CN104670880B - Automatic handling equipment - Google Patents

Abstract

The invention provides automatic conveying equipment which comprises a product feeding device (1), a product conveying device (2) and a product processing device (3), wherein a product (4) to be tested is fed into the product feeding device (1) and positioned, the product conveying device (2) conveys the product (4) to be tested to a product testing station (5) for testing, after the testing is completed, the product conveying device (2) conveys the product (4) to be tested to the product processing device (3) again, and the product processing device (3) distinguishes good products from defective products according to a testing result. The automatic carrying equipment can realize automatic carrying, and is high in efficiency, low in cost, universal in equipment and convenient to maintain. The automatic conveying equipment is suitable for testing items of electronic products (or printed circuit boards).

Description

An automatic handling device

Technical field

The invention relates to the technical field of handling testing, in particular to an automatic handling equipment.

Background

In the electronics industry, the testing of electronic products (or printed circuit boards) tends to be less and unmanned; Low cost, high labor costs, etc.; and it is difficult to realize or very complicated to realize automatic testing, which leads to high cost, large space occupation, difficult to realize common use of equipment after product replacement, and inconvenient maintenance.

Contents of the invention

In view of the above-mentioned prior art, the technical problem to be solved by the present invention is to provide an automatic handling equipment, which can realize automatic handling, has high efficiency, low cost, universal equipment and convenient maintenance.

In order to solve the above technical problems, the present invention provides an automatic handling device, including a product input device, a product handling device, and a product processing device. The product to be tested is put into the product input device and positioned, and the product handling device transports the product to be tested to the product The test station conducts the test. After the test is completed, the product handling device transports the product to be tested to the product processing device again. The product processing device distinguishes good products from defective products according to the test results.

A further improvement of the present invention is that the product input device includes a product delivery mechanism, a first frame, a positioning cylinder, and a positioning cylinder mounting plate. The mechanism is installed on the top of the first rack, and the positioning cylinder is installed on the product conveying mechanism through the positioning cylinder mounting plate; the product to be tested is transported to the output wheel shaft of the positioning cylinder through the product conveying mechanism for positioning.

A further improvement of the present invention is that the product handling device includes a product grabbing mechanism, a Z-axis, a Z-axis lifting mechanism, a Z-axis rotating mechanism, a Z-axis base, a Y-axis moving mechanism, a fixed seat, an X-axis moving mechanism, and a Z-axis lifting mechanism. There is a lifting drive plate, the product grabbing mechanism is installed on the lifting drive plate through the card slot of the Z axis and is slidingly connected with the Z axis up and down. The lifting drive plate is slidingly connected with the Z axis, and the Z axis is installed on the Z axis rotation mechanism. The axis rotation mechanism is installed on the Z-axis base, the Z-axis lifting mechanism is installed on the side of the Z-axis base, the Z-axis base is installed on the Y-axis moving mechanism, the Y-axis moving mechanism is installed on the fixed seat, and the fixed seat is installed on the X-axis moving mechanism. The grabbing mechanism is used to grab the product to be tested. The Z-axis rotation mechanism drives the Z-axis to drive the product grabbing mechanism to rotate. The Z-axis lifting mechanism drives the product grabbing mechanism to move up and down through the lifting drive plate, and the Y-axis moving mechanism drives the Z axis. The axis base moves along the Y axis, and the X axis moving mechanism drives the fixed seat to move along the X axis.

A further improvement of the present invention is that the product processing device includes a product transmission mechanism, a product lifting mechanism, and a second frame, and the product transmission mechanism and the product lifting mechanism are respectively installed on the second frame, and the good products after the test are directly sent out through the product transmission mechanism In the next process, the defective products after the test are automatically lifted by the product lifting mechanism, so as to distinguish the good products from the defective products.

A further improvement of the present invention is that the product grabbing mechanism includes a handling grip, a suction cup, a suction cup mounting plate, and an adjustment block, the suction cup mounting plate is fixedly installed on the front end of the handling grip through the adjustment block, and the suction cup is fixedly installed under the suction cup mounting plate.

A further improvement of the present invention is that the Z-axis lifting mechanism includes a lifting drive plate, a lifting drive plate mounting seat, a stepping motor, a first synchronous pulley, a second synchronous pulley, a first synchronous belt, a second screw rod, a second The screw nut, the first slider, the first guide rail, the bearing seat, the stepping motor is provided with a stepping motor output shaft, the lower end of the lifting driving plate is fixedly installed on the lifting driving plate mounting seat, and the lifting driving plate mounting seat passes through the first sliding plate. The block is slidingly connected to the first guide rail, the first guide rail is fixedly installed on the inner side of the Z-axis base, the stepping motor is fixedly installed on the inner side of the Z-axis base, the first synchronous pulley is fixedly installed on the output shaft of the stepping motor, and the upper part of the second screw rod rotates Installed on the bearing seat, the bearing seat is fixedly installed on the Z-axis base, the second synchronous pulley is fixedly installed on the upper end of the second screw rod, the first synchronous belt is connected with the first synchronous pulley and the second synchronous pulley, and the second The screw nut is fixedly installed on the mounting seat of the lifting drive plate, and the second screw nut is connected with the second screw drive in transmission.

A further improvement of the present invention is that the Z-axis rotating mechanism includes a first servo motor, a rotating flange, a first linear bearing, a first linear bearing mounting seat, a first centripetal force ball bearing, and a first centripetal force ball bearing outer seat, The first servo motor is provided with a first servo motor rotor, the Z-axis is fixedly mounted on the first servo motor rotor through a rotating flange, the first servo motor is fixedly mounted on the Z-axis base, and the first straight line The outer ring of the bearing is installed on the inner ring of the first linear bearing mounting seat, the inner ring of the first linear bearing is in sliding connection with the Z-axis, and the outer ring of the first centripetal force ball bearing is installed on the inside of the first centripetal force ball bearing outer seat The inner ring of the first centripetal ball bearing is installed on the outer ring of the first linear bearing mounting seat, the outer seat of the first centripetal ball bearing is installed on the upper end of the lifting drive plate, and the rear end of the handling grip is loosely installed through the Z axis on the first linear bearing mount.

