CN212330791U

CN212330791U - Mobile carrier

Info

Publication number: CN212330791U
Application number: CN202020762249.7U
Authority: CN
Inventors: 江健
Original assignee: Amould Plastic Technology Shenzhen Co ltd
Current assignee: Amould Plastic Technology Shenzhen Co ltd
Priority date: 2020-05-08
Filing date: 2020-05-08
Publication date: 2021-01-12
Anticipated expiration: 2030-05-08

Abstract

The utility model discloses a remove carrier, include: the pneumatic clamping jaw, the connecting plate, the lifting module and the moving module are arranged on the base; the pneumatic clamping jaws are arranged on the connecting plate side by side, the connecting plate is connected to the lifting module, and the lifting module is arranged on the moving module; the lifting module comprises a lifting cylinder and a guide line rail, the guide line rail is vertically arranged, the guide line rail is connected to the lifting cylinder, and the connecting plate is arranged on the guide line rail; the mobile module comprises a first motor, a first sliding table, a second motor and a second sliding table, the first sliding table is connected to the first motor, the second sliding table is connected to the second motor, the second sliding table is arranged on the first sliding table, and the first sliding table and the second sliding table are arranged vertically; the guide line rail sets up on the second slip table. In this way, the utility model discloses a plurality of pneumatic clamping jaws can load a plurality of parts, and quick location can be operated a plurality of parts simultaneously, and can carry out different technological operations to a plurality of parts simultaneously, has improved efficiency greatly.

Description

Mobile carrier

Technical Field

The utility model relates to a remove and load technical field, especially relate to a remove carrier.

Background

With the rapid development of multimedia technology, smart phones, notebook computers, tablet computers, unmanned aerial vehicles, unmanned vehicles, automobile data recorders and the like are favored by consumers, and corresponding product demand and product types are more and more increased while the requirements of people on the quality of images of shot objects are higher. In various camera devices, an optical element is an indispensable component, and in various camera mass production schemes, an optical element with a high refractive index is the most important product.

The molding method of the optical element includes plastic injection molding and glass grinding, and the inspection of the camera is required after the product is manufactured, but the prior production mainly involves manually turning the camera under a microscope and carefully selecting the defect. The optical elements in the camera are fine, with a diameter of at least 0.25 mm. The traditional detection device for the optical element can only detect one part at a time, and has low detection efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves provides a remove carrier, can load a plurality of parts, and quick location can be operated a plurality of parts simultaneously, has improved efficiency greatly.

In order to achieve the above object, the technical solution of the present invention is:

a mobile vehicle, comprising: the pneumatic clamping jaw, the connecting plate, the lifting module and the moving module are arranged on the base; the pneumatic clamping jaws are arranged on the connecting plate side by side, the connecting plate is connected to the lifting module, and the lifting module is arranged on the moving module; the lifting module comprises a lifting cylinder and a guide line rail, the guide line rail is vertically arranged, the guide line rail is connected to the lifting cylinder, and the connecting plate is arranged on the guide line rail; the mobile module comprises a first motor, a first sliding table, a second motor and a second sliding table, the first sliding table is connected to the first motor, the second sliding table is connected to the second motor, the second sliding table is arranged on the first sliding table, and the first sliding table and the second sliding table are arranged vertically; the guide line rail is arranged on the second sliding table.

Preferably, the mobile carrier further comprises a precision sliding table, the precision sliding table is arranged on the connecting plate, and the pneumatic clamping jaw is connected to the connecting plate through the precision sliding table.

Preferably, the mobile carrier further comprises a guide rail, the guide rail is arranged in parallel with the first sliding table, the second sliding table is connected to the guide rail, and the second sliding table is connected with the guide rail in a sliding manner.

Preferably, the first motor and the second motor are servo motors.

Preferably, the number of said pneumatic jaws is at least three.

Preferably, the pneumatic clamping jaw comprises a clamping jaw and a pneumatic module, and the clamping jaw is connected to the pneumatic module; the pneumatic module comprises a fixed seat, a guide rod, a clamp and a driving mechanism, wherein the guide rod is arranged on the fixed seat in parallel, the guide rod penetrates through the clamp, and the guide rod is arranged oppositely in parallel; the clamp is characterized in that a spring is arranged between the clamps, each clamp comprises a sliding block and a chuck, the chuck is arranged at the free end of the corresponding sliding block, the sliding blocks are vertically sleeved on the corresponding guide rods and can slide in a reciprocating mode relative to the corresponding fixing seats along the direction of the corresponding guide rods, the sliding blocks are provided with connecting portions, and driven pins are fixedly arranged on the connecting portions.

