CN215438614U - Transfer device - Google Patents

Abstract

The utility model provides a transfer device, relates to the technical field of air conditioner production equipment, and solves the technical problems of time and labor waste, high labor intensity and low efficiency of manual carrying. The transfer device comprises a portal frame erected on the communicating section of the two line bodies, a moving assembly arranged on the portal frame, and a clamping jaw manipulator connected with the moving assembly through a posture switching assembly; the moving component is a three-degree-of-freedom moving component; the attitude switching component is a three-degree-of-freedom switching component; the clamping jaw mechanical arm is provided with a yielding structure. The utility model is arranged at the communication part of two sections of wire bodies so as to transfer a workpiece from one section of wire body to the other section of wire body, can be suitable for clamping condensers with different structures and adjusting the postures through the moving assembly and the posture switching assembly, reduces the labor input in the production wire body, eliminates the post with high labor intensity and has high operation efficiency.

Description

Transfer device

Technical Field

The utility model relates to the technical field of air conditioner production equipment, in particular to a transfer device arranged on an air conditioner production line.

Background

In the production process of a commercial air conditioner side air outlet series, the condenser assembly has larger overall dimension, single pieces have large mass due to the fact that the raw materials of the assembly are aluminum and copper, and the assembly with the largest dimension at present has the mass as high as about 25 kg. In addition, because the production beat is fast, the components need to be moved and transported manually between the partial line bodies and the line bodies in the production process and between the process and the process, the labor intensity of workers is large, the components are easy to collide and scrap after fatigue, defective products in the production process are increased, and the material cost is lost, so that the problem of manual transportation needs to be solved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a transfer device to solve the technical problems of time and labor waste, high labor intensity and low efficiency of manual carrying in the prior art.

In order to achieve the purpose, the utility model provides the following technical scheme:

the utility model provides a transfer device which comprises a portal frame erected on a communicating section of two line bodies, a moving assembly arranged on the portal frame, and a clamping jaw manipulator connected with the moving assembly through an attitude switching assembly.

As a further improvement of the present invention, the moving assembly is a three-degree-of-freedom moving assembly, and can move along the length direction, the width direction and the height direction of the gantry.

As a further improvement of the utility model, the attitude switching component is a three-degree-of-freedom switching component and can perform horizontal rotation, vertical turning in the X-axis direction and vertical turning in the Y-axis direction.

As a further improvement of the present invention, the moving assembly includes an X-axis slide rail, an X-axis chain type track arranged on the X-axis slide rail, a Y-axis slide rail arranged on the X-axis chain type track, a Y-axis chain type track arranged on the Y-axis slide rail, a Z-axis slide rail arranged on the Y-axis chain type track, and a Z-axis chain type track arranged on the Z-axis slide rail; the posture switching assembly is arranged on the Z-axis chain type track; the three-chain type crawler belt driving device further comprises servo driving motors which are respectively used for driving the three chain type crawler belts to run.

As a further improvement of the present invention, the attitude switching assembly includes a base, a rotating flange horizontally rotatably disposed at the bottom of the base, a connecting lug disposed at the bottom of the rotating flange, and a fixing frame vertically rotatably disposed on the connecting lug; the clamping jaw mechanical arm is vertically and rotatably arranged on the fixing frame, and the clamping jaw mechanical arm forms a 90-degree included angle relative to the rotating direction of the fixing frame and the rotating direction of the fixing frame relative to the connecting lug.

As a further improvement of the utility model, the gripper manipulator comprises an inverted U-shaped gripper frame, the top of the gripper frame extends upwards to form a lifting lug, and the lifting lug is rotatably connected to the fixed frame; the clamping device is characterized in that a first grabbing plate is installed at one free end of the grabbing frame, a fixed plate is fixed at the other free end of the grabbing frame, a telescopic cylinder is installed at the bottom of the fixed plate, a second grabbing plate is installed at the tail end of the telescopic cylinder, and the plate surfaces of the first grabbing plate and the second grabbing plate are arranged oppositely.

