CN111634675A - Workpiece handling device and workpiece classification equipment - Google Patents

Abstract

The invention relates to a workpiece carrying device and workpiece class classification equipment, wherein the workpiece carrying device comprises a base; the power mechanism is arranged on the base; the rotating mechanism is arranged on the base and is connected with the power mechanism; the lifting mechanism is arranged on the rotating mechanism; the taking and placing mechanism is arranged on the lifting mechanism; the rotating mechanism can drive the lifting mechanism and the pick-and-place mechanism to move between a preset first target area and a preset second target area under the action of the power mechanism, so that the pick-and-place mechanism can selectively stay in the first target area or the second target area and take away or release a workpiece under the driving of the lifting mechanism. The workpiece carrying device can solve the problems of high labor intensity, poor environment, high repeatability and low efficiency of manual workpiece carrying.

Description

Workpiece handling device and workpiece classification equipment

technical field

The invention belongs to the technical field of detection, and in particular relates to a workpiece handling device and workpiece category classification equipment.

Background technique

With the rapid development of science and technology, people's material needs are increasing day by day. Among the workpieces with large demand represented by remote control face covers, their production scale is constantly expanding, and the demand for automation is also getting higher and higher, so that The handling of workpieces and the classification of workpieces also need to be done mechanically rather than manually, so as to overcome various defects caused by manual labor, such as high labor intensity, poor working environment, high repeatability, low efficiency, and There are subjective misjudgments in manual detection and occasional missed detection, which seriously reduces the efficiency and accuracy of classification.

SUMMARY OF THE INVENTION

In order to solve all or part of the above problems, the purpose of the present invention is to provide a workpiece handling device and a workpiece classification device, wherein the workpiece handling device can solve the problems of high labor intensity, poor environment, high repeatability and low efficiency of manual handling of workpieces In addition to solving the aforementioned problems, the workpiece category classification equipment can also solve the problems of subjective misjudgment and missed inspection in manual detection.

According to a first aspect of the present invention, there is provided a workpiece handling device, comprising: a base; a power mechanism provided on the base; a rotation mechanism provided on the base and connected with the power mechanism A lift mechanism, which is arranged on the rotating mechanism; a pick-and-place mechanism, which is arranged on the lift mechanism; the rotation mechanism can drive the lift mechanism and the pick-and-place mechanism under the action of the power mechanism. Movement between the preset first target area and the second target area, so that the pick-and-place mechanism can choose to stay in the first target area or the second target area and take away with the assistance of the lift mechanism or release the workpiece.

Further, the rotating mechanism includes: a fixed axis of the sun, which is arranged on the base; a first rotating arm, one end of which is rotatably sleeved on the fixed axis of the sun and is connected with the power mechanism; a shaft, which is set in the other end of the first rotating arm; a first rocker, which is fixed on the top of the fixed axis of the sun; a second rocker, which is fixed on the top of the planetary axis; a transmission link, two ends of which are respectively hinged with the first rocker and the second rocker; a second arm, which is fixed on the bottom end of the planetary shaft and connected with the lifting mechanism; When the power mechanism drives the first rotating arm to rotate, the second rotating arm is located between the first rotating arm, the fixed axis of the sun, the first rocker, the second rocker, the transmission link and the planetary shaft. Under the synergistic action, it can not only rotate relative to the fixed axis of the sun, but also rotate relative to the first rotating arm, so that the first target area and the second target area that can be reached by the lifting mechanism and the pick-and-place mechanism are the same. not on the same circle centered on the fixed axis of the star.

Further, the number of the first target areas is two, and the number of the second target areas is one.

Further, the lifting mechanism includes a linear driving mechanism arranged on the second rotating arm and used for driving the pick-and-place mechanism.

Further, the linear drive mechanism includes a pneumatic cylinder or a hydraulic cylinder.

Further, the lifting mechanism further includes a guide rod parallel to the linear drive mechanism, one end of the guide rod slidably passes through the second rotating arm, and the other end is fixed on the pick-and-place mechanism .

Further, the pick-and-place mechanism includes a mounting plate connected with the lifting mechanism, and a suction component disposed on the mounting plate and used for picking and placing workpieces.

Further, the suction component is a vacuum suction cup.

Further, the power mechanism includes a motor fixedly mounted on the base, a driving gear mounted on the rotating shaft of the motor, meshing with the driving gear and fixed on the end of the first rotating arm driven gear.