Preferably, the driving mechanism comprises a driving cylinder, a rotating shaft and a driving plate, the rotating shaft is connected to the driving cylinder, and the rotating shaft is perpendicular to the guide rod; the driving plate is vertically arranged on the rotating shaft, two ends of the driving plate are respectively provided with a guide groove, the driven pin is vertically inserted into the guide grooves, and the driven pin is in sliding connection with the driving plate.

Because of above-mentioned technical scheme's application, compared with the prior art, the utility model has the following beneficial effect:

the utility model provides a remove carrier can load a plurality of parts through a plurality of pneumatic clamping jaw, fixes a position fast, can operate a plurality of parts simultaneously, and can carry out different technological operations to a plurality of parts simultaneously, if carry out material loading, detection etc. to different parts simultaneously, improved efficiency greatly.

Drawings

Fig. 1 is a schematic structural view of a mobile carrier according to the present invention.

Fig. 2 is a schematic structural diagram of a pneumatic module in a mobile carrier according to the present invention.

Fig. 3 is a schematic structural view of the rotary shaft and the driving plate of fig. 2.

Fig. 4 is a schematic structural view of the mobile carrier applied to a floor type detection device.

Fig. 5 is a schematic structural view of another angle of the mobile carrier applied to the floor type detection device of the present invention.

Fig. 6 is a schematic structural diagram of a detection assembly in the floor-type detection device of fig. 4.

Fig. 7 is a schematic structural diagram of the turnover assembly in the floor-type detection device of fig. 4.

Fig. 8 is a schematic structural diagram of a rotary plate assembly in the floor type detection device of fig. 4.

Fig. 9 is a schematic structural diagram of the connection between the turnover assembly and the turntable assembly in the floor type detection device of fig. 4.

Fig. 10 is a schematic diagram of the structure of a temporary storage tray in the floor-type testing apparatus of fig. 4.

Description of reference numerals:

a support frame 1;

the device comprises a movable carrier 2, a pneumatic clamping jaw 21, a fixed seat 211, a guide rod 212, a clamp 213, a movable block 2131, a connecting part 21311, a driven pin 21312, a clamping head 2132, a rotating shaft 2141, a driving plate 2142, a guide groove 21421, a spring 215, a connecting plate 22, a precision sliding table 23, a lifting cylinder 241, a sliding rod 242, a guide wire rail 243, a first motor 251, a first sliding table 252, a second motor 253, a second sliding table 254 and a guide rail 255;

the detection assembly 3, the servo motor 31, the screw rod 32, the slide rail 33, the slide block 34, the CCD camera 35 and the outer cover 36;

the overturning device comprises an overturning assembly 4, a power motor 41, a sliding plate 42, an overturning cylinder 43 and a pneumatic clamping finger 44;

the rotary table component 5, a rotary cylinder 51, a positioning plate 52, a first positioning block 53 and a second positioning block 54;

a temporary storage tray 6, a drawer 61 and a loading tray 62.

Detailed Description

The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so as to enable those skilled in the art to more easily understand the advantages and features of the present invention, and thereby define the scope of the invention more clearly and clearly.

Referring to the drawings, a floor-standing test apparatus comprises: support frame 1, remove carrier 2, detection component 3 and upset subassembly 4. Support frame 1 is placed on the ground, and removal carrier 2, determine module 3 and upset subassembly 4 set up on support frame 1, and upset subassembly 4 is located determine module 3's below. The loading and unloading of parts and the moving conversion of the parts among different stations are realized by moving the carrier 2. The parts are turned over through the turning assembly 4, so that the detection assembly 3 can detect different parts of the two parts.

The mobile carrier 2 comprises a pneumatic clamping jaw 21, a connecting plate 22, a lifting module and a mobile module. The pneumatic clamping jaws 21 are arranged on the connecting plate 22 side by side, the connecting plate 22 is connected to the lifting module, and the lifting module is arranged on the moving module. The number of the pneumatic clamping jaws 21 is at least three, the pneumatic clamping jaws 21 are positioned above the stations, and each station corresponds to one pneumatic clamping jaw 21. For example, the pneumatic gripper 21 is provided in five, corresponding to five stations: the first pneumatic clamping jaw 21 is used for feeding parts, the second pneumatic clamping jaw 21 is used for detecting the parts for the first time, the third pneumatic clamping jaw 21 is used for overturning the parts, the fourth pneumatic clamping jaw 21 is used for detecting the parts for the second time, and the fifth pneumatic clamping jaw 21 is used for blanking the parts.