A further improvement of the present invention is that the Y-axis moving mechanism includes a second servo motor, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a third screw mandrel, a third screw mandrel nut, and a third screw mandrel nut The mounting base, the third screw mounting base, the second slider, the second guide rail, the base plate, the second servo motor is provided with the second servo motor output shaft, the Z-axis base is fixedly installed on the third screw nut mounting base, and the second servo motor is provided with a second servo motor output shaft. The second servo motor is fixedly installed on the fixed seat, the third synchronous pulley is fixedly installed on the output shaft of the second servo motor, the two ends of the third screw rod are respectively rotated and installed in the third screw rod mounting seat, and the third screw rod is installed The seat is fixedly installed on the bottom plate, the fourth synchronous pulley is fixedly installed on one end of the third screw rod, the second synchronous belt is respectively connected with the third synchronous pulley and the fourth synchronous pulley, and the third screw nut is fixedly installed on the Under the third screw nut mounting seat, the third screw nut mounting seat is slidably connected to the second guide rail through the second slider, the second guide rail is fixedly installed on the base plate, and the base plate is fixedly installed on the fixing base.

A further improvement of the present invention is that the X-axis moving mechanism includes a third servo motor, a screw support plate, a fourth screw, a fourth screw nut, a fourth screw nut mounting seat, a first guide shaft, a third servo motor The output shaft of the third servo motor is provided, the two ends of the fourth screw rod are respectively rotated and installed with a screw rod support plate, the third servo motor is fixedly installed on the screw rod support plate, and the output shaft of the third servo motor is fixedly connected with the fourth screw rod , both ends of the second guide shaft are respectively fixedly installed on the screw support plate, the fourth screw nut is fixedly installed in the fourth screw nut mounting seat, the fourth screw is connected to the fourth screw nut by transmission, the second guide The shaft is slidingly connected with the fourth screw nut mounting seat, and the fourth screw nut mounting seat is fixedly installed under the fixing seat.

Compared with the prior art description, the advantage of the present invention is that the automatic handling equipment adopts a combination of a product input device, a product handling device and a product processing device, puts the product to be tested into the product input device and positions it, and the product handling device transports the product to be tested. The tested product is sent to the product testing station for testing. After the test is completed, the product handling device transports the product to be tested to the product processing device again. The product processing device distinguishes good products from defective products according to the test results. The automatic handling equipment can realize automatic handling, high efficiency, low cost, universal equipment and convenient maintenance.

Description of drawings

Fig. 1 is a perspective view of the present invention;

Fig. 2 and Fig. 3 are three-dimensional views of two different viewing angles of the product feeding device of the present invention;

Fig. 4 is a perspective view of the product handling device of the present invention;

Fig. 5 is a three-dimensional expanded view of the product handling device of the present invention;

Fig. 6, Fig. 7 and Fig. 8 are perspective views of three different viewing angles of the product processing device of the present invention.

The names of the components in the figure are as follows:

1—product input device;

11—product conveying mechanism;

1101—the first guide rail;

1102—the second guide rail;

1103—the first fixed mount;

1104—the second fixed mount;

1105—the first fixed seat;

1106—the second fixed seat;

1107—the first movable connection seat;

1108—the second movable connection seat;

1109—the first driven wheel;

1110—the first drive wheel;

1111—the first transmission shaft;

1112—the first motor;

1113—the first sprocket;

1114—the first chain;

1115—the first guide shaft;

1116—the first belt;

1117—the first motor mount;

12—the first rack;

121—the first rack table;

13—positioning cylinder;

131—locate the output axle of the cylinder;

14—locate the cylinder mounting plate;

15—the first width adjustment mechanism;

151—the first hand shaft;

152—the first screw;

153—the first connecting rod;

154—the first connecting rod mounting seat;

155—the first bevel gear;

2—product handling device;

21—product grabbing mechanism;

211—carrying catch;

212—suction cup;

213—suction cup mounting plate;

214—adjustment block;

22—Z axis;

23—Z-axis lifting mechanism;

2301—lifting drive plate;

2302—lifting drive plate mounting seat;

2303—stepper motor;

2304—stepper motor mounting plate;

2305—the first synchronous pulley;

2306—the second synchronous pulley;

2307—the first timing belt;

2308—the second screw;

2309—the second screw nut;

2310—the second screw nut mounting plate;

2311—the first slider;

2312—the first guide rail;

2313—bearing seat;

2314—bearing mounting plate;

24—Z axis rotation mechanism;

241—the first servo motor;

242—rotating flange;

243—the first linear bearing;

244—the first linear bearing mounting seat;

245—the first centripetal force ball bearing;

246—the first radial ball bearing outer seat;

25—Z axis base;

26—Y-axis moving mechanism;

2601—the second servo motor;

2602—second servo motor mount;

2603—the third synchronous pulley;

2604—the fourth synchronous pulley;

2605—the second timing belt;

2606—the third screw;

2607—the third screw nut;

2608—the third screw nut mounting seat;

2609—the third screw mount;

2610—second slider;

2611—second guide rail;

2612—bottom plate;

27—fixed seat;

28—X-axis moving mechanism;

281—the third servo motor;

282—the third servo motor mounting seat;

283—screw support plate;

284—the fourth screw;

285—the fourth screw nut;

286—the fourth screw nut mounting seat;

287—the second guide shaft;

29—the second rack;

291—the second rack table;

3—Product handling device;

31—Product delivery mechanism;

3101—the first motor;

3102—the first reducer;

3103—the first motor mount;

3104—second bevel gear;

3105—second transmission shaft;

3106—the second drive wheel;

3107—belt idler;

3108—belt pulley;

3109—transfer wheel;

3110—second belt;

3111—the third belt;

3112—front fixing plate;

3113—rear fixed plate;

3114—movable board;

3115—the third guide shaft;

32—product lifting mechanism;

3201—second motor;

3202—the second reducer;

3203—second motor mount;

3204—the fifth synchronous pulley;

3205—the third timing belt;

3206—the fifth screw;

3207—the fifth screw nut;

3208—the fourth guide shaft;

3209—lifting plate;

3210—the third slider;

3211—the third guide rail;

3212—Up adjustment block;

3213—down adjustment block;

3214—guide rod;

3215—filter bar;

33—the third rack;

331—the upper table top of the third rack;

332—the lower table of the third rack;

34—the second width adjustment mechanism;

341—the second crankshaft;

342—the sixth screw;

343—the seventh screw rod;

344 — rocker seat;

345—the second sprocket;

346 — second chain;

4—the product to be tested;

5—Product testing station 5.

detailed description

The present invention will be further described below with reference to the description of the drawings and specific embodiments, and similar reference numerals in the drawings represent similar components.