According to a second aspect of the present invention, there is provided a workpiece category classification device, comprising: a detection device capable of performing quality inspection on the workpieces in the first target area; a workpiece transfer device connected to the detection device and capable of When the workpiece detected by the detection device is a good product, it will be transferred to the third target area; a workpiece handling device, which is connected with the detection device, and can be transferred to the workpiece when the workpiece detected by the detection device is a defective product. The second target area; wherein, the workpiece handling device is the workpiece handling device provided by the first aspect of the present invention.

Further, the workpiece transfer device includes a carrying platform with an accommodating space, a gate mechanism disposed on the carrying platform and capable of selectively blocking or opening the bottom of the accommodating space, and a gate mechanism disposed below the gate mechanism and A transport mechanism capable of transporting the received workpieces to a third target area, the first target area being provided on the carrying platform and covering the accommodating space.

Further, the detection device includes a bracket and an image recognition module arranged on the bracket and capable of photographing and recognizing the workpiece in the first target area, wherein the image recognition module is connected to the workpiece transfer device and the workpiece handling device.

As can be seen from the above technical solutions, the workpiece handling device of the first aspect of the present invention mainly drives the lifting mechanism and the pick-and-place mechanism to move between the preset first target area and the second target area by means of the rotating mechanism, so that the pick-and-place mechanism can move between the preset first target area and the second target area. Choose to stay in the first target area or the second target area and pick up or release the workpiece with the assistance of the lifting mechanism, that is, the workpiece handling device can replace the manual labor in an efficient, high-quality and low-cost way to implement the workpiece At the same time, the workpiece handling device is simple in structure, convenient in manufacture, practical, safe and reliable, and is convenient for implementation, popularization and application.

Since the workpiece classification device of the second aspect of the present invention includes the workpiece handling device of the first aspect of the present invention, it can also solve the problems of high labor intensity, poor environment, high repeatability and low efficiency for manually handling workpieces. In addition, the workpiece classification equipment also combines the workpiece handling device provided in the first aspect of the present invention with the detection device and the workpiece transfer device, so that the workpiece classification equipment can use the detection device to perform quality inspection on the workpieces in the first target area. After the inspection, the workpiece with the detection result of defective product is transferred to the second target area through the workpiece transfer device, and the workpiece with the detection result of good product is transferred to the third target area through the workpiece transfer device, so as to accurately and efficiently classify the specified workpiece. , which eliminates the subjective misjudgment, helps reduce the risk of missed detection and false detection, and improves the classification efficiency and accuracy of the workpiece.

Description of drawings

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the picture:

1 is a schematic structural diagram of a workpiece category classification device according to an embodiment of the present invention;

Fig. 2 is the workpiece handling device of the workpiece classification equipment shown in Fig. 1;

Fig. 3 shows the workpiece handling device, workpiece transfer device and recovery device of the workpiece classification equipment shown in Fig. 1, and the workpiece handling device is located in the first first target area at this time;

Fig. 4 shows the workpiece handling device, the workpiece transfer device and the recovery device of the workpiece classification equipment shown in Fig. 1, and the workpiece handling device is located in the second first target area at this time;

Fig. 5 shows the workpiece handling device, the workpiece transfer device and the recovery device of the workpiece classification equipment shown in Fig. 1, and the workpiece handling device is located in the second target area at this time;

FIG. 6 shows the workpiece transfer device of the workpiece classification apparatus shown in FIG. 1 .

