adapt to workpieces 10 of different sizes, but also reduces the possibility of damage to the surface of the workpiece 10 to be processed.

[0058] In some embodiments, such as Figure 2 As shown, the conveying device also includes a vacuum pressure gauge 400, which is disposed on the connector 320 and is used to detect the adsorption pressure of the workpiece 10 to be processed.

[0059] Understandably, the vacuum pressure gauge 400 can accurately measure the gas pressure inside the lifting suction cup to ensure suction strength, reduce the possibility of damage to the surface of the workpiece 10 due to excessive suction force, and reduce the risk of the workpiece 10 falling off due to insufficient suction force. It also facilitates use with a data logger to record historical pressure change data, making it easier to adapt to different models of workpieces 10 and for subsequent analysis and optimization.

[0060] In this embodiment, as Figure 2 As shown, there are four vacuum pressure gauges 400, and each of the four vacuum pressure gauges 400 corresponds to one of the multiple gripping components 310.

[0061] In some embodiments, such as Figures 1 to 3 As shown, the moving mechanism includes a first driving member 210. The fixed end of the first driving member 210 is disposed on the frame 100, and the output end of the first driving member 210 is connected to the gripping mechanism to drive the gripping mechanism to move along a second direction, which intersects with the first direction. The first driving member 210 includes, but is not limited to, a linear slide cylinder. The connection method between the first driving member 210 and the frame 100 includes, but is not limited to, welding, bolt connection, riveting connection, pin connection, or snap-fit ​​connection.

[0062] Understandably, the first drive component 210 enables the gripping component 310 to move in the second direction, increasing the flexibility of positioning and the range of handling.

[0063] In some embodiments, such as Figures 1 to 3 As shown, the moving mechanism also includes a mating part 220, which extends along a first direction, and a gripping mechanism is disposed on the mating part 220; wherein, there are two first driving parts 210, and the output ends of the two first driving parts 210 are respectively connected to the two ends of the mating part 220.

[0064] It is understandable that the two first driving members 210 drive the mating members 220 at opposite ends along the first direction to move the mating members 220 along the second direction, thereby ensuring that the movement of the gripping mechanism in the second direction is more stable and precise, and reducing the mechanical stress and positional deviation that may be caused by unilateral driving.

[0065] In some embodiments, such as Figures 1 to 3 As shown, the moving mechanism also includes a second driving member 230. The fixed end of the second driving member 230 is disposed on the mating member 220, and the output end of the second driving member 230 is connected to the gripping mechanism to drive the gripping mechanism to move along the first direction. The second driving member 230 includes, but is not limited to, a linear slide cylinder. The connection method between the fixed end of the second driving member 230 and the mating member 220 includes, but is not limited to, welding, bolt connection, riveting connection, pin connection, or snap-fit ​​connection.

[0066] Understandably, the second driving component 230 drives the gripping mechanism to move relative to the mating component 220 along the first direction, adjusting the position of the entire gripping mechanism so that each gripping component 310 and the corresponding workpiece 10 to be processed are coarsely positioned, increasing the flexibility of positioning and the handling range.

[0067] In some embodiments, such as Figures 1 to 3 As shown, the moving mechanism also includes a third driving member 250. The fixed end of the third driving member 250 is disposed at the output end of the second driving member 230. The output end of the third driving member 250 is connected to the gripping mechanism and is used to drive the gripping mechanism to move along a third direction. The third direction, the first direction, and the second direction intersect each other. The third driving member 250 includes, but is not limited to, a linear module.

[0068] Understandably, the output end of the third drive component 250 is connected to the connector 320 to drive the gripping mechanism to move relative to the mating component 220 in a third direction, adjust the position of the entire gripping mechanism, and enable each gripping component 310 and the corresponding workpiece 10 to be coarsely positioned, thereby increasing the flexibility of positioning and the handling range.

[0069] In some embodiments, such as Figure 3 As shown, the moving mechanism also includes a first guide component 240, which is disposed between the mating part 220 and the gripping mechanism, and is used to guide the gripping mechanism to move along a first direction.

[0070] Understandably, considering the weight of the gripping mechanism itself, the first guide assembly 240 provides additional support, thereby increasing the smoothness of the gripping mechanism's movement in the first direction and extending the service life of the handling device.

