CN109051764A - Handling equipment and transfer printing equipment - Google Patents
Handling equipment and transfer printing equipment Download PDFInfo
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- CN109051764A CN109051764A CN201811026688.5A CN201811026688A CN109051764A CN 109051764 A CN109051764 A CN 109051764A CN 201811026688 A CN201811026688 A CN 201811026688A CN 109051764 A CN109051764 A CN 109051764A
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- clamping
- clamp assemblies
- handling equipment
- positioning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of handling equipment and transfer printing equipments, are related to transfer printing equipment technical field.The handling equipment includes: angle adjusting mechanism, shift mechanism and clamping device, and angle adjusting mechanism includes camera and hollow axle, is provided with suction mouth at the top of hollow axle, hollow axle is connect with the second driver；Shift mechanism is for driving clamping device mobile with vertical direction in the horizontal direction, clamping device includes the first clamp assemblies, first clamp assemblies include the first driver and several clamping pieces, several clamping pieces surround clamping zone, first driver drives each clamping piece to move in the horizontal direction to adjust the cross-sectional sizes of clamp area, and flexible limit part is provided on each clamping piece.Technical face of the handling equipment when transporting material without contacting material, and downward pressure can be provided for material, abrasion of material during transfer is reduced, production yield is improved.
Description
Technical field
The present invention relates to transfer printing equipment technical fields, more particularly, to a kind of handling equipment and transfer printing equipment.
Background technique
For existing circular product in printing process, production technology face (printing surface) is not readily accessible to other media,
And the orientation angle of circular product and pattern angles difficulty of matching are big, therefore are difficult to adopt traditional handling equipment transfer object
Material.
Such as in the pad-printing process of round Watch glass, the mode drawn according to sucker transfers round Watch glass,
The production technology face (printing surface) of material will be contacted with sucker, and sucker easily leads to the production technology surface wear of material, so as to cause
Production yield decline.If using the side of other fixtures clamping material, on the one hand, circular material is not easy to clamp；On the other hand,
It when material is put into machining position, needs to apply certain pressure for material, material could be put into machining position, and clamp material
The fixture of side can not provide downward pressure and material is made to enter machining position.In addition, circular material need when screen printing pattern
Ensuring that material orientation angle is matched with pattern angles, material need to accurately be put into machining position (such as acupuncture point of bat printing jig), therefore,
After needing first to be positioned material, then put machining position into.
Therefore it provides a kind of transfer material in the case where the production technology face of not contacting material, and can provide material with
Downward pressure, and technical problem urgently to be resolved can be become to the handling equipment that material is positioned.
Summary of the invention
The purpose of the present invention is to provide a kind of handling equipments, are asked with solving above-mentioned technology existing in the prior art
Topic.
Handling equipment provided by the invention, comprising: angle-adjusting mechanism and shift mechanism interconnected and clamping
Mechanism；
The angle-adjusting mechanism includes camera and hollow axle, is provided with suction mouth at the top of the hollow axle,
The hollow axle is connect with the second driver, and second driver is for driving the hollow axle to rotate；
The shift mechanism is for driving the clamping device mobile with vertical direction in the horizontal direction；
The clamping device includes the first clamp assemblies, and first clamp assemblies include the first driver and are connected to institute
Several clamping pieces on the first driver, each clamping piece interval setting are stated, several clamping pieces surround clamping zone, institute
Stating the first driver drives each clamping piece to move in the horizontal direction to adjust the cross-sectional sizes of the clamp area, each folder
Flexible limit part is provided in gripping member, the flexible limit part at least partial region is located at the top of the clamp area.
In the above-mentioned technical solutions, further, the cross section of the clamp area is circle, the first clamp assemblies packet
Include three clamping pieces being uniformly arranged.
In any of the above-described technical solution, further, first driver be electric chuck with three jaws, described electronic three
There are three claw, the clamping piece connects one to one dog chuck tool with the claw.
