CN111620104A - Online material taking and placing device - Google Patents

Abstract

The present invention relates to the technical field of material picking and placing equipment, and in particular to an online material picking and placing device, comprising a base, a transverse moving assembly slidably arranged on the base, a transverse moving reset mechanism installed on the base and used to drive the transverse moving assembly to reset, a longitudinal moving assembly slidably arranged on the transverse moving assembly, a longitudinal moving reset mechanism installed on the transverse moving assembly and used to drive the longitudinal moving assembly to reset, and a material picking and placing mechanism installed on the longitudinal moving assembly. The present invention has a simple structure, an ingenious design, and a low manufacturing cost, realizes online picking and placing of materials, can pick up moving materials or place materials on a moving fixture, has stable picking and placing of materials, does not require frequent opening and closing of the conveying mechanism, reduces the probability of failure, is conducive to extending the service life of the conveying mechanism, has high efficiency in picking and placing materials, and thus improves production efficiency.

Description

An online pick-and-place device

technical field

The invention relates to the technical field of picking and unloading equipment, in particular to an on-line picking and unloading device.

Background technique

In industrial production, the taking and unloading of materials belongs to the transfer of materials, which is beneficial to the materials being processed in different processing stations. In the prior art, materials are generally taken and discharged after the jig conveyed by the conveying mechanism stops moving, and then the material is placed on the static jig through the pick-and-place mechanism, or the material carried on the static jig is picked up. , The fixture is in an intermittent conveying state, frequently starts and stops work, and the conveying mechanism is prone to failure, which is not conducive to the service life of the conveying mechanism, and the production efficiency is low. Therefore, the defects are very obvious, and there is an urgent need to provide a solution.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned technical problems, the purpose of the present invention is to provide an on-line pick-and-place device, which has a simple structure, ingenious design and low manufacturing cost, realizes on-line pick-and-place materials, and can pick up moving materials or place materials on On the moving jig, the material is stably taken and placed, and the conveying mechanism does not need to be opened and closed frequently, which reduces the probability of failure, which is beneficial to prolong the service life of the conveying mechanism, and the efficiency of picking and placing materials is high, thereby improving the production efficiency.

In order to achieve the above object, the present invention adopts the following technical solutions:

An on-line pick-and-place device, which comprises a base, a traverse assembly arranged on the base in a lateral slide, a traverse reset mechanism installed on the base and used to drive the traverse assembly to reset, and a longitudinal slide set on the traverse assembly. The longitudinal movement assembly, the longitudinal movement reset mechanism installed on the transverse movement assembly and used to drive the longitudinal movement assembly to reset, and the pick-and-place mechanism installed in the longitudinal movement assembly.

Further, the traverse assembly is provided with a traverse reset slot, and the traverse reset slot is in an inverted V shape, and the traverse reset mechanism includes a traverse reset driver installed on the base and a traverse reset driver installed on the A traverse reset driver at the output end of the driver, the traverse reset driver interferes with the inner wall of the traverse reset slot, and the traverse reset driver is used to drive the traverse reset driver closer to or away from the traverse reset slot.

Further, the traverse assembly includes a traverse slide rail installed on the base, a traverse slide block slidably connected to the traverse slide rail, and a traverse member installed on the traverse slide block, and the traverse slide is reset. The slot is arranged on the traverse member, the vertical movement assembly is slidably arranged on the traverse member, and the vertical movement reset mechanism is installed on the traverse member.

Further, the longitudinal shift assembly is provided with a longitudinal shift reset slot, and the longitudinal shift reset slot is in an inverted V shape, and the longitudinal shift reset mechanism includes a longitudinal shift reset driver installed in the transverse shift The longitudinal reset driver at the output end of the reset driver is in contact with the inner wall of the longitudinal reset slot, and the longitudinal reset driver is used to drive the longitudinal reset driver to approach or move away from the longitudinal reset slot.

Further, the number of the longitudinal reset slots and the number of longitudinal reset mechanisms are both two, and the two longitudinal reset slots are matched with the two longitudinal reset mechanisms in one-to-one correspondence, and the two longitudinal reset slots are located in the vertical Move both sides of the assembly.

Further, the longitudinal movement assembly includes a longitudinal movement slider installed on the transverse movement assembly, a longitudinal movement slide rail slidably connected with the longitudinal movement slider, and a longitudinal movement piece installed on the longitudinal movement slide rail. The feeding mechanism is installed on the longitudinal moving piece, and the longitudinal moving reset slot is arranged on the longitudinal moving piece.

