A material handling mechanism using a pick-and-place device

Abstract

The utility model provides a kind of taking and sending device and a kind of material handling mechanism applying it, belong to pre-filled sealing technical field.It solves the problem that the efficiency of feeding needle cylinder from tray to conveying line is poor due to the factors of needle cylinder arrangement and quantity in the existing pre-filled sealing production line.The present application includes slider one and slider two which can move independently horizontally along the same direction, slider one and slider two are arranged in parallel with interval and their moving paths are parallel to each other, slider one and slider two are respectively connected with clamping component one and clamping component two, and a misaligned electric cylinder is connected to clamping component one and / or clamping component two, the misaligned electric cylinder is configured to drive the lateral movement of clamping component one and / or clamping component two to arrange clamping component one and clamping component two side by side.This design overcomes the factors of needle cylinder arrangement in the tray, doubles the handling capacity of needle cylinder, reduces the number of taking material from the tray, and greatly improves the feeding efficiency of needle cylinder.

Description

Technical Field

[0001] This utility model belongs to the field of pre-filling technology, and relates to a picking and delivering device, and more particularly to a picking and delivering device and a material handling mechanism using the same. Background Technology

[0002] On existing pre-filling conveyor lines, syringes awaiting processing are neatly stacked on pallets awaiting loading. Our company's stacking pallets can accommodate 4 rows of 14 syringes each. After the pallets are placed on the pallet loading line and transported to the syringe loading station via the conveyor line, the syringes in the pallets are removed by a robotic arm or picking mechanism. The removed syringes are then placed on the discharge conveyor line for transport. The syringes on the discharge conveyor line are arranged side by side with intervals for easy removal later.

[0003] To improve feeding efficiency, our company typically uses a tandem picking mechanism to remove syringes from the pallet. The clamping part of the tandem picking mechanism is set to hold 14 syringes per row on the pallet, and the mechanism can remove all syringes from the pallet in a single operation. While this method is more efficient than a robotic arm picking syringes one by one, it still requires the tandem picking mechanism to move back and forth between the picking and unloading positions four times to remove all syringes from a pallet. This frequent picking and unloading wastes cycle time and, due to factors such as the capacity requirements of the downstream processing line, the overall picking speed cannot keep up with the feeding needs of the conveyor line. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing a picking and delivering device and a material handling mechanism using the same. It solves the technical problem in existing pre-filling production lines where the efficiency of loading syringes from the tray onto the conveyor line is poor due to limitations in the arrangement and number of syringes within the tray.

[0005] The objective of this utility model can be achieved through the following technical solutions:

[0006] A picking and delivering device includes a slider one and a slider two capable of independent horizontal movement in the same direction. The slider one and slider two are arranged side by side with intervals and their movement paths are parallel to each other. A clamping component one and a clamping component two are respectively connected to the slider one and the slider two, and a misalignment electric cylinder is connected to the clamping component one and / or the clamping component two. The misalignment electric cylinder is configured to drive the clamping component one and / or the clamping component two to move laterally so that the clamping component one and the clamping component two are arranged side by side.

[0007] This feeding device includes two gripping components, gripping component one and gripping component two, which are respectively connected to slider one and slider two. Slider one and slider two drive the horizontal movement of the feeding device. Since slider one and slider two are arranged side by side, gripping components one and gripping component two also maintain a side-by-side arrangement during feeding. Two rows of syringes can be picked up from the tray at a time. After picking up the syringes, gripping components one and gripping component two can switch to a side-by-side arrangement for unloading under the dual action of relatively independent movement (because slider one and slider two can move relatively independently) and the drive of the offset electric cylinder. This design overcomes the factor of syringe arrangement in the tray, doubles the amount of syringes that can be transported, reduces the number of times the syringes are picked up from the tray, and thus greatly improves the syringe feeding efficiency.

[0008] In one of the above-mentioned picking and delivering devices, the first gripping component includes a vertical drive electric cylinder and a pneumatic gripper, and the second gripping component includes a vertical drive electric cylinder and a pneumatic gripper.