As a further development of the utility model, the inner side of the first gripper plate and/or the inner side of the second gripper plate is provided with a contact surface made of a flexible material.

As a further improvement of the utility model, the contact surface is made of high-strength rubber or polyurethane material.

As a further improvement of the utility model, the grabbing frame is of a rectangular frame structure and comprises a top plate and side plates arranged on two opposite sides of the top plate, the side plates are of an inverted U-shaped structure, and the lifting lugs are arranged at the tops of the side plates.

As a further improvement of the utility model, the manipulator further comprises a control system which is electrically connected with the moving assembly, the attitude switching assembly and the clamping jaw manipulator.

As a further improvement of the utility model, the top plate is further provided with a limiting piece corresponding to two ends of the fixing frame, and the limiting piece is used for limiting the overturning angle of the grabbing frame relative to the fixing frame.

Compared with the prior art, the utility model has the following beneficial effects:

the transfer device provided by the utility model is arranged at the communication part of the two sections of line bodies so as to transfer a workpiece from one section of line body to the other section of line body, can adapt to the clamping of condensers with different structures and the posture adjustment through the moving assembly and the posture switching assembly, replaces the manual carrying or the post which does not meet the installation conditions of a robot, reduces the manual input in the production line body, eliminates the post with high labor intensity and has high operation efficiency; according to the further improvement scheme, a portal frame with four upright columns is quickly arranged and erected above a communicating section between two sections of line bodies, the plane area layout covers an area where the two sections of line bodies are suitable for transferring, four upright columns are arranged on a space for supporting a sliding rail frame, and the space requirement for adjusting the posture of the assembly is met, wherein the front-back direction movement above the upright columns is the X-direction movement, the left-right direction movement of a loading clamping jaw manipulator is the Y-direction movement, the up-down movement of the clamping jaw manipulator is the Z-direction movement, meanwhile, the portal frame type transferring device meets the requirement that the space position of a robot layout is not met in the space position, the space requirement is low, and the problem that manual operation is replaced by manual transportation is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a transfer device according to the present invention;

FIG. 2 is a front view of the transfer device of the present invention;

FIG. 3 is a schematic perspective view of the transfer device of the present invention with the gantry removed;

FIG. 4 is a schematic perspective view of the transfer device of the present invention with the X-axis and Y-axis moving components removed;

FIG. 5 is a schematic perspective view of a first attitude switching assembly and a gripper robot in the transfer apparatus according to the present invention;

FIG. 6 is a schematic perspective view of a second attitude switching assembly and a gripper robot in the transfer apparatus according to the present invention;

fig. 7 is a third schematic perspective view of the attitude switching assembly and the gripper robot in the transfer device of the present invention.

In the figure 1, a portal frame; 2. a moving assembly; 3. an attitude switching component; 31. a base body; 32. rotating the flange; 33. connecting lugs; 34. a fixed mount; 4. a jaw manipulator; 41. grabbing a frame; 42. lifting lugs; 43. a first grip plate; 44. a fixing plate; 45. a telescopic cylinder; 46. a second gripper plate; 47. a limiting member; 5. a servo drive motor; 100. producing a wire body; 200. preassembling a wire body; 300. a condenser.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the utility model, and not restrictive of the full scope of the utility model. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

As shown in fig. 1, the present invention provides a transfer device, which includes a gantry 1 erected on a communicating section of two linear bodies, a moving assembly 2 arranged on the gantry 1, and a gripper robot 4 connected to the moving assembly 2 through an attitude switching assembly 3.

It should be noted that the two-stage line includes the condenser production line 100 and the pre-assembly line 200, and the gantry 1 is assumed to be at the communication position of the two-stage line, so that the gripper robot 4 is used to perform the actions of clamping, turning and transporting the condenser 300.

