CN210260272U

CN210260272U - Transfer manipulator

Info

Publication number: CN210260272U
Application number: CN201921030657.7U
Authority: CN
Inventors: 赵战国
Original assignee: Dongguan Chunqiu Hardware Electronic Technology Co ltd
Current assignee: Dongguan Chunqiu Hardware Electronic Technology Co ltd
Priority date: 2019-07-03
Filing date: 2019-07-03
Publication date: 2020-04-07
Anticipated expiration: 2029-07-03

Abstract

The utility model discloses a transfer manipulator, including support, motor, actuating lever, arm and a plurality of clamping jaw, be equipped with the slide rail on the support, the motor is fixed in on the support, the output of motor with the one end of actuating lever is connected, the other end of actuating lever movably set up in the slide rail, the arm set up with sliding in on the support with the actuating lever is connected, the clamping jaw set up side by side in the lower extreme of arm. The utility model discloses transfer manipulator utilizes a plurality of clamping jaws to snatch simultaneously and shift the work piece, can reduce intensity of labour, improves production efficiency.

Description

Transfer manipulator

Technical Field

The utility model relates to a transfer device especially relates to a transfer manipulator.

Background

The high-pressure gas cylinder is widely applied to air flow products such as cosmetics, fuel tanks and medicines, and a gas valve is used on an air tap of the high-pressure gas cylinder. In the existing air valve punching process, a punching device is generally used for punching an air valve, then the air valve is manually taken out of the punching device after punching is finished and is moved to another detection device to detect the size of the punched through hole and the size of the air valve, the punching and detection processes are divided into two devices, a worker manually operates each step, and a product is transferred to another device to continue the next step after the operation is finished.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an utilize a plurality of clamping jaws to snatch simultaneously and shift the work piece, reduce intensity of labour, improve production efficiency's transfer manipulator.

In order to achieve the above object, the utility model provides a transfer manipulator includes support, motor, actuating lever, arm and a plurality of clamping jaw, be equipped with the slide rail on the support, the motor is fixed in on the support, the output of motor with the one end of actuating lever is connected, the other end of actuating lever movably set up in the slide rail, the arm set up with sliding in on the support with the actuating lever is connected, the clamping jaw set up side by side in the lower extreme of arm.

The utility model discloses a set up the arm on the support with sliding to set up a slide rail and actuating lever, incite somebody to action the actuating lever with the arm is connected and is made the actuating lever movably set up in the slide rail, then utilize motor drive the actuating lever swing, thereby can drive the arm along the movement track of slide rail removes, and then makes the clamping jaw realizes removing between each station simultaneously, realizes snatching and shifting a plurality of work pieces. The whole process only needs to be driven by the motor and the cylinder of the clamping jaw, the control is simple, the automation degree is high, the grabbing and transferring actions are rapid, and the production efficiency is effectively improved.

Specifically, the support includes support body and slide rail part, slide rail part set up in on the support body, and seted up the slide rail.

Specifically, the slide rail is of an arch structure, the other end of the driving rod is provided with a long hole, the arm is provided with a driving shaft, and the driving shaft is inserted into the long hole and is connected with the slide rail in a matching mode. Therefore, the relative position of the slide rail can be driven to realize self-adaption, and the driving rod and the slide rail are ensured to run stably.

Specifically, a first roller is disposed between the drive shaft and the elongated hole. The first roller can reduce the friction resistance between the driving shaft and the elongated hole, so that the driving shaft and the driving rod can run more stably and smoothly.

Specifically, the slide rail part with be equipped with adjusting screw and regulation seat between the support body, the regulation seat is fixed in on the support body, adjusting screw threaded connection in adjust seat and end support the slide rail part, so as to conveniently adjust the position of slide rail part.

Specifically, a guide rail, a first sliding block and a second sliding block are arranged between the arm and the support, the guide rail is transversely fixed on the support, the first sliding block is slidably arranged on the guide rail, the second sliding block is fixedly arranged on the first sliding block, and the arm is longitudinally slidably arranged on the second sliding block.

