CN212024057U - Device for taking and placing shoes - Google Patents
Device for taking and placing shoes Download PDFInfo
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- CN212024057U CN212024057U CN202020225509.7U CN202020225509U CN212024057U CN 212024057 U CN212024057 U CN 212024057U CN 202020225509 U CN202020225509 U CN 202020225509U CN 212024057 U CN212024057 U CN 212024057U
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Abstract
The utility model discloses a device is put in getting of shoes contains: the gripping mechanism comprises two grippers arranged in parallel, wherein one gripper is used for conveying and gripping shoes between the conveying line and the pressing station, and the other gripper is used for gripping the shoes on the equipment belt and conveying the shoes between the waiting station and the pressing station; the vertical lifting mechanism is used for respectively lifting or lowering the two grippers; and the horizontal moving mechanism stretches across the transmission line and the equipment belt and is used for horizontally moving the vertical lifting mechanism to drive the two grippers to horizontally move so as to convey the shoes. The utility model discloses a snatch mechanism contains two sets of independent control's respectively mechanical tongs, can realize respectively independently snatching and placing the action of shoes, improves the pressfitting action of shoes and gets the degree of overlap of putting the action, saves the manual work, and improve equipment production beat and location are accurate.
Description
Technical Field
The utility model relates to a transport of article and get and put technical field, more specifically relate to a high-speed automatic device of getting of shoes is put.
Background
The traditional shoe making industry always uses simple belt conveying and manual grabbing modes for conveying and grabbing shoes. However, the conventional manual grasping and carrying method has the following obvious disadvantages:
1. the labor intensity of manual carrying is large, the time and the labor are consumed, and the production efficiency is not high;
2. the manual shoe placement is inaccurate in positioning and fluctuant.
Therefore, the traditional mode of manually taking, placing and carrying shoes can not meet the urgent requirements of high-efficiency and low-cost production of the modern mechanical automatic shoe making industry for a long time.
Therefore, a new automatic shoe picking, placing and transporting technology is needed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the above-mentioned shortcoming that current manual work snatched and placed shoes, provide a getting of shoes puts device, can realize that the efficient gets puts and transport shoes, save time, improve the production beat.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
a device for taking and putting shoes comprises:
the gripping mechanism comprises two grippers arranged in parallel, wherein one gripper is used for conveying and gripping shoes between the conveying line and the pressing station, and the other gripper is used for gripping the shoes on the equipment belt and conveying the shoes between the waiting station and the pressing station;
the vertical lifting mechanism is used for respectively lifting or lowering the two grippers;
and the horizontal moving mechanism stretches across the transmission line and the equipment belt and is used for horizontally moving the vertical lifting mechanism to drive the two grippers to horizontally move so as to convey the shoes.
Furthermore, the vertical lifting mechanism comprises two Z-axis vertical sliding guide rails which are arranged in parallel and spaced at a certain interval, each Z-axis vertical sliding guide rail is provided with a vertical sliding block, the movement of the vertical sliding blocks is controlled by two Z-axis motors respectively, the two grippers are arranged on the two vertical sliding blocks respectively, and the Z-axis vertical sliding guide rails are connected with the horizontal moving mechanism in a sliding manner.
Furthermore, horizontal migration mechanism is including crossing the X axle horizontal sliding guide that transmission line and equipment belt set up, be equipped with horizontal sliding base on the X axle horizontal sliding guide to through X axle motor control horizontal sliding base is in move on the X axle horizontal sliding guide, the perpendicular sliding guide of Z axle connects horizontal sliding base.
Further, the Z-axis motor and the X-axis motor are servo motors.
Furthermore, the pressing station and the waiting station are arranged on the mounting platform in parallel, and the equipment belt and the transmission line are sequentially arranged on one side of the pressing station.
Further, the X-axis horizontal sliding guide rail is arranged above the mounting platform through a support.
Further, the distance between the two grippers corresponds to the distance between the transmission line and the equipment belt, the distance between the equipment belt and the pressing station and the distance between the pressing station and the waiting station.
Further, the hand grab is a pneumatic hand grab.
The utility model discloses an above-mentioned tongs, vertical lift mechanism, the horizontal migration mechanism's of snatching two independent controls of mechanism in coordination move, and cyclic execution is periodically got and is put and transport shoes, has realized carrying and snatching new unfinished shoes to preset position when the pressfitting station moves, snatchs the degree of overlap of action through improving pressfitting action and transport to realize saving time, improve equipment beat of production.
Drawings
Fig. 1 is a schematic structural view of a device for taking and placing shoes according to a preferred embodiment of the present invention.
Detailed Description
The following describes the present invention in further detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural view of a shoe taking and placing device according to a preferred embodiment of the present invention. As shown in fig. 1, the device for taking and placing shoes comprises: the device comprises a grabbing mechanism, a vertical lifting mechanism and a horizontal moving mechanism.