In any of the above-described technical solution, further, the clamping device further includes the second clamp assemblies, and described second
Clamp assemblies are identical as the structure of first clamp assemblies, and first clamp assemblies and the second clamp assemblies pass through rotation axis
It connects and the relatively described rotation axis is symmetrical arranged, the rotation axis is for driving the clamping device to rotate in the horizontal direction.
In any of the above-described technical solution, further, second clamp assemblies pass through slider cylinder and the rotation
Axis connection, the slider cylinder is to drive second clamp assemblies to move along the vertical direction.
Further include charging tray further in any of the above-described technical solution, the charging tray include braced frame and it is several every
Plate has multiple hollowed out areas in the braced frame, and the partition is installed in the braced frame, and several partitions are divided into more
Group, each baffle interval setting in every group, and the gap between the adjacent partition and the hollow out in the braced frame
Region is opposite, and each partition in every group surrounds material accommodating area.
In any of the above-described technical solution, further, the bottom of the clamping piece is connected with bottom locating part.
It further include positioning mechanism further in any of the above-described technical solution, the positioning mechanism includes the first positioning
Component and the second positioning component, the charging tray are respectively arranged with the first positioning component along the two sides of first direction, and described first is fixed
Hyte part includes the first positioning cylinder and the first locating piece for connecting with first positioning cylinder, and first positioning cylinder drives
First locating piece is moved to move along first direction；The two sides of the charging tray in a second direction are respectively arranged with the second positioning group
Part, second positioning component includes the second positioning cylinder and the second locating piece for connecting with second positioning cylinder, described
Second positioning cylinder drives second locating piece to move in a second direction.
Compared with the existing technology, handling equipment of the present invention has the advantage that
For handling equipment of the present invention during application, shift mechanism controls clamping device, so that clamping
Mechanism is in the horizontal direction and vertical direction is mobile, when using gripper mechanism grips material, is first moved to clamping device
The surface of material to be held, by the mobile each clamping piece of the first driver, so that the sectional dimension of clamp area is slightly larger than
The sectional dimension of material；Then clamping device decline is controlled by shift mechanism, so that each clamping piece is located at material
Periphery；Make the mobile sectional dimension to reduce clamp area of each clamping piece by the first driving mechanism, so that clamping piece clamps
Material.
Then, shift mechanism control clamping device rises and is moved in next equipment of assembly line in the horizontal direction.When
When needing to carry out material angle adjustment and repositioning, next equipment is angle-adjusting mechanism, i.e. shift mechanism control folder
It holds mechanism material is placed at angle-adjusting mechanism, first passes through camera and taken pictures to material to identify the existing angle of material,
To judge rotation direction and rotational angle needed for material, material is placed on hollow axle, suction mouth fixture is passed through
Material, the second driver drives material rotation, so as to adjust the angle of material.
After adjusting the angle of material, clamping device clamps material again, and material is transplanted in next equipment.When
When next technique is tampon-printing process, clamping device is moved to the top of bat printing jig by shift mechanism, and by clamping device and its
The material of clamping moves downwardly together, and material is pressed into the machining position of bat printing jig by the flexible limit part on clamping piece.
Therefore, on the one hand handling equipment provided by the present application can be clamped in the side wall of material, avoid being clamped in material
Production technology face, on the other hand certain pressure can be provided for material by flexible limit part so that material smoothly into
Enter the machining position of bat printing jig；Meanwhile it being additionally provided with angle-adjusting mechanism, angle can be carried out to material by angle-adjusting mechanism
Degree is adjusted to ensure that material orientation angle is matched with pattern angles.Further, since clamp assemblies include several clamping pieces, it is each to clamp
The setting of part interval, therefore, different clamping pieces is contacted with the multiple regions of the side wall of material, therefore is applicable to a variety of different sections
The material of face shape, including circular material.
Another object of the present invention is to propose a kind of transfer printing equipment, asked with solving above-mentioned technology existing in the prior art
Topic.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of transfer printing equipment, comprising: bat printing jig and handling equipment as described in the above technical scheme, the loading and unloading
Device is used to for material being placed in the bat printing jig, and the material on the bat printing jig is taken out.