Specifically, the arm comprises a guide rod, a connecting rod and a cross rod, wherein the guide rod is longitudinally slidably arranged on the bracket, and the connecting rod is fixed on the guide rod and is in sliding fit with the sliding rail.

Specifically, the slide rail is of a groove-shaped structure, a second roller is arranged on the arm, and the second roller can be arranged in the slide rail in a rolling mode. The second roller can reduce the friction resistance between the arm and the sliding rail, so that the operation is more stable and smooth.

Specifically, the both sides of arm are equipped with the touching piece respectively, the both sides of support be equipped with the touch switch that the touching piece corresponds, the touching piece touching during touch switch, touch switch control the motor reversal. The two touch switches are used for controlling the positive and negative rotation of the motor, so that the arm can move back and forth to each station, the workpiece can be circularly taken and placed, the purpose of automatically transferring the air valve is achieved, full automation is realized, and the production efficiency is improved.

Drawings

Fig. 1 is a perspective view of the automatic full inspection machine for the air valve of the present invention.

Fig. 2 is a perspective view of the automatic full inspection machine for the air valve of the present invention at another angle.

Fig. 3 is a top view of the automatic full inspection machine for the air valve of the present invention.

Fig. 4 is a schematic structural diagram of the automatic full inspection machine for the air valve of the present invention.

Fig. 5 is a structural diagram of the positioning mechanism of the automatic full inspection machine for the air valve of the present invention.

Fig. 6 is a structural diagram of the air valve detection mechanism of the automatic full-inspection machine for the air valve of the present invention.

Fig. 7 is a structural diagram of the CCD detection mechanism of the automatic full inspection machine for the air valve of the present invention.

Fig. 8 is a structural diagram of the transfer manipulator of the automatic full inspection machine for the air valve of the present invention.

Fig. 9 is a structural diagram of a support of a transfer manipulator of the automatic full inspection machine for the air valve of the utility model.

Fig. 10 is a structural diagram of the arm of the transfer robot of the automatic full inspection machine for gas valves of the present invention.

Detailed Description

In order to explain technical contents, structural features, and effects achieved by the present invention in detail, the following description is given in conjunction with the embodiments and the accompanying drawings.

As shown in fig. 1, fig. 2 and fig. 3 and fig. 4, the utility model discloses automatic machine 100 that examines entirely of pneumatic valve includes platform 1, pneumatic valve detection mechanism 2, CCD detection mechanism 3, unloading mechanism 4 and shifts manipulator 5, pneumatic valve detection mechanism 2, CCD detection mechanism 3 and unloading mechanism 4 set up side by side in proper order, and each mechanism forms a station, pneumatic valve detection mechanism 2 is used for detecting the through-hole of pneumatic valve 200, CCD detection mechanism 3 is used for detecting the size of pneumatic valve 200, unloading mechanism 4 is used for screening the pneumatic valve 200 type after detecting, it has a plurality of clamping jaws to shift manipulator 5, the quantity ratio of clamping jaw one less in quantity of station, the clamping jaw can move between the station to snatch the correspondence pneumatic valve 200 on the station and shift to next on the station.

As shown in fig. 1 and 5, the automatic full inspection machine 100 for a gas valve further includes a positioning mechanism 6, and the positioning mechanism 6 is located before the gas valve detection mechanism 2 and forms another station to position the gas valve 200. Specifically, the positioning mechanism 6 includes a positioning cylinder 61, a positioning seat 62 and a positioning block 63, the positioning cylinder 61 is fixed on the platform 1, an output end of the positioning cylinder 61 is connected to the positioning block 63 through a connecting rod 64, the positioning seat 62 is provided with a positioning groove 621, the positioning block 63 is slidably disposed in the positioning groove 621, so that when the air valve 200 is conveyed to the positioning groove 621, the positioning block 63 pushes the air valve 200 to a positioning area at one end of the positioning groove 621.

