CN114671241A

CN114671241A - Transfer equipment

Info

Publication number: CN114671241A
Application number: CN202210491016.1A
Authority: CN
Inventors: 朱朝军; 陈毅; 胡金龙; 张建城; 王磊
Original assignee: Xiamen Vision Technology Co ltd
Current assignee: Xiamen Vision Technology Co ltd
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2022-06-28

Abstract

The invention discloses a transfer device, which is used for transferring materials and comprises a rack, a feeding line, a discharging line, a turntable and a first grabbing mechanism, wherein the first clamping jaw and the second clamping jaw can be positioned at a second position, so that stations on the corresponding turntable can be operated; when the device is in a first state or a second state, a connecting line of the second vertical axis and the third vertical axis is parallel to a connecting line of the fourth vertical axis and the fifth vertical axis, and a connecting line of the second vertical axis and the fifth vertical axis is parallel to a connecting line of the fourth vertical axis and the third vertical axis; the connecting line of the fifth vertical axis and the sixth vertical axis is parallel to the connecting line of the seventh vertical axis and the eighth vertical axis, and the connecting line of the fifth vertical axis and the seventh vertical axis is parallel to the connecting line of the sixth vertical axis and the eighth vertical axis, so that the presented forms of the first clamping jaw and the second clamping jaw are not changed, and the working efficiency is improved.

Description

Transfer equipment

Technical Field

The invention relates to the field of relay detection, in particular to a transfer device.

Background

When the working position on the rotating mechanism rotates, the working position also rotates synchronously, so that the forms of the working position before and after rotation are changed, and when the working position needs to work in the same form after rotation, a user needs to adjust the rotated working position to be consistent with the form of the working position before rotation, so that more mechanisms are arranged, and the working efficiency is low.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, when a rotating mechanism rotates, a working position on the rotating mechanism synchronously rotates, so that the forms of the working position before and after rotation are changed, and when the working position needs to work in the same form after rotation, a user needs to adjust the rotated working position to be consistent with the form of the working position before rotation, so that more mechanisms are arranged, and the working efficiency is low.

In order to achieve the purpose, the invention adopts the following technical scheme:

in a first technical scheme, a transfer equipment for transferring materials comprises

A machine frame, a plurality of guide rails and a plurality of guide rails,

a feed line mounted to the frame;

the discharging line is arranged on the rack;

the rotary table rotates around a first vertical axis relative to the rack so as to transfer the materials on the rotary table to each station; and

the first grabbing mechanism comprises a first rotating piece, a first connecting rod, a second rotating piece, a second connecting rod and a third rotating piece; the first rotating piece rotates around a second vertical axis relative to the rack and slides along the direction of the second vertical axis relative to the rack; the first connecting rod is connected to the rack in a universal mode and suitable for rotating around a third vertical axis relative to the rack; the second rotating part is connected to the first connecting rod in a universal manner and is suitable for rotating around a fourth vertical axis relative to the first connecting rod, and the second rotating part is also connected to the first rotating part in a rotating manner around a fifth vertical axis; the second rotating piece is provided with a first clamping jaw; the second connecting rod is rotatably connected to the second rotating part around a sixth vertical axis; the third rotating piece is connected to the first rotating piece in a rotating mode around a seventh vertical axis and connected to the second connecting rod in a rotating mode around an eighth vertical axis; the third rotating piece is provided with a second clamping jaw;

the first clamping jaw and the second clamping jaw are suitable for moving between a first state and a second state, in the first state, the first clamping jaw is located at a first position and suitable for clamping the materials on the feeding line, the second clamping jaw is located at a second position and suitable for clamping the materials on the rotary table, in the second state, the first clamping jaw is located at the second position and suitable for placing the materials on the rotary table, and the second clamping jaw is located at a third position and suitable for placing the materials on the discharging line;

when the device is in a first state or a second state, a connecting line of the second vertical axis and the third vertical axis is parallel to a connecting line of the fourth vertical axis and the fifth vertical axis, and a connecting line of the second vertical axis and the fifth vertical axis is parallel to a connecting line of the fourth vertical axis and the third vertical axis; and a connecting line of the fifth vertical axis and the sixth vertical axis is parallel to a connecting line of the seventh vertical axis and the eighth vertical axis, and a connecting line of the fifth vertical axis and the seventh vertical axis is parallel to a connecting line of the sixth vertical axis and the eighth vertical axis.

Based on the first technical scheme, in a second technical scheme, the first clamping jaw and the second clamping jaw are respectively located on a fifth vertical axis and a seventh vertical axis, and the distance between the connecting line of the fifth vertical axis and the second vertical axis is equal to the distance between the connecting line of the seventh vertical axis and the second vertical axis.

Based on the first technical scheme, in a third technical scheme, a connecting line of the first clamping jaw and the fifth vertical axis is parallel to a connecting line of the second clamping jaw and the seventh vertical axis.

Based on the first technical scheme, in a fourth technical scheme, the device further comprises a positioning mechanism; the positioning mechanism is provided with two positioning plates which are suitable for moving in opposite directions, and the two positioning plates are suitable for enabling the material shape to be correct when the material on the turntable is moved to a station corresponding to the positioning mechanism and the material is pushed against.