[0009] In the aforementioned picking and feeding device, both the first pneumatic gripper and the second pneumatic gripper include multiple clamping parts that open and close synchronously. When picking up materials, the multiple clamping parts on the first pneumatic gripper and the multiple clamping parts on the second pneumatic gripper are arranged in parallel and side by side. When unloading materials, the multiple clamping parts on the first pneumatic gripper and the multiple clamping parts on the second pneumatic gripper are arranged side by side.

[0010] The first gripper on the first gripping assembly has multiple gripping parts, and the second gripper on the second gripping assembly also has multiple gripping parts. When picking up materials, the multiple gripping parts of the two rows are arranged side by side, which can pick up two rows of syringes in the tray at a time. When unloading materials, the multiple gripping parts of the two rows switch to be arranged side by side to release materials. This doubles the number of materials picked up and fed, and greatly improves the efficiency of loading materials from the tray to the conveyor line.

[0011] In the aforementioned picking and delivering device, the misalignment electric cylinder is fixed on slider one and arranged in the direction of slider two. The clamping component one is connected to the slider of the misalignment electric cylinder and is driven by the misalignment electric cylinder to move laterally to the moving path of clamping component two or the extension direction of the moving path.

[0012] The misalignment electric cylinder is installed on slider one, and clamping component one is connected to the misalignment electric cylinder. The misalignment electric cylinder drives the clamping component one to move towards clamping component two to a state where it is arranged side by side with clamping component two. Then, clamping component one and clamping component two lower the material onto the conveyor line. This can switch the two rows of syringes arranged side by side in the tray to syringes arranged side by side to adapt to the conveyor line, and greatly improve the feeding efficiency.

[0013] In the aforementioned picking and delivering device, the first vertical drive electric cylinder is vertically arranged and its slider can move in the vertical direction, the first pneumatic gripper is fixed on the slider of the first vertical drive electric cylinder, the second vertical drive electric cylinder is vertically arranged and its slider can move in the vertical direction, and the second pneumatic gripper is fixed on the slider of the second vertical drive electric cylinder.

[0014] In the aforementioned picking and conveying device, the material handling mechanism includes a long-distance electric cylinder 1 and a long-distance electric cylinder 2 arranged at intervals and parallel to each other. The slider 1 is connected to the long-distance electric cylinder 1, and the slider 2 is connected to the long-distance electric cylinder 2. The moving stroke of the slider 1 is greater than the moving stroke of the slider 2.

[0015] After debugging, the stroke of slider one is greater than that of slider two. When feeding, clamping component two stops after reaching its stroke, while clamping component one continues to move forward a short distance. Then, driven by the misaligned electric cylinder, it moves laterally to the front of clamping component one and is placed side by side with clamping component one. The syringes on clamping component one and clamping component two are placed side by side on the conveyor line and transported by the conveyor line. This design improves feeding efficiency while ensuring stable state switching.

[0016] A material handling mechanism includes a pallet conveyor line, a syringe conveyor line, and a pick-and-place device, wherein the conveying direction of the pallet conveyor line is perpendicular to the conveying direction of the syringe conveyor line, the pallet conveyor line is configured to convey a pallet containing syringes, the syringe conveyor line is configured to convey syringes arranged side by side, and the pick-and-place device is configured to pick up and place syringes from the pallet onto the syringe conveyor line.

[0017] In the aforementioned material handling mechanism, during material handling, clamping component one and clamping component two are arranged side by side and located above the pallet conveyor line; during material handling, clamping component one and clamping component two are arranged side by side and located above the syringe conveyor line.

[0018] Compared with the prior art, the advantages of this product are as follows: the clamping components 1 and 2 of this application are arranged side by side at the material picking position to pick up 2 rows of syringes from the tray. When the clamping components 1 and 2 move to the material dispensing position, they can switch to a side by side arrangement to put down the syringes. This design overcomes the factor of syringe arrangement in the tray, doubles the amount of syringes that can be transported, and reduces the number of times materials are picked up from the tray, thereby greatly improving the syringe feeding efficiency. Attached Figure Description

[0019] Figure 1 This is a structural view of the material handling mechanism of this utility model;

[0020] Figure 2 This is a structural view of the feeding device of this utility model in the material feeding state;

[0021] Figure 3 This is another angle view of the picking and feeding device of this utility model in the material picking state;

[0022] Figure 4 This is a side view of the feeding device of this utility model in the material feeding state;

[0023] Figure 5 This is a top view of the feeding device of this utility model in the material feeding state;

[0024] Figure 6 This is a structural view of the clamping component of this utility model;

[0025] Figure 7 This is a structural view of the second clamping component of this utility model.