Referring to fig. 1 and 4, the automatic full inspection machine 100 for the gas valve further includes a feeding mechanism 7, and the feeding mechanism 7 conveys the gas valve 200 to the positioning mechanism 6. In this embodiment, the feeding mechanism 7 is a vibrating plate, the vibrating plate vibrates to send the air valves 200 to the conveying trough, and the air valves 200 are arranged one by one and move to the positioning mechanism 6 along the conveying trough, so as to ensure that the positioning mechanism 6 can position each air valve 200.

As shown in fig. 1 and 6, the air valve detecting mechanism 2 includes a base 21, a first pushing cylinder 22, a connecting member 23, a detecting body 24, a detector (not shown) and an air nozzle 25, the base 21 is disposed on the platform 1 and is configured to bear and position the air valve 200, the first pushing cylinder 22 is disposed on the platform 1, an output end of the first pushing cylinder 22 is connected to one end of the connecting member 23, the other end of the connecting member 23 is connected to the detecting body 24, an inner cavity is disposed in the detecting body 24, the detector is disposed in the inner cavity and is configured to detect air pressure or air flow in the inner cavity, and the inner cavity is communicated with the air nozzle 25 and an air supply device; the output end of the first pushing cylinder 22 extends out to enable the air nozzle 25 to block the inlet of the air valve 200. The detection main body 24 and the air faucet 25 are pushed to be close to the air valve 200 by using the pushing cylinder, so that the air faucet 25 is connected with the air valve 200; by arranging the detector in the inner cavity of the detection main body 24, when high-pressure gas is introduced into the inner cavity, flows through the gas valve 200, and flows out of the through hole of the gas valve 200, the pressure or flow of the high-pressure gas can be detected by the detector, and the detected pressure and flow are compared with the standard pressure and flow, so that the through hole of the gas valve 200 can be detected, the detection process is automatically performed, and the detection efficiency is high.

Specifically, an elastic sealing ring 26 is disposed at an outlet end of the air faucet 25. The elastic sealing ring is of a bowl-shaped structure. The elastic sealing ring 26 is arranged to enable the outlet of the air faucet 25 and the inlet of the air valve 200 to be in a sealing state, and to buffer the air faucet 25 to prevent the air valve 200 from being damaged by the air faucet 25.

As shown in fig. 1 and 7, the CCD detecting mechanism 3 includes a CCD camera 31, a second pushing cylinder 32, a first sliding member 33, a connecting member 34 and a first positioning member 35, the second pushing cylinder 32 is disposed on the platform 1, an output end of the second pushing cylinder 32 is connected to one end of the connecting member 34, the other end of the connecting member 34 is pivotally connected to one end of the first sliding member 34, and the other end of the first sliding member 33 is connected to one end of the first positioning member 35. The first positioning piece 35 is used for positioning the gas valve 200; the CCD camera 31 is disposed above the first positioning member 35 to photograph and detect the gas valve 200. The CCD detection mechanism 3 further includes a third pushing cylinder 36, a second connecting member 37 and a second positioning member 38, the third pushing cylinder 36 is disposed on the platform 1, an output end of the third pushing cylinder 36 is connected to one end of the second connecting member 37, the other end of the second connecting member 37 is pivoted to one end of the second positioning member 38, and the second positioning member 38 is opposite to the first positioning member 35 and is used for positioning the air valve 200. Through setting up first setting element 35 and second setting element 38 to utilize the second to push away actuating cylinder 32 drive first setting element 35, utilize the third to push away actuating cylinder 36 drive second setting element 38, thereby make first setting element 35 and second setting element 38 accurately fast the both ends of pneumatic valve 200 are supported in step and are pressed from both sides tightly, make pneumatic valve 200 wholly be located under CCD camera 31, and then make things convenient for CCD camera 31 to shoot and detect, whole clamp of pneumatic valve 200 and the full automation of process of shooing go on, detect accurately, efficient.

