CN116553155A - Feeding and discharging device with mechanical grippers - Google Patents

Abstract

The invention discloses a loading and unloading device with a mechanical gripper, relates to the field of material transfer, and comprises a feeding channel and a feeding channel, the feeding channel is arranged above the feeding channel, and the feeding channel and the lowering channel The material channels are all inclined and equipped with slide rails for the natural sliding of the feeding frame; there is a transfer part at the junction of the feeding channel and the unloading channel, and the transfer part is used to transfer the material frame that has slipped from the feeding channel to the unloading channel superior. In the present invention, both the feeding passage and the unloading passage are arranged obliquely, and the material frame can slide naturally on the slide rail by using gravity, without additional power-driven conveyor belts; moreover, the feeding passage is arranged above the unloading passage, and the material frame is in the transfer part Complete transfer from the loading channel to the unloading channel, the process is simple and efficient, and the overall footprint is small, which not only reduces the cost, but also makes the layout more flexible.

Description

A loading and unloading device with a mechanical gripper

technical field

The invention relates to the field of material transfer, in particular to a loading and unloading device with a mechanical gripper.

Background technique

In industrial production, it is very common to load and unload materials with framed parts, especially in the field of auto parts processing. After cutting, stamping and other processes, small parts are put into specific material frames, and then Transfer to the next process for welding, assembly and other operations. During the automatic welding and assembly operation process, it involves the loading and unloading of the material frame.

At present, the loading and unloading of the material frame generally adopts the conveyor belt transmission method, which involves a simple structure and is easy to manufacture. It is a simple and effective material transfer method, but there are also certain defects as follows: 1. It is used for the transportation of loading and unloading materials. The belt is generally in the form of a flat lay, with a bulky structure and a large floor area; 2. The conveyor belt is usually controlled by servo control or frequency conversion. This power drive method increases the manufacturing cost and makes the control more complicated.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention aims to provide a loading and unloading device with a mechanical gripper to solve the problems of large floor area and high driving cost of the conveyor belt in the prior art. The specific technical solution as follows:

A loading and unloading device with a mechanical gripper, comprising a feeding channel and a feeding channel, the feeding channel is arranged above the feeding channel, the feeding channel and the discharging channel are both inclined and equipped with The slide rail that the feeding frame slides naturally;

A transfer part is provided at the junction of the feeding passage and the unloading passage, and the transfer part is used to transfer the material frame slipped from the feeding passage to the unloading passage.

Compared with prior art, the beneficial effect of the present invention is:

In the present invention, both the feeding passage and the unloading passage are arranged obliquely, and the material frame can slide naturally on the slide rail by using gravity, without additional power-driven conveyor belts; moreover, the feeding passage is arranged above the unloading passage, and the material frame is in the transfer part Complete transfer from the loading channel to the unloading channel, the process is simple and efficient, and the overall footprint is small, which not only reduces the cost, but also makes the layout more flexible.

Further: the transfer unit includes

Support plate: set at one end of the feeding channel for carrying the material frame;

Mechanical gripper: set on the support plate for positioning the material frame;

Rotating device: used to rotate the support plate in the vertical plane so that the material frame slides down to the discharge channel.

The material frame slides down to the support plate naturally by gravity, and then the mechanical gripper stretches out to limit the material frame, and then rotates the support plate through the rotating device, so that the material frame naturally slides down to the unloading channel again with gravity to complete the material transfer.

Further: the rotating device includes a lifting plate and a support rod, the lifting plate is arranged under the supporting plate and is driven by a driving mechanism to move up and down in the vertical direction, and the side of the lifting plate close to the feeding channel is connected with the rotating hinge The support plate is connected; the support rod is vertically fixed on the lower platform and hinged to the lower part of the side of the support plate away from the feeding channel.

For example, a driving mechanism such as a cylinder drives the lifting plate to descend. Since the side of the supporting plate away from the feeding channel is supported by the supporting rod, its height will not drop, while the lifting plate on the other side is connected to the supporting plate through a rotary hinge. During the descending process, the support plate on one side of the rotary hinge is driven to tilt downward, and gradually tilts to the same slope as the unloading channel, so that the material frame slides down naturally.

Further: the lifting plate is provided with a travel hole through which the support rod passes.

By providing a stroke hole on the lifting plate, the size of the lifting plate is no longer limited, and setting a large-area lifting plate is conducive to structural stability.

Further: the number of the support rods is multiple, the arrangement direction of the multiple support rods is perpendicular to the length direction of the feeding channel, and the number of the stroke holes corresponds to the support rods.

Setting a plurality of support rods is equivalent to connecting the connection points between each support rod and the support plate to form a rotation axis, which increases the rotation stability of the support plate.

Further: the mechanical gripper includes a first limit plate and a second limit plate, which are respectively used to limit the two sides of the material frame, and the one close to the side of the feeding channel is the first limit plate, which is far away from the upper One side of the material channel is the second limiting plate, the first limiting plate and the second limiting plate are vertically arranged, and the first limiting plate is driven up and down by the lifting device.

