Pick-and-place device

Abstract

The utility model belongs to steel bar taking and placing technical field discloses a kind of taking and placing device, including support frame, rotating frame, swing frame and multiple taking and placing mechanism, rotating frame is rotatably connected in support frame, rotating axis is parallel to first direction, swing frame is rotatably connected in rotating frame, rotating axis is parallel to second direction, second direction and first direction are arranged with angle, multiple taking and placing mechanism is respectively arranged in swing frame, and multiple materials can be taken and placed one by one corresponding.The utility model in, on the basis of support frame, rotating frame can be rotated around first direction relative to support frame, to carry out orientation adjustment, swing frame can be flipped around second direction relative to rotating frame, to carry out up and down swing, multiple taking and placing mechanism is provided on swing frame, multiple taking and placing mechanism can take and place multiple materials one by one corresponding, so when facing multiple materials taking and placing, it is not necessary to clamp and place one by one, realize the efficient taking and placing of multiple materials.

Description

Technical Field

[0001] This utility model relates to the field of rebar handling technology, and in particular to a handling device. Background Technology

[0002] Box girders are a special structural form of beams in bridge engineering. They are closed box-shaped beams composed of a top plate, bottom plate, web plate, and transverse and longitudinal diaphragms. Their hollow design can significantly improve torsional stiffness and is suitable for long-span bridges. The mesh in the steel reinforcement structure of the box girder that acts as a positioning and tensioning conduit is called the positioning mesh.

[0003] The positioning net is assembled from various steel bars of different lengths. During the assembly process, a pick-and-place device is needed to pick up the various steel bars one by one from the conveying device and move them to a specific position. In related technologies, multiple pick-and-place devices need to be configured for the various types of steel bars that make up the positioning net. Moreover, the pick-and-place device can only handle one steel bar at a time when picking up and placing the material, which makes the pick-and-place process of various types of steel bars complicated, time-consuming and labor-intensive, and affects the production efficiency of the positioning net. Utility Model Content

[0004] The purpose of this invention is to provide a picking and placing device that can efficiently pick and place various types of steel bars.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] The pick-and-place device includes:

[0007] Support frame;

[0008] A rotating frame is rotatably connected to the support frame, with its rotation axis parallel to a first direction;

[0009] A swing frame is rotatably connected to the rotating frame, with its rotation axis parallel to a second direction, the second direction and the first direction forming an angle.

[0010] Multiple picking and placing mechanisms are respectively set on the swing frame, which can pick up and place various materials in a one-to-one correspondence.

[0011] Preferably, the picking and placing mechanism is a first picking and placing mechanism, and the material picked and placed by the first picking and placing mechanism is a first material. The first picking and placing mechanism includes:

[0012] A first support, which is fixedly connected to the swing frame;

[0013] Two movable frames are slidably connected to the first support;

[0014] Each of the movable frames is provided with at least one of the grippers, and all the grippers cooperate to grip the first material.

[0015] Preferably, each of the movable frames is provided with an adjustment driver configured to drive the movable frame to move relative to the first support.

[0016] Preferably, the picking and placing mechanism is a second picking and placing mechanism, and the material picked and placed by the second picking and placing mechanism is a second material. The second picking and placing mechanism includes:

[0017] The second support is fixedly connected to the swing frame and is provided with a storage cavity, which can store multiple of the second material.

[0018] A baffle block is slidably disposed at the outlet of the storage cavity;

[0019] A discharge driver is mounted on the second bracket, and the discharge driver can drive the stop block to release the second material in the storage chamber one by one.

[0020] Preferably, the second support is provided with two support arms, and the receiving groove formed between the two support arms is the material storage cavity. Each support arm is slidably provided with a material stop block. The two material stop blocks are spaced apart along the depth direction of the receiving groove. When both material stop blocks extend into the receiving groove, one of the second materials can be limited between the two material stop blocks.