Possessed advantage is identical compared with the existing technology with above-mentioned handling equipment for the transfer printing equipment, no longer superfluous herein
It states.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram that handling equipment provided in an embodiment of the present invention is in the first visual angle；
Fig. 2 is the structural schematic diagram that handling equipment provided in an embodiment of the present invention is in the second visual angle；
Fig. 3 is the structural schematic diagram that handling equipment provided in an embodiment of the present invention is in third visual angle；
Fig. 4 is the partial enlarged view in Fig. 3 at A；
Fig. 5 is the structural schematic diagram of the first clamp assemblies in handling equipment provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of clamping piece in handling equipment provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of charging tray in handling equipment provided in an embodiment of the present invention.
In figure: 10- shift mechanism；11 rotation axis；12- lock shaft；The first clamp assemblies of 20-；21- electric chuck with three jaws；
22- clamping piece；221- flexible limit part；The bottom 222- locating part；223- clamping part；The second clamp assemblies of 30-；40- slide unit gas
Cylinder；50- angle-adjusting mechanism；51- hollow axle；The second driver of 52-；53-CCD camera；54- horizontal mounting plate；55- is vertical
Mounting plate；56- shoots hole；60- charging tray；61- braced frame；The latticed chassis of 611-；612- supporting rib；613- support ring；
The hollowed out area 614-；62- partition；The first positioning cylinder of 71-；The first locating piece of 72-；The second positioning cylinder of 73-；74- second is fixed
Position block；80- bat printing jig；81- boss；90- material.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment one
As shown in figs 1 to 6, handling equipment provided in an embodiment of the present invention, comprising: angle-adjusting mechanism 50, Yi Jixiang
The shift mechanism 10 and clamping device to connect, in which:
Angle-adjusting mechanism 50 includes camera and hollow axle 51, and the top of hollow axle 51 is provided with suction mouth, in
Pony axle 51 is connect with the second driver 52, and the second driver 52 is for driving hollow axle 51 to rotate.
For shift mechanism 10 for driving clamping device mobile with vertical direction in the horizontal direction, clamping device includes the first folder
Component 20 is held, the first clamp assemblies 20 include the first driver and several clamping pieces 22 being connected on the first driver, each to press from both sides
The setting of the interval of gripping member 22, several clamping pieces 22 surround clamping zone, and the first driver drives each clamping piece 22 to move in the horizontal direction
It moves to adjust the cross-sectional sizes of clamp area, is provided with flexible limit part 221 on each clamping piece 22, flexible limit part 221 is at least
There is partial region to be located at the top of clamp area.It is made when it is implemented, silica gel can be used in flexible limit part 221.
For the handling equipment of the embodiment of the present invention during application, shift mechanism 10 controls clamping device, so that
Clamping device is in the horizontal direction and vertical direction is mobile, and it is mobile with close in vertical direction that shift mechanism 10 controls clamping device
Material 90 goes the process for completing to pick and place material 90, and shift mechanism 10 controls clamping device and moves in the horizontal direction so that material 90 to exist
It is moved between charging tray 60 and the equipment of next process flow.
When using gripper mechanism grips material 90, clamping device is moved to first material 90 to be held just on
Side, by the mobile each clamping piece 22 of the first driver, so that the sectional dimension of clamp area is slightly larger than the sectional dimension of material 90；
Then clamping device decline is controlled by shift mechanism 10, so that each clamping piece 22 is located at the periphery of material 90；Pass through
First driving mechanism makes the mobile sectional dimension to reduce clamp area of each clamping piece 22, so that clamping piece 22 clamps material
90。
Then, shift mechanism 10 controls clamping device and rises and be moved in next equipment of assembly line in the horizontal direction.
When needing to carry out angle adjustment to material 90 and reposition, next equipment is angle-adjusting mechanism 50, i.e. shift mechanism
Material 90 is placed at angle-adjusting mechanism 50 by 10 control clamping devices, is first passed through camera and is taken pictures material 90 to identify
The existing angle of material 90, so that rotation direction needed for judging material 90 and rotational angle, are placed into hollow axle 51 for material 90
On, by the fixed material 90 of suction mouth, the second driver 52 drives material 90 to rotate, so as to adjust the angle of material 90.