As shown in Figure 1, a kind of automatic handling equipment of the present invention comprises product input device 1, product handling device 2, product processing device 3, and the product to be tested 4 is put into product input device 1 and positioned, and product handling device 2 carries The product to be tested 4 is tested at the product testing station 5. After the test is completed, the product handling device 2 transports the product to be tested 4 to the product processing device 3 again. The product processing device 3 distinguishes good products from defective products according to the test results. Product handling device 2 and product testing station 5 can use various combinations according to actual production needs, such as: product handling device 2 is 1 group and product testing station 5 is 4 groups, or product handling device 2 is 2 groups and product There are 8 groups of testing stations 5, etc. In this embodiment, the product handling device 2 is 1 group and the product testing stations 5 are 4 groups for description.

Specifically, as shown in Figures 2 and 3, the product input device 1 includes a product delivery mechanism 11, a first frame 12, a positioning cylinder 13, and a positioning cylinder mounting plate 14, and the first frame 12 is provided with a first frame table 121, the positioning cylinder 13 is provided with a positioning cylinder output shaft 131, the product conveying mechanism 11 is installed on the first rack table 121, and the positioning cylinder 13 is installed on the product conveying mechanism 11 through the positioning cylinder mounting plate 14; it also includes the first width adjustment mechanism 15 , the first width adjustment mechanism 15 is installed on the first rack table 121, and is used to adjust the width of the product conveyed by the product conveying mechanism 11; The product conveying mechanism 11 comprises a first guide rail 1101, a second guide rail 1102, a first fixed mount 1103, a second fixed mount 1104, a first fixed mount 1105, a second fixed mount 1106, a first movable connection seat 1107, a second The movable connection seat 1108, the first driven wheel 1109, the first driving wheel 1110, the first transmission shaft 1111, the first motor 1112, the first sprocket wheel 1113, the first chain 1114, the first guide shaft 1115, the first belt 1116, The first motor mounting seat (1117), the quantity of the first driven wheel 1109 is 8, the quantity of the first driving wheel 1110 is 2, the quantity of the first sprocket wheel 1113 is 2, and the quantity of the first belt 1116 is 2 The first motor 1112 is provided with a first motor output shaft; the first width adjustment mechanism 15 includes a first crank shaft 151, a first screw 152, a first connecting rod 153, a first connecting rod mount 154, a first cone Gear 155, the quantity of the first bevel gear 155 is 4; The seat 1105 and the second fixed seat 1106 are fixedly mounted on both sides of the rear end of the first rack table 121, and one end of the first drive shaft 1111 is fixedly mounted with the first drive wheel 1110 and is rotatably mounted on the second fixed mounting seat 1104 through a bearing. Among them, the other end of the first transmission shaft 1111 is fixedly installed with a first sprocket 1113 and is rotatably installed in the second fixed seat 1106 through a bearing, and one end of the first guide shaft 1115 is fixedly installed in the first fixed seat 1103. The other end of a guide shaft 1115 is fixedly installed in the first fixed seat 1105, the first movable connection seat 1107 and the second movable connection seat 1108 are fixedly installed on both sides of the second guide rail 1102, and the first movable connection seat 1107 slides through the copper sleeve Connected to the first guide shaft 1115, the first transmission shaft 1111 is slidably connected with a copper sleeve and the copper sleeve is rotationally connected with the second movable connection seat 1108, and the first driving wheel 1110 is fixedly installed on the copper sleeve, and the inner side of the first guide rail 1101 4 first driven wheels 1109 are installed, and 4 first driven wheels 1109 are installed on the inner side of the second guide rail 1102, and the 4 first driven wheels 1109 on the first guide rail 1101 inner side and the first drive on the first transmission shaft 1111 A first belt 1116 is installed between the wheels 1110, and a first belt 1116 is also installed between the four first driven wheels 1109 inside the second guide rail 1102 and the first driving wheel 1110 on the copper sleeve. A motor mounting base 1118 is fixedly installed under the first frame table top 121, the first motor 1112 is provided with a first motor output shaft, a first sprocket 1113 is fixedly installed on the first motor output shaft, and the first chains 1114 are respectively engaged with the The first sprocket 1113 on the motor output shaft and the first sprocket 1113 on the first transmission shaft 1111; One end of a crank shaft 151 is fixedly mounted with a crank wheel and is rotatably connected to the second fixed mount 1104 through a bearing, and the other end of the first crank shaft 151 is fixedly mounted with a first bevel gear 155 and is connected to the second mount 1106 through a bearing. Rotationally connected, one end of the first screw rod 152 is rotatably mounted on the first fixed mount 1103 through a bearing, and the other end of the first screw rod 152 is fixedly mounted with a first bevel gear 155 and is rotatably mounted on the first fixed mount 1105 through a bearing, The two ends of the first connecting rod 153 are respectively fixedly installed with the first bevel gear 155 and are rotatably connected to the first connecting rod mounting base 154, the first connecting rod mounting base 154 is fixedly mounted on the first frame table 121, the first screw rod The first bevel gear 155 installed at the other end of the first connecting rod 152 is engaged with the first bevel gear 155 installed at one end of the first connecting rod 153 , and the first bevel gear 155 installed at the other end of the first crank shaft 151 is engaged with the first connecting rod 153 The other end of the first bevel gear 155 is installed, the first crank shaft 151 is slidably connected to the copper sleeve fixedly installed on the second movable connection seat 1108, and the first screw rod 152 is rotatably connected to the copper sleeve fixedly installed on the first movable connection seat 1107. screw nut; the positioning cylinder 13 is fixedly installed at the exit of the first guide rail 1101 through the positioning cylinder mounting plate 14 .