[0026] In the diagram, 1. Long-distance electric cylinder one; 11. Slider one; 2. Long-distance electric cylinder two; 21. Slider two; 3. Gripping assembly one; 31. Vertical drive electric cylinder one; 32. Pneumatic gripper one; 4. Gripping assembly two; 41. Vertical drive electric cylinder two; 42. Pneumatic gripper two; 5. Misalignment electric cylinder; 6. Gripping part; 7. Pallet conveyor line; 8. Syringe conveyor line. Detailed Implementation

[0027] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0028] Example 1

[0029] like Figures 1-7 The device shown is used at the junction of the tray loading line and the syringe conveying line 8 on the pre-filling production line to transport syringes from the tray to the syringe conveying line 8.

[0030] The tray is square in shape and has four rows of syringe slots arranged side by side. Each row of syringe slots has 14 syringe slots arranged side by side, so that the 56 syringes are arranged in a square array structure. This makes the full tray easy to load, unload and stack.

[0031] The pallet loading line is a conventional conveyor line whose conveying width is adapted to the pallet, enabling the horizontal movement and transmission of the pallets placed on it, including independent horizontal movement in the same direction. Furthermore, unlike conventional conveyor lines, the pallet conveyor line 7 is equipped with a clamping mechanism at the picking position, which clamps and limits the pallet arriving at the picking position, ensuring stability and facilitating accurate picking.

[0032] The syringe conveyor line 8 includes a drive motor and a reciprocating belt. The belt is mounted on the frame and both ends are driven by synchronous pulleys. The drive motor drives the synchronous pulleys to rotate. Several carrier modules are fixed sequentially on the surface of the belt. The carrier modules have recesses for accommodating syringes. During the operation of the syringe conveyor line 8, the syringe is placed in the recess of the upper carrier module (i.e., the feeding position), and the syringe can be driven to move forward.

[0033] like Figure 2 and Figure 3 The conveying device shown includes a mounting frame with a mounting top plate and a hanging opening. On the top surface of the mounting top plate on both sides of the hanging opening, there are parallel long-distance electric cylinders 1 and 2, which are arranged facing the length of the hanging opening. Long-distance electric cylinder 1 has a slider 11 capable of linear reciprocating motion, and long-distance electric cylinder 2 has a slider 21 capable of linear reciprocating motion. With this design, the clamping components 3 and 4, which are subsequently connected to the sliders 11 and 21, can hang down from the hanging opening and extend below the mounting top plate to perform independent operations.

[0034] like Figure 2 , Figure 4 , Figure 6 As shown, a misalignment cylinder 5 is fixed on slider 11. The misalignment cylinder 5 is arranged perpendicular to the moving direction of slider 11. Clamping component 3 is directly fixed to the slider of misalignment cylinder 5, and clamping component 4 is directly fixed to the slider of long-distance cylinder 2. Within the stroke range of misalignment cylinder 5, clamping component 3 can be driven to move to a position parallel to clamping component 4. During loading, gripping component 3 and gripping component 4 are arranged side by side, and can pick up two rows of syringes from the tray at a time. During unloading, gripping component 3 and gripping component 4 can be misaligned in the moving direction under the drive of long-distance electric cylinder 1 and long-distance electric cylinder 2, and gripping component 3 can be moved laterally under the drive of misalignment electric cylinder 5. This bidirectional movement allows gripping component 3 to switch into the moving path of gripping component 4 and be arranged side by side with gripping component 4 for unloading. This design overcomes the problem of doubling the amount of syringes that need to be transported due to the arrangement of syringes in the tray, and reduces the number of times the syringes need to be picked up from the tray, thereby greatly improving the syringe loading efficiency.

