CN206502405U - Take-off assembly and the feeding device with the take-off assembly - Google Patents

Abstract

The utility model is related to a kind of take-off assembly and the feeding device with the take-off assembly, take-off assembly includes link and at least one set of feeding part being arranged on link, feeding part includes actuator and absorption group, actuator is arranged on the link, and absorption group is arranged on actuator and under the drive of actuator to closer or far from material direction to be taken oscilaltion；Absorption group includes stroke plate and adsorption piece, and stroke plate is connected with actuator, and adsorption piece is arranged on stroke plate and can moved in the first direction with second direction relative travel plate under external force.In the utility model, adsorption piece can carry out position adjustments with second direction in the first direction directly on stroke plate, it is adjusted rapidly so as to the shapes and sizes according to material to be taken, the saving time, avoid because material shapes change need to redesign the total of feeding part, be applicable relatively extensively and efficiency is higher.

Description

Reclaiming assembly and reclaiming device with the reclaiming assembly

technical field

The utility model relates to the field of mechanical manufacturing, in particular to a material retrieving device and a manipulator with the material retrieving device.

Background technique

Robots are widely used, and the emergence of manipulator retrieving devices can better improve the work efficiency and performance of robots, and greatly liberate productivity. However, the position of the suction head in the retrieving device of the traditional manipulator is fixed, and cannot be adjusted according to the structure of the material itself. The scope of application of the manipulator is limited, and the production efficiency is low.

Utility model content

Based on this, it is necessary to provide a retrieving assembly that can be quickly adjusted according to the shape and size of the actual material and has high production efficiency.

It is also necessary to provide a pick-up device with the pick-up assembly.

A material retrieving assembly, which includes a connecting frame and at least one set of retrieving parts arranged on the connecting frame, each set of retrieving parts includes a driving part and an adsorption group, and the driving part is arranged on the connecting frame Above, the adsorption group is arranged on the driving part and is driven by the driving part to move up and down in the direction of approaching or away from the material to be picked up; the adsorption group includes a stroke plate and an adsorption part, and the stroke plate and the The driving member is connected, and the absorbing member is arranged on the travel plate and can move relative to the travel plate in a first direction and a second direction different from the first direction under the action of an external force.

In one of the embodiments, the travel plate is provided with a first travel groove and a second travel groove respectively extending along the first direction and the second direction, and the adsorption piece is respectively extended along the The first stroke groove and the second stroke groove move relative to the stroke plate in the first direction and the second direction.

In one of the embodiments, the stroke plate includes a first stroke plate and a second stroke plate, the first stroke groove is set on the first stroke plate along the longitudinal direction, and the second stroke groove is arranged on the first stroke plate along the transverse direction. The second stroke plate; the second stroke plate is slidably disposed on the first stroke plate through the first stroke groove, and the adsorption member is slidably disposed on the second stroke groove through the second stroke groove on the second trip plate.

In one of the embodiments, the stroke plate further includes an adjustment block, the adjustment block is arranged on the second stroke plate and is slidably engaged in the first stroke groove along the longitudinal direction.

In one of the embodiments, the adsorption group includes an intermediate plate, and the intermediate plate is connected between the first stroke plate and the driving member.

In one of the embodiments, the number of the second stroke plates is three that are slidably arranged in the first stroke groove, and the number of the adsorption pieces is respectively arranged on three of the second stroke plates on the three.

In one of the embodiments, the picking assembly includes a positioning component, the positioning component is set on the connecting frame, and includes a lens fixing plate, a lens, a light source and a pressure plate, and the lens fixing plate is set on the On the connecting frame, the lens is fixed on the lens fixing plate, and the light source is arranged below the lens to cooperate with the lens to capture the position information of the material to be taken, and the pressure plate It is arranged between the lens and the light source.

In one of the embodiments, the picking assembly further includes drag chains arranged on the connecting frame.

In one of the embodiments, the driving member is an air cylinder.

A material retrieving device, which includes a manipulator and a material reclaiming assembly connected to the manipulator, and the reclaiming assembly is the above-mentioned reclaiming assembly.

In the utility model, the position of the adsorbent can be adjusted directly on the travel plate along the first direction and the second direction, so that it can be quickly adjusted according to the shape and size of the material to be picked up, saving time and avoiding the need to adjust the shape of the material due to the change of the shape of the material. The entire structure of the reclaiming part is redesigned, which has wider application and higher efficiency.

Description of drawings

Fig. 1 is the structural representation of the utility model reclaiming assembly;

Fig. 2 is a schematic structural view of the adsorption group in the reclaiming assembly shown in Fig. 1;

Fig. 3 is another perspective schematic view of the adsorption group in the reclaiming assembly shown in Fig. 1;

Fig. 4 is a schematic diagram of the cooperation between the adsorption group and the first type of material in the reclaiming assembly shown in Fig. 1;

Fig. 5 is a schematic diagram of the cooperation between the adsorption group and the second type of material in the retrieving assembly shown in Fig. 1;

Fig. 6 is a schematic diagram of the first step in the operation process of the retrieving assembly shown in Fig. 1;

Fig. 7 is a schematic diagram of the second step in the operation process of the retrieving assembly shown in Fig. 1;

Fig. 8 is a schematic diagram of the second step in the operation process of the reclaiming assembly shown in Fig. 1 .

detailed description

In order to facilitate the understanding of the utility model, the utility model will be described more fully below with reference to the relevant drawings. Preferred embodiments of the utility model are provided in the accompanying drawings. However, the invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present utility model more thorough and comprehensive.

