CN110253604B - Material box transferring device - Google Patents
Material box transferring device Download PDFInfo
- Publication number
- CN110253604B CN110253604B CN201910402111.8A CN201910402111A CN110253604B CN 110253604 B CN110253604 B CN 110253604B CN 201910402111 A CN201910402111 A CN 201910402111A CN 110253604 B CN110253604 B CN 110253604B
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- vertical
- grabbing
- longitudinal
- manipulator
- component
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention belongs to the technical field of transfer equipment, and particularly relates to a material box transfer device which comprises a transfer support, a transverse moving component, a first grabbing component and a second grabbing component, wherein the transverse moving component is arranged on the transfer support, the first grabbing component is arranged on the output end of the transverse moving component and is used for grabbing a material box, the transverse moving component drives the first grabbing component to transversely move, the second grabbing component is arranged on the transfer support, and the second grabbing component is used for grabbing the material box and adjusting the posture of the material box for grabbing by the first grabbing component. The first grabbing component can grab all the material boxes one by one and transfer the material boxes through the transverse moving component so as to complete the transferring work of the material boxes, and the material box transferring efficiency is high.
Description
Technical Field
The invention belongs to the technical field of transfer equipment, and particularly relates to a material box transfer device.
Background
Cartridges are commonly used to house sharp recovery elements such as knives and needles to prevent them from injuring a person during recovery. In the prior art, in the process of recycling the cutters, the cutters are usually placed in the material box one by one manually, then are uniformly placed in the storage box, and the cutters in the material box are taken out one by one after a certain amount of collection is completed to carry out secondary grinding processing. However, in such a manual operation, the processing efficiency is very low for cartridges requiring a large number of processes. To above-mentioned condition, also have among the prior art to transport the magazine through transfer device to replace manual operation, and transfer mechanism is snatching the article and transport the in-process, because the magazine is different when placing on the conveyer belt, often lead to snatching the mechanism and can't once only snatch all magazines and accomplish, and transport the effect is not good.
Disclosure of Invention
The invention aims to provide a material box transferring device, and aims to solve the technical problem that the transferring device in the prior art cannot transfer material boxes with different postures.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a magazine transfer device, includes transportation support, lateral shifting subassembly, first snatch subassembly and second snatch the subassembly, the lateral shifting subassembly install in on the transportation support, first snatch the subassembly install in on the output of lateral shifting subassembly and be used for snatching the magazine, the lateral shifting subassembly drive first snatch the subassembly at lateral shifting, the second snatch the subassembly install in on the transportation support, the second snatch the subassembly be used for snatching the magazine and adjust the gesture of magazine is in order to supply first snatch the subassembly snatch.
Optionally, the second snatchs the subassembly and includes rotation piece and second manipulator, rotate the piece install in transport on the support, the second manipulator install in rotate on the output of piece and be used for snatching the magazine, rotate the piece drive the second manipulator rotates in the horizontal direction.
Optionally, the second grabbing assembly further comprises a longitudinal moving member, the longitudinal moving member is mounted on the transferring support, the rotating member is mounted on an output end of the longitudinal moving member, and the longitudinal moving member drives the rotating member to longitudinally move.
Optionally, the vertical moving part comprises a vertical cylinder and a vertical sliding table, a vertical guide rail which is longitudinally arranged is arranged on the vertical cylinder, the vertical sliding table is in sliding connection with the vertical guide rail, the output end of the vertical cylinder is connected with the vertical sliding table and drives the vertical sliding table to move relative to the vertical cylinder, and the rotating part is arranged on the vertical sliding table.
Optionally, the second manipulator includes two second execution claws that are opposite to each other, and two opposite faces on the second execution claw are all equipped with the second buffer piece that is used for buffering.
Optionally, the first grabbing component includes a vertical moving part and a first manipulator, the vertical moving part is installed on an output end of the lateral moving component, the first manipulator is installed on an output end of the vertical moving part and is used for grabbing the material box, and the vertical moving part drives the first manipulator to move vertically.
Optionally, the vertical moving part comprises a vertical cylinder and a vertical sliding table, a vertical guide rail which is vertically arranged is arranged on the vertical cylinder, the vertical sliding table is in sliding connection with the vertical guide rail, the output end of the vertical cylinder is connected with the vertical sliding table and drives the vertical sliding table to move relative to the vertical cylinder, and the first manipulator is installed on the vertical sliding table.