Please refer to fig. 1. The gripping mechanism comprises at least two sets of mechanical grippers 17, 16 which are respectively and independently driven and controlled. Two sets of mechanical grippers 17 and 16 are respectively arranged on two vertical sliding blocks which are positioned on the same side of the pick-and-place device and are respectively matched with the Z-axis vertical sliding guide rails 18 and 20 on the two Z-axis vertical sliding guide rails 18 and 20 at a certain interval. The Z-axis vertical sliding guide rails 18 and 20 are independently controlled by two Z-axis servo motors 22 and 21 respectively to drive two sets of mechanical grippers 17 and 16 on two vertical sliding blocks to ascend and descend.
Please continue to refer to fig. 1. The vertical lifting mechanism consists of two Z-axis vertical sliding guide rails 18 and 20, two Z-axis servo motors 22 and 21 and two vertical sliding blocks matched with the Z-axis vertical sliding guide rails 18 and 20. The positions of the mechanical grippers 17 and 16 on the Z-axis vertical sliding guide rails 18 and 20 can be independently controlled to move up and down through the Z-axis servo motors 22 and 21, so that accurate positioning is realized. The vertical lift mechanism is in the form of an electric cylinder drive, the principle of which can be understood with reference to the prior art.
One gripper 17 is used to transfer and grip the shoes between the transfer line (large belt line) 14 and the stitching station 13, and the other gripper 16 is used to grip the shoes on the equipment belt 15, transfer the shoes between the waiting station 12 and the stitching station 13, and place the shoes on the stitching station 13.
The distance between the two grippers 17 and 16 corresponds to the distance between the transmission line 14 and the equipment belt 15; and also corresponds to the distance between the apparatus belt 15 and the press-fitting station 13, and to the distance between the press-fitting station 13 and the waiting station 12.
The hand grips 17, 16 may be pneumatic grips, but are not limited thereto. The gripper can adopt the existing gripper structure for gripping shoes, and adopts the air cylinder to control the gripper to open and close, and the control principle can be understood by referring to the prior art.
Please refer to fig. 1. The horizontal moving mechanism can be composed of an X-axis horizontal sliding guide rail 19, an X-axis servo motor 23 and a horizontal sliding base 24 which are fixed on the mounting platform 11 of the pressing station 13 and span above the transmission line 14 and the equipment belt 15.
The two Z-axis vertical slide rails 18, 20 are mounted on the same side of a horizontal slide base 24. Two Z-axis servomotors 22, 21 and an X-axis servomotor 23 may be mounted on a horizontal slide base 24 through a mounting plate.
The X-axis horizontal sliding guide 19 may be fixedly disposed above the mounting platform 11 by the bracket 10.
The horizontal moving mechanism is controlled by an X-axis servo motor 23 independently to drive a vertical lifting mechanism on a horizontal sliding base 24 and the mechanical grippers 17 and 16 to move horizontally back and forth. The X-axis servo motor 23 can control the sliding displacement of the sliding base 24 on the X-axis horizontal sliding guide rail 19, thereby realizing the accurate positioning of the mechanical grippers 17, 16 on the vertical lifting mechanism installed on the sliding base 24. The horizontal movement mechanism is in the form of an electric cylinder drive, the drive principle of which can be understood with reference to the prior art.
The pressing station 13 and the waiting station 12 are arranged on the mounting platform 11 in parallel, and the equipment belt 15 and the transmission line 14 are arranged on one side of the pressing station 13 in sequence.
In order to improve the efficiency, the pressing station 13 and the waiting station 12 can be respectively provided with one set on two sides of the X-axis horizontal sliding guide rail 19. Correspondingly, the vertical lifting mechanism and the grabbing mechanism connected with the vertical lifting mechanism can also be respectively provided with one set at two sides of the X-axis horizontal sliding guide rail 19. At this time, each of the Z-axis servomotors 22 and 21 can be used to simultaneously control the vertical sliders on the corresponding Z-axis vertical sliding guides 18 and 20 on both sides to move synchronously. Each Z-axis servo motor 22, 21 can realize synchronous control of the vertical sliding blocks on the Z-axis vertical sliding guide rails 18, 20 on two sides through a shaft coupler.
As the utility model relates to a typical shoe taking and placing action execution control method, the following steps can be carried out:
a. a gripper 16 is driven by a Z-axis servo motor 21 to descend, first grip the unfinished shoe from the previous station on the equipment belt 15 and lift it to a predetermined height.
b. The horizontal sliding base 24 is driven by the X-axis servo motor 23 to translate rightward until the gripper 16 reaches the standby station 12.
c. The gripper 17 is driven by a Z-axis servo motor 22 to descend, grip the pressed shoes on the pressing station 13 and lift to a preset height position.
d. The horizontal sliding base 24 is driven by the X-axis servo motor 23 to move leftwards, so that the gripper 16 moves to a position above the pressing station 13. At this time, the Z-axis servomotor 21 drives the gripper 16 to descend, and places the unfixed shoe onto the stitching station 13, and then lifts it to a predetermined height position.