After the angle for adjusting material 90, clamping device clamps material 90 again, and material 90 is transplanted on next set
In standby.When next technique is tampon-printing process, clamping device is moved to the top of bat printing jig 80 by shift mechanism 10, and will folder
It holds the material 90 that mechanism is clamped with it to move downwardly together, is pressed into material 90 by the flexible limit part 221 on clamping piece 22
The machining position of bat printing jig 80, to realize feeding process.Since flexible limit part 221 has flexibility, by material 90
Certain buffer function is played during indentation machining position, avoids damage to the surface of material 90.Material 90 after processing is completed, move
Position mechanism 10 drives clamping device decline close to machining position and to take out material 90, to realize blanking process.
To sum up, on the one hand handling equipment provided in this embodiment can be clamped in the side wall of material 90, avoid being clamped in
On the other hand the production technology face of material 90 can provide certain pressure by flexible limit part 221 for material 90, so that
Material 90 can smoothly enter into the machining position of bat printing jig 80；Meanwhile it being additionally provided with angle-adjusting mechanism 50, it can be adjusted by angle
Mechanism 50 carries out angle to material 90 and is adjusted to ensure that the orientation angle of material 90 is matched with pattern angles.Further, since clamping
Component includes several clamping pieces 22, and the setting of each interval of clamping piece 22, therefore, different clamping pieces 22 are more with the side wall of material 90
A region contact, therefore it is applicable to the material 90 of a variety of different cross section shapes, including circular material 90.
In the above-mentioned technical solutions, further, angle-adjusting mechanism 50 further includes controller, and PLC can be selected in controller
(Programmable Logic Controller, programmable logic controller (PLC)), CCD (charge coupled can be selected in camera
Device, charge-coupled device) camera.During carrying out angle adjustment, object that shift mechanism 10 will clamp on clamping device
Material 90 is moved to the top of CCD camera 53, and after CCD camera 53 takes pictures to material 90, material 90 is placed in by clamping device
On hollow axle 51, hollow axle 51 is fixed by material 90 by suction mouth.Picture signal is transferred to PLC by CCD camera 53,
Rotation direction needed for PLC judges material 90 according to the picture signal of transmission and rotational angle, and control hollow axle 51 and rotate object
Material 90, to adjust the angle of material 90.After the angle for adjusting material 90, clamping device clamps material 90 again, and by object
Material 90 is moved at bat printing jig 80.
Specifically, CCD camera 53 and hollow axle 51 are installed in mounting bracket, and mounting bracket includes horizontal mounting plate 54
With the horizontal mounting plate 55 being connected to below 54 one end of horizontal mounting plate, CCD camera 53 is installed in horizontal mounting plate 55, horizontal
Shooting hole 56, the camera lens direction shooting hole 56 of CCD camera 53 are provided on mounting plate 54.Second driver 52 is installed on horizontal peace
Horizontal mounting plate 54 is stretched out on the top of the lower section of loading board 54, hollow axle 51, and vacuum sucking holes are located at the top of hollow axle 51.The
Servo motor can be used in two drivers 52.
When in clamp assemblies including two clamping pieces 22, two clamping pieces 22 are oppositely arranged, and moving direction is on the contrary, two
A clamping piece 22 can be used for clamping rectangular plate-like material 90, or there are two the special-shaped materials 90 of opposite parallel side for tool.
When the inner wall section of the clamping part 223 of clamping piece 22 is arc, there are two the clamp assemblies of clamping piece 22 for tool
It can be used for clamping circular material 90.