Based on the fourth technical scheme, in the fifth technical scheme, the device further comprises a second grabbing mechanism and a bottom detection mechanism, wherein the second grabbing mechanism corresponds to the station on the turntable and is positioned behind the station on the positioning mechanism corresponding to the turntable; the second grabbing mechanism comprises a fourth rotating part and at least three third clamping jaws, wherein the fourth rotating part rotates around a ninth vertical axis relative to the rack and slides relative to the rack along the direction of the ninth vertical axis; when the materials on the rotary table are transferred to the stations corresponding to the second grabbing mechanisms, the third clamping jaws are respectively suitable for clamping the materials on the rotary table and clamping the materials in a suspending way so that the bottom detection mechanism can detect the bottoms of the materials and place the detected materials on the rotary table.

Based on the fifth technical solution, in the sixth technical solution, the apparatus further includes a first detection mechanism located after the positioning mechanism corresponds to the station on the turntable corresponding to the station on the turntable, and the first detection mechanism is located around the turntable and is used for detecting other surfaces except the bottom of the material on the turntable.

A seventh technical means is based on the sixth technical means, and further comprises a first transfer means, a second transfer means, and a third transfer means;

the rack is provided with a plurality of classifying grooves which are distributed along a first direction and respectively correspond to a plurality of inferior product categories of the materials;

the first transfer mechanism is provided with a material level for parking materials and is suitable for sliding relative to the rack so as to stop the material level at a material taking position and a plurality of classification positions corresponding to the classification grooves;

the second transfer mechanism is positioned behind the stations of the bottom detection mechanism and the first detection mechanism corresponding to the stations of the rotary table, and is suitable for transferring the materials to the material level when the materials stop at the stations corresponding to the second transfer mechanism, the materials are positioned at the material taking position, and the detection result of the bottom detection mechanism or the first detection mechanism on the materials is inferior;

and the third transfer mechanism is suitable for transferring the material on the material level to the classifying groove when the sliding frame stops at the inferior product classifying position.

According to a seventh aspect, in the eighth aspect, each of the classification grooves extends in a second direction perpendicular to the first direction;

the third transfer mechanism comprises a cam, a pushing piece and a resetting piece;

the cam rotates relative to the frame about a first transverse axis parallel to the first direction;

the pushing piece is abutted with the cam; the cam is driven to move along a second direction relative to the rack so as to push the material on the material level to the sorting groove when the material level is parked at a poor product sorting position;

the reset piece acts between the rack and the pushing piece along a second direction so that the pushing piece always abuts against the cam; the second transfer mechanism rotates around a tenth vertical axis relative to the rack and slides relative to the rack along the direction of the tenth vertical axis.

Based on the eighth technical solution, in the ninth technical solution, the rack is provided with a driving member, a first divider, a second divider, a third divider, and a fourth divider, and an output end of the driving member is connected with input ends of the first divider, the third divider, and the fourth divider; the output end of the first divider is fixedly connected with the first rotating piece so as to control the first rotating piece to rotate and slide; the output end of the second divider is fixedly connected with the fourth rotating part so as to control the rotation and the sliding of the fourth rotating part; the output end of the third divider is fixedly connected with the rotary table to control the rotation of the rotary table, and the output end of the third divider is also connected with the input end of the second divider; the input end of the fourth divider is fixedly connected with the cam to drive the cam to rotate, and the output end of the fourth divider is fixedly connected with the second transfer mechanism to control the second transfer mechanism to rotate and slide.

Based on the first technical solution, in a tenth technical solution, the feeding line is a production line, the frame is provided with a limiting hole for positioning the material and extending along the extending direction of the feeding line, and the feeding line is installed on the frame and located at the bottom of the limiting hole; the frame still is equipped with spacing portion, spacing position in the top of feed line is located between the head and the end of feed line, spacing portion is equipped with spacing face and the face of splining, spacing face perpendicular to the extending direction of feed line, the face of splining is located spacing face is followed the place ahead of feed line extending direction and orientation the feed line, the face of splining with spacing face vertical connection, the face of splining is used for preventing arbitrary material from rotating when spacing face is supported with the form that is not suitable for the detection.

As can be seen from the above description of the present invention, the present invention has the following advantages over the prior art:

1. according to the first technical scheme, the first clamping jaw and the second clamping jaw can be located at the second position, so that the stations on the corresponding rotary table can be operated; a connecting line of the second vertical axis and the third vertical axis is parallel to a connecting line of the fourth vertical axis and the fifth vertical axis, and a connecting line of the second vertical axis and the fifth vertical axis is parallel to a connecting line of the fourth vertical axis and the third vertical axis; a connecting line of the fifth vertical axis and the sixth vertical axis is parallel to a connecting line of the seventh vertical axis and the eighth vertical axis, and a connecting line of the fifth vertical axis and the seventh vertical axis is parallel to a connecting line of the sixth vertical axis and the eighth vertical axis, so that the presented forms of the first clamping jaw and the second clamping jaw are not changed, and the working efficiency is improved; thereby rotate piece universal connection with frame and second respectively through the both ends of first connecting rod and realize rotating the synchronous rotation and going up and down that drive other parts through first rotation piece, compare with holistic lift, or the independent lift of first clamping jaw and second clamping jaw, the simpler and energy can be saved of structure.