The e.X axis servo motor 23 drives the horizontal sliding base 24 to move left, the grip 17 is above the transmission line (large belt line) 14, the Z axis servo motor 22 drives the grip 17 to descend, and the pressed shoes are placed on the large belt line.
The f.Z axis servo motor 21 drives the gripper 16 to descend, grip the unfinished shoe on the equipment belt 15, and lift to a predetermined height. And e, circularly executing the steps a to e, and continuously carrying out the operation of taking and placing the shoes.
Through the above-mentioned synergistic action of two independent control's of snatching mechanism mechanical tongs, vertical lift mechanism, horizontal migration mechanism, cyclic execution snatchs and transport action periodically, makes the utility model discloses a get and put the device and can accomplish in 5s and tak away the shoes that the pressfitting is good away, place the assigned position, snatch new uncompleted shoes again to operating position, finally realize the high coincidence of pressfitting action and transport action, improved production facility's beat greatly.
What has just been said is the preferred embodiment of the present invention, the embodiment is not used for limiting the patent protection scope of the present invention, therefore all the equivalent structural changes made by the contents of the description and the drawings of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A device for taking and placing shoes is characterized by comprising:
the gripping mechanism comprises two grippers arranged in parallel, wherein one gripper is used for conveying and gripping shoes between the conveying line and the pressing station, and the other gripper is used for gripping the shoes on the equipment belt and conveying the shoes between the waiting station and the pressing station;
the vertical lifting mechanism is used for respectively lifting or lowering the two grippers;
and the horizontal moving mechanism stretches across the transmission line and the equipment belt and is used for horizontally moving the vertical lifting mechanism to drive the two grippers to horizontally move so as to convey the shoes.
2. The device for taking and putting shoes according to claim 1, wherein: the vertical lifting mechanism comprises two Z-axis vertical sliding guide rails which are arranged side by side and spaced at a certain interval, each Z-axis vertical sliding guide rail is provided with a vertical sliding block, the movement of the vertical sliding blocks is controlled by two Z-axis motors respectively, the two grippers are arranged on the two vertical sliding blocks respectively, and the Z-axis vertical sliding guide rails are connected with the horizontal moving mechanism in a sliding manner.
3. The device of claim 2, wherein: the horizontal moving mechanism comprises an X-axis horizontal sliding guide rail which stretches across the transmission line and the equipment belt, a horizontal sliding base is arranged on the X-axis horizontal sliding guide rail and is controlled by an X-axis motor, the horizontal sliding base moves on the X-axis horizontal sliding guide rail, and a Z-axis vertical sliding guide rail is connected with the horizontal sliding base.
4. A device for taking and placing shoes according to claim 3, which is characterized in that: the Z-axis motor and the X-axis motor are servo motors.
5. The device of claim 4, wherein: the pressing station and the waiting station are arranged on the mounting platform in parallel, and the equipment belt and the transmission line are sequentially arranged on one side of the pressing station.
6. The device of claim 5, wherein: the X-axis horizontal sliding guide rail is arranged above the mounting platform through a support.
7. The device for taking and placing shoes according to any one of claims 1 to 6, which is characterized in that: the distance between the two grippers corresponds to the distance between the transmission line and the equipment belt, the distance between the equipment belt and the pressing station and the distance between the pressing station and the waiting station.
8. The device of claim 1, wherein the hand grip is a pneumatic hand grip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020225509.7U CN212024057U (en) | 2020-02-28 | 2020-02-28 | Device for taking and placing shoes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020225509.7U CN212024057U (en) | 2020-02-28 | 2020-02-28 | Device for taking and placing shoes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212024057U true CN212024057U (en) | 2020-11-27 |
Family
ID=73492771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020225509.7U Active CN212024057U (en) | 2020-02-28 | 2020-02-28 | Device for taking and placing shoes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212024057U (en) |
-
2020
- 2020-02-28 CN CN202020225509.7U patent/CN212024057U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210301 Address after: 201619 room 917, 9 / F, building 1, No. 3366, Xinzhuan Road, Dongjing Town, Songjiang District, Shanghai Patentee after: Shanghai Fossett automation equipment Co.,Ltd. Address before: Room 1101, building 2, 188 Yizhou Road, Xuhui District, Shanghai Patentee before: SHANGHAI FORESIGHT ROBOTICS Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 201700 Room 204, Zone A, 2nd Floor, Building 1, No. 480 Huapu Road, Qingpu District, Shanghai Patentee after: Shanghai Taoqian Automation Equipment Co.,Ltd. Address before: 201619 room 917, 9 / F, building 1, No. 3366, Xinzhuan Road, Dongjing Town, Songjiang District, Shanghai Patentee before: Shanghai Fossett automation equipment Co.,Ltd. |