Optionally, the first manipulator includes two first execution claws that are opposite to each other, and opposite one side on two first execution claws all is equipped with the first buffer piece that is used for buffering.
Optionally, the lateral shifting subassembly includes horizontal driving piece, lead screw and removal nut, the lead screw rotationally install in on the transportation support, horizontal driving piece's output with the lead screw is connected and is driven the lead screw rotates, the removal nut with lead screw threaded connection.
Optionally, the transverse moving assembly further comprises at least one linear sliding rail, a guide rail of the linear sliding rail is mounted on the transferring support and extends in the same direction with the screw rod, and a sliding block of the linear sliding rail is mounted on the moving nut.
The invention has the beneficial effects that: according to the material box transferring device, the second grabbing component is used for adjusting the posture that the material box cannot be normally grabbed by the first grabbing component, so that the first grabbing component can be used for normally grabbing, then the first grabbing component can grab all the material boxes one by one and transfer all the material boxes through the transverse moving component, and therefore the material box transferring work is completed, and the material box transferring efficiency is high.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a cartridge transferring device according to an embodiment of the present invention;
fig. 2 is an exploded view of a cartridge transfer device according to an embodiment of the present invention.
Wherein, each reference sign in the figure:
10-transfer support 20-transverse moving assembly 21-screw rod
22-moving nut 23-linear slide 30-first grabbing component
31-vertical moving part 32-first manipulator 40-second grabbing component
41-rotating member 42-second manipulator 43-longitudinal moving member
311-vertical cylinder 312-vertical sliding table 321-first executing claw
421-second actuating claw 431-longitudinal cylinder 432-longitudinal sliding table
3111-vertical guide rail.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to fig. 1-2 are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
As shown in fig. 1-2, the embodiment of the invention provides a material box transferring device, which is applied to material box sorting equipment to transfer material boxes instead of manual operation, such as transferring material boxes with cutters or needles to be recovered. Specifically, including transporting support 10, lateral shifting subassembly 20, first snatch subassembly 30 and second snatch subassembly 40, lateral shifting subassembly 20 installs on transporting support 10, and first snatch subassembly 30 is installed on the output of lateral shifting subassembly 20 and is used for grabbing the material box, and lateral shifting subassembly 20 drive first snatch subassembly 30 is at lateral shifting, and second snatch subassembly 40 is installed on transporting support 10, and second snatch subassembly 40 is used for grabbing the material box and adjusts the gesture of material box for first snatch subassembly 30 to snatch.
The cartridge transfer device provided by the embodiment of the invention is further described below: according to the magazine transferring device provided by the embodiment of the invention, as the magazines are directionally circulated on the conveying mechanism (from the initial end to the final end), the second grabbing component 40 is closer to the initial end of the conveying mechanism, so that the magazines can be firstly adjusted in the posture that the first grabbing component 30 cannot grab normally by the second grabbing component 40, the first grabbing component 30 can grab all the magazines one by one and transfer the magazines through the transverse moving component 20, so that the transfer work of the magazines is completed, and the magazine transferring efficiency is high.
In a specific grabbing and transferring process, the transverse moving assembly 20 drives the first grabbing assembly 30 to move to the position of the recovery piece to be grabbed, grabbing preparation is carried out, then the first grabbing assembly 30 grabs the material box, the transverse moving assembly 20 drives the first grabbing assembly 30 to move to the target placing position after grabbing is completed, and at the moment, the first grabbing assembly 30 puts down the material box, so that grabbing of the material box for the first time is completed; after the magazine is placed, the transverse moving mechanism drives the first grabbing component 30 to move to the position of the recovery piece to be grabbed, so that grabbing of the next magazine can be performed, and the next magazine can be circularly reciprocated to replace manual picking and placing, and efficient magazine transferring can be achieved.