It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of this invention. The terminology used in the description of the utility model herein is only for the purpose of describing specific embodiments, and is not intended to limit the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Please refer to FIG. 1 , in a preferred embodiment of the present invention, the material retrieving device is used to cooperate with the robot to reclaim the material 200 and transfer the material 200 to the next station. The material retrieving device includes a material retrieving component 100 for performing material retrieving work and a manipulator (not shown) for driving the material retrieving component 100 . The material-retrieving assembly 100 includes a connecting frame 10 , a positioning component 30 and at least one set of material-retrieving components 50 disposed on the connecting frame 10 .

The connecting frame 10 is connected between the manipulator and the retrieving part 50, and the positioning part 30 is arranged on the connecting frame 10 for catching and obtaining the position information of the material 200 to be picked up. Carry out reclaiming operation. In this specific embodiment, there are three groups of material taking parts 50 arranged side by side on the connecting frame 10 . Understandably, in some other embodiments, the quantity and the location of the pick-up parts 50 can be determined according to needs, and the connecting frame 10 can be omitted and the pick-up parts 30 can be directly arranged on the manipulator, here Not limited.

Specifically, the connecting frame 10 includes a first frame body 11 and a second frame body 12 disposed on the first frame body 11 . The first frame body 11 is fixedly connected to the manipulator to serve as a support for the entire picking assembly 100 . The second frame body 12 is disposed on the first frame body 11 for fixing three sets of material-taking parts 50 . It can be understood that, in some other embodiments, the first frame body 11 and the second frame body 12 can be integrally arranged to form the whole connecting frame 10 , which is not limited here.

The positioning component 30 includes a lens fixing plate 31 , a lens 33 , a light source 35 and a pressure plate 37 . The lens fixing plate 31 is arranged on the first frame body 11 , the lens 33 is fixed on the lens fixing plate 31 , and the light source 35 is arranged below the lens 33 to cooperate with the lens 33 to capture the position information of the material 200 to be picked. The wire pressing plate 37 is disposed between the lens 33 and the light source 35 for fixing the joints in the positioning component 30 .

Please refer to FIG. 2 and FIG. 3 , each group of material-taking parts 50 includes a driving part 51 and an adsorption group 54 . The driving member 51 is connected to the second frame body 12 , and the adsorption group 54 is disposed on the driving member 51 and is driven by the driving member 51 to move up and down toward or away from the material 200 to be picked up. In this specific embodiment, the driving member 51 is an air cylinder. Understandably, in some other embodiments, the driving member 51 may also be other power sources that drive the adsorption group 54 up and down, which is not limited here.

The adsorption group 54 includes a travel plate 540 and an adsorption member 542 . The travel plate 540 is fixedly connected with the driving member 51 and has a first travel slot 5401 and a second travel slot 5403 respectively extending along the first direction and the second direction. The adsorption member 542 is disposed on the stroke plate 540 , and moves in a first direction and a second direction relative to the stroke plate 540 along the first stroke groove 5401 and the second stroke groove 5403 under the action of an external force.

Specifically, the stroke plate 540 includes a first stroke plate 5405 and a second stroke plate 5407, the first stroke groove 5405 is set on the first stroke plate 5405 along the longitudinal direction, and the second stroke groove 5403 is arranged on the second stroke plate 5407 along the transverse direction . The second stroke plate 5407 is slidably arranged on the first stroke plate 5405 through the first stroke groove 5405, and the adsorption member 542 is slidably arranged on the second stroke plate 5407 through the second stroke groove 5403, and there is also a useful The first locking member (not shown) is used to lock or release the adsorption member 542 relative to the second travel plate 5407 , so as to facilitate the movement or fixation of the adsorption member 542 . In this specific embodiment, the number of the second travel plate 5407 is three that are slidably arranged in the first travel groove 5405, and the adsorption member 542 is three suction cups respectively arranged on the three second travel plates 5407 , and the first locking member is a nut or screw disposed on the absorbing member 542 .

Further, the stroke plate 540 also includes an adjustment block 544, which is arranged on the second stroke plate 5407 and is slidably embedded in the first stroke groove 5401 in the longitudinal direction, so as to limit the second stroke plate 5407, And make the second stroke plate 5407 can move smoothly on the first stroke plate 5405 . In addition, the adjusting block 544 is also provided with a second locking member for locking or releasing the second stroke plate 5407 relative to the first stroke plate 5405 , so as to facilitate the movement or fixation of the second stroke plate 5407 . In this specific embodiment, the second locking member is a nut or a screw disposed on the adjusting block 544 .