2. According to the second technical scheme, the first clamping jaw and the second clamping jaw are respectively located on the fifth vertical axis and the seventh vertical axis, the distance between the connecting line of the fifth vertical axis and the second vertical axis is equal to that between the connecting line of the seventh vertical axis and the second vertical axis, so that the first clamping jaw and the second clamping jaw can be located at the second position, the stations corresponding to the second position can be operated, and the efficiency is accelerated.

3. According to the third technical scheme, the connecting line of the first clamping jaw and the fifth vertical axis is parallel to the connecting line of the second clamping jaw and the seventh vertical axis, when the first clamping jaw is not located on the fifth vertical axis, the second clamping jaw can be located at the second position when not located on the seventh vertical axis, and therefore the stations corresponding to the second position can be all worked, and efficiency is accelerated.

4. The fourth technical scheme through positioning mechanism to take place slight skew when preventing that the relay from placing on the carousel through first mechanism of snatching, make the relay form correct be convenient for subsequent clamp and get and detect.

5. The fifth technical scheme, detect the bottom of material through bottom detection mechanism, and snatch the mechanism through the second and include that the fourth rotates the piece and install the three third clamping jaw on the fourth rotates the piece, the three third clamping jaw is suitable for respectively pressing from both sides the relay on getting the carousel, unsettled clamp is got the relay and is arranged in the carousel in order to supply bottom detection mechanism to detect the relay bottom and will detect good relay, compare in single clamping jaw and get and put and detect the material, the action is carried out in step to the three third clamping jaws of this mode, realize not delaying moving of material when detecting and carry, accelerate work efficiency, productivity gain.

6. According to the sixth technical scheme, other surfaces of the material are detected through the first detection mechanism, the material is integrally detected by matching with the bottom detection mechanism, the material detection is completed on the same equipment, and the efficiency is high.

7. According to the seventh technical scheme, the first transfer mechanism, the second transfer mechanism and the third transfer mechanism are adopted, and the rack is provided with a plurality of classification grooves respectively corresponding to a plurality of inferior product categories of the materials, so that the inferior product materials can be classified, and follow-up rechecking and background statistics of inferior product data are facilitated.

8. According to the eighth technical scheme, the third transfer mechanism comprises a cam, a pushing piece and a resetting piece, so that the process of pushing the materials to the classification grooves is achieved, and the process is simple and efficient.

9. The ninth technical scheme, the input through first decollator, third divider, fourth divider all with the output rigid coupling of driving piece, the output of third divider still is connected with the input of second divider, when the driving piece output, each decollator can the simultaneous movement, each decollator carries out strict time sequence setting according to the action required time, prevents to interfere to because only driven by a driving piece, the cost is reduced, the control degree of difficulty has been reduced.

10. The tenth technical scheme makes the relay pass through in a form suitable for detection through setting up spacing portion to guarantee that the material loading is correct, the testing result is normal and prevent that follow-up transmission is unusual.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a top view of a transfer apparatus according to a first embodiment;

fig. 2 is a perspective view of a transfer apparatus according to a first embodiment;

FIG. 3 is an enlarged view of the area indicated in FIG. 2;

FIG. 4 is a perspective view of a position-limiting portion according to an embodiment;

FIG. 5 is a top view of dividers in the first embodiment;

FIG. 6 is a top view of a first state of the first grasping mechanism according to the first embodiment;

FIG. 7 is a side view of a first grasping mechanism according to the first embodiment;

FIG. 8 is a top view of a first gripper mechanism according to a second embodiment;

FIG. 9 is an enlarged view of FIG. 8 at reference A;

FIG. 10 is an enlarged view of FIG. 8 at point B;

fig. 11 is a perspective view of the first transfer mechanism according to the first embodiment;

fig. 12 is a top view of the first transfer mechanism according to the first embodiment;

FIG. 13 is a perspective view of a relay according to an embodiment;

description of the main reference numerals:

a frame 1; a driver 11; a first divider 12; a second divider 13; a third divider 14; a fourth divider 15; a stopper hole 16; a stopper portion 17; a stopper surface 171; a rotation stop surface 172; a sorting chute 18;

a feed line 2;

a discharge line 3;

a turntable 4;

a first gripping mechanism 5; the first rotating member 51; a rotating portion 511; a bearing set 5111; a shaft sleeve 5112; a circlip 5113; the first link 52; the second rotating member 53; a first mounting plate 531; a first spacer 532; a first bolt 533; a first clamping jaw 534; a second link 54; a third rotating member 55; a second mounting plate 551; a second gasket 552; a second bolt 553; a second jaw 554; a second vertical axis 561; a third vertical axis 562; a fourth vertical axis 563; a fifth vertical axis 564; a sixth vertical axis 565; seventh vertical axis 566

A positioning mechanism 6;

the second grasping mechanism 71; a fourth rotating member 711; a third jaw 712; a bottom detection mechanism 72;

a first detection mechanism 8; a character detection unit 81; an appearance detection unit 82;

a first transfer mechanism 91; a fill level 911; a second transfer mechanism 92; a third transfer mechanism 93; a cam 931; a pusher 932; a reset 933;

a relay 10; a body 101; a pin 102;

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are presently preferred embodiments of the invention and are not to be taken as an exclusion of other embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the claims, the specification and the drawings of the present invention, unless otherwise expressly limited, the terms "first", "second" or "third", etc. are used for distinguishing between different items and not for describing a particular sequence.