[0021] Preferably, the picking and placing mechanism is a third picking and placing mechanism, wherein the material picked and placed by the third picking and placing mechanism is a third material, and the third picking and placing mechanism includes:

[0022] The third support is fixedly connected to the swing frame and is provided with a storage cavity, which can store multiple third materials.

[0023] The discharge mechanism is located at the outlet of the storage chamber;

[0024] A discharge driver, mounted on the third bracket, is capable of driving the discharge mechanism to release the third material in the storage chamber one by one.

[0025] Preferably, the discharge mechanism includes:

[0026] A transfer shaft is rotatably mounted on the third bracket, and the transfer shaft is provided with a transfer groove;

[0027] The discharge component is rotatably connected to the third bracket, and a discharge cavity is formed between the discharge component and the third bracket. When the discharge driver drives the transfer trough to connect to the outlet of the storage cavity, the transfer trough can receive one of the third materials, and the discharge component opens the discharge cavity. When the discharge driver drives the transfer trough to connect to the discharge cavity, the discharge component closes the discharge cavity.

[0028] Preferably, a first gear is provided on the transfer shaft, and a second gear is provided on the rotating shaft of the discharge component, with the first gear meshing with the second gear, and the discharge driver is configured to drive the transfer shaft or the discharge component to rotate.

[0029] Preferably, the system also includes a positioning drive mechanism configured to drive the rotating frame to rotate relative to the support frame.

[0030] Preferably, the device also includes a swing drive mechanism configured to drive the swing frame to rotate relative to the rotating frame.

[0031] The beneficial effects of this utility model are:

[0032] Based on the support frame, the rotating frame can rotate relative to the support frame in a first direction for orientation adjustment, and the swing frame can rotate relative to the rotating frame in a second direction for up and down swinging. The swing frame is equipped with multiple picking and placing mechanisms, which can pick and place multiple materials one by one. Therefore, when picking and placing multiple materials, there is no need to pick and place them one by one, thus achieving efficient picking and placing of multiple materials. Attached Figure Description

[0033] Figure 1 This is a side view of the pick-and-place device described in an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the structure of the pick-and-place device according to an embodiment of the present invention when it picks up the first material;

[0035] Figure 3 This is a schematic diagram of the structure of the pick-and-place device according to an embodiment of the present invention when storing the second material;

[0036] Figure 4 This is a schematic diagram of the structure of the second picking and placing mechanism in an embodiment of the present invention when storing the second material;

[0037] Figure 5 This is a schematic diagram of the structure of the pick-and-place device described in this embodiment of the present invention when storing a third material. Figure 1 ;

[0038] Figure 6This is a schematic diagram of the structure of the pick-and-place device described in this embodiment of the present invention when storing a third material. Figure 2 ;

[0039] Figure 7 This is a schematic diagram of the positioning net structure described in an embodiment of the present invention.

[0040] In the picture:

[0041] 1. Support frame;

[0042] 2. Rotating frame;

[0043] 3. Swing frame;

[0044] 10. First pick-and-place mechanism; 11. First support; 12. Movable frame; 13. Clamp; 14. Adjustment driver;

[0045] 20. Second pick-and-place mechanism; 21. Second bracket; 211. Positioning chute; 22. Stop block; 221. Drive chute; 23. Discharge driver;

[0046] 30. Third pick-and-place mechanism; 31. Third support; 32. Discharge mechanism; 321. Transfer shaft; 322. Discharge component; 33. Discharge driver;

[0047] 4. Orientation drive mechanism;

[0048] 5. Swing drive mechanism; 51. Swing driver; 52. Turntable; 53. Swing arm;

[0049] 100, First material; 200, Second material; 300, Third material. Detailed Implementation

[0050] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0051] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or 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 utility model according to the specific circumstances.

[0052] In the description of this utility model, 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 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 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.

[0053] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0054] like Figures 1 to 7 As shown, this utility model provides a picking and placing device, including a support frame 1, a rotating frame 2, a swing frame 3, and various picking and placing mechanisms. The rotating frame 2 is rotatably connected to the support frame 1, with its rotation axis parallel to a first direction. The swing frame 3 is rotatably connected to the rotating frame 2, with its rotation axis parallel to a second direction. The second direction and the first direction form an angle. Various picking and placing mechanisms are respectively arranged on the swing frame 3, enabling the picking and placing of various materials in a one-to-one correspondence.