In another embodiment of the present invention, as shown in fig. 1-2, the second gripper assembly 40 includes a rotating member 41 and a second manipulator 42, the rotating member 41 is mounted on the transfer frame 10, the second manipulator 42 is mounted on an output end of the rotating member 41 and is used for gripping the material taking cassette, and the rotating member 41 drives the second manipulator 42 to rotate in a horizontal direction. Specifically, an image recognition device is arranged on the conveying mechanism, when the gesture of a material box on the conveying mechanism is recognized by the image recognition device to be not satisfied with the grabbing condition of the first grabbing component 30, the second grabbing component 40 is started, the rotating piece 41 can drive the second manipulator 42 to rotate at 360 degrees in the horizontal direction at random, when the rotating piece 41 drives the second manipulator 42 to rotate to the position capable of grabbing the material box normally, the second manipulator 42 grabs the material box, then the gesture of the material box can be grabbed by the first grabbing component 30 through the rotating piece 41, the second manipulator 42 places the material box on the conveying mechanism to continue to flow towards the first grabbing component 30, and finally the material box is grabbed and transported to the next processing position of the sorting equipment through the first grabbing.
The rotating member 41 may be a rotating motor, a rotating cylinder, or the like, and may be set as needed.
In another embodiment of the present invention, as shown in fig. 1-2, the second gripper assembly 40 further includes a longitudinal moving member 43, the longitudinal moving member 43 is mounted on the transfer frame 10, the rotating member 41 is mounted on the output end of the longitudinal moving member 43, and the longitudinal moving member 43 drives the rotating member 41 to move longitudinally. Specifically, by arranging the longitudinal moving member 43 on the transferring support 10, and installing the rotating member 41 on the longitudinal moving member 43, when the postures of the cartridges on the conveying mechanism are disordered, the longitudinal moving member 43 can drive the rotating member 41 to move longitudinally (i.e. move perpendicular to the direction of directional circulation of the conveying mechanism), and the rotating member 41 drives the second manipulator 42 to move synchronously to grasp each cartridge, so that each cartridge on the conveying mechanism can be grasped by the second manipulator 42 and adjusted to satisfy the grasping posture of the first grasping assembly 30.
In another embodiment of the present invention, as shown in fig. 1-2, the longitudinal moving member 43 includes a longitudinal cylinder 431 and a longitudinal sliding table 432, the longitudinal cylinder 431 is provided with longitudinal rails arranged longitudinally, the longitudinal sliding table 432 is slidably connected with the longitudinal rails, an output end of the longitudinal cylinder 431 is connected with the longitudinal sliding table 432 and drives the longitudinal sliding table 432 to move relative to the longitudinal cylinder 431, and the rotating member 41 is mounted on the longitudinal sliding table 432. Specifically, during the process of driving the rotating member 41 to move longitudinally, the longitudinal cylinder 431 pushes the longitudinal sliding table 432 to move longitudinally, and the longitudinal sliding table 432 synchronously drives the rotating member 41 to move, so as to realize the longitudinal movement of the second manipulator 42. Further, by arranging the longitudinal guide rail on the longitudinal cylinder 431, the longitudinal sliding table 432 is slidably connected with the longitudinal guide rail, and the longitudinal guide rail plays an auxiliary sliding role at this time, so as to improve the stability of the movement of the longitudinal sliding table 432 relative to the longitudinal cylinder 431.
In another embodiment of the present invention, as shown in fig. 1-2, the second manipulator 42 includes two second actuating claws 421 disposed opposite to each other, and a second buffer sheet for buffering is disposed on opposite sides of the two second actuating claws 421. Specifically, the second manipulator 42 is a pneumatic clamping jaw, the two second executing claws 421 are executing ends of the pneumatic clamping jaw, and the two second executing claws 421 can avoid rigid contact with two sides of the cartridge under the buffering of the second buffering sheets when the cartridge is grabbed by arranging the second buffering sheets on opposite sides of the two second executing claws 421, so that the cartridge is prevented from being clamped.
The second buffer sheet can be a rubber gasket or other buffer sheets, and is arranged according to the requirement.