The plurality of pneumatic clamping jaws 21 are arranged in a linkage manner, namely, the plurality of pneumatic clamping jaws 21 move together, clamp together and release together. The simultaneous processing of a plurality of process steps can be realized through the side by side arrangement of a plurality of pneumatic clamping jaws 21, and after a first part is placed on a first station through a first pneumatic clamping jaw 21, all the pneumatic clamping jaws 21 are integrally moved through a moving module, a second pneumatic clamping jaw 21 is moved to the first station to clamp the first part, and meanwhile, the second pneumatic clamping jaw 21 clamps the second part. Moving all the pneumatic clamping jaws 21 integrally through the moving module, moving the second pneumatic clamping jaw 21 to a second station, and placing the first part on the second station; at the same time the first pneumatic jaw 21 moves to the first station where the second part is placed. By analogy, when five pneumatic jaws 21 are attached to the connection plate 22, different operations can be performed on five parts at the same time.

The pneumatic gripper 21 comprises a gripper and a pneumatic module to which the gripper is connected. The pneumatic module comprises a fixed seat 211, two parallel guide rods 212 arranged on the fixed seat 211, a pair of clamps 213 arranged on the guide rods 212 in parallel and oppositely, and a driving mechanism, wherein two ends of each guide rod 212 are respectively erected on two sides of the fixed seat 211, each clamp 213 comprises a moving block 2131 and a clamping head 2132 fixed at one end of the moving block 2131, the moving block 2131 is vertically sleeved on the guide rods 212 and can slide in a reciprocating mode relative to the fixed seat 211 along the direction of the guide rods 212, a connecting portion 21311 is arranged on the moving block 2131, and a driven pin 21312 is fixedly arranged on the connecting portion 213. The two clamps 213 are connected by two springs 215, so that automatic release can be achieved by the spring 215 mechanism.

The driving mechanism comprises a driving cylinder, a rotating shaft 2141 and a driving plate 2142, the rotating shaft 2141 is rotatably connected with the fixing seat 211 and is perpendicular to the direction of the guide rod 212, the driving plate 2142 is vertically fixed on the rotating shaft 2141, two ends of the driving plate 2142 are respectively provided with a guide groove 21421 corresponding to the driven pin 21312, and the driven pin 21312 is vertically inserted into the guide grooves 21421 and can slide in a reciprocating manner. The driving cylinder is in transmission connection with the rotating shaft 2141 so as to drive the rotating shaft 2141 to rotate in a reciprocating manner, and further drive the driving plate 2142 to swing in a reciprocating manner, and further drive the two clamps 213 to move in a translation manner in opposite directions or in a translation manner in the opposite direction along the direction of the guide rod 212 through the driven pin 21312, so that parallel grabbing or parallel loosening is realized. The driving cylinder is not shown in the drawings, and the driving cylinder may be a motor or other power device capable of realizing rotation of the rotating shaft 2141.

The lifting module comprises a lifting cylinder 241, a sliding rod 242 and a guide line rail 243, the guide line rail 243 is vertically arranged on two sides of the lifting cylinder 241, the sliding rod 242 is in sliding connection with the guide line rail 243, and the connecting plate 22 is connected to the lifting cylinder 241 and the sliding rod 242. Connect all pneumatic clamping jaw 21 on lift cylinder 241 through connecting plate 22, drive connecting plate 22 through lift cylinder 241 and drive pneumatic clamping jaw 21 and rise or descend, the stability of connecting plate 22 can be improved at the in-process that connecting plate 22 goes up and down in the setting of slide bar 242, effectively avoids rocking of connecting plate 22.

The moving module includes a first motor 251, a first sliding table 252, a second motor 253, and a second sliding table 254, wherein the first motor 251 and the second motor 253 can be selected from the servo motor 31. The first slide table 252 is connected to the first motor 251, the second slide table 254 is connected to the second motor 253, the second slide table 254 is provided on the first slide table 252, and the guide wire rail 243 is provided on the second slide table 254. The first sliding table 252 and the second sliding table 254 are vertically arranged, that is, the first sliding table 252 and the second sliding table 254 respectively slide in the X-axis direction and the Y-axis direction, and the pneumatic clamping jaw 21 is moved in two horizontal directions by the first sliding table 252 and the second sliding table 254.

Because the sliding distance of the second sliding table 254 is relatively large, in order to avoid the second sliding table 254 from shaking during sliding, the mobile carrier 2 further comprises a guide rail 255, the guide rail 255 is parallel to the first sliding table 252, the second sliding table 254 is connected to the guide rail 255, and the second sliding table 254 is slidably connected to the guide rail 255.