[0055] In this invention, based on the support frame 1, the rotating frame 2 can rotate relative to the support frame 1 around a first direction for orientation adjustment, and the swing frame 3 can flip relative to the rotating frame 2 around a second direction for up-and-down swinging. The swing frame 3 is equipped with multiple picking and placing mechanisms, which can pick and place multiple materials one by one. Therefore, when picking and placing multiple materials, there is no need to pick and place them one by one, thus achieving efficient picking and placing of multiple materials.

[0056] Specifically, a picking and placing mechanism is a first picking and placing mechanism 10, which picks and places a first material 100. The first picking and placing mechanism 10 includes a first support 11, a movable frame 12, and a gripper 13. The first support 11 is fixedly connected to the swing frame 3. Two movable frames 12 are provided, each slidably connected to the first support 11. Each movable frame 12 is provided with at least one gripper 13. All grippers 13 cooperate to grip the first material 100. This arrangement allows the first picking and placing mechanism 10 to pick and place the first material 100, which is relatively long.

[0057] More specifically, each movable frame 12 is equipped with an adjustment driver 14, which is configured to drive the movable frame 12 to move relative to the first support 11. This arrangement allows for more efficient adjustment of the clamping span of the gripper 13.

[0058] In this embodiment, the first support 11 is elongated and extends horizontally, and the two movable frames 12 are elongated and parallel to the first support 11. They are slidably connected to the first support 11 along the length of the first support 11. Each movable frame 12 is provided with a gripper 13, which is a pneumatic gripper. The adjustment driver 14 is a cylinder. When the two adjustment drivers 14 are activated, the two movable frames 12 move in opposite directions.

[0059] In other embodiments, the first pick-and-place mechanism 10 may also include a first support 11 and a movable frame 12, both of which are provided with grippers 13.

[0060] In other embodiments, the gripper 13 may also consist of two cylinders, the output ends of which move toward each other to grip the first material 100.

[0061] In other embodiments, the regulating actuator 14 may also be a hydraulic cylinder, electric cylinder, or other actuators.

[0062] Specifically, one type of pick-and-place mechanism is a second pick-and-place mechanism 20. The material picked up and placed by the second pick-and-place mechanism 20 is a second material 200. The second pick-and-place mechanism 20 includes a second support 21, a stop block 22, and a discharge driver 23. The second support 21 is fixedly connected to the swing frame 3 and has a storage cavity capable of storing multiple second materials 200. The stop block 22 is slidably disposed at the outlet of the storage cavity. The discharge driver 23 is mounted on the second support 21 and can drive the stop block 22 to release the second materials 200 from the storage cavity one by one. This configuration allows the second pick-and-place mechanism 20 to pick up multiple second materials 200 at once and then release them one by one, resulting in higher efficiency.

[0063] More specifically, the second support 21 is provided with two support arms, and the receiving groove formed between the two support arms is a material storage cavity. Each support arm is slidably provided with a baffle block 22, and the two baffle blocks 22 are spaced apart along the depth direction of the receiving groove. When both baffle blocks 22 extend into the receiving groove, they can limit one piece of second material 200 between the two baffle blocks 22. With the above arrangement, the second material 200 can be released one by one simply and conveniently through the alternating extension and retraction of the two baffle blocks 22.

[0064] More specifically, the swing frame 3 is equipped with multiple second pick-up and place mechanisms 20, and all the second pick-up and place mechanisms 20 cooperate to pick up and place the second material 200.