Further, the picking and unloading mechanism includes a picking and unloading driver installed on the longitudinal movement assembly, and a first and second clipping parts both installed at the output end of the picking and unloading driver. The driver is used to drive the first clamping member and the second clamping member to approach or move away from each other.

Further, a carrying table is installed on the top of the pick-and-place mechanism.

The beneficial effects of the present invention are as follows: in actual operation, the conveying mechanism drives a plurality of fixtures to move in an orderly manner, and the linear drive module drives the base together with the traverse component, traverse reset mechanism, vertical shift component, vertical reset mechanism and pick-and-place material. The mechanism moves close to the conveying mechanism until the picking and unloading mechanism picks up the material carried by the jig. Since the fixture and the material are in a moving state, in order to ensure that the picking and unloading mechanism can pick up the material online, avoid the picking and unloading mechanism and the fixture. Or/and the material has a hard impact collision, which ensures the stability of the picking and unloading mechanism to pick up the material. During the process of picking up the material, the picking and unloading mechanism can be driven by the synergistic cooperation of the traverse component and the vertical component within a certain range. Realize lateral movement and longitudinal movement, so that the pick-and-place mechanism can stably pick up the moving materials; when the pick-and-place mechanism picks up the material, the traverse reset mechanism drives the traverse component to reset, and the vertical reset mechanism drives the vertical component to reset. , so that the picking and unloading mechanism is at the starting position, on the one hand, it is convenient for the external manipulator to transfer the material picked up by the picking and unloading mechanism to the preset position, and on the other hand, it is convenient for the picking and unloading mechanism to pick up the next material. The invention has the advantages of simple structure, ingenious design and low manufacturing cost, realizes on-line picking and placing of materials, can pick up moving materials or place materials on a moving jig, is stable in picking and unloading, and does not require frequent opening and closing of the conveying mechanism. The probability of failure is reduced, the service life of the conveying mechanism is extended, and the efficiency of picking and placing materials is high, thereby improving the production efficiency.

Description of drawings

FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.

FIG. 2 is a schematic diagram of the three-dimensional structure of the present invention after the base is hidden.

Description of reference numbers:

1. Base; 2. Traverse assembly; 21, Traverse reset slot; 22, Traverse slide rail; 23, Traverse slider; 24, Traverse part; 3, Traverse reset mechanism; 31, Traverse reset Driver; 32, traverse reset drive member; 4, longitudinal shift assembly; 41, longitudinal shift reset slot; 42, longitudinal shift slider; 43, longitudinal shift slide rail; 44, longitudinal shift piece; 5, longitudinal shift reset mechanism; 51. Longitudinal reset driver; 52. Longitudinal reset drive; 6. Pick-up and unload mechanism; 61. Pick-and-unload driver; 62, first clip; 63, second clip; 7, carrying platform.

Detailed ways

In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the embodiments and the accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

As shown in FIG. 1 and FIG. 2 , an on-line pick-and-place device provided by the present invention includes a base 1 , a traverse assembly 2 that is laterally slidably arranged on the base 1 , installed on the base 1 and used for driving The traverse reset mechanism 3 for resetting the traverse assembly 2, the longitudinal shift assembly 4 arranged in the traverse assembly 2 longitudinally sliding, and the longitudinal reset mechanism 5 installed in the traverse assembly 2 and used to drive the longitudinal motion assembly 4 to reset and its installation In the pick-and-release mechanism 6 of the longitudinal movement assembly 4, a conveying mechanism is provided on one side of the picking-and-unloading mechanism 6, and the conveying mechanism is driven and connected with a plurality of jigs, and the plurality of jigs are along the conveying direction of the conveying mechanism. Arranged and arranged, the conveying mechanism drives a plurality of fixtures to move cyclically, the base 1 is driven and connected with a linear drive module, and the linear drive module is used to drive the picking and discharging mechanism 6 to move close to or away from the conveying mechanism. Unloading refers to the process in which the conveyor mechanism drives the fixture to move, and the pick-and-place mechanism 6 places the material on the moving fixture or picks up the material carried by the moving fixture; in this embodiment, the pick-and-release mechanism 6 Pick up the material carried on the jig as an example to illustrate.