Specifically, as shown in FIG. 4 and FIG. 5 , the product handling device 2 includes a product grabbing mechanism 21, a Z-axis 22, a Z-axis lifting mechanism 23, a Z-axis rotating mechanism 24, a Z-axis base 25, a Y-axis moving mechanism 26, The fixed base 27 , the X-axis moving mechanism 28 , the second frame 29 , and the second frame 29 is provided with a second frame table top 291 . The product grabbing mechanism 21 includes a handling grab 211, a sucker 212, a sucker mounting plate 213, and an adjustment block 214. The sucker 212 is a pneumatic sucker, and the number is 4 to 6; the Z-axis 22 is a spline shaft; the Z-axis lifting mechanism 23 includes a lift Driving plate 2301, lifting driving plate mounting seat 2302, stepping motor 2303, stepping motor mounting plate 2304, the first synchronous pulley 2305, the second synchronous pulley 2306, the first synchronous belt 2307, the second screw mandrel 2308, the first Two screw nuts 2309, the second screw nut mounting plate 2310, the first slide block 2311, the first guide rail 2312, the bearing seat 2313, the bearing seat mounting plate 2314, the stepping motor 2303 is provided with a stepping motor output shaft, the first The number of sliders 2311 is 4, the number of first guide rails 2312 is 2; the Z-axis rotating mechanism 24 includes a first servo motor 241, a rotating flange 242, a first linear bearing 243, and a first linear bearing installation Seat 244, the first centripetal force ball bearing 245, the first centripetal force ball bearing outer seat 246, the first servo motor 241 is provided with the first servo motor rotor; Y-axis moving mechanism 26 includes the second servo motor 2601, the second servo motor mounting seat 2602, the third synchronous pulley 2603, the fourth synchronous pulley 2604, the second synchronous belt 2605, the third screw mandrel 2606, the third screw mandrel nut 2607, the third screw mandrel nut mount 2608, the third screw mandrel mount 2609, the second slide block 2610, the second guide rail 2611, the bottom plate 2612, the second servo motor 2601 is provided with a second servo motor output shaft, the number of the third screw mounting seat 2609 and the second guide rail 2611 is 2, and the second The number of sliders 2610 is four; the X-axis moving mechanism 28 includes a third servo motor 281, a third servo motor mount 282, a screw support plate 283, a fourth screw 284, a fourth screw nut 285, a fourth The screw nut mounting base 286, the second guide shaft 287, the third servo motor 281 is provided with a third servo motor output shaft, the number of the screw support plate 283, and the second guide shaft 287 is two. The rear end of the handling grip 211 is loosely passed through the Z axis 22 (spline shaft) and is fixedly installed on the first linear bearing mounting seat 244 and is connected with the Z axis 22 by sliding up and down. Catch the front end of 211, the adjustment block 214 is used to adjust the distance between the suction cup mounting plate 213 and the front end of the handling grasp 211, the suction cup 212 is fixedly installed under the suction cup mounting plate 213; the upper end of the lifting drive plate 2301 loosely passes through the Z axis 22 ( Key shaft) is fixedly installed on the first centripetal force ball bearing outer seat 246 and is slidably connected with the Z axis 22 up and down. The lower end of the lifting drive plate 2301 is fixedly installed on the lifting drive plate mounting seat 2302. The slider 2311 is slidably connected to the two first guide rails 2312, and the two first guide rails 2312 are fixedly installed on the inner side of the Z-axis base 25. The stepping motor 2303 is fixedly installed on the inner side of the Z-axis base 25 through the stepping motor mounting plate 2304. The first The synchronous pulley 2305 is fixedly installed on the output shaft of the stepping motor, the upper part of the second screw rod 2308 is installed on the bearing seat 2313 through bearing rotation, and the bearing seat 2313 is fixedly installed on the Z-axis base 25 through the bearing seat mounting plate 2314, and the second synchronous belt The wheel 2306 is fixedly installed on the upper end of the second screw mandrel 2308, the first synchronous belt 2307 is connected with the transmission of the first synchronous pulley 2305 and the second synchronous pulley 2306, and the second screw nut 2309 is fixed by the second screw nut mounting plate 2310 Installed on the lifting driving plate mounting base 2302, the second screw nut 2309 is connected to the second screw rod 2308 in transmission, and the bottom of the lifting driving plate mounting base 2302 is equipped with a buffer pad; On the rotor of a servo motor, the first servo motor 241 is fixedly installed on the Z-axis base 25, the outer ring of the first linear bearing 243 is fixedly installed on the inner ring of the first linear bearing mounting seat 244, and the first linear bearing 243 The inner ring of the first centripetal ball bearing 245 is slidably connected to the Z-axis 22 (spline shaft), the outer ring of the first centripetal ball bearing 245 is fixedly installed on the inner ring of the first centripetal ball bearing outer seat 246, and the inner ring of the first centripetal ball bearing 245 is fixedly installed On the outer ring of the first linear bearing mounting seat 244, the first centripetal force ball bearing outer seat 246 is fixed on the upper end of the lifting drive plate 2301 by screws, and the rear end of the handling grip 211 is loosely passed through the Z-axis 22 and fixed by screws On the first linear bearing mounting seat 244, the upper end surface of the first linear bearing mounting seat 244 is higher than the upper end surface of the first linear bearing 243 and the upper end surface of the first centripetal force ball bearing outer seat 246 by a short distance; Z The shaft base 25 is fixedly mounted on the third screw nut mounting base 2608, the second servo motor 2601 is fixedly mounted on the fixing base 27 through the second servo motor mounting base 2602, and the third synchronous pulley 2603 is fixedly mounted on the second servo motor On the output shaft, the two ends of the third screw mandrel 2606 are installed in the third screw mandrel mount 2609 through the bearing rotation respectively, and the third screw mandrel is installed The seat 2609 is fixedly installed on the bottom plate 2612, the fourth synchronous pulley 2604 is fixedly installed on one end of the third screw rod 2606, and the second synchronous belt 2605 is connected with the third synchronous pulley 2603 and the fourth synchronous pulley 2604 respectively. The third screw nut 2607 is fixedly installed under the third screw nut mounting base 2608, and the third screw nut mounting base 2608 is slidably connected to two second guide rails 2611 through four second sliders 2610, and the two second guide rails 2611 is fixedly installed on the bottom plate 2612, and the bottom plate 2612 is fixedly installed on the fixed seat 27; the two ends of the fourth screw rod 284 are respectively installed with a threaded rod support plate 283 through the bearing rotation, and the two screw rod support plates 283 are fixedly installed on the second screw rod support plate 283 respectively. The second frame table top 291, the third servo motor 281 is fixedly installed on the screw rod support plate 283 through the third servo motor mounting base 282, the output shaft of the third servo motor is fixedly connected with the fourth screw rod 284 through a coupling, and the two first Two guide shafts 287 are placed on both sides of the fourth screw mandrel 284, and the two ends are fixedly installed on the screw mandrel support plate 283 respectively, and the fourth screw mandrel nut 285 is fixedly installed in the fourth screw mandrel nut mounting seat 286, and the fourth screw mandrel 284 It is connected with the transmission of the fourth screw nut 285, and the second guide shaft 287 is slidingly connected with the fourth screw nut mounting seat 286 through a linear bearing. The fourth screw nut mounting seat 286 is fixedly installed under the fixing seat 27. Two second A buffer washer is respectively installed at the two ends of the guide shaft 287 close to the screw mandrel support plate 283 .