[0065] In this embodiment, the swing frame 3 is provided with two second pick-and-place mechanisms 20. Each arm of the second support 21 is provided with a stop block 22 and a discharge driver 23. The receiving groove formed by the two arms of the second support 21 is a transversely penetrating receiving groove. The receiving groove can only accommodate one second material 200 in the width direction, so that multiple second materials 200 are arranged in a row along the depth direction of the receiving groove. The stop block 22 can slide laterally relative to the support arm. The support arm is provided with a vertically extending positioning groove 211, and the stop block 22 is provided with an inclined extending driving groove 221. The positioning groove 211 and the driving groove 221 are set at an angle. The discharge driver 23 is a cylinder, and the output end is provided with a slide rod. The slide rod extends into the positioning groove 211 and the driving groove 221. When the slide rod moves vertically, it drives the stop block 22 to extend into or exit the receiving groove through the driving groove 221. For the stop blocks 22 on the two arms of the second support 21, firstly, both stop blocks 22 extend, and a second material 200 is vertically positioned between the two stop blocks 22. Then, the lower stop block 22 retracts, releasing a second material 200 on it. After that, the lower stop block 22 extends, and then the upper stop block 22 retracts, causing a second material 200 to fall onto the lower stop block 22. Then, the upper stop block 22 extends, blocking a second material 200 further up. Then, the lower stop block 22 retracts, releasing another second material 200. This cycle continues until all the second materials 200 in the receiving slot are released.

[0066] In one embodiment, the feeding driver 23 can also directly drive the stop block 22, causing the stop block 22 to extend or retract relative to the receiving groove.

[0067] In other embodiments, the feeding actuator 23 may also be a hydraulic cylinder or an electric cylinder.

[0068] Specifically, a picking and placing mechanism is a third picking and placing mechanism 30, which picks and places third materials 300. The third picking and placing mechanism 30 includes a third support 31, a discharging mechanism 32, and a discharging driver 33. The third support 31 is fixed to the swing frame 3 and has a storage cavity capable of storing multiple third materials 300. The discharging mechanism 32 is located at the outlet of the storage cavity, and the discharging driver 33 is mounted on the third support 31. The discharging driver 33 drives the discharging mechanism 32 to release the third materials 300 from the storage cavity one by one. This configuration allows the third picking and placing mechanism 30 to pick up multiple third materials 300 at once and then release them one by one, resulting in higher efficiency.

[0069] More specifically, the discharge mechanism 32 includes a transfer shaft 321 and a discharge component 322. The transfer shaft 321 is rotatably mounted on the third support 31 and has a transfer groove. The discharge component 322 is rotatably connected to the third support 31, forming a discharge chamber between the discharge component 322 and the third support 31. Figure 5 As shown, when the discharge driver 33 drives the transfer trough to connect to the outlet of the storage chamber, the transfer trough can receive a third material 300, and the discharge component 322 opens the discharge chamber, as shown. Figure 6 As shown, when the discharge driver 33 drives the transfer groove to connect with the discharge chamber, the discharge component 322 closes the discharge chamber. The above settings can accurately realize the sequential release of the third material 300.

[0070] More specifically, a first gear is provided on the transfer shaft 321, and a second gear is provided on the rotating shaft of the discharge component 322. The first gear meshes with the second gear, and the discharge driver 33 is configured to drive the transfer shaft 321 or the discharge component 322 to rotate. This configuration allows the transfer shaft 321 and the discharge component 322 to require only one drive source, reducing costs and improving the reliability of sequential release.

[0071] In this embodiment, the storage chamber is a storage channel open at both ends. The third material 300 can be introduced through the inlet of the storage channel. The thickness of the storage channel allows only one third material 300 to pass through at a time, and its width is adapted to the length of the third material 300. Multiple third materials 300 are arranged in a row from the inlet to the outlet in the storage channel, with their ends aligned. On the third support 31, the transfer shaft 321 can rotate around its own axis. A transfer groove is provided on the side wall of the transfer shaft 321, which can only accommodate one third material 300. One end of the discharge component 322 is rotatably connected to the third support 31, and the other end is used to close the discharge chamber. The rotation axes of the transfer shaft 321 and the discharge component 322 are parallel to each other. Through the meshing of a first gear and a second gear, the transfer shaft 321 and the discharge component 322 can rotate towards each other and away from each other. The discharge driver 33 is a cylinder, which is rotatably mounted on the third bracket 31. Its output end is connected to the transfer shaft 321 through an L-shaped connecting rod. One end of the L-shaped connecting rod is fixed to the transfer shaft 321, and the other end is rotatably connected to the output end of the discharge driver 33.