In actual work, the conveying mechanism drives a plurality of fixtures to move in an orderly manner, and the linear drive module drives the base 1 together with the traverse component 2, the traverse reset mechanism 3, the vertical component 4, the vertical reset mechanism 5 and the pick-and-place mechanism. 6 Move close to the conveying mechanism until the picking and unloading mechanism 6 picks up the material carried by the jig. Since the jig and the material are in a moving state, in order to ensure that the picking and unloading mechanism 6 can pick up the material online, avoid the picking and unloading mechanism 6 The rigid impact collision with the fixture or/and the material ensures the stability of the pick-up and unloading mechanism 6 picking up the material. During the process of picking up the material, the pick-and-unload mechanism 6 cooperates with the traverse component 2 and the longitudinal component 4. Under the drive, lateral movement and longitudinal movement can be realized within a certain range, so that the picking and unloading mechanism 6 can stably pick up the moving materials; when the picking and unloading mechanism 6 picks up the material, the traverse reset mechanism 3 drives the traverse assembly 2 to reset At the same time, the longitudinal movement reset mechanism 5 drives the longitudinal movement assembly 4 to reset, so that the pick-and-place mechanism 6 is at the starting position. On the one hand, it is convenient for the picking and discharging mechanism 6 to pick up the next material.

The invention has the advantages of simple structure, ingenious design and low manufacturing cost, realizes on-line picking and placing of materials, can pick up moving materials or place materials on a moving jig, is stable in picking and unloading, and does not require frequent opening and closing of the conveying mechanism. The probability of failure is reduced, the service life of the conveying mechanism is extended, and the efficiency of picking and placing materials is high, thereby improving the production efficiency.

In this embodiment, the traverse assembly 2 is provided with a traverse reset slot 21 , the traverse reset slot 21 is in an inverted V shape, and the traverse reset mechanism 3 includes a traverse reset driver installed on the base 1 . 31 and the traverse reset driver 32 installed at the output end of the traverse reset driver 31, the traverse reset driver 32 is in conflict with the inner wall of the traverse reset slot 21, and the traverse reset driver 31 is used to drive the traverse reset The reset drive member 32 is close to or away from the traverse reset slot 21 , and the traverse reset driver 31 is an air cylinder.

Since the traverse reset slot 21 is in an inverted V shape, the opening direction of the traverse reset slot 21 faces downward, and the opening diameter of the traverse reset slot 21 gradually increases from top to bottom, forming a structure with a narrow top and a wide bottom. When the traverse assembly 2 needs to move laterally, the traverse reset driver 31 drives the traverse reset driver 32 to move down, so that the traverse reset driver 32 moves down to the maximum opening diameter of the traverse reset slot 21, and the traverse reset driver 32 moves down. The member 32 limits the lateral movement range of the traverse assembly 2, so that the traverse assembly 2 can only move laterally within the maximum opening diameter of the traverse reset slot 21; when it is necessary to drive the traverse assembly 2 to reset, the traverse reset The driver 31 drives the traverse reset driver 32 to move upward. During the process of the traverse reset driver 32 moving upward, the traverse reset driver 32 abuts against the inner side wall of the traverse reset slot 21 and moves along the inner side of the traverse reset slot 21 . The wall moves upward, thereby driving the traverse assembly 2 to reset and move until the traverse reset driver 32 collides with the bottom wall of the traverse reset slot 21 , at which time the traverse assembly 2 resets to the initial position.

In this embodiment, the traverse assembly 2 includes a traverse slide rail 22 mounted on the base 1 , a traverse slide block 23 slidably connected to the traverse slide rail 22 , and a traverse slide block 23 mounted on the traverse slide block 23 . Shifting member 24, the traverse reset slot 21 is arranged on the traverse member 24, the vertical movement assembly 4 is slidably arranged on the traverse member 24, the vertical movement reset mechanism 5 is installed on the traverse member 24, the The reset slot 21 is located in the middle of the traverse member 24 .

During the process of picking up the moving material by the pick-and-place mechanism 6 , the pick-and-unload mechanism 6 will be subjected to a lateral force in the same conveying direction as the conveying mechanism. It acts on the traverse member 24, so that the traverse member 24 and the traverse slider 23 move laterally on the traverse slide rail 22, so that the pick-and-place mechanism 6 can follow the conveying mechanism to traverse a distance, thereby improving the pick-and-unload mechanism. The mechanism 6 picks up the stability of the material. The traverse sliding block 23 is slidably matched with the traverse sliding rail 22 to improve the stability of the movement of the traverse member 24 .