In the drawings, the same components are given the same reference numerals. The drawings are not drawn to actual scale.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of a workpiece category classification device according to an embodiment of the present invention. As shown in FIG. 1 , the workpiece category classification device 100 of the present invention is used to classify and classify and transport target workpieces. The workpiece classification device 100 includes a detection device 1 , a workpiece transfer device 3 and a workpiece conveyance device 2 . Wherein, the detection device 1 can perform quality detection on the workpiece in the first target area. The workpiece is preferably, but not limited to, a remote control face cover. The first target area needs to be selected according to actual needs, but in order to promote a compact overall structure, it is recommended to select it near the workpiece transfer device 3 or workpiece transfer device 2, or even directly on the workpiece transfer device 3 or workpiece transfer device 2. The workpiece transport device 2 is connected to the detection device 1, and can transport the workpiece detected by the detection device 1 to the second target area when the workpiece detected by the detection device 1 is a defective product. The workpiece transfer device 3 is connected with the detection device 1, and can transfer the workpiece detected by the detection device 1 to the third target area when the workpiece is a good product. The second target area is usually selected as the position where the workpiece handling device 2 can deliver the workpiece, but it is recommended that the second target area is preferably within the accommodating space of the recovery device 4 , and the recovery device 4 is arranged in the same direction as the workpiece handling device 2 . adjacent. The third target area is the position where the workpiece transfer device 3 can deliver the workpiece, but it is suggested that the third target area is preferably a place outside the workpiece classification device 100 , especially the place where the next process starts. Wherein, the number of the first target area, the second target area and the third target area is one or more than two (≥2). In this embodiment, the number of the first target area is two or four, and the number of the second target area and the third target area are both one.

The workpiece classification device 100 of the present invention includes a workpiece handling device 2 and a workpiece transfer device 3, so it can solve the problems of high labor intensity, poor environment, high repeatability and low efficiency in manual handling of workpieces. In addition, the workpiece classification device 100 also combines the workpiece handling device 2 with the detection device 1 and the workpiece transfer device 3, so that the workpiece classification device can use the detection device 1 to perform quality inspection on the workpieces in the first target area. After the inspection, the workpieces with the detection result of defective products are transferred to the second target area by the workpiece transfer device 2, and the workpieces with good inspection results are transferred to the third target area by the workpiece transfer device 3, so as to classify the designated workpieces accurately and efficiently. , which eliminates the subjective misjudgment, helps reduce the risk of missed detection and false detection, and improves the classification efficiency and accuracy of the workpiece.

In a preferred embodiment, the detection device includes a bracket 12 and an image recognition module 11 which is arranged on the bracket 12 and can photograph and recognize the workpiece in the first target area. The image recognition module 11 is connected to the workpiece transfer device 3 and the workpiece handling device. 2 are connected. The image recognition module 11 can be selected as a visual inspection camera 11, especially an Omron visual inspection camera, which can detect product defects according to pixel distribution, brightness, color and other information, and judge the grade of the product according to the degree of defects. When the range is set, the tested product is a defective product, and when the defect degree is less than the set range, the tested product is a good product. When the detection result of the image recognition module 11 is a good product, the workpiece transfer device 3 can transfer the target workpiece to the third target area in response to the detection result. When the detection result of the image recognition module 11 is a defective product, the workpiece handling device 2 can transfer the target workpiece to a predetermined second target area in response to the detection result, so as to ensure accurate and efficient classification of the target workpiece. In order to improve the stability of the testing equipment, the bracket 12 can be welded from angle iron, steel pipe or channel steel.

In this embodiment, the workpiece handling device 2 includes a base 21 , a power mechanism 22 , a rotating mechanism 23 , a lifting mechanism 24 and a pick-and-place mechanism 25 , as shown in FIG. 2 . In order to reduce the cost and improve the stability of the workpiece handling device 2, the base 21 can be optionally a table shape. The power mechanism 22 and the rotation mechanism 23 are both arranged on the base 21 and connected to each other. The lift mechanism 24 is arranged on the rotation mechanism 23, and the pick-and-place mechanism 25 is arranged on the lift mechanism 24, so that the rotation mechanism 23 can drive the lift mechanism 24 and the pick-and-place mechanism 25 in the preset first target area under the action of the power mechanism 22. and the second target area, so that the pick-and-place mechanism 25 can choose to stay in the first target area or the second target area and pick up or release the workpiece with the assistance of the lift mechanism 24 .

The workpiece handling device 2 mainly drives the lifting mechanism 24 and the pick-and-place mechanism 25 to move between the preset first target area and the second target area mainly through the rotation mechanism 23, and enables the pick-and-place mechanism 25 to choose to stay at the first target area. In the area or the second target area, the workpiece is taken or released under the driving of the lifting mechanism 24, that is to say, the workpiece handling device 2 can replace the labor to carry out the handling of the workpiece with high efficiency, high quality and low cost, and at the same time , The workpiece handling device 2 is simple in structure, convenient in manufacture, practical, safe and reliable, and is convenient for implementation, popularization and application.