[0072] In other embodiments, the discharge driver 33 may also be a hydraulic cylinder, an electric cylinder, etc.

[0073] In other embodiments, the discharge driver 33 may also be a servo motor, with its output shaft directly connected to the transfer shaft 321 or the discharge component 322.

[0074] Specifically, the pick-and-place device also includes a positioning drive mechanism 4, which is configured to drive the rotating frame 2 to rotate relative to the support frame 1. This configuration allows the rotating frame 2 to rotate to the desired orientation more efficiently.

[0075] In this embodiment, the orientation drive mechanism 4 includes a servo motor, an active gear, and a driven gear. The servo motor is fixed to the support frame 1, the active gear is fixed to the output shaft of the servo motor, and the driven gear is fixed to the rotation shaft of the rotating frame 2 and meshes with the active gear, thereby enabling the orientation drive mechanism 4 to drive the rotating frame 2 to achieve a 360° rotation.

[0076] In other embodiments, the orientation drive mechanism 4 may also include a servo motor, a drive wheel, a driven wheel, and a transmission belt. The servo motor is fixed to the support frame 1, the drive wheel is fixed to the output shaft of the servo motor, the driven wheel is fixed to the rotation shaft of the rotating frame 2, and the transmission belt is wound around the drive wheel and the driven wheel.

[0077] Specifically, the pick-and-place device also includes a swing drive mechanism 5, which is configured to drive the swing frame 3 to rotate relative to the rotating frame 2. This configuration allows the swing frame 3 to swing more efficiently.

[0078] In this embodiment, the swing drive mechanism 5 includes a swing driver 51, a turntable 52, and a swing arm 53. The swing driver 51 is a servo motor, which is fixedly mounted on the rotating frame 2. The turntable 52 is fixedly mounted on the output shaft of the servo motor. One end of the swing arm 53 is rotatably connected to the turntable 52, and the other end is rotatably connected to the swing frame 3. The axis of the turntable 52 coincides with the axis of the output shaft of the servo motor. The axis of the turntable 52 and the swing arm 53 are spaced apart relative to the rotation axis of the turntable 52.

[0079] In other embodiments, the swing drive mechanism 5 may also be a cylinder, rotatably mounted on the rotating frame 2, with its output end rotatably connected to the swing frame 3.

[0080] Specifically, such as Figure 7 As shown, the materials are various steel bars of different lengths that make up the positioning net. The first material 100 is the longest steel bar, i.e., the first type of steel bar, which is picked up and placed by the first pick-and-place mechanism 10. The second material 200 is a medium-length steel bar, i.e., the second type of steel bar, which is picked up and placed by the second pick-and-place mechanism 20. The second pick-and-place mechanism 20 can pick up eight steel bars at a time. The third material 300 is the shortest steel bar, i.e., the third type of steel bar, which is picked up and placed by the third pick-and-place mechanism 30. The first, second, and third types of steel bars are parallel to each other on the pick-and-place device.

[0081] In this embodiment, the support frame 1 is mounted on an external drive mechanism and can move freely in three directions. The first direction is vertical, the rotating frame 2 can rotate 360°, the second direction is horizontal, and the swing frame 3 can swing up and down. The picking and placing device sets up multiple steel bar storage sections inside one mechanism to meet the quantity, type, length, and placement space of various types of steel bars in the positioning net, thereby improving the placement speed, increasing operational efficiency, and saving manpower and resources. In specific use, the third type of steel bar and the second type of steel bar can be picked up in sequence before placement, or the third type of steel bar and the first type of steel bar can be picked up in sequence before placement.