Specifically, as shown in Figure 6, Figure 7 and Figure 8, the product processing device 3 includes a product transmission mechanism 31, a product lifting mechanism 32, and a third frame 33, and the product transmission mechanism 31 and the product lifting mechanism 32 are installed on the third frame respectively. Rack 33, the good products after the test are directly sent to the next process through the product delivery mechanism 31, and the defective products after the test are automatically raised by the product lifting mechanism 32, thereby distinguishing good products from defective products. Preferably, the product processing device 3 further includes a second width adjusting mechanism 34, which is used to adjust the width of the product conveying mechanism 31 and the product lifting mechanism 32 to convey and lift the product. The product transmission mechanism 31 includes a first motor 3101, a first speed reducer 3102, a first motor mount 3103, a second bevel gear 3104, a second transmission shaft 3105, a second driving wheel 3106, a belt idler 3107, a pulley 3108, a transmission Wheel 3109, the second belt 3110, the third belt 3111, the front fixed plate 3112, the rear fixed plate 3113, the movable plate 3114, the third guide shaft 3115, pin shaft (not shown), the first motor 3101 is provided with the first The motor output shaft, the first speed reducer 3102 is provided with the first speed reducer output shaft, the number of the second bevel gear 3104, the second driving wheel 3106, and the third guide shaft 3115 are all 2, and the number of the belt idler 3107 is 20 , the number of pulleys 3108 is 24, the number of transmission wheels 3109 is 16, the number of the third belt 3111 is 4, the number of the second belt 3110 is 2, and the number of pin shafts is 20; the product lifting mechanism 32 includes the second motor 3201, the second reducer 3202, the second motor mount 3203, the fifth synchronous pulley 3204, the third synchronous belt 3205, the fifth screw 3206, the fifth screw nut 3207, the fourth guide shaft 3208, lifting plate 3209, third slide block 3210, third guide rail 3211, upper adjustment block 3212, lower adjustment block 3213, guide rod 3214, screening bar 3215, the second motor 3201 is provided with the second motor output shaft, the second deceleration The device 3202 is provided with a second reducer output shaft, the number of the fifth synchronous pulley 3204, the upper adjustment block 3212, and the lower adjustment block 3213 is 2, the number of the fourth guide shaft 3208 is 2, and the number of the guide rod 3214 There are 4, and the number of screening bars 3215 is 12; the third frame 33 is provided with the third frame upper table 331 and the third frame lower table 332; the second width adjustment mechanism 34 includes the second crank shaft 341, the second Six screw mandrels 342, the seventh screw mandrel 343, rocker seat 344, the second sprocket wheel 345, the second chain 346, the quantity of the second sprocket wheel 345 is 2; the first motor 3101 is fixedly installed on the first speed reducer 3102 The first motor mounting base 3103, the first motor mounting base 3103 is fixedly installed on the front end of the upper table 331 of the third frame, the end of the output shaft of the first reducer is fixedly installed with a second bevel gear 3104, the second transmission shaft 3105 The two ends of the front fixed plate 3112 and the rear fixed plate 3113 are rotatably installed on the front fixed plate 3112 and the rear fixed plate 3113 respectively through bearings, and the front fixed plate 3112 and the rear fixed plate 3113 are fixedly installed on the front end and the rear end of the upper table 331 of the third frame respectively. The two ends of the three guide shafts 3115 are respectively fixedly installed on both sides of the front fixed plate 3112 and the rear fixed plate 3113, one end of the second drive shaft 3105 protrudes from the front fixed plate 3112 for a certain distance and a second bevel gear 3104 is fixedly installed at the end, The second bevel gear 3104 at one end of the second transmission shaft 3105 is engaged with the second bevel gear at the end of the output shaft of the first reducer. Two bevel gears 3104, two third guide shafts 3115 are slidably installed on both sides of the movable plate 3114 through bushings, the second transmission shaft 3105 is slidably connected with a copper sleeve and the copper sleeve is rotationally connected with the movable plate 3114; the outer side of the movable plate 3114 The second driving wheel 3106 is also fixedly installed on the copper sleeve of the copper sleeve, and the 10 pin shafts are evenly arranged in a straight line through the movable plate 3114 and are connected to the movable plate 3114 through bearings. The ends of the 10 pin shafts on the outside of the movable plate 3114 Pulleys 3108 are respectively fixedly installed on the top, transmission wheels 3109 are respectively fixedly installed on the ends of the middle 8 pin shafts on the inner side of the movable plate 3114, and transmission wheels 3109 are respectively fixedly installed on the ends of the 2 pin shafts on the inner side of the movable plate 3114. Belt pulley 3108 is arranged, and the middle part below the outer pulley 3108 of movable plate 3114 is staggeredly rotated and is installed with 8 belt idler pulleys 3107, and is respectively installed with 1 belt idler pulley 3107, movable plate 3114 at both ends of the inner side of movable plate 3114. 