In this embodiment, the rotating mechanism 23 includes a fixed sun shaft 233 , a first rotating arm 234 , a planetary moving shaft 235 , a first rocker 231 , a second rocker 232 , a transmission link 236 and a second rotating arm 237 . The fixed axis 233 of the star is arranged on the base 21 . One end of the first rotating arm 234 is rotatably sleeved on the fixed sun shaft 233 and connected with the power mechanism 22 . The planetary shaft 235 is provided in the other end of the first rotating arm 234 . The first rocker 231 is fixed on the top of the fixed sun shaft 233 . The second rocker 232 is fixed on the top of the planetary shaft 235 . Both ends of the transmission link 236 are hinged with the first rocker 231 and the second rocker 232 respectively. The second rotating arm 237 is fixed on the bottom end of the planetary shaft 235 and is connected with the lifting mechanism 24 . The lifting mechanism 24 includes a linear driving mechanism 241 arranged on the second rotating arm 237 and used for driving the pick-and-place mechanism 25. The linear driving mechanism 241 can be selected not only as a pneumatic cylinder or a hydraulic cylinder, but also as an oil cylinder, a linear motor, etc. A drive mechanism capable of linear reciprocating motion. As shown in Figure 3, Figure 4 and Figure 5. When the power mechanism 22 drives the first rotating arm 234 to rotate, the first rotating arm 234 can drive the planetary shaft 235 disposed in the other end of the first rotating arm 234 to rotate, so that the planetary shaft 235 fixed on the planetary shaft 235 also rotates. The second rotating arm 237 on the bottom end rotates relative to the fixed axis 233 of the sun.

The first rocker 231 fixed on the top of the fixed sun shaft 233 can remain stationary, so that the hinged end of the transmission link 236 is also stationary. When the planetary shaft 235 is driven to rotate relative to the fixed sun shaft 233 , the other end of the transmission link 236 can be driven by the planetary shaft 235 and exert a reaction force on the planetary shaft 235 to make the planetary shaft 235 Relative to the first rotating arm 234 to rotate, the second rotating arm 237 fixed to the bottom end of the planetary shaft 235 also rotates relative to the sun fixed shaft 233 . Since the first target area and the second target area that can be reached by the lift mechanism 24 and the pick-and-place mechanism 25 are not located on the same circle with the fixed axis 233 of the sun as the center, the radius of the rotation mechanism 23 to the first target area is the same as The radius of the rotation area 23 to the second target area is different, and the rotation mechanism 23 is easier to adapt to the complex production line environment.

In a preferred embodiment, the lifting mechanism 24 further includes a guide rod 242 parallel to the linear drive mechanism 241 , one end of the guide rod 242 is slidably passed through the second rotating arm 237 , and the other end is fixed on the pick-and-place mechanism 25 , in order to improve the stability of the pick-and-place mechanism 25 when lifting and lowering, and reduce the risk of tilting and rotating of the pick-and-place mechanism 25 during the lifting and lowering process.

In this embodiment, the pick-and-place mechanism 25 includes a mounting plate 251 connected to the lifting mechanism 24 , and a suction member 252 disposed on the mounting plate 251 and used for picking and placing workpieces. The suction component 252 can be selected from various pick-and-place devices such as a gripper cylinder, a suction cup, etc., but preferably a vacuum suction cup with low cost and less damage to the workpiece.

The power mechanism 22 includes a drive device fixedly installed on the base 21, and the drive device includes a motor, an engine or a hydraulic motor capable of outputting power, preferably a motor 221 that is easy to purchase and low in cost. When the output speed is too fast, the power mechanism 22 may further include a driving gear 222 mounted on the rotating shaft of the motor 221 and a driven gear 223 meshing with the driving gear 222 and fixed on the end of the first rotating arm 234 .

As shown in FIG. 6 , in the present embodiment, the workpiece transfer device 3 includes a carrying platform 31 with an accommodating space, a gate mechanism 32 arranged on the carrying platform 31 and capable of selectively blocking or opening the bottom of the accommodating space, and is provided on the gate A transport mechanism below the mechanism 32 and capable of transporting the received workpieces to a third target area, which is provided on the carrying platform 31 and covers the receiving space. When the detection result is a good product, the workpiece transfer device 3 can respond to the detection result, open the gate mechanism 32 at the bottom of the accommodating space, allow the good workpiece to pass through, and transport the transport mechanism to the third target area.

