A transfer device

Abstract

The present invention discloses a transfer device, which is used for transferring materials, and includes a frame, a feeding line, a discharging line, a turntable, and a first gripping mechanism. The first clamp and the second clamp can both be located at the second position, so that both can work on the corresponding workstation on the turntable; in the first state or the second state, the line connecting the second vertical axis and the third vertical axis and the line connecting the fourth vertical axis and the fifth vertical axis are parallel, and the line connecting the second vertical axis and the fifth vertical axis and the line connecting the fourth vertical axis and the third vertical axis are parallel; the line connecting the fifth vertical axis and the sixth vertical axis and the line connecting the seventh vertical axis and the eighth vertical axis are parallel, and the line connecting the fifth vertical axis and the seventh vertical axis and the line connecting the sixth vertical axis and the eighth vertical axis are parallel, so as to ensure that the shapes presented by the first clamp and the second clamp do not change, thereby improving work efficiency.

Description

Technical Field

[0001] The invention relates to the field of relay detection, and in particular to a transfer device. Background Art

[0002] For the work station on the rotating mechanism, when the rotating mechanism rotates, the work station also rotates synchronously, resulting in a change in the shape of the work station before and after the rotation. When the work station needs to work in the same shape after the rotation, the user needs to adjust the work station after the rotation to make it consistent with the shape of the work station before the rotation, resulting in multiple mechanisms and low work efficiency. Summary of the invention

[0003] The purpose of the present invention is to overcome the problem that the working position on the rotating mechanism exists in the background technology. When the rotating mechanism rotates, the working position also rotates synchronously, resulting in a change in the shape of the working position before and after the rotation. When the working position needs to work in the same shape after the rotation, the user needs to adjust the working position after the rotation to make it consistent with the shape of the working position before the rotation, resulting in multiple mechanisms and low work efficiency.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The first technical solution is a transfer device for transferring materials, comprising:

[0006] frame,

[0007] A feeding line, which is installed on the frame;

[0008] A discharging line, which is installed on the frame;

[0009] A turntable, which rotates relative to the frame about a first vertical axis to transfer the materials thereon to each workstation; and

[0010] The first grasping mechanism comprises a first rotating member, a first connecting rod, a second rotating member, a second connecting rod, and a third rotating member; the first rotating member rotates relative to the frame around a second vertical axis and slides relative to the frame along the direction of the second vertical axis; the first connecting rod is universally connected to the frame and is suitable for rotating relative to the frame around a third vertical axis; the second rotating member is universally connected to the first connecting rod and is suitable for rotating relative to the first connecting rod around a fourth vertical axis, and the second rotating member is also rotatably connected to the first rotating member around a fifth vertical axis; the second rotating member is provided with a first clamping claw; the second connecting rod is rotatably connected to the second rotating member around a sixth vertical axis; the third rotating member is rotatably connected to the first rotating member around a seventh vertical axis and is rotatably connected to the second connecting rod around an eighth vertical axis; the third rotating member is provided with a second clamping claw;

[0011] The first clamp and the second clamp are adapted to move between a first state and a second state. In the first state, the first clamp is located at a first position to clamp the material on the feed line, and the second clamp is located at a second position to clamp the material on the turntable. In the second state, the first clamp is located at a second position to place the material on the turntable, and the second clamp is located at a third position to place the material on the discharge line.

[0012] In the first state or the second state, the line connecting the second vertical axis and the third vertical axis is parallel to the line connecting the fourth vertical axis and the fifth vertical axis, the line connecting the second vertical axis and the fifth vertical axis is parallel to the line connecting the fourth vertical axis and the third vertical axis; the line connecting the fifth vertical axis and the sixth vertical axis is parallel to the line connecting the seventh vertical axis and the eighth vertical axis, and the line connecting the fifth vertical axis and the seventh vertical axis is parallel to the line connecting the sixth vertical axis and the eighth vertical axis.