In the claims, the specification and the drawings of the present invention, unless otherwise expressly limited, all directional or positional relationships indicated by the terms "center," "lateral," "longitudinal," "horizontal," "vertical," "top," "bottom," "inner," "outer," "upper," "lower," "front," "rear," "left," "right," "clockwise," "counterclockwise," and the like are based on the directional or positional relationships indicated in the drawings and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so indicated must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the present invention.

In the claims, the description and the drawings of the present application, unless otherwise expressly limited, the terms "fixedly connected" or "fixedly connected" should be interpreted broadly, that is, any connection between the two that does not have a relative rotational or translational relationship, that is, non-detachably fixed, integrally connected, and fixedly connected by other devices or elements.

In the claims, the specification and the drawings of the present invention, the terms "including", "having" and their variants, if used, are intended to be inclusive and not limiting.

Referring to fig. 1 and 2, a transfer apparatus includes a frame 1, a feeding line 2, a discharging line 3, a turntable 4, a first grabbing mechanism 5, a positioning mechanism 6, a second grabbing mechanism 71, a bottom detection mechanism 72, a first detection mechanism 8, a first transfer mechanism 91, a second transfer mechanism 92, and a third transfer mechanism 93.

The transfer equipment is used for transferring materials, in this embodiment, taking the transfer relay 10 as an example, referring to fig. 11, the relay 10 includes a body 101 and a plurality of pins 102, the body 101 is a cuboid, and the top surface of the body 101 is fixedly connected with the plurality of pins 102;

relay 10 is the cuboid, if carry along the broadside and easily fall, consequently feed line 2 and ejection of compact line 3 need be carried along long limit, and visual inspection also can be better along long limit effect, if when getting into carousel 4, the broadside is compared on long limit more convenient location so that the shooting of follow-up industry camera detects, consequently the relay need keep the form of the presentation on long limit throughout at feed line 2, carousel 4 and ejection of compact line 3's in-process. The shape with the top surface of the main body 101 facing upward is a shape suitable for inspection, and this shape is convenient for inspection, and therefore, transportation is performed in this shape during transportation.

The rack 1, refer to fig. 5, the rack 1 is provided with a driving member 11, a first divider 12, a second divider 13, a third divider 14 and a fourth divider 15, an output end of the driving member 11 is connected with input ends of the first divider 12, the third divider 14 and the fourth divider 15, an output end of the third divider 14 is connected with an input end of the second divider, and of course, in a condition that space allows, an output end of the driving member may also be connected with input ends of all the dividers.

The feeding line 2 is installed on the rack 1 and extends along the second direction, the feeding line is in a production line form, the feeding line rotates clockwise to drive the relay 10 on the feeding line to transport backwards along the second direction, referring to fig. 3, the rack 1 is provided with a limiting hole 16 for positioning materials and extending along the second direction at the feeding line 2, the limiting hole 16 is located above the feeding line 2, the limiting hole 16 prevents the relay 10 on the feeding line 2 from running along the second direction, and the relay 10 is only allowed to move along the second direction on the feeding line. The frame 1 is further provided with a limiting portion 17, the limiting portion 17 is configured to only allow the relay 10 to pass through in a form suitable for detection, the limiting portion 17 is located between the head and the tail of the feeding line 2 and above the feeding line 2, referring to fig. 4, the limiting portion 17 is provided with a limiting surface 171, and the limiting surface 171 is perpendicular to the second direction.

When transporting with the form that is suitable for the detection, body 101 is located spacing portion 17 below, and pin 102 is located the left and right sides of spacing portion 17, consequently can not the butt in spacing face 171, after overturning when relay 10 transports on feed line 2 for the material is with pin 102 along the second direction forward or during the form backward, the height of relay 10 becomes highly, consequently can touch spacing face 171, thereby prevents this material transportation through spacing face 171. Thereby guarantee that the material loading is correct through spacing face 171, the testing result is normal and prevent that follow-up transmission is unusual.

When a relay 10 abuts against the limiting surface 171, since the feeding line 2 is still rotating, the previous relay 10 still pushes the limited relay 10 forward, and if the limited relay 10 is overturned due to being pushed to cause the pin 102 to go down, the limited relay 10 will rub against the feeding line 2, resulting in damage to the feeding assembly line. Therefore, the limiting portion 17 is further provided with a rotation stopping surface 172, the rotation stopping surface 172 is located in front of the limiting surface 171 along the second direction and faces the feeding line 2, the rotation stopping surface 172 is vertically connected with the limiting surface 171, and when the material does not abut against the limiting surface 171 due to the shape, the rotation stopping surface 172 prevents the material from rotating. The distance between the rotation stop surface 172 and the feeding line 2 is designed to be equal to or slightly larger than the height of the material pins 102 facing forward or backward.

And the discharging line 3 is arranged on the rack 1, extends along the second direction and is in a pipeline form.