In the utility model, the adsorption part 542 can be quickly adjusted according to the shape and size of the actual material. For example, when it is necessary to grab two materials 200/201 of different shapes in Figure 4 and Figure 5, the three adsorption parts can be directly adjusted as required. The corresponding positions of the piece 542 in the vertical and horizontal directions are flexible and convenient.

Further, the adsorption group 54 includes a middle plate 546, which is connected between the first stroke plate 5405 and the driving member 51, and is used to drive the entire adsorption group 54 up and down under the action of the driving member 51.

Please refer to Fig. 1 again, further, the retrieving assembly 100 also includes a drag chain 70 arranged on the connecting frame 10, which is used to place other components such as cables and air pipes, so as to facilitate the movement of the retrieving component 50, and at the same time ensure that the entire The fetching assembly 100 is beautiful and tidy.

Please refer to Fig. 6, in the working process, firstly according to the size and shape of the material 200 to be picked up, the adjusting block 544 is moved in the first stroke groove 5401 by loosening the second locking member to adjust the position of the three absorbing members 542. Position in the longitudinal direction, and then adjust the position of the three absorbing parts 542 in the horizontal direction by loosening the first locking part to move the adjusting absorbing part 542 in the second stroke groove 5403; after the adjustment, set it on the adjusting block by tightening 544 and the first locking piece and the second locking piece on the suction piece 542 to fix the position of the corresponding suction piece 542 .

Please refer to Figures 7-8, the robot drives the manipulator to rotate, and after capturing the position of the material 200 to be picked up by the lens 33 in the positioning part 30, it drives the picking part 50 to move to the position of the material 200 to be picked up again, and the driving part 51 moves , and drives the adsorption group 54 to move downward; the adsorption member 542 contacts the material 200 to be picked up and generates suction under the action of the pressure difference generated by the vacuum generator and firmly absorbs the material 200; the driving member 51 drives the adsorption group 54 to move upward and transmit to the next station.

In the present utility model, the position of the adsorption member 542 can be adjusted directly on the travel plate 540 along the first direction and the second direction, so that it can be quickly adjusted according to the shape and size of the material 200 to be picked up, saving time and avoiding problems caused by the shape of the material 200. If the change requires a redesign of the entire structure of the material taking part 50, the application is wider and the efficiency is higher.

The above-mentioned embodiments only express several implementation modes of the present utility model, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the present utility model. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the scope of protection of the utility model patent should be based on the appended claims.

Claims (10)

1. A material retrieving assembly, characterized in that: comprise a connecting frame and at least one group of retrieving parts arranged on the connecting frame, each group of said retrieving parts includes a drive part and an adsorption group, and the drive part is provided with On the connecting frame, the adsorption group is arranged on the driving part and is driven by the driving part to move up and down in the direction of approaching or away from the material to be picked up; the adsorption group includes a travel plate and an adsorption part. The travel plate is connected to the driving part, the absorbing part is arranged on the travel board and can move relative to the travel board in a first direction and a second direction different from the first direction under the action of an external force. 2. The material taking assembly according to claim 1, characterized in that: a first stroke groove and a second stroke groove respectively extending along the first direction and the second direction are opened on the stroke plate, so that The absorbing part moves in the first direction and the second direction respectively along the first travel groove and the second travel groove relative to the travel plate under the action of external force. 3. The material retrieving assembly according to claim 2, wherein the stroke plate comprises a first stroke plate and a second stroke plate, the first stroke groove is longitudinally opened on the first stroke plate, The second stroke groove is arranged on the second stroke plate along the transverse direction; the second stroke plate is slidably arranged on the first stroke plate through the first stroke groove, and the adsorption piece passes through the The second travel groove is slidably arranged on the second travel plate. 4. The material taking assembly according to claim 3, characterized in that: the stroke plate further comprises an adjustment block, the adjustment block is arranged on the second stroke plate and is slidably engaged in the longitudinal direction. In the first stroke slot. 5. The material retrieving assembly according to claim 3, wherein the suction group comprises a middle plate, and the middle plate is connected between the first stroke plate and the driving member. 6. The material retrieving assembly according to claim 3, characterized in that: the number of the second travel plate is three slidably arranged in the first travel groove, and the number of the adsorption parts is respectively Three of the three second stroke plates are arranged. 7. The material retrieving assembly according to claim 1, characterized in that: the retrieving assembly includes a positioning component, the positioning component is arranged on the connecting frame, and includes a lens fixing plate, a lens, a light source, and a crimping line plate, the lens fixing plate is set on the connecting frame, the lens is fixed on the lens fixing plate, and the light source is set under the lens to cooperate with the lens to capture the material to be taken position information, the pressure plate is arranged between the lens and the light source. 8. The material retrieving assembly according to claim 1, characterized in that: the material retrieving assembly further comprises drag chains arranged on the connecting frame. 9. The material retrieving assembly according to claim 1, wherein the driving member is an air cylinder. 10. A material retrieving device, characterized in that it comprises a manipulator and a material reclaiming assembly connected to the manipulator, and the reclaiming assembly is the reclaiming assembly described in any one of claims 1-9.