[0013] Based on the first technical solution, in the second technical solution, the first clamp and the second clamp are respectively located on the fifth vertical axis and the seventh vertical axis, and the distance between the fifth vertical axis and the second vertical axis is equal to the distance between the seventh vertical axis and the second vertical axis.

[0014] Based on the first technical solution, in a third technical solution, a line connecting the first clamping jaw and the fifth vertical axis and a line connecting the second clamping jaw and the seventh vertical axis are parallel.

[0015] Based on the first technical solution, the fourth technical solution also includes a positioning mechanism; the positioning mechanism is provided with two positioning plates suitable for moving towards each other, and the two positioning plates are suitable for pressing against the material when the material on the turntable is transferred to the workstation corresponding to the positioning mechanism to ensure the correct shape of the material.

[0016] Based on the fourth technical scheme, the fifth technical scheme also includes a second gripping mechanism and a bottom detection mechanism corresponding to the workstation on the turntable and located after the workstation on the turntable corresponding to the positioning mechanism; the second gripping mechanism includes a fourth rotating member that rotates around the ninth vertical axis relative to the frame and slides relative to the frame along the direction of the ninth vertical axis, and at least three third clamps installed on the fourth rotating member; when the material on the turntable is transferred to the workstation corresponding to the second gripping mechanism, the three third clamps are respectively suitable for clamping the material on the turntable, clamping the material in mid-air for the bottom detection mechanism to detect the bottom of the material, and placing the detected material on the turntable.

[0017] Based on the fifth technical solution, the sixth technical solution also includes a first detection mechanism corresponding to the workstation on the turntable, which is located after the workstation on the turntable corresponding to the positioning mechanism. The first detection mechanism is arranged around the turntable and is used to detect other surfaces of the material on the turntable except the bottom.

[0018] Based on the sixth technical solution, in the seventh technical solution, it further includes a first transfer mechanism, a second transfer mechanism and a third transfer mechanism;

[0019] The frame is provided with a plurality of classification slots arranged along the first direction and corresponding to a plurality of inferior product categories of the material respectively;

[0020] The first transfer mechanism is provided with a material position for parking materials, which is suitable for sliding relative to the frame so that the material position is parked at a material taking position and a plurality of classification positions corresponding to the classification slots;

[0021] The second transfer mechanism corresponds to a station on the turntable and is located behind the stations on the turntable corresponding to the bottom detection mechanism and the first detection mechanism, and is adapted to transfer the material to the material position when the material stops at the station corresponding to the second transfer mechanism, the material is located at the material taking position, and the bottom detection mechanism or the first detection mechanism detects the material as a defective product;

[0022] The third transfer mechanism is suitable for transferring the material on the material level to the classification trough when the material level stops at the inferior product classification position.

[0023] Based on the seventh technical solution, in the eighth technical solution, each of the classification grooves extends along a second direction perpendicular to the first direction;

[0024] The third transfer mechanism includes a cam, a pusher and a reset member;

[0025] The cam rotates relative to the frame around a first transverse axis parallel to the first direction;

[0026] The pusher is in contact with the cam; it is suitable for forming a gap with the classification slot to allow the material level to be suitable for parking the material, and it is also suitable for being driven by the cam to move relative to the frame in the second direction to push the material on the material level to the classification slot when the material level is parked at the inferior product classification position;

[0027] The reset member acts between the frame and the push member along the second direction so that the push member always abuts against the cam;

[0028] The second transfer mechanism rotates relative to the frame around a tenth vertical axis and slides relative to the frame along the direction of the tenth vertical axis.

[0029] Based on the eighth technical scheme, in the ninth technical scheme, the frame is provided with a driving member, a first divider, a second divider, a third divider, and a fourth divider, and the output end of the driving member is connected to the input ends of the first divider, the third divider, and the fourth divider; the output end of the first divider is fixedly connected to the first rotating member for controlling the rotation and sliding of the first rotating member; the output end of the second divider is fixedly connected to the fourth rotating member for controlling the rotation and sliding of the fourth rotating member; the output end of the third divider is fixedly connected to the turntable for controlling the rotation of the turntable, and the output end of the third divider is also connected to the input end of the second divider; the input end of the fourth divider is fixedly connected to the cam to drive the cam to rotate, and its output end is fixedly connected to the second transfer mechanism for controlling the rotation and sliding of the second transfer machine.