The two sides of the material frame are limited by the first limit plate and the second limit plate. During the rotation process, the material frame is not easy to slide or roll over. After the material frame rotates to a certain angle, the first limit plate is retracted to make the material The frame slides down smoothly and smoothly to the unloading channel.

Further: there are multiple second limiting plates arranged along the length direction of the feeding channel, except for the second limiting plate on the farthest side from the feeding channel, the rest of the second limiting plates are driven by lifting equipment lift.

Since there are many types of material frames, multiple second limit plates are set to adapt to different material frame models. The material frame that slides down, and then the first limiting plate stretches out to limit the position simultaneously with the second limiting plate, which can be adapted to any type of material frame in theory.

Further: a longitudinal through hole for the first limiting plate and the second limiting plate to protrude is opened in the support plate at the position where the first limiting plate and the second limiting plate are located.

Since the support plate will rotate, and the first limit plate and the second limit plate need to be driven up and down by the lifting equipment, the lifting equipment can be installed under the support plate, so it is necessary to give the lifting device a certain horizontal space, so a longitudinal through hole is provided for its activities.

Further: the slide rail includes rollers arranged on both sides of the bottom surface of the feeding channel and the feeding channel.

Rollers are arranged on both sides of the bottom surface of the upper channel and the lower material channel, and the material frame can slide smoothly on the slide rail by gravity, and is not easy to deflect.

Further: the connection between the feeding channel and the transfer part is provided with an inductor facing the inside of the transfer part, and the sensor is electrically connected to the controller;

The connection between the feeding channel and the transfer part is also provided with a limit cylinder for limiting the material frame. The limit cylinder expands and contracts in a direction perpendicular to the sliding direction of the material frame, and the limit cylinder is electrically connected to the controller.

When a material frame enters the transfer section, the sensor transmits the information to the controller, and the controller drives the limit cylinder to extend out to block the subsequent material frame. After the transfer part is finished, the limit cylinder retracts to make the next material frame slide in automatically. Transshipment department.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is a schematic diagram of the internal structure of the transshipment unit;

Fig. 3 is a schematic diagram showing the parts of the mechanical gripper on the support plate.

In the figure, 1. Loading channel; 2. Unloading channel; 3. Feeding frame; 4. Slide rail; 5. Transfer part; 6. Support plate; 7. Mechanical gripper; 72. The second limit plate; 8. Lifting plate; 81. Rotary hinge; 82. Travel hole; 9. Support rod; 10. Inductor.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "another end" The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, use a specific Azimuth configuration and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance.

As shown in Figure 1, a loading and unloading device with a mechanical gripper includes a bracket, and two channels are arranged on the bracket, which are respectively a feeding channel 1 and a feeding channel 2, and the feeding channel 1 is located at the bottom Above the material passage 2, the feeding passage 1 and the unloading passage 2 are arranged obliquely, forming a horizontal V shape. Baffles are arranged on both sides of the feeding channel 1 and the discharging channel 2, and slide rails 4 are arranged on both sides of the bottom surface. Slide down naturally to complete loading and unloading.

The junction of the feeding passage 1 and the unloading passage 2 is provided with a transfer part 5, and the transfer part 5 and the two passages are detachably connected. 1. The material frame 3 that has slipped is transferred to the discharge channel 2. An inductor 10 facing inside the transfer part 5 is provided at the junction of the feeding channel 1 and the transfer part 5 . The sensor 10 is connected to the controller, and when it detects that there is a material frame 3 in the transfer part 5, the drive controller drives the limit cylinder 11 to extend out, and the limit cylinder 11 can also be connected to a baffle to block the subsequent material frame 3 and wait for the transfer part 5. After the transfer of the material frame 3 is completed, the limit cylinder 11 retracts the follow-up material frame 3 and slides into the transfer part 5 automatically.

As shown in Figures 2 and 3, the transfer unit 5 includes a support plate 6, on which a mechanical gripper 7 is arranged to limit the position of the material frame 3 and prevent it from sliding and turning over. The mechanical gripper 7 includes The first limiting plate 71 and the second limiting plate 72 . The second limiting plate 72 can be provided with multiple according to the type of the material frame 3, as in Fig. 3, the second limiting plate 72 on the right side is adapted to the smaller material frame 3, and the second limiting plate 72 on the left side is suitable for the smaller material frame 3. Match larger material frame 3, except the second limiting plate 72 on the left side, the bottom of the remaining second limiting plate 72 is provided with a cylinder to control its lifting. When the material frame 3 enters the transfer section, the first limiting plate 71 is in a contracted state, and the second limiting plate 72 is rotated according to the size of the material frame to make it stretch out to block the material frame 3, and then the first limiting plate 71 stretches out. Together with the second limiting plate 72, the material frame 3 is limited. The right side below the support plate 6 is connected to the lower lift plate 8 through a rotary hinge 81, and the other side is hinged with a support rod 9. The lower end of the support rod 9 is fixed on the lower platform, so that the support rod 9 remains fixed all the time. At this time, the cylinder drives the lift plate 8 gradually descends, and the cylinder is also installed on the fixed platform below. The left side of the support plate 6 is supported by the support rod 9, and the right side is due to the rotary hinge 81, which rotates around the left side and gradually rotates to the same position as the unloading channel 2. After the angle is reached, the first limiting plate 71 retracts at this time, and the material box 3 in the transfer part 5 slides down naturally along the discharge channel 2 by gravity.