The rotary table 4 is fixedly connected with the output end of the third divider 14, so that the rotary table can rotate around a first vertical axis relative to the frame 1 to transfer the relay 10 on the rotary table to each station, in this embodiment, the rotary table is an eight-station rotary table, and the feeding and discharging stations corresponding to the first grabbing mechanism 5 are sequentially a feeding and discharging station, a positioning station, a bottom detection station, a character shooting station, an appearance detection station, an idle station, an inferior product classification station and an idle station around the clockwise direction. The positioning station corresponds to the positioning mechanism 6, the bottom detection station corresponds to the second grabbing mechanism 71, the character beating station and the appearance detection station correspond to the first detection mechanism 8, the inferior product classification station corresponds to the second transfer mechanism 92, and all the mechanisms are arranged around the rotary table 4 in a surrounding mode. Each station is provided with a vacuum suction hole so that the relay 10 is not thrown out when rotating.

First, the first grabbing mechanism 5 is arranged at the feeding and discharging station, and is used for clamping the relay 10 on the feeding line 2 to the rotary table 4 and clamping the relay 10 on the rotary table 4 to the discharging line 3, and keeping the shape of the relay 10 unchanged in the process.

Referring to fig. 6 to 10, the first grasping mechanism 5 includes a first rotating member 51, a first link 52, a second rotating member 53, a second link 54, a third rotating member 55; the first rotating member 51 is fixedly connected to an output end of the first divider 12, and the first divider 12 is configured to rotate and lift so as to drive the first rotating member 51 to rotate relative to the frame 1 around a second vertical axis 561 and slide relative to the frame 1 along a direction of a second numerical axis.

The first rotary member 51 is also rotatably connected to the second rotary member 53 about a fifth vertical axis 564 and to the third rotary member 55 about a seventh vertical axis 566. Specifically, the first rotating member 51 is provided with two rotating parts 511, and referring to fig. 9 and 10, the two rotating parts 511 are each provided with a bearing set 5111, a shaft sleeve 5112 and a circlip 5113 to facilitate rotational connection with the second rotating member 53 and the third rotating member 55, respectively. The bearing set 5111 is used for reducing the friction coefficient in the movement process and ensuring the rotation precision of the bearing set 5111, and the bearing set 5111 comprises at least one bearing; the shaft sleeve 5112 is provided with an installation cavity, and the bearing group 5111 is arranged in the installation cavity and is located on the bottom wall of the installation cavity so as to realize the installation and support of the bearing group 5111; in the vertical direction, the two shaft sleeves 5112 are respectively arranged at intervals with the corresponding second rotating piece 53 and third rotating piece 55, so that the second rotating piece 53 and third rotating piece 55 are prevented from rubbing with the shaft sleeves 5112 when rotating, and the rotating efficiency is improved. The elastic retainer ring 5113 is installed in the installation cavity and abuts against the bearing set 5111, and the elastic retainer ring 5113 prevents the bearing set 5111 from moving axially due to the lifting of the first rotating member 51.

A first link 52, both ends of the first link 52 are respectively connected to the frame 1 and the second rotating member 53 in a universal manner and adapted to rotate relative to the frame 1 about a third vertical axis 562 and relative to the second rotating member 53 about a fourth vertical axis 563.

Referring to fig. 7 and 9, the second rotating member 53 is provided with a first mounting plate 531, a first spacer 532, a first bolt 533 and a first clamping jaw 534, the first mounting plate 531 is provided with a first shaft, the first clamping jaw 534 is used for clamping the relay 10 and is arranged on the first mounting plate 531, the first mounting plate 531 is universally connected to the first link 52 and is adapted to rotate around a fourth vertical axis 563 relative to the first link 52, and the first mounting plate 531 is further rotatably connected to the first rotating member 51 around a fifth vertical axis 564 and rotatably connected to the second link 54 around a sixth vertical axis 565. When the second rotating member 53 is installed, the bearing set 5111 is sleeved on the first shaft rod and is rotationally connected with the first shaft rod, the first spacer 532 is located on the bearing set 5111, and the first spacer 532 and the first shaft rod are locked and fixed by the first bolt 533, at this time, the first spacer 532 prevents the first shaft rod from being disengaged from the bearing set 5111.

Thereby realize through first connecting rod 52 both ends respectively with first mounting panel 531 and frame 1 delusions and thoughts the connection and rotate in step and go up and down that drive other parts through first rotating member 51, compare with the first lifting that snatchs mechanism 5 is whole, or the independent lifting of first clamping jaw 534 and second clamping jaw 554, the structure is simpler and the energy can be saved, and the synchronism is better.

A second link 54 rotatably connected to the second rotating member 53 about a sixth vertical axis 565 and rotatably connected to the third rotating member 55 about an eighth vertical axis.

Referring to fig. 7 and 10, the third rotating member 55 is provided with a second mounting plate 551, a second spacer 552, a second bolt 553 and a second clamping jaw 554, the second mounting plate 551 is respectively connected to the first rotating member 51 around a seventh vertical axis 566 and connected to the second connecting rod 54 around an eighth vertical axis, a second shaft rod is provided on the second mounting plate 551, the second clamping jaw 554 is provided on the second mounting plate 551, during installation, the bearing set 5111 is sleeved on the second shaft rod and is connected with the second shaft rod in a rotating manner, the second spacer 552 is seated on the bearing set 5111, and the second spacer 552 and the second shaft rod are locked and fixed by the second bolt 553, at this time, the second spacer 552 forms a second limiting portion 17 to prevent the second shaft rod from being pulled out from the bearing set 5111.