The transfer device provided by the utility model is arranged at the communication position of two sections of line bodies, the transfer and transfer of components between the line bodies and between the processes are realized, the device can be suitable for clamping condensers with different structures and adjusting the postures through the moving component and the posture switching component, the manual carrying is replaced or the position which does not meet the installation conditions of a robot is replaced, the manual input in the production line body is reduced, the position with high labor intensity is eliminated, and the operation efficiency is high; the equipment main part spans the overall arrangement on line body or post, does not occupy ground space, solves the great robot space not enough problem of installation volume.

As shown in fig. 2, as an alternative embodiment of the present invention, the moving component 2 is a three-degree-of-freedom moving component, and can move along the length direction, the width direction and the height direction of the gantry 1.

As shown in fig. 1 and 2, as an alternative embodiment of the present invention, the posture switching component 3 is a three-degree-of-freedom switching component, and can perform horizontal rotation, vertical flipping in the X-axis direction, and vertical flipping in the Y-axis direction. The clamping jaw mechanical arm has three degrees of freedom through the attitude switching component 3, can realize the adjustment of different attitudes of components of different models and specifications, and meets the requirements of post-process production.

Erect portal frame 1 above the line body, the track of the three degree of freedom of XYZ is installed at 1 top of portal frame, add on the track and establish clamping jaw manipulator, the last gesture switching module 3 that is provided with three degree of freedom of clamping jaw manipulator can realize stepping down and snatching of two ware subassemblies of different forms (U type and L type), carries out attitude adjustment and transports after the subassembly centre gripping.

As shown in fig. 3, specifically, the moving assembly 2 includes an X-axis slide rail, an X-axis chain track arranged on the X-axis slide rail, a Y-axis slide rail arranged on the X-axis chain track, a Y-axis chain track arranged on the Y-axis slide rail, a Z-axis slide rail arranged on the Y-axis chain track, and a Z-axis chain track arranged on the Z-axis slide rail; the posture switching component 3 is arranged on the Z-axis chain type track; and the device also comprises servo driving motors 5 respectively used for driving the three chain type caterpillar tracks to run.

It should be noted here that the slide rail, the chain track, and the servo drive motor 5 are all prior art products, and are purchased from the outside market, but of course, other structural forms may be adopted as long as the gripper robot 4 can be driven to reciprocate along the length direction and the height direction of the gantry 1.

As shown in fig. 4 and fig. 6, wherein fig. 6 is a schematic structural view as seen from the bottom of the gripper robot 4 upwards, further, the posture switching assembly 3 includes a base 31, a rotating flange 32 horizontally rotatably disposed at the bottom of the base 31, a connecting lug 33 disposed at the bottom of the rotating flange 32, and a fixing frame 34 vertically rotatably disposed on the connecting lug 33; the clamping jaw mechanical arm 4 is vertically and rotatably arranged on the fixed frame 34, and an included angle of 90 degrees is formed between the rotating direction of the clamping jaw mechanical arm 4 relative to the fixed frame 34 and the rotating direction of the fixed frame 34 relative to the connecting lug 33. Specifically, if the rotation direction of the gripper robot 4 relative to the fixing frame 34 is up-down inversion along the plane of the X-axis, the rotation of the fixing frame 34 relative to the connecting lug 33 is up-down inversion along the plane of the Y-axis.

Specifically, the rotation of each component in the attitude switching assembly 3 is realized by motor driving;

as shown in fig. 7, as an alternative embodiment of the present invention, the gripper robot 4 includes an inverted U-shaped gripper 41, a lifting lug 42 is formed on the top of the gripper 41 and extends upwards, and the lifting lug 42 is rotatably connected to the fixed frame 34; a first grabbing plate 43 is arranged at one free end of the grabbing frame 41, a fixing plate 44 is fixed at the other free end of the grabbing frame, a telescopic cylinder 45 is arranged at the bottom of the fixing plate 44, a second grabbing plate 46 is arranged at the tail end of the telescopic cylinder 45, and the plate surfaces of the first grabbing plate 43 and the second grabbing plate 46 are opposite. When the telescopic clamping device is used, the distance between the first gripping plate 43 and the second gripping plate 46 can be controlled by controlling the telescopic cylinder 45 to clamp or release a workpiece.