Specifically, the second positioning element 38 is a cylinder, and a positioning recess 381 for accommodating the end of the gas valve 200 is disposed at an outer end of the cylinder. The first positioning member 35 is a pin that can be inserted into the inlet of the gas valve 200. The first positioning piece 35 is set as a contact pin, so that the first positioning piece 35 can be inserted into the air valve 200, the air valve 200 can be prevented from being damaged by clamping due to the realized limiting function, the whole appearance of the air valve 200 is exposed under the CCD camera 31, and the accuracy of photographing detection is ensured.

Referring to fig. 1, 8 to 10, the transfer robot 5 includes a support 51, a motor 52, a driving rod 53, an arm 54, and a plurality of gripping jaws 55, in this embodiment, the number of the gripping jaws 55 is three, and the gripping jaws 55 drive the gripping jaws to grip a workpiece through an air cylinder provided in the gripping jaws 55. The support 51 is provided with a sliding rail 512a, the motor 52 is fixed on the support 51, the output of the motor 52 is connected with one end of the driving rod 53, the other end of the driving rod 53 is movably arranged on the sliding rail 512a, the arm 54 is slidably arranged on the support 51 and connected with the driving rod 53, and the clamping jaws 55 are arranged at the lower end of the arm 54 side by side. An arm 54 is slidably arranged on a support 51, a slide rail 512a and a driving rod 53 are arranged, the driving rod 53 is connected with the arm 54, the driving rod 53 is movably arranged on the slide rail 512a, and then the driving rod 53 is driven by a motor 52 to swing, so that the arm 54 can be driven to move along the motion track of the slide rail 512a, the clamping jaw 55 can move among stations, and the air valve 200 can be grabbed and transferred. The whole process only needs to be driven by the cylinder of the motor 52 and the clamping jaw 55, the control is simple, the automation degree is high, the grabbing and transferring actions are rapid, and the production efficiency is effectively improved.

As shown in fig. 8 and 9, specifically, the bracket 51 includes a bracket body 511 and a slide rail member 512, and the slide rail member 512 is disposed on the bracket body 511 and is provided with the slide rail 512 a. The slide rail 512a is of an arch structure, the other end of the driving rod 53 is provided with a long hole 53a, the arm 54 is provided with a driving shaft 56, and the driving shaft 56 is inserted into the long hole 53a and is connected with the slide rail 512a in a matching manner. A first roller 561 is provided between the drive shaft 56 and the elongated hole 53 a. Therefore, the relative position of the driving slide rail 512a can be self-adaptive, and the stable operation of the driving rod 53 and the slide rail 512a is ensured. The sliding rail 512a is a groove-shaped structure, the driving shaft 56 is further provided with a second roller 562, and the second roller 562 is rollably disposed in the sliding rail 512 a. The first roller 561 and the second roller 562 can reduce the friction resistance between the arm 54 and the driving shaft 56 and the sliding rail 512a, so as to make the operation more stable and smooth.

An adjusting screw 511a and an adjusting seat 511b are arranged between the sliding rail component 512 and the frame body 511, the adjusting seat 511b is fixed on the frame body 511, the adjusting screw 511a is connected to the adjusting seat 511b in a threaded manner, and the tail end of the adjusting screw abuts against the sliding rail component 512, so that the position of the sliding rail component 512 can be conveniently adjusted.

As shown in fig. 9, two guide rails 57, a plurality of first sliding blocks 58 and a plurality of second sliding blocks 59 are disposed between the arm 54 and the bracket 51, the two guide rails 57 are transversely fixed on the bracket 51 and located at two sides of the slide rail 512a, the first sliding blocks 58 are slidably disposed on the guide rails 57, the second sliding blocks 59 are fixedly disposed on the first sliding blocks 58, and the arm 54 is longitudinally slidably disposed on the second sliding blocks 59.