The bearing sets 5111 of the two rotation portions 511 are respectively connected with the first shaft lever and the second shaft lever in a rotating manner, and the first limiting portion 17 and the second limiting portion 17 are respectively located on the bearing sets 5111 of the corresponding rotation portions 511 to prevent the first shaft lever and the second shaft lever from being separated from the corresponding rotation portions 511, so that the stability of the rotation process is ensured.

The first clamping jaw 534 and the second clamping jaw 554 are suitable for moving between a first state and a second state, in the first state, the first clamping jaw 534 is located at a first position and suitable for clamping the relay 10 on the feeding line 2, the second clamping jaw 554 is located at a second position and suitable for clamping the relay 10 on the turntable 4, in the second state, the first clamping jaw 534 is located at a second position and suitable for placing the relay 10 on the turntable 4, and the second clamping jaw 554 is located at a third position and suitable for placing the relay 10 on the discharging line 3;

and in the first state or the second state, the line connecting the second vertical axis 561 and the third vertical axis 562 and the line connecting the fourth vertical axis 563 and the fifth vertical axis 564 are parallel, the line connecting the second vertical axis 561 and the fifth vertical axis 564 and the line connecting the fourth vertical axis 563 and the third vertical axis 562 are parallel; the line connecting the fifth vertical axis 564 with the sixth vertical axis 565 and the line connecting the seventh vertical axis 566 with the eighth vertical axis are parallel, and the line connecting the fifth vertical axis 564 with the seventh vertical axis 566 and the line connecting the sixth vertical axis 565 with the eighth vertical axis are parallel. Thereby ensuring that the configuration of the relay 10 on the first jaw 534 and the second jaw 554 is unchanged.

Specifically, when the first jaw 534 and the second jaw 554 are positioned on the fifth vertical axis 564 and the seventh vertical axis 566, respectively, the line distance of the fifth vertical axis 564 from the second vertical axis 561 is equal to the line distance of the seventh vertical axis 566 from the second vertical axis 561; when the first jaw 534 is not positioned on the fifth vertical axis 564 and the second jaw 554 is not positioned on the seventh vertical axis 566, the line connecting the first jaw 534 to the fifth vertical axis 564 is parallel to the line connecting the second jaw 554 to the seventh vertical axis 566. Thereby guarantee that first clamping jaw 534 and second clamping jaw 554 all can be located the second position to the station on the carousel 4 that all can correspond the second position carries out work. Thereby realize that first clamping jaw 534 and second clamping jaw 554 all can be located the second position to the station on the carousel 4 that the homoenergetic corresponds the second position carries out work, thereby accelerates efficiency.

Preferably, the line connecting the fifth vertical axis 564 with the second vertical axis 561 is perpendicular to the line connecting the seventh vertical axis 566 with the second vertical axis 561, so that the layout of the first gripping mechanism 5 is more compact, the floor area is reduced, and the rotation of the first clamping jaw 534 and the second clamping jaw 554 can be completed only by rotating ninety degrees, thereby improving the working efficiency.

Positioning mechanism 6 locates location station department, and positioning mechanism 6 is equipped with two locating plates that are suitable for the motion in opposite directions to make when relay 10 moves and carries to the location station, two locating plates move in opposite directions and all push up in relay 10 in order to pat relay 10, because mechanism or board vibrations when placing on carousel 4 through first mechanism 5 of snatching in order to prevent relay 10, relay 10 takes place slight skew, thereby makes relay 10 form correctly be convenient for subsequent clamp to get and detect. Because reach two locating plates and pat relay 10 both sides respectively, so the direction of motion of locating plate perpendicular to relay groove 10's long limit is compared in perpendicular to relay groove 10's broadside, and area of contact is bigger when patting, changes the location, consequently, when relay 10 got into carousel 3, also needed to get into with the long limit.

The second grabbing mechanism 71 and the bottom detection mechanism 72 are arranged at the bottom detection station, the second grabbing mechanism 71 comprises a fourth rotating part 711 which rotates around the ninth vertical axis relative to the frame 1 and slides relative to the frame along the direction of the ninth vertical axis, and three third clamping jaws 712 arranged on the fourth rotating part 711, and the output end of the second divider 13 is fixedly connected with the fourth rotating part 711. When the relay 10 on the turntable 4 moves to the bottom detection station, the third clamping jaw 712 is suitable for clamping the relay 10 on the turntable 4, the hanging clamping relay 10 is used for the bottom detection mechanism 72 to detect the bottom of the relay 10 and place the detected relay 10 on the turntable 4, wherein, if the transparent glass plate is used for bearing the relay 10 and detecting the bottom, after a period of use, dust can adhere to the glass plate, the existence of the next relay 10 and dust can also influence the detection result, the relay 10 is clamped by hanging clamping to prevent the phenomenon, and the picking and placing action at the detection position is not needed, the process is simple. Compared with the mode that materials are taken and placed and detected by a single clamping jaw, the third clamping jaw and the third clamping jaw act synchronously, so that the transfer of the materials is not delayed during detection, the working efficiency is accelerated, and the production efficiency is improved. The relay can be clamped by sliding, so that the problem that the bottom of the relay 10 is scratched due to the fact that the relay is directly clamped and rotated from the rotary table 4 can be effectively prevented.