Further, the inner side of the first gripping plate 43 and/or the inner side of the second gripping plate 46 are provided with contact surfaces made of flexible material, specifically, the contact surfaces may be provided on the inner side of the first gripping plate 43, the contact surfaces may be provided on the inner side of the second gripping plate 46, or the contact surfaces may be provided on both the inner sides of the first gripping plate 43 and the second gripping plate 46. The contact surface of the grabbing plate and the component is made of flexible materials or other soft contact materials, so that the condition that workpieces with lower strength and softer texture are conveyed to avoid deformation and other abnormalities is met.

Furthermore, the contact surface is made of super glue or polyurethane material.

As shown in fig. 5 and 7, as an alternative embodiment of the present invention, the grasping frame 41 is a rectangular frame structure, and includes a top plate and side plates disposed at opposite sides of the top plate, the side plates are in an inverted U-shaped structure, and the lifting lug 42 is disposed at the top of the side plates. Because the curb plate is U type structure, and grab frame 41 and form by roof and curb plate concatenation, has the position that supplies the pipe fitting to pass through on the curb plate from this, satisfies the structure type clamping jaw manipulator 4 of the function of stepping down in the space through the design to the transport of the subassembly of adaptation different model specifications and structure, functional strong adaptability, the design space of stepping down (also hollow out construction) on the clamping jaw manipulator 4 avoids getting and touch the copper pipe when pressing from both sides.

Further, the device also comprises a control system which is electrically connected with the moving assembly 2, the posture switching assembly 3 and the clamping jaw mechanical arm 4.

The control system can be realized by programming by adopting products in the prior art; the control system can control the starting and stopping actions of all the components, so that the automatic transfer process is realized.

As shown in fig. 4 and 5, as an alternative embodiment of the present invention, a limiting member 47 is further disposed on the top plate corresponding to two end positions of the fixing frame 34, and the limiting member 47 limits the turning angle of the grab frame 41 relative to the fixing frame 34.

Example 1:

in this embodiment, the gantry type automatic transfer device is used for automatically clamping and taking off a condenser assembly on the helium testing loop trolley, rotating the condenser assembly by 90 degrees and then placing the condenser assembly on a pre-installed chain plate line; the object of clamping and carrying is a condenser assembly of the air conditioner, the main body material of the assembly is aluminum foil and copper pipe, and the material is soft and easy to deform. Therefore, the contact surface of the inner side of the grabbing plate is made of polyurethane material; a second electrically-combined pneumatic grabbing plate 46 is arranged on the clamping jaw mechanical arm 4 at the tail end of the transfer device, and the clamping jaw mechanical arm can be turned over by 90 degrees so as to finish the work of erecting the machine after finishing the clamping of the condenser and realize the on-line of the condenser of the pre-assembly line; the automatic transfer device mainly comprises a portal frame 1, a moving assembly 2, an attitude switching assembly 3, a clamping jaw manipulator 4, a control system and the like.

The specific working process is as follows:

1) stopping at an initial position (the initial position is defined above the workpiece taking position) when the transfer device does not work;

2) after the transfer device obtains a workpiece taking signal, the transfer device automatically moves right above the workpiece taking position according to different workpiece models;

3) the clamping jaw mechanical arm is driven by the moving component 2 to descend to the height of a workpiece to be taken, and then the moving component 2 drives the clamping jaw mechanical arm to move horizontally, so that the clamping jaw mechanical arm 4 is fixedly clamped against the side face of the condenser;

4) the movable clamp of the clamping jaw mechanical arm 4 is driven by a telescopic cylinder to clamp the condenser;

5) after the clamping is in place, the clamping jaw mechanical arm 4 moves along the horizontal direction and the Z axis, so that the workpiece is separated from the tooling vehicle, and the clamping jaw mechanical arm 4 automatically runs to a set turning position;