For the ease of clamping circular material 90, the cross section of the clamp area surrounded between each clamping piece 22 in clamp assemblies
For circle.When the section of the clamping part 223 of clamping piece 22 is rectangle or is round, for stable holding circular material 90, the
One clamp assemblies 20 include at least three clamping pieces 22, and the central point of three clamping pieces 22 is wired to isosceles triangle or waits
Side triangle, and three clamping pieces 22 are located on same round loop wire, the moving direction of three clamping pieces 22 is to clamp along three
The radial direction of round loop wire where part 22, when three clamping pieces 22 are radially mobile to the center of circle far from the circle loop wire,
The sectional area of the border circular areas surrounded increases, when three clamping pieces 22 are radially to close to the movement of the center of circle of the circle loop wire,
The sectional area of its border circular areas surrounded reduces.
When the quantity for the clamping piece 22 for including in clamp assemblies is greater than three, set-up mode and clamping piece 22 and three
When set-up mode it is similar.Multiple clamping pieces 22 are respectively positioned on same round loop wire, and moving radially along the circle loop wire, with
The perimeter of the circle loop wire is expanded or shunk, reduces the sectional area of clamp area perhaps to expand to clamp or unclamp circle
Material 90.
When the quantity of the clamping piece 22 in clamp assemblies is three, electric chuck with three jaws 21 is can be used in the first driver,
There are three claw, clamping piece 22 connects one to one the tool of electric chuck with three jaws 21 with claw.Electric chuck with three jaws 21 controls each card
When pawl is mobile, each claw drives coupled clamping piece 22 mobile.
In any of the above-described technical solution, further, shift mechanism 10 has rotation axis 11, and rotation axis 11 is for driving
Clamping device rotates in the horizontal direction, and clamping device further includes the second clamp assemblies 30, the second clamp assemblies 30 and the first clamping
The structure of component 20 is identical, and the first clamp assemblies 20 and the second clamp assemblies 30 are connected to two sides of rotation axis 11 and opposite
Rotation axis 11 is symmetrical arranged, and rotation axis 11 is for driving clamping device to rotate in the horizontal direction, that is to say, that rotation axis 11 is used for
The first clamp assemblies 20 are driven to rotate in the horizontal direction with the second clamp assemblies 30.
Specifically, when the first clamp assemblies 20 include electric chuck with three jaws 21, and it is connected with electric chuck with three jaws 21
When three clamping pieces 22, the second clamp assemblies 30 also include electric chuck with three jaws 21, and be connected with electric chuck with three jaws 21
Three clamping pieces 22.First clamp assemblies 20 are identical as the structure of the second clamp assemblies 30, and working principle is identical.In use process
In, the first clamp assemblies 20 from charging tray 60 for taking out material 90 to be processed and material 90 to be processed being put into processing
Position；Second clamp assemblies 30 are used to take out the material 90 completed the process from machining position, and the material 90 completed the process is put back to material
Disk 60.
In the handling equipment course of work for being not provided with the second clamp assemblies 30, the first clamp assemblies 20 need to wait for adding
The material 90 of station completes the process, and the material 90 completed the process is taken out and after transporting charging tray 60 back, could clamp it is next to
Processing materials 90.In the handling equipment course of work for being provided with the second clamp assemblies 30, the first clamp assemblies 20 are not necessarily to etc.
The material 90 of station to be added completes the process, and it is next to can return to clamping at charging tray 60 after material 90 to be processed is put into machining position
A material to be processed 90, when next material 90 to be processed is transported to machining position, first passing through the second clamp assemblies 30 will processing
The material 90 of position takes out, and the material to be processed 90 on the first clamp assemblies 20 is then put into machining position, so that the time is saved,
The efficiency for improving loading and unloading also improves the whole transfer efficiency of a batches 90.
Material 90 to be processed is clamped on charging tray 60 by the first clamp assemblies 20, it is next clamping device to be moved to
When the process equipment of process flow, the second clamp assemblies 30 are first passed through by the material 90 of completion of processing takes on process equipment
Out, it is rotated further by clamping device, the material 90 clamped on the first clamp assemblies 20 is turned to the top of the machining position of process equipment,
And material 90 is pressed into machining position, finally clamping device is moved at charging tray 60, by what is clamped on the second clamp assemblies 30
The material 90 processed is put into charging tray 60.