[0030] Based on the first technical solution, in the tenth technical solution, the feeding line is an assembly line, the frame is provided with a limiting hole for positioning materials and extending along the extension direction of the feeding line, and the feeding line is installed on the frame and is located at the bottom of the limiting hole; the frame is also provided with a limiting portion, the limiting portion is located above the feeding line and between the beginning and the end of the feeding line, the limiting portion is provided with a limiting surface and a stop surface, the limiting surface is perpendicular to the extension direction of the feeding line, the stop surface is located in front of the limiting surface along the extension direction of the feeding line and faces the feeding line, the stop surface is vertically connected to the limiting surface, and the stop surface is used to prevent any material from rotating when it hits the limiting surface in a form that is not suitable for detection.

[0031] From the above description of the present invention, it can be seen that compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The first technical solution is that both the first clamp and the second clamp can be located in the second position, so that both can work on the corresponding workstation on the turntable; the line connecting the second vertical axis and the third vertical axis is parallel to the line connecting the fourth vertical axis and the fifth vertical axis, and the line connecting the second vertical axis and the fifth vertical axis is parallel to the line connecting the fourth vertical axis and the third vertical axis; the line connecting the fifth vertical axis and the sixth vertical axis is parallel to the line connecting the seventh vertical axis and the eighth vertical axis, and the line connecting the fifth vertical axis and the seventh vertical axis is parallel to the line connecting the sixth vertical axis and the eighth vertical axis, so as to ensure that the form presented by the first clamp and the second clamp does not change, thereby improving work efficiency; the two ends of the first connecting rod are respectively universally connected to the frame and the second rotating member to realize the synchronous rotation and lifting of other components driven by the first rotating member. Compared with the overall lifting or the independent lifting of the first clamp and the second clamp, the structure is simpler and energy-saving.

[0033] 2. The second technical solution is that the first clamp and the second clamp are respectively located on the fifth vertical axis and the seventh vertical axis and the distance between the fifth vertical axis and the second vertical axis is equal to the distance between the seventh vertical axis and the second vertical axis, so that the first clamp and the second clamp can both be located in the second position, so that both can work on the workstation corresponding to the second position, thereby improving efficiency.

[0034] 3. The third technical solution is to make the line connecting the first clamp and the fifth vertical axis and the line connecting the second clamp and the seventh vertical axis parallel. When the first clamp is not on the fifth vertical axis and the second clamp is not on the seventh vertical axis, the first clamp and the second clamp can be located at the second position, so that both can work on the workstation corresponding to the second position, thereby improving efficiency.

[0035] 4. The fourth technical solution uses a positioning mechanism to prevent the relay from being slightly offset when it is placed on the turntable through the first grasping mechanism, so that the relay has a correct shape to facilitate subsequent clamping and detection.

[0036] 5. The fifth technical solution detects the bottom of the material through a bottom detection mechanism, and through a second grasping mechanism including a fourth rotating member and three third clamps mounted on the fourth rotating member, the three third clamps are respectively suitable for clamping the relay on the turntable, suspending the relay for the bottom detection mechanism to detect the bottom of the relay and placing the detected relay on the turntable. Compared with a single clamp to pick up and detect materials, the three third clamps in this method act synchronously, so as not to delay the transfer of materials during detection, speed up work efficiency and improve productivity.

[0037] 6. The sixth technical solution uses the first detection mechanism to detect other surfaces of the material, and cooperates with the bottom detection mechanism to complete the overall detection of the material, which is completed on the same equipment with high efficiency.

[0038] 7. The seventh technical solution is that through the first transfer mechanism, the second transfer mechanism and the third transfer mechanism, the frame is provided with a plurality of classification slots corresponding to a plurality of inferior categories of materials, so that the inferior materials can be classified, which is convenient for subsequent re-inspection and background statistics of inferior data.