6) the condenser is turned over for 90 degrees;

7) the clamping jaw mechanical arm 4 moves to a material placing position along the horizontal direction;

8) the clamping jaw mechanical arm 4 places the workpiece on a pre-assembling plate chain line;

9) the transfer device returns to the initial position to wait for the next working cycle;

if a defective part is found, the gripper robot 4 will transfer the defective part to the transfer cart after receiving the confirmation signal. After the unqualified parts on the transfer trolley are manually repaired, the clamping jaw mechanical arm 4 can transfer the workpieces to the pre-installed plate chain line again.

The utility model provides a transfer device which is arranged at the communication part of two line bodies so as to transfer a workpiece from one line body to the other line body, a portal frame with four upright posts is quickly arranged and erected above the communication part between the two line bodies, the planar area layout covers the area suitable for transfer of the two line bodies, four upright posts are arranged on the space for supporting a slide rail frame, and the space requirement of adjusting the posture of an assembly is met.

It should be noted that "inward" is a direction toward the center of the accommodating space, and "outward" is a direction away from the center of the accommodating space.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in fig. 1 to facilitate the description of the utility model and to simplify the description, but are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (6)

1. A transfer device is characterized by comprising a portal frame erected on a communicating section of two line bodies, a moving assembly arranged on the portal frame, and a clamping jaw manipulator connected with the moving assembly through an attitude switching assembly, wherein the moving assembly is a three-degree-of-freedom moving assembly and can move along the length direction, the width direction and the height direction of the portal frame; the posture switching component is a three-degree-of-freedom switching component and can rotate horizontally, turn up and down in the X-axis direction and turn up and down in the Y-axis direction; the moving assembly comprises an X-axis slide rail, an X-axis chain type crawler arranged on the X-axis slide rail, a Y-axis slide rail arranged on the X-axis chain type crawler, a Y-axis chain type crawler arranged on the Y-axis slide rail, a Z-axis slide rail arranged on the Y-axis chain type crawler, and a Z-axis chain type crawler arranged on the Z-axis slide rail; the posture switching assembly is arranged on the Z-axis chain type track; the servo driving motor is respectively used for driving the three chain type tracks to run; the posture switching assembly comprises a base body, a rotary flange horizontally and rotatably arranged at the bottom of the base body, a connecting lug arranged at the bottom of the rotary flange and a fixing frame vertically and rotatably arranged on the connecting lug; the clamping jaw mechanical arm is vertically and rotatably arranged on the fixing frame, and the clamping jaw mechanical arm forms a 90-degree included angle relative to the rotating direction of the fixing frame and the rotating direction of the fixing frame relative to the connecting lug.

2. The transfer device according to claim 1, wherein the gripper manipulator comprises an inverted U-shaped gripper frame, the top of the gripper frame extends upwards to form a lifting lug, and the lifting lug is rotatably connected to the fixed frame; the clamping device is characterized in that a first grabbing plate is installed at one free end of the grabbing frame, a fixed plate is fixed at the other free end of the grabbing frame, a telescopic cylinder is installed at the bottom of the fixed plate, a second grabbing plate is installed at the tail end of the telescopic cylinder, and the plate surfaces of the first grabbing plate and the second grabbing plate are arranged oppositely.

3. Transfer device according to claim 2, characterized in that the inner side of the first gripping panel and/or the inner side of the second gripping panel is provided with a contact surface of a flexible material.

4. The transfer device according to claim 3, wherein the contact surface is made of a high-strength rubber or polyurethane material.

5. The transfer device according to claim 2, wherein the gripping frame is a rectangular frame structure, and comprises a top plate and side plates arranged on two opposite sides of the top plate, the side plates are of an inverted U-shaped structure, and the lifting lugs are arranged on the tops of the side plates.

6. The transfer device according to claim 1, further comprising a control system electrically connected to the moving assembly, the attitude switching assembly, and the gripper robot.

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