In a kind of specific embodiment of the present embodiment, shift mechanism 10 uses SCARA (Selective
Compliance Assembly Robot Arm, the robot arm applied to assembling work), spline silk is installed on SCARA
Thick stick, spline lead screw are the rotation axis 11 of SCARA robot, and spline lead screw is connect with clamping device, drive spline by SCARA
Lead screw carries out the level and vertical direction movement of clamping device, and the rotation by controlling spline lead screw drives clamping device in level
Direction rotation.
Further, clamping device is connect by lock shaft 12 with spline lead screw.First clamp assemblies 20 and the second clamping
Component 30 is respectively arranged in the opposite two sides of lock shaft 12.
For the ease of the difference in height between the second clamp assemblies 30 of adjustment and the first clamp assemblies 20, the one of the present embodiment
In kind specific embodiment, the second clamp assemblies 30 are connect by slider cylinder 40 with rotation axis 11, and slider cylinder 40 is to drive
Dynamic second clamp assemblies 30 move along the vertical direction.Specifically, the second clamp assemblies 30 are installed in fixed plate, fixed plate and cunning
The mobile terminal of platform cylinder 40 connects.
So set, when the first clamp assemblies 20 clamp material 90 in charging tray 60, upwards by the second clamp assemblies 30
It moves a certain distance, so that 30 present position of the second clamp assemblies is higher than 20 present position of the first clamp assemblies, to avoid second
The clamping device of clamp assemblies 30 is contacted with charging tray 60；When the second clamp assemblies 30 take out the material 90 completed the process, by the
Two clamp assemblies 30 move down certain distance, so that 30 present position of the second clamp assemblies is lower than locating for the first clamp assemblies 20
Position contacts to avoid the first clamp assemblies 20 with process equipment.
For example, in a kind of specific implementation process, when the first clamp assemblies 20 clamp material 90 in charging tray 60,
Slider cylinder 40 is in retracted mode, and 22 present position of clamping piece of the second clamp assemblies 30 is higher than the folder of the first clamp assemblies 20
22 present position 20mm of gripping member；When the second clamp assemblies 30 take out the material 90 completed the process, slider cylinder 40, which is in, stretches out
State, 22 present position of clamping piece of the second clamp assemblies 30 are lower than 22 present position of clamping piece of the first clamp assemblies 20
20mm。
As shown in Figure 1 and Figure 7, for the ease of the material 90 in clamping charging tray 60, handling equipment further includes a kind of special
Charging tray 60.Charging tray 60 includes braced frame 61 and several partitions 62, has multiple hollowed out areas 614 in braced frame 61, every
Plate 62 is installed in braced frame 61, and several partitions 62 divide for multiple groups, and each partition 62 in every group is spaced setting, and adjacent separator
The hollowed out area 614 on gap and braced frame 61 between 62 is opposite, and each partition 62 in every group surrounds 90 accommodating area of material.
In any of the above-described technical solution, further, the bottom of clamping piece 22 is connected with bottom locating part 222.Bottom
Locating part 222 is located at the bottom section of clamping piece 22, and the partial region of bottom locating part 222 is located at the lower section of clamp area, so
Setting, bottom locating part 222 and flexible limit part 221 respectively limit material 90 in the two sides up and down of clamp area, bottom
Locating part 222 can slide to avoid material 90 from the bottom of clamping piece 22.
When the above-mentioned charging tray 60 of use contains material 90, when clamping material 90 using clamping piece 22, the bottom of clamping piece 22
The hollowed out area 614 in braced frame 61 is protruded into gap of the region across adjacent separator 62, so that clamping piece
The side wall of 22 clamping part 223 is more preferably contacted with material 90, can be with especially when clamping piece 22 includes bottom locating part 222
Bottom locating part 222 is extend into hollowed out area 614, is contacted to avoid bottom locating part 222 with material 90.