As shown in fig. 9 and 10, the arm 54 includes a guide rod 541, a connecting rod 542 and a cross rod 543, the guide rod 541 is longitudinally slidably disposed on the second slider 59, and the connecting rod 542 is fixed to the guide rod 541 and connected to the driving shaft 56 to slidably engage with the slide rail 512 a. The two ends of the connecting rod 542 are provided with touch pieces 542a, the touch pieces 542a are positioned on two sides of the arm 54, two sides of the bracket 51 are provided with touch switches 542b corresponding to the touch pieces 542a, and when the touch pieces 542a touch the touch switches 542b, the touch switches 542b control the motor 52 to rotate reversely. The two touch switches 542b control the forward and reverse rotation of the motor 52, so that the arm 54 can move back and forth to each station, the air valve 200 can be taken and placed circularly, the purpose of automatically transferring the air valve 200 is achieved, full automation is realized, and the production efficiency is improved.

Referring to fig. 2, the blanking mechanism 4 includes a blanking cylinder 41, a waste collection box 42 and a genuine product collection box 43, and an output end of the blanking cylinder 41 is connected to both the waste collection box 42 and the genuine product collection box 43 to drive either one to move below the clamping jaw 55.

The operation of the automatic full inspection machine 100 for gas valves according to the present invention will be described in detail with reference to the accompanying drawings:

the feeding mechanism 7 sequentially conveys the air valves 200 to the positioning mechanism 6 through the conveying groove, the positioning cylinder 61 is started and pushes the positioning block 63 to slide on the positioning seat 62, at this time, the positioning block 63 opens the positioning groove 621, so that the positioning groove 621 corresponds to the outlet of the conveying groove, and the air valves 200 enter the positioning groove 621 from the conveying groove. Then the positioning cylinder 61 resets and drives the positioning block 63 to reset so as to clamp and position the air valve 200. At this time, the motor 52 is activated to drive the driving rod 53 to swing, thereby driving the arm 54 to move. The arm 54 moves over the positioning mechanism 6 and grabs the gas valve 200, and the positioning cylinder 61 resets and releases the gas valve 200. Then, the arm 54 driven by the motor 52 in the reverse direction moves, so that the holding jaw 55 located above the positioning mechanism 6 moves above the valve checking mechanism 2 and the valve 200 is placed on the valve checking mechanism 2.

The first pushing cylinder 22 is started to drive the air nozzle 25 to be close to the air valve 200 and communicated with the air valve 200, then high-pressure air is introduced into the detection main body 24 through a high-pressure air source, and the high-pressure air enters the air valve 200 through the air nozzle 25 and is blown out from a through hole of the air valve 200. At this time, the detector can detect whether the size of the through hole of the air outlet valve 200 passes through by detecting the air pressure or the air flow in the inner cavity, and if the air pressure or the air flow is too large, the diameter of the through hole is too small and the through hole does not pass through. On the contrary, the diameter of the through hole is too large and the through hole fails.

After the air valve detection mechanism 2 finishes detection, the first pushing cylinder 22 resets and drives the air tap 25 to leave the air valve 200; at this time, the transfer robot 5 takes out the gas valve 200 of the gas valve detection mechanism 2 and transfers the gas valve to the CCD detection mechanism 3. The third pushing cylinder 36 is started to drive the second positioning block 63 to extend out, then the second pushing cylinder 32 is started to drive the first positioning block 63 to extend out, and further the air valve 200 is clamped together with the second positioning block 63, and at this time, the first positioning block 63 is inserted into the inner cavity of the air valve 200. Then, the third pushing cylinder 36 drives the second positioning block 63 to reset, so that the air valve 200 is only horizontally sleeved on the first positioning block 63. At this time, the CCD camera 31 can take a picture for detection.