[0082] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A pick-and-place device, characterized in that include: Support frame (1); Rotating frame (2) is rotatably connected to the support frame (1), and the rotation axis is parallel to the first direction; The swing frame (3) is rotatably connected to the rotating frame (2), and the rotation axis is parallel to the second direction, which is set at an angle to the first direction; Multiple picking and placing mechanisms are respectively set on the swing frame (3), which can pick and place multiple materials in a one-to-one correspondence.

2. The pick-and-place apparatus of claim 1, wherein, One of the picking and placing mechanisms is a first picking and placing mechanism (10), and the material picked and placed by the first picking and placing mechanism (10) is a first material (100). The first picking and placing mechanism (10) includes: The first bracket (11) is fixedly connected to the swing frame (3); Two movable frames (12) are slidably connected to the first support (11); Clamps (13), each of the movable frames (12) is provided with at least one clamp (13), and all the clamps (13) cooperate to clamp the first material (100).

3. The pick-and-place apparatus of claim 2, wherein, Each of the movable frames (12) is provided with an adjustment driver (14) configured to drive the movable frame (12) to move relative to the first support (11).

4. The pick-and-place apparatus of claim 1, wherein One of the picking and placing mechanisms is a second picking and placing mechanism (20), and the material picked and placed by the second picking and placing mechanism (20) is a second material (200). The second picking and placing mechanism (20) includes: The second support (21) is fixed to the swing frame (3). The second support (21) is provided with a storage cavity, which can store multiple second materials (200). A baffle block (22) is slidably disposed at the outlet of the storage cavity; A discharge driver (23) is mounted on the second bracket (21). The discharge driver (23) can drive the stop block (22) to release the second material (200) in the storage chamber one by one.

5. The pick-and-place apparatus of claim 4, wherein, The second support (21) is provided with two support arms, and the receiving groove formed between the two support arms is the material storage cavity. Each support arm is slidably provided with a material stop block (22). The two material stop blocks (22) are spaced apart along the depth direction of the receiving groove. When both material stop blocks (22) extend into the receiving groove, one of the second materials (200) can be limited between the two material stop blocks (22).

6. The pick-and-place apparatus of claim 1, wherein, One of the picking and placing mechanisms is a third picking and placing mechanism (30), and the material picked and placed by the third picking and placing mechanism (30) is a third material (300). The third picking and placing mechanism (30) includes: The third support (31) is fixed to the swing frame (3). The third support (31) is provided with a storage cavity, which can store multiple third materials (300). The discharge mechanism (32) is located at the outlet of the storage chamber; The discharge driver (33) is mounted on the third bracket (31) and can drive the discharge mechanism (32) to release the third material (300) in the storage chamber one by one.

7. The pick-and-place apparatus of claim 6, wherein, The discharge mechanism (32) includes: A transfer shaft (321) is rotatably mounted on the third support (31), and the transfer shaft (321) is provided with a transfer groove; The discharge component (322) is rotatably connected to the third support (31). A discharge cavity is formed between the discharge component (322) and the third support (31). When the discharge driver (33) drives the transfer channel to connect to the outlet of the storage cavity, the transfer channel can receive one of the third materials (300), and the discharge component (322) opens the discharge cavity. When the discharge driver (33) drives the transfer channel to connect to the discharge cavity, the discharge component (322) closes the discharge cavity.

8. The pick-and-place apparatus of claim 7, wherein, A first gear is provided on the transfer shaft (321), and a second gear is provided on the rotating shaft of the discharge component (322). The first gear meshes with the second gear, and the discharge driver (33) is configured to drive the transfer shaft (321) or the discharge component (322) to rotate.

9. The pick-and-place apparatus of any of claims 1-8, wherein, It also includes a positioning drive mechanism (4) configured to drive the rotating frame (2) to rotate relative to the support frame (1).

10. The pick-and-place apparatus of any of claims 1-8, wherein, It also includes a swing drive mechanism (5) configured to drive the swing frame (3) to rotate relative to the rotating frame (2).

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