[0071] In some embodiments, such as Figure 3As shown, the first guide assembly 240 includes a first guide block and a first guide rail that cooperate with each other. The moving mechanism also includes an assembly 270. The output end of the second drive member 230 and the first guide block are both connected to the assembly 270. The fixed end of the third drive member 250 is disposed on the assembly 270, and the first guide rail is disposed on the mating member 220.

[0072] In some embodiments, such as Figure 3 As shown, the first guide component 240 and the second drive component 230 are respectively disposed on both sides of the mating component 220 to further optimize the structural layout, reduce mutual interference, and improve the overall stability and reliability of the handling device.

[0073] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the moving mechanism also includes a second guide component 260, which is disposed between the gripping mechanism and the third drive component 250, for guiding the gripping mechanism to move in a third direction.

[0074] Understandably, considering the weight of the gripping mechanism itself, the second guide assembly 260 provides additional support, thereby increasing the smoothness of the gripping mechanism's movement in a third direction and extending the service life of the handling device.

[0075] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the second guide assembly 260 includes a matching second guide block and a second guide rail. The second guide block is connected to the assembly 270, and the second guide rail is disposed on the mating part 220 so that the assembly 270 and the connecting part 320 slide in a third direction, which can realize the long stroke of picking up and placing the workpiece 10 to be processed.

[0076] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0077] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0078] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0079] In the description of this application, "multiple" means two or more.

[0080] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0081] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0082] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0083] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A conveying device, characterized in that, include: Rack (100); A moving mechanism, wherein the fixed end of the moving mechanism is disposed on the frame (100); The gripping mechanism includes a plurality of gripping components (310) arranged sequentially along a first direction, the spacing between at least two adjacent gripping components (310) is adjustable, and the output end of the moving mechanism is connected to the gripping mechanism for driving the gripping mechanism to move relative to the frame (100).

2. The conveying device according to claim 1, characterized in that, Multiple gripping components (310) form two gripping groups arranged sequentially along a first direction, each gripping group including two gripping components (310) with adjustable spacing.

3. The conveying device according to claim 2, characterized in that, The grasping mechanism also includes: A connector (320) is connected to the output end of the moving mechanism, and one of the gripping components (310) in each gripping group is connected to the connector (320); Two variable pitch drive components (330) correspond one-to-one with the gripping group. The fixed end of the variable pitch drive component (330) is connected to the connector (320), and the output end of the variable pitch drive component (330) is connected to the other gripping component (310) in the corresponding gripping group.

4. The conveying device according to claim 3, characterized in that, The gripping components (310) of the two gripping groups that are close to each other are connected to the connector (320); the gripping components (310) of the two gripping groups that are far from each other are respectively connected to the output terminals of the two variable pitch drive components (330); and / or The two variable pitch drive components (330) are arranged symmetrically.

5. The conveying device according to claim 3, characterized in that, The variable pitch drive assembly (330) includes: The mounting base (331) is connected to the connector (320); A variable pitch drive (332) is provided with its fixed end disposed on the mounting base (331); A lead screw (333) is rotatably mounted on the mounting base (331). The output end of the variable pitch drive (332) is connected to the lead screw (333) to drive the lead screw (333) to rotate along its own axis. The mounting component (334) is screwed to the lead screw (333) and connected to the corresponding gripping assembly (310).

6. The conveying device according to any one of claims 1 to 5, characterized in that, The mobile mechanism includes: A first driving member (210) is provided with its fixed end on the frame (100) and its output end is connected to the gripping mechanism to drive the gripping mechanism to move along a second direction, which intersects with the first direction.

7. The conveying device according to claim 6, characterized in that, The moving mechanism also includes: A mating component (220) extends along the first direction, and the gripping mechanism is disposed on the mating component (220); wherein, two first driving components (210) are provided, and the output ends of the two first driving components (210) are respectively connected to the two ends of the mating component (220).

8. The conveying device according to claim 7, characterized in that, The moving mechanism also includes: The second driving member (230) has its fixed end disposed on the mating member (220) and its output end connected to the gripping mechanism, for driving the gripping mechanism to move along the first direction.

9. The conveying device according to claim 8, characterized in that, The moving mechanism also includes: A first guide component (240) is disposed between the mating member (220) and the gripping mechanism for guiding the gripping mechanism to move along the first direction.

10. The conveying device according to claim 8, characterized in that, The moving mechanism also includes: The third driving member (250) has its fixed end located at the output end of the second driving member (230). The output end of the third driving member (250) is connected to the gripping mechanism and is used to drive the gripping mechanism to move along a third direction. The third direction, the first direction, and the second direction intersect each other.

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