[0035] like Figure 6 and Figure 7The first gripping assembly 3 shown includes a vertical drive electric cylinder 31 and a pneumatic gripper 32, and the second gripping assembly 4 includes a vertical drive electric cylinder 41 and a pneumatic gripper 42. The vertical drive electric cylinder 31 is vertically positioned, and its slider can move vertically. The pneumatic gripper 32 is fixed to the slider of the vertical drive electric cylinder 31. The second vertical drive electric cylinder 41 is vertically positioned, and its slider can move vertically. The pneumatic gripper 42 is fixed to the slider of the second vertical drive electric cylinder 41. Both the first and second pneumatic grippers 32 and 42 include 14 synchronously opening and closing gripping parts 6, corresponding to a row of 14 syringes in the tray. During material handling, the gripping parts 6 on the first and second pneumatic grippers 32 and 42 are arranged parallel to each other; during material unloading, the gripping parts 6 on the first and second pneumatic grippers 42 are arranged side-by-side. The multiple gripping parts 6 in two rows are arranged side-by-side during material handling, capable of picking up two rows of syringes from the tray at a time. During material unloading, the multiple gripping parts 6 in two rows switch to a side-by-side arrangement for material release, thus doubling the material handling and feeding capacity and significantly improving the efficiency of loading materials from the tray to the conveyor line. Preferably, the specific structure of both the first pneumatic gripper 32 and the second pneumatic gripper 42 includes a two-finger cylinder and two adjacent linkage plates. The two linkage plates are connected by a linear slide rail and can move horizontally relative to each other. The two linkage plates are respectively fixed to the two clamping blocks of the two-finger cylinder by connecting hardware, and are driven by the two-finger cylinder to horizontally offset or reset. The aforementioned gripping part 6 includes A clamping blocks and B clamping blocks. 14 A clamping blocks and 14 B clamping blocks are respectively hung and fixed on the two linkage plates. The A and B clamping blocks correspond to each other to form gripping parts 6, totaling 14 pairs. The opening and closing are achieved by the offset and reset of the two linkage plates.

[0036] Furthermore, such as Figure 3 and Figure 5 As shown, the travel stroke of slider 11 in this material handling mechanism is greater than that of slider 21. After debugging, the travel stroke of slider 11 is greater than that of slider 21. During material loading, clamping component 24 stops after reaching its travel stroke, while clamping component 3 continues to move forward a short distance. Then, driven by the offset electric cylinder 5, it moves laterally to the front of clamping component 3 and is placed side by side with clamping component 3. The syringes on clamping component 13 and clamping component 24 are placed side by side and intermittently on the conveyor line and are transported by the conveyor line. This design improves the material loading efficiency while ensuring stable state switching.

[0037] like Figure 1The illustrated material handling mechanism includes a pallet conveyor line 7, a syringe conveyor line 8, and the aforementioned pick-and-place device. The conveying direction of the pallet conveyor line 7 is perpendicular to the conveying direction of the syringe conveyor line 8. The pallet conveyor line 7 is configured to convey a pallet containing syringes, and the syringe conveyor line 8 is configured to convey syringes arranged side-by-side. The pick-and-place device is configured to pick up and place the syringes from the pallet onto the syringe conveyor line 8. Further, during material handling, gripping component 1 3 and gripping component 2 4 are arranged side-by-side and positioned above the pallet conveyor line 7, with gripping component 2 4 positioned above the syringe conveyor line 8, while gripping component 1 3 is not positioned above the syringe conveyor line 8. During material handling, gripping component 1 3 is moved in a staggered manner to be positioned side-by-side with gripping component 2 4 above the syringe conveyor line 8 for material unloading.

[0038] Example 2

[0039] The number and installation position of the misaligned electric cylinders 5 in this embodiment are different from those in Embodiment 1. The other structures in this embodiment are basically the same as those in Embodiment 1. The difference is that there are two misaligned electric cylinders 5. Misaligned electric cylinders 5 are fixed on both slider 11 and slider 21. Clamping component 1 3 and clamping component 2 4 are respectively connected to the two misaligned electric cylinders 5. The clamping component 1 3 and clamping component 2 4 can be arranged side by side on the same moving path to perform material feeding operation through the driving of the two misaligned electric cylinders 5. After resetting, clamping component 1 3 and clamping component 2 4 are in a parallel arrangement. This design can achieve the same technical effect as Embodiment 1.