The number of support rods 9 is preferably 2-3, and arranged along the telescopic direction of the above-mentioned limit cylinder, the lifting plate 8 offers stroke holes corresponding to the number and position of the support rods 9, and the support rods 9 pass through the forming holes to support Board 6 is connected.

The positions of the first spacer plate 71 and the second spacer plate 72 on the support plate 6 need to be provided with lifting devices, such as cylinders, which are installed below the support plate 6, and pass through the support plate 6 to control the lifting of the spacer plate. , On the support plate 6, longitudinal through holes need to be opened at these positions, and there is a certain gap in the transverse direction, so as to ensure that the support plate 6 will not be stuck when rotating.

In the present invention, both the feeding passage and the unloading passage are arranged obliquely, and the material frame can slide naturally on the slide rail by using gravity, without additional power-driven conveyor belts, which saves transportation costs; moreover, the feeding passage is set above the unloading passage, The material frame is transferred from the loading channel to the unloading channel after completing the transfer in the transfer part. The process is simple and efficient, and the overall footprint is small and the layout is more flexible.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. The utility model provides a go up, unloader with machinery tongs, includes material loading passageway (1) and unloading passageway (2), its characterized in that: the feeding channel (1) is arranged above the discharging channel (2), and the feeding channel (1) and the discharging channel (2) are obliquely arranged and are provided with sliding rails (4) for the feeding frame (3) to naturally slide;

the junction of material loading passageway (1) and unloading passageway (2) is equipped with transfer portion (5), and transfer portion (5) are used for transporting by material frame (3) of material loading passageway (1) landing to on unloading passageway (2).

2. The loading and unloading device with a mechanical gripper as defined in claim 1, wherein: the transfer part (5) comprises

Support plate (6): one end of the feeding channel (1) is used for bearing a material frame (3);

mechanical gripper (7): the material frame (3) is arranged on the supporting plate (6) and used for being positioned;

and a rotating device: for rotating the support plate (6) in a vertical plane so that the material frame (3) slides down onto the blanking channel (2).

3. The loading and unloading device with the mechanical gripper as set forth in claim 2, wherein: the rotating device comprises a lifting plate (8) and a supporting rod (9), the lifting plate (8) is arranged below the supporting plate (6) and is driven by a driving mechanism to move up and down in the vertical direction, and one side, close to the feeding channel (1), of the lifting plate (8) is connected with the supporting plate (6) through a rotating hinge (81); the supporting rod (9) is vertically fixed on the lower platform and hinged to the lower part of one side, far away from the feeding channel (1), of the supporting plate (6).

4. A loading and unloading device with a mechanical gripper as defined in claim 3, wherein: the lifting plate (8) is provided with a travel hole (82) for the supporting rod (9) to pass through.

5. The loading and unloading device with the mechanical gripper as defined in claim 4, wherein: the number of the support rods (9) is multiple, the arrangement direction of the plurality of support rods (9) is perpendicular to the length direction of the feeding channel (1), and the number of the stroke holes (82) corresponds to the number of the support rods (9).

6. The loading and unloading device with the mechanical gripper as set forth in claim 2, wherein: the mechanical gripper (7) comprises a first limiting plate (71) and a second limiting plate (72), wherein the first limiting plate (71) and the second limiting plate (72) are respectively arranged on two sides of the limiting material frame (3), the first limiting plate (71) is arranged on one side of the feeding channel (1) in a close manner, the second limiting plate (72) is arranged on one side of the feeding channel (1) in a far manner, and the first limiting plate (71) and the second limiting plate (72) are vertically arranged, and the first limiting plate (71) is driven to lift by lifting equipment.

7. The loading and unloading device with the mechanical gripper as defined in claim 6, wherein: the second limiting plates (72) are arranged in a plurality, are arranged along the length direction of the feeding channel (1), and except for the second limiting plates (72) which are far away from the feeding channel (1), the rest of the second limiting plates (72) are driven to lift by lifting equipment.

8. The loading and unloading device with the mechanical gripper as recited in claim 7, wherein: longitudinal through holes for the first limiting plate (71) and the second limiting plate (72) to extend out are formed in the supporting plate (6) at positions where the first limiting plate (71) and the second limiting plate (72) are located.

9. The loading and unloading device with a mechanical gripper as defined in claim 1, wherein: the sliding rail (4) comprises rollers arranged on two sides of the bottom surfaces of the feeding channel (1) and the discharging channel (2).

10. The feeding and discharging device with a mechanical gripper according to any one of claims 1 to 9, wherein: an inductor (10) arranged in the transfer part (5) is arranged at the joint of the feeding channel (1) and the transfer part (5), and the inductor (10) is electrically connected with the controller;

the connection part of the feeding channel (1) and the transferring part (5) is also provided with a limiting cylinder (11) for limiting the material frame (3), the limiting cylinder (11) stretches and contracts along the sliding direction perpendicular to the material frame (3), and the limiting cylinder (11) is electrically connected to the controller.