Taking the counterclockwise rotation of the second grabbing mechanism 71 as an example, the specific action process is as follows: in the initial state, the third holding jaws 712 are respectively located at a position corresponding to the turntable 4, a position corresponding to the bottom detection mechanism 72, and a position corresponding to the detection completion, wherein after the third holding jaws 712 corresponding to the turntable 4 grasp the relay 10, the fourth rotating member 711 rotates to advance each of the third holding jaws 712 by one position, so that the detected relay 10 is suitable for being placed on the turntable 4. In this embodiment, there are four third jaws 712 for better timing control, and the working principle is the same as three, although more may be provided.

The first detection mechanism 8 comprises a character detection unit 81 and an appearance detection unit 82 which are respectively arranged at a character shooting station and an appearance detection station, and both the character detection unit 81 and the appearance detection unit 82 can directly detect the relay 10 on the rotary disc 4; the character detecting unit 81 is used for detecting the characters on the surface of the relay 10, and the appearance detecting unit 82 is adapted to detect whether appearance defects, such as adhesive residue, scratches, etc., are present on the surface of the relay 10 except the bottom. Other surfaces of the material are detected through the first detection mechanism 8, the material is integrally detected by matching with the bottom detection mechanism 72, and the detection is completed on the same equipment, so that the efficiency is high.

In this embodiment, the detection method is to take a picture of the surface of the relay 10 by an industrial camera, process and analyze the taken picture to obtain a detection result, and when the detection result is an inferior product, the type of the inferior product of the relay 10 is also obtained.

The second transfer mechanism 92 is disposed at the inferior product sorting station, and cooperates with the first transfer mechanism 91 and the third transfer mechanism 93 to complete the sorting of inferior products, and facilitate the subsequent reinspection and background statistics of inferior product data. Specifically, the rack 1 is provided with a plurality of classification grooves 18 which are distributed along a first direction, extend along a second square perpendicular to the first direction and respectively correspond to a plurality of inferior product categories of the relay 10;

referring to fig. 11 and 12, the first transfer mechanism 91 is provided with a material level 911 for parking the relay 10, and the first transfer mechanism 91 is adapted to slide relative to the rack 1 so that the material level 911 is parked at the material taking position 911 and a plurality of sorting positions corresponding to the sorting grooves 18.

The controller may pre-store a plurality of commands, each command corresponding to a type of defective product of the relay 10, and when the controller knows the type of defective product of the relay 10 and the relay 10 is placed on the material level 911, the controller drives the first transfer mechanism 91 to slide and stop the material level 911 at the classification tank 18 corresponding to the type of defective product.

The second moves and carries mechanism 92 includes that the fifth rotates the piece and installs the fourth clamping jaw on the fifth rotation piece, and the relative frame 1 of fifth rotation piece rotates around the tenth vertical axis and slides along the relative frame of direction of second vertical axis, gets the relay through sliding and presss from both sides and get the problem that the rotation leads to the relay bottom scratch of pressing from both sides effectively to prevent directly from the carousel 4. The second transfer mechanism 92 is adapted to transfer the relay 10 to the material level 911 when the relay 10 stops at a work station corresponding to the second transfer mechanism 92, the material level 911 is at the material taking position 911, and the detection result of the bottom detection mechanism 72, the character detection unit 81, or the appearance detection unit 82 on the relay 10 is inferior; the second transfer mechanism 92 slides according to the defective product type of the relay 10, and the level 911 is stopped before the sorting groove 18 corresponding to the defective product type.

A third transfer mechanism 93 adapted to transfer the relay 10 on the level 911 to the sorting groove 18 when the level 911 stops at the defective product sorting position, the third transfer mechanism 93 being a cam, specifically, the third transfer mechanism 93 including a cam 931, a pusher 932, and a reset 933; the cam 931 rotates relative to the frame 1 about a first transverse axis parallel to the first direction; the pushing member 932 abuts against the cam 931; adapted to be spaced from the sorting chute 18 to allow the level 911 to be adapted to park the relay 10, and further adapted to be moved by the cam 931 in a second direction relative to the housing 1 to push the relay 10 at the level 911 to the sorting chute 18 when the level 911 is parked at the defective sorting position; reset piece 933 acts on between frame 1 and impeller 932 along the second direction so that impeller 932 supports cam 931 all the time to the realization pushes away the process to categorised groove with the material, and is simple high-efficient.

Wherein, the input end of the fourth divider 15 is fixedly connected with the cam 931 to drive the cam 931 to rotate, the output end thereof is fixedly connected with the fifth rotating member to control the rotation and sliding of the fifth rotating member, and the fourth clamping jaw is used for clamping the relay 10 or not, and is driven according to whether the relay 10 is inferior or not.

Because the input of first divider 12, third divider 14, fourth divider 15 all with the output rigid coupling of driving piece 11, the output of third divider still is connected with the input of second divider, when driving piece 11 exports, each divider can move simultaneously, and each divider carries out strict time sequence setting according to the required time of action, prevents to interfere to because only drive by a driving piece 11, the cost is reduced, the control degree of difficulty has been reduced.

The description of the above specification and examples is intended to be illustrative of the scope of the present invention and is not intended to be limiting. Modifications, equivalents and other improvements which may occur to those skilled in the art and which may be made to the embodiments of the invention or portions thereof through a reasonable analysis, inference or limited experimentation, in light of the common general knowledge, the common general knowledge in the art and/or the prior art, are intended to be within the scope of the invention.