After the photographing is finished, if the detection is qualified, the transfer manipulator 5 grabs the air valve 200, meanwhile, the second pushing cylinder 32 drives the first positioning piece 35 to reset, and the transfer manipulator 5 transfers the air valve 200 to the certified product collecting box 43 of the blanking mechanism 4. If the detection is not qualified, the blanking air cylinder 41 drives the waste collecting box 42 to move to a blanking station, so that the transfer manipulator 5 transfers the air valve 200 to the waste collecting box 42 of the blanking mechanism 4.

In the process of transferring the gas valve 200 by the transfer robot 5, the transfer robot 5 has three clamping jaws 55 corresponding to three stations at the same time. Therefore, when one clamping jaw 55 of the transferring manipulator 5 grabs the air valve 200 on the positioning mechanism 6, the other two clamping jaws 55 can respectively and simultaneously transfer the air valve 200 detected on the air valve detection mechanism 2 and the air valve 200 detected on the CCD detection mechanism 3, transfer the air valve 200 detected on the air valve detection mechanism 2 to the CCD detection mechanism 3, and transfer the air valve 200 detected on the CCD detection mechanism 3 to the blanking mechanism 4, thereby improving the production efficiency.

Compared with the prior art, because the utility model discloses a set up an air valve detection mechanism 2 and detect the through-hole size of air valve 200, set up a CCD detection mechanism 3 again and detect the size of a dimension of air valve 200, recycle unloading mechanism 4 and screen classification to the air valve 200 after detecting, each station is operated through a transfer manipulator 5, get the air valve 200 on each station simultaneously and put and transfer simultaneously through a plurality of clamping jaws 55 on the transfer manipulator 5, thereby realize the synchronization of each station; the whole process is operated in a full-automatic mode, manual operation is not needed, the labor intensity is effectively reduced, and the production efficiency is improved.

The above disclosure is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereto, and therefore, the scope of the present invention is not limited to the above embodiments.

Claims

1. A transfer robot, characterized in that: including support, motor, actuating lever, arm and a plurality of clamping jaw, be equipped with the slide rail on the support, the motor is fixed in on the support, the output of motor with the one end of actuating lever is connected, the other end of actuating lever movably set up in the slide rail, the arm set up with sliding in on the support with the actuating lever is connected, the clamping jaw set up side by side in the lower extreme of arm.

2. The transfer robot of claim 1, wherein: the support includes support body and slide rail part, slide rail part set up in on the support body, and seted up the slide rail.

3. The transfer robot of claim 1 or 2, wherein: the slide rail is of an arch structure, the other end of the driving rod is provided with a long hole, the arm is provided with a driving shaft, and the driving shaft is inserted in the long hole and is connected with the slide rail in a matching way.

4. The transfer robot of claim 3, wherein: a first roller is arranged between the driving shaft and the elongated hole.

5. The transfer robot of claim 2, wherein: the sliding rail component and be equipped with adjusting screw and regulation seat between the support body, the regulation seat is fixed in on the support body, adjusting screw threaded connection in adjust the seat and terminal support the sliding rail component.

6. The transfer robot of claim 1, wherein: the arm and be equipped with guide rail, first slider and second slider between the support, the guide rail transversely is fixed in on the support, first slider set up with sliding in the guide rail, the second slider set up with fixed on the first slider, the arm longitudinally slide set up in the second slider.

7. The transfer robot of claim 1, wherein: the arm comprises a guide rod, a connecting rod and a cross rod, the guide rod is longitudinally slidably arranged on the bracket, and the connecting rod is fixed on the guide rod and is in sliding fit with the sliding rail.

8. The transfer robot of claim 1, wherein: the sliding rail is of a groove-shaped structure, the arm is provided with a second roller, and the second roller can be arranged in the sliding rail in a rolling manner.

9. The transfer robot of claim 1, wherein: the two sides of the arm are respectively provided with a touch piece, the two sides of the support are provided with a touch switch corresponding to the touch pieces, and when the touch pieces touch the touch switches, the touch switches control the motor to rotate reversely.