In order to better position the pneumatic clamping jaw 21 so that the pneumatic clamping jaw 21 is in a proper position on the station, the mobile carrier 2 further comprises a precision sliding table 23, the precision sliding table 23 is arranged on the connecting plate 22, and the pneumatic clamping jaw 21 is connected to the connecting plate 22 through the precision sliding table 23. The precision sliding table 23 can be a manual precision sliding table 23, and the position of each pneumatic clamping jaw 21 is finely adjusted manually.

The detection assembly 3 comprises a servo motor 31, a screw rod 32, a slide rail 33, a slide block 34 and a CCD camera 35, the screw rod 32 is connected to the servo motor 31, the slide block 34 is connected to the screw rod 32, the slide block 34 is connected with the slide rail 33 in a sliding mode, and the CCD camera 35 is arranged on the slide block 34. The servo motor 31 drives the slide block 34 to drive the CCD camera 35 to move up and down. The slide rail 33 can be a cross roller slide rail 33, and the screw 32 can be a ball screw 32. The image system of the CCD camera 35 can be a 1200 ten thousand pixel high speed industrial camera with a 0.5-1 magnification telecentric lens, and uses RGBW (Red + Green + Blue + White four color pixel design) color light source with angles of 0 °, 30 °, 45 °, 90 ° and outer coaxial Blue light. In order to avoid the damage and the pollution to the CCD camera 35, the detecting component 3 further includes a housing 36, the housing 36 is sleeved outside the CCD camera 35, and the CCD camera 35 is disposed in the housing 36.

In order to cooperate with the multi-station work of the pneumatic clamping jaws 21, the number of the detection assemblies 3 can be set into two groups, two parts of a part are detected, such as the front side and the back side of the part, and two parts can be detected simultaneously. The two groups of detection assemblies 3 are respectively arranged above the second station and the fourth station, namely the CCD cameras 35 in the two groups of detection assemblies 3 are positioned above the second station and the fourth station. Accordingly, the number of the turnover units 4 and the turntable units 5 may be set to two groups.

The overturning assembly 4 comprises a power motor 41, a sliding plate 42, an overturning cylinder 43 and a pneumatic clamping finger 44, wherein the sliding plate 42 is connected to the power motor 41, the overturning cylinder 43 and the pneumatic clamping finger 44 are connected to the sliding plate 42, and the pneumatic clamping finger 44 is connected to the overturning cylinder 43. The pneumatic gripper fingers 44 may be configured in the same manner as the pneumatic gripper jaws 21 described above. The pneumatic clamping fingers 44 are driven to rotate by the overturning air cylinder 43 so as to drive the pneumatic clamping fingers 44 to rotate, so that different parts of the pneumatic clamping fingers 44 face the CCD camera 35 to be detected, and if the overturning air cylinder 43 rotates 180 degrees, the front and back sides of a part are detected. The power motor 41 rotates to drive the sliding plate 42 to move downwards, the pneumatic clamping fingers 44 clamp the parts, the sliding plate 42 ascends, the overturning air cylinder 43 overturns 180 degrees, the sliding plate 42 descends, the pneumatic clamping fingers 44 are opened to place the parts on the station, and the sliding plate 42 ascends to the original position.

The floor type detection equipment further comprises a turntable assembly 5, and the turntable assembly 5 is arranged below the turnover assembly 4. The turntable assembly 5 comprises a rotary cylinder 51 and a positioning plate 52, the positioning plate 52 is connected to the rotary cylinder 51, a first positioning block 53 and a second positioning block 54 are arranged on the positioning plate 52, the first positioning block 53 is a feeding area positioning block, and the second positioning block 54 is a turning area positioning block. The part can be positioned more flexibly through the arrangement of the turntable assembly 5, and the part is placed on the first positioning block 53 before being turned over and is placed on the second positioning block 54 after being turned over. The first positioning block 53 and the second positioning block 54 are located below the turnover cylinder 43, the first positioning block 53 and the second positioning block 54 are externally connected with a vacuum extractor, the first positioning block 53 and the second positioning block 54 are assisted to suck parts on the first positioning block 53 and the second positioning block 54, and the positions of the parts on the support frame 1 relative to the detection assembly 3 are changed through rotation of the rotary cylinder 51.

The floor type detection equipment further comprises a temporary storage tray 6, and the temporary storage tray 6 is arranged on the support frame 1. The temporary storage tray 6 comprises a drawer 61 and an object carrying tray 62, the object carrying tray 62 is arranged on the support frame 1, an object carrying groove is formed in the object carrying tray 62, the drawer 61 is arranged between the object carrying tray 62 and the support frame 1, and the drawer 61 is in sliding connection with the object carrying tray 62. The defective products that can not detect are placed on carrying the thing dish 62, and the defective products falls into drawer 61 through carrying the thing groove on carrying the thing dish 62, can take out drawer 61 after the drawer 61 is full of the defective products.