[0040] Example 3

[0041] The quantity of material handled in this embodiment differs from that in Embodiment 1. While the other structures are largely the same as in Embodiment 1, the difference lies in the following: This embodiment also includes at least one clamping component three. A long-distance electric cylinder three is fixed to the mounting plate on the other side of the long-distance electric cylinder two 2. Similar to long-distance electric cylinder one 1, a misalignment electric cylinder 5 is also fixed to the long-distance electric cylinder three. The clamping component three is connected to the misalignment electric cylinder 5. The structure of the clamping component three is the same as that of the clamping component one 3. In the material handling position, clamping components one 3, two 4, and three are arranged side-by-side, simultaneously handling three rows of syringes. In the material unloading position, due to the misalignment of the misalignment electric cylinder 5, clamping components one 3 and three move to the front and rear sides of clamping component two 4, forming a side-by-side arrangement for unloading. This design can accommodate trays with six or more rows of syringes, further improving loading efficiency. Theoretically, more material handling components can be arranged if the installation environment allows; a reasonable design is sufficient.

[0042] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A picking and delivering device, comprising a first slider (11) and a second slider (21) capable of independent horizontal movement in the same direction, characterized in that, The slider one (11) and slider two (21) are arranged side by side with their movement paths parallel to each other. The slider one (11) and slider two (21) are respectively connected to the gripping component one (3) and gripping component two (4), and the gripping component one (3) and / or gripping component two (4) are connected to the misalignment electric cylinder (5). The misalignment electric cylinder (5) is configured to drive the gripping component one (3) and / or gripping component two (4) to move laterally so that the gripping component one (3) and gripping component two (4) are arranged side by side.

2. The picking and delivering device according to claim 1, characterized in that, The first gripping component (3) includes a vertical drive electric cylinder (31) and a pneumatic gripper (32), and the second gripping component (4) includes a vertical drive electric cylinder (41) and a pneumatic gripper (42).

3. The picking and delivering device according to claim 2, characterized in that, Both the first pneumatic gripper (32) and the second pneumatic gripper (42) include multiple clamping parts (6) that open and close synchronously. When picking up materials, the multiple clamping parts (6) on the first pneumatic gripper (32) and the multiple clamping parts (6) on the second pneumatic gripper (42) are arranged in parallel and side by side. When unloading materials, the multiple clamping parts (6) on the first pneumatic gripper (32) and the multiple clamping parts (6) on the second pneumatic gripper (42) are arranged side by side.

4. A pickup and delivery device according to claim 2 or 3, characterized in that, The misalignment electric cylinder (5) is fixed on the slider one (11) and arranged in the direction of the slider two (21). The clamping component one (3) is connected to the slider of the misalignment electric cylinder (5) and is driven by the misalignment electric cylinder (5) to move laterally to the moving path of the clamping component two (4) or the extension direction of the moving path.

5. The picking and delivering device according to claim 2, characterized in that, The vertical drive electric cylinder one (31) is vertically set and its slider can move in the vertical direction. The pneumatic gripper one (32) is fixed on the slider of the vertical drive electric cylinder one (31). The vertical drive electric cylinder two (41) is vertically set and its slider can move in the vertical direction. The pneumatic gripper two (42) is fixed on the slider of the vertical drive electric cylinder two (41).

6. A pickup and delivery device according to claim 1, 2, or 3, characterized in that, This material handling mechanism includes a long-distance electric cylinder one (1) and a long-distance electric cylinder two (2) arranged at intervals and parallel to each other. The slider one (11) is connected to the long-distance electric cylinder one (1), and the slider two (21) is connected to the long-distance electric cylinder two (2). The travel of the slider one (11) is greater than the travel of the slider two (21).

7. A material handling mechanism, characterized in that, The device includes a tray conveyor line (7), a syringe conveyor line (8), and a pick-and-place device as described in any one of claims 1-6, wherein the conveying direction of the tray conveyor line (7) is perpendicular to the conveying direction of the syringe conveyor line (8), the tray conveyor line (7) is configured to convey a tray with syringes, the syringe conveyor line (8) is configured to convey syringes arranged side by side, and the pick-and-place device is configured to pick up and place the syringes on the tray onto the syringe conveyor line (8).

8. A material handling mechanism according to claim 7, characterized in that, During material handling, the first clamping component (3) and the second clamping component (4) are arranged side by side and located above the pallet conveyor line (7). During material unloading, the first clamping component (3) and the second clamping component (4) are arranged side by side and located above the syringe conveyor line (8).

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