[0039] 8. The eighth technical solution uses a third transfer mechanism including a cam, a pusher and a reset member to realize the process of pushing the material to the classification trough, which is simple and efficient.

[0040] 9. The ninth technical solution is that the input ends of the first divider, the third divider and the fourth divider are fixedly connected to the output end of the driving member, and the output end of the third divider is also connected to the input end of the second divider. When the driving member outputs, the dividers can move at the same time. Each divider is strictly timed according to the time required for the action to prevent interference. Moreover, since it is driven by only one driving member, the cost is reduced and the control difficulty is reduced.

[0041] 10. The tenth technical solution is to set a limit part so that the relay passes through in a form suitable for detection, thereby ensuring correct loading, normal detection results and preventing subsequent transmission abnormalities. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 It is a top view of the transfer device in the first embodiment;

[0044] Figure 2 It is a three-dimensional diagram of the transfer device in the first embodiment;

[0045] Figure 3 for Figure 2 Enlarged view of the marked area;

[0046] Figure 4 It is a three-dimensional diagram of the limiting part in the first embodiment;

[0047] Figure 5 is a top view of each divider in Example 1;

[0048] Figure 6 is a top view of the first gripping mechanism in the first state in the first embodiment;

[0049] Figure 7 is a side view of the first grabbing mechanism in the first embodiment;

[0050] Figure 8 is a top view of the first gripping mechanism in the second state in the first embodiment;

[0051] Fig. 9 for Figure 8 Enlarged view of the area marked A;

[0052] Fig.10 for Figure 8 An enlarged view of the area marked B;

[0053] Fig.11It is a three-dimensional diagram of the first transfer mechanism in the first embodiment;

[0054] Fig.12 It is a top view of the first transfer mechanism in the first embodiment;

[0055] Fig.13 is a three-dimensional diagram of the relay in the first embodiment;

[0056] Description of main reference numerals:

[0057] Frame 1; driving member 11; first divider 12; second divider 13; third divider 14; fourth divider 15; limiting hole 16; limiting portion 17; limiting surface 171; anti-rotation surface 172; classification groove 18;

[0058] Feed line 2;

[0059] Discharging line 3;

[0060] Turntable 4;

[0061] first gripping mechanism 5; first rotating member 51; rotating part 511; bearing assembly 5111; sleeve 5112; circlip 5113; first connecting rod 52; second rotating member 53; first mounting plate 531; first gasket 532; first bolt 533; first clamping jaw 534; second connecting rod 54; third rotating member 55; second mounting plate 551; second gasket 552; second bolt 553; second clamping jaw 554; second vertical axis 561; third vertical axis 562; fourth vertical axis 563; fifth vertical axis 564; sixth vertical axis 565; seventh vertical axis 566

[0062] Positioning mechanism 6;

[0063] The second gripping mechanism 71; the fourth rotating member 711; the third clamping claw 712; the bottom detection mechanism 72;

[0064] First detection mechanism 8; character detection unit 81; appearance detection unit 82;

[0065] First transfer mechanism 91; material level 911; second transfer mechanism 92; third transfer mechanism 93; cam 931; push member 932; reset member 933;

[0066] Relay 10; body 101; pin 102; DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are preferred embodiments of the present invention and should not be regarded as excluding other embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] In the claims, description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" etc. are for distinguishing different objects rather than for describing a specific order.

[0069] In the claims, specification and the above-mentioned drawings of the present invention, unless otherwise explicitly defined, directional words, such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the specific protection scope of the present invention.

[0070] In the claims, specification and the above drawings of the present invention, unless otherwise clearly defined, if the term "fixed connection" or "fixed connection" is used, it should be understood in a broad sense, that is, any connection method without a displacement relationship and relative rotation relationship between the two, that is to say, including non-detachable fixed connection, detachable fixed connection, integrated connection and fixed connection through other devices or elements.

[0071] In the claims, description and drawings of the present invention, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0072] refer to Figure 1 , Figure 2 A transfer device 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.