10 pulleys 3108, 8 idler pulleys 3107 and 1 second driving pulley 3106 on the outside of the drive are equipped with a second belt 3110, and 1 pulley 3108 and 1 idler pulley at the inner two ends of the movable plate 3114 The 3rd belt 3111 is respectively installed in transmission between 3107; 1 second driving pulley 3106, 10 belt idlers 3107, 12 pulleys 3108, 8 transmission pulleys 3109, 1 second belt 3110 on the front fixed plate 3112, 10 bearing pins and 2 third belts 3111 are installed in the same position as the front fixed plate 3112, and the connection mode is the same as that of the movable plate 3114, as shown in Figure 3, and will not be described in detail here. The second motor 3201 is fixedly installed on the second motor mounting base 3203 through the second reducer 3202, the second motor mounting base 3203 is fixedly installed under the lower table 332 of the third frame, and a fifth motor is fixedly installed on the output shaft of the second reducer. Synchronous belt pulley 3204, the fifth screw nut 3207 passes through the lower table surface 332 of the third frame and is rotatably installed in the lower table surface 332 of the third frame, a fifth screw nut 3207 is fixedly installed with a fifth synchronous pulley 3204, A fifth synchronous pulley 3204 on the output shaft of the second speed reducer and a fifth synchronous pulley 3204 on the fifth screw nut 3207 are respectively driven and connected to the third synchronous belt 3205, the fifth screw mandrel 3206 and the fifth screw The rod nut 3207 is connected by transmission, and the two fourth guide shafts 3208 are installed on the front and rear ends of the lower table 332 of the third frame by sliding up and down through linear bearings respectively, and the upper ends of the two fourth guide shafts 3208 are respectively fixed on the lifting plate 3209 front end and rear end, the upper end of the fifth screw mandrel 3206 is installed under the middle part of the lifting plate 3209 by bearing rotation, the third guide rail 3211 is fixedly installed on the lifting plate 3209, the third slide block 3210 and the third guide rail 3211 Sliding connection; a lower adjustment block 3213 is fixedly installed on the front end of the lifting plate 3209 through a spacer, and the lower end of the six screening bars 3215 passes through the upper notch of the front fixing plate 3112 and is fixedly installed on a lower adjustment block 3213, and the upper end is fixed on a lower adjustment block 3213. The upper adjustment block 3212, two guide rods 3214 slide through the lower end of the linear bearing and are fixedly installed on the lower adjustment block 3213, the upper end is fixed on an upper adjustment block 3212, and the linear bearing is fixed on both sides of the front fixed plate 3112, and the screening bar The inner side of 3215 is vertically and evenly fixed with four small screws; the other lower adjustment block 3213 is fixedly installed on the third slider 3210, and the lower end of the six screening strips 3215 passes through the upper notch of the rear movable plate 3114 and is fixedly installed on the other lower adjustment block. Block 3213, the upper end is fixedly installed on another upper adjustment block 3212, two guide rods 3214 slide through the linear bearing, the lower end is fixedly installed on another lower adjustment block 3213, the upper end is fixed on another upper adjustment block 3212, and the linear bearing is fixed Installed on both sides of the outside of the movable plate 3114, the inside of the screening bar 3215 is vertically and uniformly fixed with four small screws. One end of the sixth screw rod 342 passes through the movable plate 3114, the rear fixed plate 3113 and is connected to one side of the movable plate 3114 by a screw nut, and is connected to one side of the rear fixed plate 3113 by a bearing in rotation. The sixth screw rod 342 One end of the second sprocket 345 is fixedly installed, and the other end of the sixth screw rod 342 passes through the front fixed plate 3112 and is rotatably installed on one side of the front fixed plate 3112 and fixedly connected to one end of the second crank shaft 341 through the bearing. One end of the seven screw rods 343 passes through the movable plate 3114, the rear fixed plate 3113 and is connected to the other side of the movable plate 3114 through a screw nut, and is connected to the other side of the rear fixed plate 3113 through a bearing. The seventh screw rod One end of 343 is fixedly installed with another second sprocket 345, and the other end of the seventh screw mandrel 343 passes through the front fixed plate 3112 and is installed on the other side of the front fixed plate 3112 by bearing rotation, and the second rocker shaft 341 is rotatably installed on Rocker seat 344, rocker seat 344 is fixedly installed on the front end side of the table top 331 on the third frame, and the second chain 346 is respectively connected with a second sprocket wheel 345 at one end of the sixth screw mandrel 342 and the other end of the seventh screw mandrel 343 one end. A second sprocket 345 is drivingly connected.