In another embodiment of the present invention, as shown in fig. 1-2, the first gripper assembly 30 includes a vertical mover 31 and a first manipulator 32, the vertical mover 31 is mounted on an output end of the lateral mover 20, the first manipulator 32 is mounted on an output end of the vertical mover 31 and is used for gripping the material taking cartridge, and the vertical mover 31 drives the first manipulator 32 to move vertically. Specifically, the vertical moving member 31 can lift the first manipulator 32 to a height close to the lateral moving member 20 in the process of moving the lateral moving member 20 in the horizontal direction, so as to avoid collision between the first manipulator 32 and other objects or mechanisms in the process of moving the lateral moving member 20, and after the lateral moving member 20 moves the first manipulator 32 to a designated position, the vertical moving member 31 can drive the first manipulator 32 to move downwards again, so that the first manipulator 32 can clamp a material taking box on the conveying mechanism or place the material taking box in the next processing device of the sorting equipment, and the adaptability is good.
In another embodiment of the present invention, as shown in fig. 1-2, the vertical moving member 31 includes a vertical cylinder 311 and a vertical sliding table 312, a vertical guide rail 3111 arranged vertically is disposed on the vertical cylinder 311, the vertical sliding table 312 is slidably connected with the vertical guide rail 3111, an output end of the vertical cylinder 311 is connected with the vertical sliding table 312 and drives the vertical sliding table 312 to move relative to the vertical cylinder 311, and the first manipulator 32 is mounted on the vertical sliding table 312. Specifically, the vertical moving part 31 drives the first manipulator 32 to move vertically, and the vertical cylinder 311 pushes the vertical sliding table 312 to move vertically, so that the vertical sliding table 312 synchronously drives the first manipulator 32 to move vertically, thereby realizing the vertical movement of the first manipulator 32. Further, by arranging the vertical guide rail 3111 on the vertical cylinder 311, the vertical sliding table 312 is slidably connected with the vertical guide rail 3111, and at this time, the vertical guide rail 3111 plays a role of assisting sliding, so that the moving stability of the vertical sliding table 312 relative to the vertical cylinder 311 is improved.
In another embodiment of the present invention, as shown in fig. 1-2, the first manipulator 32 includes two first actuating claws 321 disposed opposite to each other, and a first buffer sheet for buffering is disposed on opposite sides of the two first actuating claws 321. Specifically, the first manipulator 32 is a pneumatic clamping jaw, the two first executing claws 321 are executing ends of the pneumatic clamping jaw, and the first buffer sheets are arranged on opposite sides of the two first executing claws 321, so that the two first executing claws 321 can avoid rigid contact with two sides of the material box under the buffer of the first buffer sheets when the material box is grabbed, and the material box is prevented from being clamped.
The first buffer sheet can be a rubber gasket or other buffer sheets, and is arranged according to the requirement.
In another embodiment of the present invention, as shown in fig. 1-2, the lateral movement assembly 20 includes a lateral driving member, a screw 21, and a movement nut 22, the screw 21 is rotatably mounted on the transfer bracket 10, an output end of the lateral driving member is connected to the screw 21 and drives the screw 21 to rotate, and the movement nut 22 is in threaded connection with the screw 21. Specifically, when the lateral driving member drives the screw rod 21 to rotate clockwise, the screw rod 21 drives the moving nut 22 to move in a direction away from the second grasping mechanism; on the contrary, when the transverse driving member drives the screw rod 21 to rotate anticlockwise, the screw rod 21 drives the moving nut 22 to move towards the direction close to the second grabbing mechanism, so that the first grabbing component 30 is driven by the transverse moving component to move back and forth in the transverse direction.
In another embodiment of the present invention, as shown in fig. 1-2, the lateral shifting assembly 20 further includes a lateral bracket mounted to the transfer bracket 10, and a lead screw 21 is laterally rotatably mounted to the lateral bracket.
In another embodiment of the present invention, as shown in fig. 1-2, the lateral movement assembly 20 further includes at least one linear slide rail 23, the guide rail of the linear slide rail 23 is mounted on the transfer bracket 10 and extends in the same direction as the screw 21, and the slider of the linear slide rail 23 is mounted on the movement nut 22. Specifically, the guide rail of the linear slide rail 23 plays a role in supporting and assisting sliding, and the moving nut 22 is slidably connected with the guide rail through a sliding block, so that the moving nut 22 can slide on the screw rod 21 more stably under the support of the guide rail.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. A magazine transfer device, characterized in that: the automatic feeding device comprises a transfer support, a transverse moving component, a first grabbing component and a second grabbing component, wherein the transverse moving component is arranged on the transfer support, the first grabbing component is arranged at the output end of the transverse moving component and is used for grabbing the material box, the transverse moving component drives the first grabbing component to transversely move, the second grabbing component is arranged on the transfer support, and the second grabbing component is used for grabbing the material box and adjusting the posture of the material box so as to enable the first grabbing component to grab the material box;
the second grabbing component comprises a rotating piece and a second manipulator, the rotating piece is arranged on the transferring support, the second manipulator is arranged on the output end of the rotating piece and is used for grabbing the material box, and the rotating piece drives the second manipulator to rotate in the horizontal direction;
wherein, the rotating piece is a rotating motor or a rotating cylinder.