When material 90 is circular material 90, as shown in fig. 7, charging tray 60 can be following set-up mode: braced frame 61 is wrapped
Latticed chassis 611 is included, in each grid of latticed chassis 611, is provided with one group of supporting rib 612 and a support ring
613, the quantity of supporting rib 612 is identical as the quantity of every group of internal partition 62, and one end of supporting rib 612 is connect with support ring 613, separately
One end is connect with latticed chassis 611.In Fig. 1, in each grid setting there are three supporting rib 612, three supporting ribs 612 it
Between, the angle between adjacent supporting rib 612 is 120 °, and a partition 62, partition are respectively arranged on three supporting ribs 612
62 be arc, and the circle that three partitions 62 surround is concentric circles with support ring 613, is accommodated between three partitions 62 for material 90
Area, the diameter of open ended circular material 90 less than the annulus that three partitions 62 surround annular diameters, greater than support ring 613
Annular diameters.
It further include positioning mechanism further, positioning mechanism includes the first positioning component in any of the above-described technical solution
With the second positioning component, charging tray 60 is respectively arranged with the first positioning component along the two sides of first direction, and the first positioning component includes
First positioning cylinder 71 and the first locating piece 72 being connect with the first positioning cylinder 71, the first positioning of the first positioning cylinder 71 driving
Block 72 is moved along first direction；The two sides of charging tray 60 in a second direction are respectively arranged with the second positioning component, the second positioning component
Including the second positioning cylinder 73 and the second locating piece 74 being connect with the second positioning cylinder 73, the second positioning cylinder 73 driving second
Locating piece 74 moves in a second direction.First direction is vertical with second direction.
In direction shown in Fig. 1, first direction is left and right directions, and second direction is up and down direction, the left side of charging tray 60
It is provided with first positioning component, the corresponding region in the right side of charging tray 60 is provided with another the first positioning component；Charging tray 60
Top be provided with second positioning component, the lower section corresponding position of charging tray 60 is provided with another the second positioning component.Value
It obtains it is noted that left and right directions described in this section and up and down direction are only left and right directions and upper and lower on direction shown in Fig. 1
To left and right directions and up and down direction when not charging tray 60 is in use state.
So set, by two the first positioning components and two the second positioning components, by charging tray 60 on four direction
It is positioned, thus charging tray 60 is fixed, avoid charging tray 60 from being displaced.
Specifically, the first positioning cylinder 71 in the first positioning component drives the first coupled locating piece 72 along first
Direction is mobile, and two 72 moving directions of the first locating piece are on the contrary, when two the first locating pieces 72 are moved to close to 60 direction of charging tray
After dynamic, two the first locating pieces 72, two side contacts with 60 first direction of charging tray respectively, to limit charging tray 60 in a first direction
On position；The second positioning cylinder 73 in two the second positioning components drives coupled second location hole in a second direction
Mobile, two second location hole moving directions are on the contrary, after two second location holes are moved to the direction close to charging tray 60, and two
A second locating piece 74 two side contacts with 60 second direction of charging tray respectively, to limit the position of charging tray 60 in a second direction
It sets.
Embodiment two
As Figure 1-Figure 5, second embodiment of the present invention provides a kind of transfer printing equipments, comprising: bat printing jig 80 and above-mentioned reality
The handling equipment of the offer of example one is applied, handling equipment is used to material 90 being placed in bat printing jig 80, and bat printing is controlled
Material 90 on tool 80 takes out.
Further, it is provided with machining position on bat printing jig 80, machining position includes multiple boss 81, between multiple boss 81
The region surrounded is machining position, there are gap between adjacent boss 81, when the clamping piece 22 in handling equipment is by material
90 when being put into machining position, and the bottom section of clamping piece 22 is extend into the gap between boss 81.