Specifically, as shown in Figure 1, product testing station 5 is altogether 4 groups, and 2 groups are installed on the front portion of the second frame table top 291, and 2 groups are installed on the rear portion of the second frame table top 291, product handling device 2 is installed in the middle of the second rack table top 291; the product testing station 5 is used to test various functions and various related parameters of the product to be tested 4, and the product testing station 5 is not the invention point of the present invention, so it will not be done here Detailed description.

Working principle of the present invention: the product to be tested 4 enters on the first belt 1116 from the entrance of the product conveying mechanism 11, the first motor 1112 works to drive the first belt 1116 to move forward, and the product to be tested 4 moves together with the first belt 1116 Move forward, then, the positioning cylinder 13 works, the positioning cylinder output shaft 131 moves upwards for a certain distance, blocks the product 4 to be tested moving forward with the first belt 1116, the first motor 1112, the positioning cylinder 13 stop working; step The motor 2303 works to drive the lifting drive plate 2301 to drive the suction cup 212 on the handling grip 211 to move down along the Z axis 22 to the product 4 to be tested, the suction cup 212 sucks the product 4 to be tested, and then the positioning cylinder 13 is reset, and the output shaft 131 of the positioning cylinder is positioned Move down a certain distance away from the product 4 to be tested, and then, the third servo motor 281 works to drive the product 4 to be measured on the suction cup 212 to move forward for a certain distance, and the product 4 to be tested is separated from the first belt 1116, and then, The second servo motor 2601 works to drive the product 4 to be measured on the sucker 212 to move a certain distance to the left or right. The test product 4 moves upward for a certain distance along the Z axis 22, and then, the first servo motor 241 drives the Z axis 22 to rotate 90 degrees to the left or right to the product test station 5, and the suction cup 212 releases the product 4 to be tested. , the product 4 to be tested falls into the product testing station 5; the first servo motor 241 resets; the product testing station 5 tests the product 4 to be tested, and after the test is completed, the first servo motor 241 works to drive the Z axis 22 to the left or Turn right 90 degrees to the product testing station 5, the suction cup 212 sucks the product 4 to be tested after the test is completed, and then, the first servo motor 241 works again to drive the Z-axis 22 to rotate 90 degrees left or right to the front, the second The second servo motor 2601 resets; then, the third servo motor 281 works to drive the tested product 4 sucked on the suction cup 212 to move forward for a certain distance, so that the tested product 4 enters the product processing device 3, the suction cup 212 releases the product 4 after the test is completed, and then the third servo motor 281 resets; the first motor 3101 works to drive the four third belts 3111 on the inner sides of the front fixing plate 3112 and the rear fixing plate 3113 16 transfer wheels 3109 rotate at the same time, and the product 4 to be tested after entering the entrance of the product processing device 3 moves forward together with the third belt 3111 at the entrance; if the product 4 to be tested after the test is completed is a good product , the product 4 to be tested after the test is completed enters the next process through the 8 transfer wheels 3109 in the middle and the third belt 3111 at the exit of the product processing device 3; if the product 4 to be tested after the test is not Good product, when the tested product 4 after the test reaches the 8 transfer wheels 3109 in the middle part, the second motor 3201 works to drive 12 screening strips 3215 along the guide rod 3214 moves upward for a certain distance, and the small screws on the 12 screening strips 3215 jack up the defective products after the test is completed, thereby distinguishing the good products from the defective products. The rotation of the first crank shaft 151 drives the first screw rod 152 to rotate through the four first bevel gears 155, thereby driving the second guide rail 1102 to move inward or outward, thereby adjusting the width of the incoming product. The second crank shaft 341 rotates through the sixth screw rod 342, two second sprockets 345, and the second chain 346 to drive the sixth screw rod 342 and the seventh screw rod 343 to rotate simultaneously, thereby driving the movable plate 3114 inward or outward Move, and then achieve to adjust the width of the entering product.

The advantage of the present invention is that the automatic handling equipment adopts a combination of a product input device, a product handling device and a product processing device, puts the product to be tested into the product input device and positions it, and the product handling device transports the product to be tested to the product testing station for testing. Test, after the test is completed, the product handling device transports the product to be tested to the product processing device again, and the product processing device distinguishes good products from defective products according to the test results. The automatic handling equipment can realize automatic handling, high efficiency, low cost, universal equipment and convenient maintenance.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field to which the present invention belongs, some simple deduction or substitutions can be made without departing from the concept of the present invention, which should be deemed to belong to the protection scope of the present invention.

Claims (6)

1. an automatic transportation equipment, including product feeding device (1), carrying device for products (2), product treatment apparatus (3), product to be measured (4) puts into described product feeding device (1) and positions, described carrying device for products (2) is carried described product to be measured (4) and is tested to product test station (5), after having tested, described carrying device for products (2) carries described product to be measured (4) again to described product treatment apparatus (3), described product treatment apparatus (3) is according to test result, non-defective unit and defective products are distinguished;nullIt is characterized in that: described carrying device for products (2) includes product grasping mechanism (21)、Z axis (22)、Z-axis lifting mechanism (23)、Z axis rotating mechanism (24)、Z axis base (25)、Y-axis moving mechanism (26)、Fixing seat (27)、X-axis travel mechanism (28)，Described Z-axis lifting mechanism (23) is provided with lifting and drives plate (2301)，Described product grasping mechanism (21) is rotated by the draw-in groove of Z axis (22) to be installed on to lift to drive plate (2301) upper and slide up and down with Z axis (22) and is connected，Described lifting drives plate (2301) to be slidably connected with Z axis (22)，Described Z axis (22) is installed on Z axis rotating mechanism (24)，Described Z axis rotating mechanism (24) is installed on Z axis base (25)，Described Z-axis lifting mechanism (23) is installed on Z axis base (25) side，Described Z axis base (25) is installed on Y-axis moving mechanism (26)，Described Y-axis moving mechanism (26) is installed on fixing seat (27)，Described fixing seat (27) is installed on X-axis travel mechanism (28)，Described product grasping mechanism (21) is used for capturing product to be measured (5)，Described Z axis rotating mechanism (24) rotates and drives Z axis (22)，Thus drive product grasping mechanism (21) to rotate，Described Z-axis lifting mechanism (23) drives plate (2301) to drive product grasping mechanism (21) to move up and down by lifting，Described Y-axis moving mechanism (26) drives Z axis base (25) to move along Y-axis，Described X-axis travel mechanism (28) drives fixing seat (27) to move along the x-axis.