2. The cartridge transfer device of claim 1, wherein: the second grabbing component further comprises a longitudinal moving piece, the longitudinal moving piece is installed on the transferring support, the rotating piece is installed on the output end of the longitudinal moving piece, and the longitudinal moving piece drives the rotating piece to longitudinally move.
3. The cartridge transfer device according to claim 2, wherein: the longitudinal moving part comprises a longitudinal air cylinder and a longitudinal sliding table, longitudinal guide rails which are longitudinally arranged are arranged on the longitudinal air cylinder, the longitudinal sliding table is in sliding connection with the longitudinal guide rails, the output end of the longitudinal air cylinder is connected with the longitudinal sliding table and drives the longitudinal sliding table to move relative to the longitudinal air cylinder, and the rotating part is arranged on the longitudinal sliding table.
4. The cartridge transfer device of claim 1, wherein: the second manipulator comprises two second executing claws which are arranged oppositely, and a second buffer sheet for buffering is arranged on one opposite surface of each of the two second executing claws.
5. The cartridge transfer device of claim 1, wherein: the first grabbing component comprises a vertical moving part and a first manipulator, the vertical moving part is installed on the output end of the transverse moving component, the first manipulator is installed on the output end of the vertical moving part and used for grabbing the material box, and the vertical moving part drives the first manipulator to move vertically.
6. The cartridge transfer device of claim 5, wherein: the vertical moving part comprises a vertical cylinder and a vertical sliding table, a vertical guide rail which is vertically arranged is arranged on the vertical cylinder, the vertical sliding table is in sliding connection with the vertical guide rail, the output end of the vertical cylinder is connected with the vertical sliding table and drives the vertical sliding table to move relative to the vertical cylinder, and the first manipulator is installed on the vertical sliding table.
7. The cartridge transfer device of claim 6, wherein: the first manipulator comprises two first executing claws which are oppositely arranged, and a first buffer sheet for buffering is arranged on one opposite surface of each of the two first executing claws.
8. The cartridge transfer device according to any one of claims 1 to 7, wherein: the transverse moving assembly comprises a transverse driving piece, a screw rod and a moving nut, the screw rod is rotatably arranged on the transfer support, the output end of the transverse driving piece is connected with the screw rod and drives the screw rod to rotate, and the moving nut is in threaded connection with the screw rod.
9. The cartridge transfer device of claim 8, wherein: the transverse moving assembly further comprises at least one linear sliding rail, a guide rail of the linear sliding rail is mounted on the transfer support and extends in the same direction with the screw rod, and a sliding block of the linear sliding rail is mounted on the moving nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910402111.8A CN110253604B (en) | 2019-05-15 | 2019-05-15 | Material box transferring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910402111.8A CN110253604B (en) | 2019-05-15 | 2019-05-15 | Material box transferring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110253604A CN110253604A (en) | 2019-09-20 |
| CN110253604B true CN110253604B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910402111.8A Active CN110253604B (en) | 2019-05-15 | 2019-05-15 | Material box transferring device |
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| CN (1) | CN110253604B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113460597B (en) * | 2020-07-16 | 2022-12-23 | 武汉品锦盛建筑工程有限公司 | Material transfer device for highway engineering construction and use method |
| CN112660797B (en) * | 2020-12-09 | 2022-05-10 | 中广核研究院有限公司 | Filter core sewage collection device |
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| WO2015036123A1 (en) * | 2013-09-13 | 2015-03-19 | Schaefer Förderanlagen- und Maschinenbau GmbH | Device for loading/unloading a load carrier such as a pallet and similar |
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| CN110253604A (en) | 2019-09-20 |
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