In the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "top", "bottom", "inner", "outer", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention . In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In this application, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The above is only the preferred embodiment of the present invention, but the scope of the present invention is not limited to this, any person skilled in the art can easily make changes or changes within the technical scope disclosed by the present invention, and such changes Or changes should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. As long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any manner. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (12)

1. a workpiece handling device, is characterized in that, comprises: pedestal; a power mechanism, which is arranged on the base; a rotating mechanism, which is arranged on the base and connected with the power mechanism; a lifting mechanism, which is arranged on the rotating mechanism; a pick-and-place mechanism, which is arranged on the lift mechanism; Wherein, the rotating mechanism can drive the lifting mechanism and the pick-and-place mechanism to move between the preset first target area and the second target area under the action of the power mechanism, so that the pick-and-place mechanism can select Stay in the first target area or the second target area and remove or release the workpiece with the assistance of the lift mechanism. 2. The conveying device according to claim 1, wherein the rotating mechanism comprises: a fixed axis of the star, which is arranged on the base; a first rotating arm, one end of which is rotatably sleeved on the fixed axis of the sun and connected with the power mechanism; a planetary moving shaft, which is arranged in the other end of the first rotating arm; The first rocker is fixed on the top of the fixed axis of the star; a second rocker, fixed on the top of the planetary shaft; a transmission link, two ends of which are respectively hinged with the first rocker and the second rocker; a second rotating arm, which is fixed on the bottom end of the planetary shaft and connected with the lifting mechanism; When the power mechanism drives the first rotating arm to rotate, the second rotating arm moves between the first rotating arm, the sun fixed axis, the first rocker, the second rocker, the transmission link and the planetary motion. Under the synergistic action of the shaft, it can rotate relative to the fixed axis of the sun and rotate relative to the first rotating arm, so that the lifting mechanism and the pick-and-place mechanism can reach the first target area and the second target. The regions do not lie on the same circle centered on the axis of the star. 3 . The conveying device according to claim 2 , wherein the number of the first target area is two, and the number of the second target area and the third target area are both one. 4 . 4 . The conveying device according to claim 2 or 3 , wherein the lifting mechanism comprises a linear driving mechanism provided on the second rotating arm and used for driving the pick-and-place mechanism. 5 . 5. The conveying device according to claim 4, wherein the linear drive mechanism comprises a pneumatic cylinder or a hydraulic cylinder. 6 . The conveying device according to claim 4 , wherein the lifting mechanism further comprises a guide rod parallel to the linear drive mechanism, and one end of the guide rod slidably passes through the second rotation. 7 . arm, and the other end is fixed on the pick-and-place mechanism. 7. The conveying device according to any one of claims 1 to 3, wherein the pick-and-place mechanism comprises a mounting plate connected with the lifting mechanism, and a mounting plate provided on the mounting plate and used for picking The suction part for placing the workpiece. 8 . The conveying device according to claim 7 , wherein the suction member is a vacuum suction cup. 9 . 9. The conveying device according to claim 2 or 3, wherein the power mechanism comprises a motor fixedly mounted on the base, a driving gear mounted on the rotating shaft of the motor, and a driving gear connected with the driving The gear engages and is fixed to the driven gear on the end of the first arm. 10. A workpiece category classification device, characterized in that, comprising: a detection device capable of performing quality detection on the workpiece in the first target area; a workpiece handling device, which is connected with the detection device and can transfer the workpiece detected by the detection device to the second target area when the workpiece is defective; a workpiece transfer device, which is connected with the detection device, and can transfer the workpiece detected by the detection device to a third target area when the workpiece is a good product; Wherein, the workpiece conveying device is the workpiece conveying device according to any one of claims 1 to 9. 11 . The workpiece classification equipment according to claim 10 , wherein the workpiece transfer device comprises a carrying platform with an accommodating space, and a device which is arranged on the carrying platform and can selectively block or open the accommodating space. 12 . A gate mechanism at the bottom is a transport mechanism provided below the gate mechanism and capable of transporting the received workpieces to a third target area, the first target area being provided on the carrying platform and covering the accommodating space. 12 . The workpiece category classification device according to claim 10 , wherein the detection device comprises a bracket and an image recognition module that is arranged on the bracket and capable of photographing and recognizing the workpiece in the first target area. 12 . The image recognition module is connected with the workpiece transfer device and the workpiece handling device.

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