In this embodiment, the longitudinal movement reset slot 41 is provided with the longitudinal movement reset slot 41 , and the longitudinal movement reset slot 41 is in an inverted V shape. The driver 51 and the longitudinal reset driver 52 installed at the output end of the longitudinal reset driver 51 , the longitudinal reset driver 52 collides with the inner wall of the longitudinal reset slot 41 , and the longitudinal reset driver 51 is used to drive the longitudinal reset. The displacement reset driver 52 is close to or away from the longitudinal reset slot 41 , and the high-speed longitudinal reset driver 51 is an air cylinder.

Since the longitudinal displacement reset slot 41 is in an inverted V shape, the opening direction of the longitudinal displacement reset slot 41 faces downward, and the opening diameter of the longitudinal displacement reset slot 41 gradually increases from top to bottom, forming a structure with a narrow top and a wide bottom. When the longitudinal movement assembly 4 needs to move longitudinally, the longitudinal reset driver 51 drives the longitudinal reset driver 52 to move down, so that the longitudinal reset driver 52 moves down to the maximum opening diameter of the longitudinal reset slot 41, and the longitudinal reset driver 52 moves down. The member 52 limits the longitudinal movement range of the longitudinal movement assembly 4, so that the longitudinal movement assembly 4 can only move longitudinally within the maximum opening diameter of the longitudinal movement reset slot 41; when it is necessary to drive the longitudinal movement assembly 4 to reset, the longitudinal movement reset The driver 51 drives the longitudinal reset driving member 52 to move upward. During the upward movement of the longitudinal reset driving member 52 , the longitudinal reset driving member 52 abuts against the inner side wall of the longitudinal reset slot 41 and moves along the inner side of the longitudinal reset slot 41 . The wall moves upward, thereby driving the longitudinal movement assembly 4 to reset and move until the longitudinal movement reset driving member 52 collides with the bottom wall of the longitudinal movement reset slot 41 , at which time the longitudinal movement assembly 4 returns to the initial position.

In this embodiment, the number of the longitudinal reset slots 41 and the number of the longitudinal reset mechanisms 5 are both two. The displacement and reset slots 41 are respectively located on both sides of the longitudinal displacement assembly 4 . The structural design makes the force of the longitudinal movement assembly 4 uniform, and further improves the stability of the longitudinal movement and reset of the longitudinal movement assembly 4 .

In this embodiment, the vertical movement assembly 4 includes a vertical movement slider 42 installed on the horizontal movement member 24 of the horizontal movement assembly 2 , a vertical movement slide rail 43 slidably connected with the vertical movement slider 42 , and a vertical movement slide rail 43 installed on the The longitudinal movement member 44 of the longitudinal movement slide rail 43 is arranged on the longitudinal movement member 44 .

When the picking and unloading mechanism 6 picks up the moving material, the picking and unloading mechanism 6 will be subjected to a longitudinal force, and the longitudinal force acts on the longitudinal moving member 44 through the picking and unloading mechanism 6, so that the vertical moving member 44 is associated with it. The longitudinal sliding rail 43 moves longitudinally on the longitudinal sliding block 42 , so that the picking and unloading mechanism 6 can follow the conveying mechanism to move longitudinally for a certain distance, thereby improving the stability of picking up materials by the picking and unloading mechanism 6 . By slidingly matching the longitudinal sliding block 42 with the longitudinal sliding rail 43 , the stability of the movement of the longitudinal moving member 44 is improved.

In the present embodiment, the pick-and-place mechanism 6 includes a pick-and-place driver 61 installed on the vertical movement member 44 of the vertical-movement assembly 4 and a first material clamping member both installed on the output end of the pick-and-unload driver 61 62 and the second clipping member 63, the pick-and-place driver 61 is used to drive the first clipping member 62 and the second clipping member 63 to approach or move away from each other. The first clamping member 62 and the second clamping member 63 are respectively installed at the two output ends of the finger cylinder, and the first clamping member 62 and the second clamping member 63 are arranged opposite to each other. In actual work, the pick-and-place driver 61 drives the first clamping member 62 and the second clamping member 63 to move close to each other until the first clamping member 62 and the second clamping member 63 cooperate to clamp the material. The structure of the picking and discharging mechanism 6 is simple, and the picking and discharging are convenient, fast and stable.