Claims

1. The utility model provides a move and carry equipment, its is used for moving and carrying the material which characterized in that: comprises that

A machine frame, a plurality of guide rails,

a feed line installed to the frame;

the discharging line is arranged on the rack;

the first grabbing mechanism comprises a first rotating piece, a first connecting rod, a second rotating piece, a second connecting rod and a third rotating piece; the first rotating piece rotates around a second vertical axis relative to the rack and slides along the direction of the second vertical axis relative to the rack; the first connecting rod is connected to the rack in a universal mode and suitable for rotating around a third vertical axis relative to the rack; the second rotating part is connected to the first connecting rod in a universal manner and is suitable for rotating around a fourth vertical axis relative to the first connecting rod, and the second rotating part is also connected to the first rotating part in a rotating manner around a fifth vertical axis; the second rotating piece is provided with a first clamping jaw; the second connecting rod is rotatably connected to the second rotating part around a sixth vertical axis; the third rotating part is rotatably connected to the first rotating part around a seventh vertical axis and rotatably connected to the second connecting rod around an eighth vertical axis; the third rotating piece is provided with a second clamping jaw;

when the device is in a first state or a second state, a connecting line of the second vertical axis and the third vertical axis is parallel to a connecting line of the fourth vertical axis and the fifth vertical axis, and a connecting line of the second vertical axis and the fifth vertical axis is parallel to a connecting line of the fourth vertical axis and the third vertical axis; the connecting line of the fifth vertical axis and the sixth vertical axis is parallel to the connecting line of the seventh vertical axis and the eighth vertical axis, and the connecting line of the fifth vertical axis and the seventh vertical axis is parallel to the connecting line of the sixth vertical axis and the eighth vertical axis.

2. The transfer apparatus according to claim 1, wherein: the first clamping jaw and the second clamping jaw are respectively positioned on the fifth vertical axis and the seventh vertical axis, and the distance between the connecting line of the fifth vertical axis and the second vertical axis is equal to the distance between the connecting line of the seventh vertical axis and the second vertical axis.

3. The transfer apparatus according to claim 1, wherein: and a connecting line of the first clamping jaw and the fifth vertical axis is parallel to a connecting line of the second clamping jaw and the seventh vertical axis.

4. The transfer apparatus according to claim 1, wherein: the device also comprises a positioning mechanism; the positioning mechanism is provided with two positioning plates which are suitable for moving in opposite directions, and the two positioning plates are suitable for enabling the material shape to be correct when the materials on the turntable are moved to the station corresponding to the positioning mechanism and are all pushed against the materials.

5. The transfer apparatus according to claim 4, wherein: the second grabbing mechanism and the bottom detection mechanism are arranged behind the positioning mechanism corresponding to the stations on the rotary table; the second grabbing mechanism comprises a fourth rotating part and at least three third clamping jaws, wherein the fourth rotating part rotates around a ninth vertical axis relative to the rack and slides relative to the rack along the direction of the ninth vertical axis; when the materials on the rotary table are transferred to the stations corresponding to the second grabbing mechanisms, the third clamping jaws are respectively suitable for clamping the materials on the rotary table and clamping the materials in a suspending way so that the bottom detection mechanism can detect the bottoms of the materials and place the detected materials on the rotary table.

6. The transfer apparatus according to claim 5, wherein: the detection device is characterized by further comprising a first detection mechanism which is arranged behind the positioning mechanism corresponding to the station on the turntable, wherein the first detection mechanism is arranged around the turntable and is used for detecting other surfaces except the bottom of the material on the turntable.

7. The transfer apparatus according to claim 6, wherein: the device also comprises a first transfer mechanism, a second transfer mechanism and a third transfer mechanism;

8. The transfer apparatus according to claim 7, wherein:

each sorting groove extends along a second direction perpendicular to the first direction;

9. The transfer apparatus according to claim 8, wherein: the rack is provided with a driving piece, a first divider, a second divider, a third divider and a fourth divider, and the output end of the driving piece is connected with the input ends of the first divider, the third divider and the fourth divider; the output end of the first divider is fixedly connected with the first rotating piece so as to control the first rotating piece to rotate and slide; the output end of the second divider is fixedly connected with the fourth rotating part so as to control the rotation and the sliding of the fourth rotating part; the output end of the third divider is fixedly connected with the rotary table to control the rotation of the rotary table, and the output end of the third divider is also connected with the input end of the second divider; the input end of the fourth divider is fixedly connected with the cam to drive the cam to rotate, and the output end of the fourth divider is fixedly connected with the second transfer mechanism to control the second transfer mechanism to rotate and slide.

10. The transfer apparatus according to claim 1, wherein: the feeding line is a production line, the rack is provided with a limiting hole for positioning materials and extending along the extending direction of the feeding line, and the feeding line is arranged on the rack and positioned at the bottom of the limiting hole; the frame still is equipped with spacing portion, spacing position in the top of feed line is located between the head and the end of feed line, spacing portion is equipped with spacing face and the face of splining, spacing face perpendicular to the extending direction of feed line, the face of splining is located spacing face is followed the place ahead of feed line extending direction and orientation the feed line, the face of splining with spacing face vertical connection, the face of splining is used for preventing arbitrary material from rotating when spacing face is supported with the form that is not suitable for the detection.