2. automatic transportation equipment as claimed in claim 1, it is characterized in that: described product grasping mechanism (21) includes that (211), sucker (212), sucker installing plate (213), adjustment block (214) are grabbed in carrying, described sucker installing plate (213) is fixedly installed in carrying by adjustment block (214) and grabs the front end of (211), and described sucker (212) is fixedly installed under sucker installing plate (213).

null3. automatic transportation equipment as claimed in claim 1，It is characterized in that: described Z-axis lifting mechanism (23) includes that lifting drives plate (2301)、Lifting drives plate mounting seat (2302)、Stepper motor (2303)、First synchronous pulley (2305)、Second synchronous pulley (2306)、First synchronous belt (2307)、Second screw mandrel (2308)、Second feed screw nut (2309)、First slide block (2311)、First guide rail (2312)、Bearing block (2313)，Described stepper motor (2303) is provided with stepping motor output shaft，Described lifting drives the lower end of plate (2301) to be fixedly installed in lifting and drives plate mounting seat (2302)，Described lifting drives plate mounting seat (2302) to be slidably connected to the first guide rail (2312) by the first slide block (2311)，Described first guide rail (2312) is fixedly installed in Z axis base (25) inner side，Described stepper motor (2303) is fixedly installed in Z axis base (25) inner side，Described first synchronous pulley (2305) is fixedly installed in stepping motor output shaft，Described second screw mandrel (2308) top rotates and is installed on bearing block (2313)，Described bearing block (2313) is fixedly installed on Z axis base (25)，Described second synchronous pulley (2306) is fixedly installed in the second screw mandrel (2308) upper end，Described first synchronous belt (2307) is in transmission connection with the first synchronous pulley (2305) and the second synchronous pulley (2306)，Described second feed screw nut (2309) is fixedly installed in lifting and drives in plate mounting seat (2302)，Described second feed screw nut (2309) is in transmission connection with the second screw mandrel (2308).

null4. automatic transportation equipment as claimed in claim 1，It is characterized in that: described Z axis rotating mechanism (24) includes the first servomotor (241)、Rotary flange dish (242)、First linear bearing (243)、First linear bearing mounting seat (244)、First centripetal force ball bearing (245)、The outer seat (246) of first centripetal force ball bearing，Described first servomotor (241) is provided with the first servo motor rotor，Described Z axis (22) is fixedly installed in the first servo motor rotor by rotary flange dish (242)，Described first servomotor (241) is fixedly installed on Z axis base (25)，The outer ring of the first linear bearing (243) is installed on the inner ring of the first linear bearing mounting seat (244)，The inner ring of the first linear bearing (243) is slidably connected with Z axis (22)，The outer ring of the first centripetal force ball bearing (245) is installed on the inner ring of the outer seat (246) of the first centripetal force ball bearing，The inner ring of the first centripetal force ball bearing (245) is installed on the outer ring of the first linear bearing mounting seat (244)，The outer seat (246) of first centripetal force ball bearing is installed on lifting and drives on the upper end of plate (2301)，Carrying grab (211) rear end loosen be installed in the first linear bearing mounting seat (244) through Z axis (22).

null5. automatic transportation equipment as claimed in claim 1，It is characterized in that: described Y-axis moving mechanism (26) includes the second servomotor (2601)、3rd synchronous pulley (2603)、4th synchronous pulley (2604)、Second synchronous belt (2605)、3rd screw mandrel (2606)、3rd feed screw nut (2607)、3rd feed screw nut's mounting seat (2608)、3rd screw mandrel mounting seat (2609)、Second slide block (2610)、Second guide rail (2611)、Base plate (2612)，Described second servomotor (2601) is provided with the second servo motor output shaft，Described Z axis base (25) is fixedly installed in the 3rd feed screw nut's mounting seat (2608)，Described second servomotor (2601) is fixedly installed on fixing seat (27)，Described 3rd synchronous pulley (2603) is fixedly installed on the second servo motor output shaft，The two ends of described 3rd screw mandrel (2606) rotate respectively and are installed in the 3rd screw mandrel mounting seat (2609)，Described 3rd screw mandrel mounting seat (2609) is fixedly installed on base plate (2612)，Described 4th synchronous pulley (2604) is fixedly installed in one end of the 3rd screw mandrel (2606)，Described second synchronous belt (2605) is in transmission connection with the 3rd synchronous pulley (2603) and the 4th synchronous pulley (2604) respectively，Described 3rd feed screw nut (2607) is fixedly installed under the 3rd feed screw nut's mounting seat (2608)，Described 3rd feed screw nut's mounting seat (2608) is slidably connected to the second guide rail (2611) by the second slide block (2610)，Described second guide rail (2611) is fixedly installed on base plate (2612)，Described base plate (2612) is fixedly installed on fixing seat (27).

null6. automatic transportation equipment as claimed in claim 1，It is characterized in that: described X-axis travel mechanism (28) includes the 3rd servomotor (281)、Screw mandrel gripper shoe (283)、4th screw mandrel (284)、4th feed screw nut (285)、4th feed screw nut's mounting seat (286)、First axis of guide (287)，Described 3rd servomotor (281) is provided with the 3rd servo motor output shaft，The two ends of described 4th screw mandrel (284) are rotatablely equipped with a screw mandrel gripper shoe (283) respectively，Described 3rd servomotor (281) is fixedly installed in screw mandrel gripper shoe (283)，Described 3rd servo motor output shaft and the fixing connection of the 4th screw mandrel (284)，The two ends of second axis of guide (287) are fixedly installed in screw mandrel gripper shoe (283) respectively，Described 4th feed screw nut (285) is fixedly installed in the 4th feed screw nut's mounting seat (286)，Described 4th screw mandrel (284) is in transmission connection with the 4th feed screw nut (285)，Described second axis of guide (287) is slidably connected with the 4th feed screw nut's mounting seat (286)，Described 4th feed screw nut's mounting seat (286) is fixedly installed under fixing seat (27).