When bat printing jig 80 is used to carry out bat printing operation to circular material 90, three arcs are set on bat printing jig 80
Boss 81, circular machining position of encircling a city between three arc boss 81, there are gaps between adjacent arc boss 81, when upper and lower
Clamping piece 22 in material device is when being put into machining position for material 90, the partial region of clamping piece 22 extend into arc boss 81 it
Between gap in.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (9)
1. a kind of handling equipment characterized by comprising angle-adjusting mechanism and shift mechanism interconnected and folder
Hold mechanism；
The angle-adjusting mechanism includes camera and hollow axle, and suction mouth is provided at the top of the hollow axle, described
Hollow axle is connect with the second driver, and second driver is for driving the hollow axle to rotate；
The shift mechanism is for driving the clamping device mobile with vertical direction in the horizontal direction；
The clamping device includes the first clamp assemblies, and first clamp assemblies include the first driver and are connected to described the
Several clamping pieces on one driver, each clamping piece interval setting, several clamping pieces surround clamping zone, and described the
One driver drives each clamping piece to move in the horizontal direction to adjust the cross-sectional sizes of the clamp area, each clamping piece
On be provided with flexible limit part, the flexible limit part at least partial region is located at the top of the clamp area.
2. handling equipment according to claim 1, which is characterized in that the cross section of the clamp area is circle, described
First clamp assemblies include three clamping pieces being uniformly arranged.
3. handling equipment according to claim 2, which is characterized in that first driver is electric chuck with three jaws,
There are three claw, the clamping piece connects one to one the electric chuck with three jaws tool with the claw.
4. handling equipment according to claim 1, which is characterized in that the clamping device further includes the second clamping group
Part, second clamp assemblies are identical as the structure of first clamp assemblies, first clamp assemblies and the second clamping group
Part is symmetrical arranged by rotation axis connection and the relatively described rotation axis, and the rotation axis is for driving the clamping device in level
Direction rotation.
5. handling equipment according to claim 4, which is characterized in that second clamp assemblies by slider cylinder with
The rotation axis connection, the slider cylinder is to drive second clamp assemblies to move along the vertical direction.
6. handling equipment according to claim 1, which is characterized in that further include charging tray, the charging tray includes support frame
Frame and several partitions have multiple hollowed out areas in the braced frame, and the partition is installed in the braced frame, several
Partition is divided into multiple groups, each baffle interval setting in every group, and the gap between the adjacent partition and the support frame
Hollowed out area on frame is opposite, and each partition in every group surrounds material accommodating area.
7. handling equipment according to claim 6, which is characterized in that the bottom of the clamping piece is connected with bottom limit
Part.
8. handling equipment according to claim 6, which is characterized in that it further include positioning mechanism, the positioning mechanism packet
The first positioning component and the second positioning component are included, the charging tray is respectively arranged with the first positioning component along the two sides of first direction,
First positioning component includes the first positioning cylinder and the first locating piece for connecting with first positioning cylinder, and described first
Positioning cylinder drives first locating piece to move along first direction；The two sides of the charging tray in a second direction are respectively arranged with
Two positioning components, second positioning component include the second positioning cylinder and the second positioning connecting with second positioning cylinder
Block, second positioning cylinder drive second locating piece to move in a second direction.
9. a kind of transfer printing equipment characterized by comprising bat printing jig and such as described in any item loading and unloading of claim 1-8
Device, the handling equipment are used to material being placed in the bat printing jig, and by the material on the bat printing jig
It takes out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811026688.5A CN109051764B (en) | 2018-09-04 | 2018-09-04 | Loading and unloading device and pad printing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811026688.5A CN109051764B (en) | 2018-09-04 | 2018-09-04 | Loading and unloading device and pad printing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109051764A true CN109051764A (en) | 2018-12-21 |
| CN109051764B CN109051764B (en) | 2023-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811026688.5A Active CN109051764B (en) | 2018-09-04 | 2018-09-04 | Loading and unloading device and pad printing equipment |
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| Country | Link |
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| CN (1) | CN109051764B (en) |
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| CN110950088A (en) * | 2020-02-25 | 2020-04-03 | 蓝思智能机器人(长沙)有限公司 | Loading and unloading equipment |
| CN115123792A (en) * | 2022-07-25 | 2022-09-30 | 苏州富强科技有限公司 | Workpiece transferring and conveying mechanism |
| CN117184899A (en) * | 2023-08-21 | 2023-12-08 | 宁波丞达精机股份有限公司 | Lens feeding device |
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| Publication number | Publication date |
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| CN109051764B (en) | 2023-09-26 |
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