In the actual detection process, an external feeding manipulator conveys the part to the feeding position, and the movable carrier 2 moves to the feeding position and clamps the part to be detected through the pneumatic clamping jaw 21. The mobile carrier 2 conveys the clamped part to be tested to the first positioning block 53 of the turntable assembly 5, and the external vacuumizing device is opened to suck the part to be tested. The positioning plate 52 rotates to convey the part to be detected to the detection station, and the mobile carrier 2 continues to clamp the part and place the part on the first positioning block 53.

The sliding block 34 in the detection component 3 descends, the CCD camera 35 photographs the front surface of the part, the image system in the CCD camera 35 performs data calculation and analysis on the photographed picture, and the sliding block 34 in the detection component 3 ascends. The sliding plate 42 in the turnover assembly 4 descends, the pneumatic clamping fingers 44 of the turnover assembly 4 clamp the parts, the sliding plate 42 ascends, the turnover cylinder 43 overturns 180 degrees, the sliding plate 42 descends, and the parts are placed on the second positioning block 54 of the turntable assembly 5. The external vacuum pumping device is turned on, the pneumatic fingers 44 are opened, and the part is sucked to the second positioning block 54, at which time the back of the part faces upward. The sliding block 34 in the detection component 3 descends, the CCD camera 35 photographs the back of the part, the image system in the CCD camera 35 performs data calculation and analysis on the photographed picture, the sliding block 34 in the detection component 3 ascends to complete detection, and a detection result is output.

The floor type detection equipment utilizes the image sensor (CCD camera) to quickly find the position of the defect of the part in a scanning mode similar to medical CT, so that the detection time of the part can be shortened, the detection efficiency is improved, and the accuracy and consistency are higher.

The above is only the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and all the same principles are included in the protection scope of the present invention.

Claims

1. A mobile vehicle, comprising: the pneumatic clamping jaw, the connecting plate, the lifting module and the moving module are arranged on the base; the pneumatic clamping jaws are arranged on the connecting plate side by side, the connecting plate is connected to the lifting module, and the lifting module is arranged on the moving module; the lifting module comprises a lifting cylinder and a guide line rail, the guide line rail is vertically arranged, the guide line rail is connected to the lifting cylinder, and the connecting plate is arranged on the guide line rail; the mobile module comprises a first motor, a first sliding table, a second motor and a second sliding table, the first sliding table is connected to the first motor, the second sliding table is connected to the second motor, the second sliding table is arranged on the first sliding table, and the first sliding table and the second sliding table are arranged vertically; the guide line rail is arranged on the second sliding table.

2. The mobile carrier of claim 1, wherein: the mobile carrier further comprises a precise sliding table, the precise sliding table is arranged on the connecting plate, and the pneumatic clamping jaw is connected to the connecting plate through the precise sliding table.

3. The mobile carrier of claim 1, wherein: the mobile carrier further comprises a guide rail, the guide rail is arranged in parallel with the first sliding table, the second sliding table is connected to the guide rail, and the second sliding table is connected with the guide rail in a sliding mode.

4. The mobile carrier of claim 1, wherein: the first motor and the second motor are servo motors.

5. The mobile carrier of claim 1, wherein: the number of the pneumatic clamping jaws is at least three.

6. The mobile carrier of claim 1, wherein: the pneumatic clamping jaw comprises a clamping jaw and a pneumatic module, and the clamping jaw is connected to the pneumatic module; the pneumatic module comprises a fixed seat, a guide rod, a clamp and a driving mechanism, wherein the guide rod is arranged on the fixed seat in parallel, the guide rod penetrates through the clamp, and the guide rod is arranged oppositely in parallel; the clamp is characterized in that a spring is arranged between the clamps, each clamp comprises a sliding block and a chuck, the chuck is arranged at the free end of the corresponding sliding block, the sliding blocks are vertically sleeved on the corresponding guide rods and can slide in a reciprocating mode relative to the corresponding fixing seats along the direction of the corresponding guide rods, the sliding blocks are provided with connecting portions, and driven pins are fixedly arranged on the connecting portions.

7. The mobile carrier of claim 6, wherein: the driving mechanism comprises a driving cylinder, a rotating shaft and a driving plate, the rotating shaft is connected to the driving cylinder, and the rotating shaft is perpendicular to the guide rod; the driving plate is vertically arranged on the rotating shaft, two ends of the driving plate are respectively provided with a guide groove, the driven pin is vertically inserted into the guide grooves, and the driven pin is in sliding connection with the driving plate.