In this embodiment, the top of the pick-and-place mechanism 6 is provided with a loading platform 7; when the pick-and-place mechanism 6 picks up materials, the loading platform 7 can carry the materials, which further improves the pick-and-place mechanism 6 Stability of picked material.

Specifically, the top of the traverse reset driver 32 and the top of the longitudinal reset driver 52 are both provided with arc surfaces, and the arc surface of the traverse reset driver 32 is in contact with the inner wall of the traverse reset slot 21 . , reduce the wear of the traverse reset driver 32 and the traverse member 24, and facilitate the reset of the traverse member 24; The wear of the reset driving member 52 and the longitudinal moving member 44 is convenient for driving the longitudinal moving member 44 to reset.

All the technical features in this embodiment can be freely combined according to actual needs.

The above-mentioned embodiment is a preferred implementation scheme of the present invention. In addition, the present invention can also be implemented in other ways, and any obvious replacements are within the protection scope of the present invention without departing from the concept of the technical solution.

Claims (8)

1. An on-line pick-and-place device is characterized in that: comprising a base, a lateral sliding assembly that is arranged on the base, a lateral movement reset mechanism installed on the base and used to drive the reset of the lateral movement assembly, longitudinal sliding The vertical movement component is arranged on the horizontal movement component, the vertical movement reset mechanism installed on the horizontal movement component and used to drive the vertical movement component to reset, and the pick-and-place mechanism installed on the vertical movement component. 2. An online pick-and-place device according to claim 1, characterized in that: the traverse assembly is provided with a traverse reset slot, the traverse reset slot is in an inverted V shape, and the traverse reset slot is in an inverted V shape. The mechanism includes a traverse reset driver installed on the base and a traverse reset driver installed at the output end of the traverse reset driver. The traverse reset driver is in conflict with the inner wall of the traverse reset slot, and the traverse reset The driver is used to drive the traverse reset driver to approach or away from the traverse reset slot. 3. An on-line pick-and-place device according to claim 2, wherein the traverse assembly comprises a traverse slide rail mounted on the base, a traverse slide rail slidably connected with the traverse slide rail A block and a traverse member installed on the traverse slider, the traverse reset slot is arranged on the traverse member, the vertical movement assembly is slidably arranged on the traverse member, and the vertical movement reset mechanism is installed on the traverse member . 4. An online pick-and-place device according to claim 1, characterized in that: the longitudinal movement assembly is provided with a longitudinal movement reset slot, the longitudinal movement reset slot is in an inverted V shape, and the longitudinal movement reset slot is in the shape of an inverted V. The mechanism includes a longitudinal reset driver installed on the traverse assembly and a longitudinal reset driver installed at the output end of the longitudinal reset driver. The longitudinal reset driver is in conflict with the inner wall of the longitudinal reset slot, and the The reset driver is used to drive the longitudinal reset driver to approach or move away from the longitudinal reset slot. 5. An on-line pick-and-place device according to claim 4, characterized in that: the number of the longitudinal reset grooves and the number of the longitudinal reset mechanisms are two, and the two longitudinal reset grooves are the same as the two longitudinal reset grooves. The longitudinal displacement reset mechanisms are matched in one-to-one correspondence, and the two longitudinal displacement reset slots are respectively located on both sides of the longitudinal displacement assembly. 6 . The online pick-and-place device according to claim 4 , wherein the longitudinal movement assembly comprises a longitudinal movement slider mounted on the transverse movement assembly, and a longitudinal movement slider slidably connected with the longitudinal movement slider. 7 . The slide rail and the longitudinal movement piece installed on the longitudinal movement slide rail, the pick-and-place mechanism is arranged on the longitudinal movement piece, and the longitudinal movement reset slot is arranged on the longitudinal movement piece. 7. An on-line picking and unloading device according to claim 1, characterized in that: the picking and unloading mechanism comprises a picking and unloading driver installed on the longitudinal movement assembly and a pick and unloading driver both installed on the picking and unloading driver. For the first clamping member and the second clamping member at the output end, the pick-and-place driver is used to drive the first clamping member and the second clamping member to approach or move away from each other. 8 . An on-line pick-and-place device according to claim 1 , wherein a loading platform is installed on the top of the pick-and-place mechanism. 9 .

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