[0073] The transfer device is used to transfer materials. In this embodiment, the transfer relay 10 is taken as an example. Fig.11 The relay 10 includes a body 101 and a plurality of pins 102. The body 101 is a rectangular parallelepiped, and a plurality of pins 102 are fixedly connected to the top surface of the body 101.

[0074] The relay 10 is a rectangular parallelepiped. If it is transported along the wide side, it is easy to fall over. Therefore, the feed line 2 and the discharge line 3 need to be transported along the long side, and the visual inspection effect along the long side will also be better. For example, when entering the turntable 4, the long side is more convenient to locate than the wide side for subsequent shooting and inspection by the industrial camera. Therefore, the relay needs to always maintain the long side presentation during the process of the feed line 2, the turntable 4 and the discharge line 3. The form with the top surface of the main body 101 facing up is the form suitable for inspection. This form is convenient for inspection, so it is also transported in this form during transportation.

[0075] Rack 1, reference Figure 5 The frame 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. The output end of the driving member 11 is connected to the input end of the first divider 12, the third divider 14 and the fourth divider 15, and the output end of the third divider 14 is connected to the input end of the second divider. Of course, if space permits, the output end of the driving member can also be connected to the input ends of all the dividers.

[0076] The feed line 2 is mounted on the frame 1 and extends along the second direction. It is in the form of an assembly line. It rotates clockwise to drive the relay 10 thereon to be transported backward along the second direction. Figure 3 The frame 1 is provided with a limiting hole 16 for positioning the material and extending in 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 in the second direction, so that the relay 10 is only allowed to move along the second direction of the feeding line. The frame 1 is also provided with a limiting portion 17, which 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 end of the feeding line 2 and above the feeding line 2. Figure 4 The limiting portion 17 is provided with a limiting surface 171, and the limiting surface 171 is perpendicular to the second direction.

[0077] When transported in a form suitable for detection, the body 101 is located below the limit portion 17, and the pins 102 are located on the left and right sides of the limit portion 17, so they will not abut against the limit surface 171. When the relay 10 is turned over during transportation on the feed line 2, so that the material is in a form with the pins 102 facing forward or backward along the second direction, the height of the relay 10 becomes higher, so it can touch the limit surface 171, thereby preventing the material from being transported through the limit surface 171. The limit surface 171 ensures that the material is loaded correctly, the detection result is normal, and the subsequent transmission abnormality is prevented.

[0078] When a relay 10 abuts against the limiting surface 171, since the feed line 2 is still rotating, the previous relay 10 will still push the limited relay 10 forward. If the limited relay 10 flips due to the push, causing the pin 102 to face downward, it will rub against the feed line 2, causing damage to the loading line. Therefore, the limiting portion 17 is also provided with a stop surface 172, which is located in front of the limiting surface 171 along the second direction and faces the feed line 2. The stop surface 172 is vertically connected to the limiting surface 171. When the material abuts against the limiting surface 171 due to the incorrect shape, the existence of the stop surface 172 prevents the material from rotating. When designing, the distance between the stop surface 172 and the feed line 2 is equal to or slightly greater than the height of the material pin 102 when facing forward or backward.

[0079] The discharging line 3 is installed on the frame 1 and extends along the second direction, and is in the form of an assembly line.

[0080] The turntable 4 is fixedly connected to the output end of the third divider 14 so that it can rotate relative to the frame 1 around the first vertical axis to transfer the relay 10 thereon to each station. In this embodiment, it is an eight-station turntable, starting with the loading and unloading station corresponding to the first grasping mechanism 5, and in a clockwise direction, it is the loading and unloading station, the positioning station, the bottom detection station, the character shooting station, the appearance detection station, the empty station, the inferior product classification station, and the empty station. Among them, the positioning station corresponds to the positioning mechanism 6, the bottom detection station corresponds to the second grasping mechanism 71, the character shooting station and the appearance detection station correspond to the first detection mechanism 8, and the inferior product classification station corresponds to the second transfer mechanism 92. Each mechanism is arranged around the turntable 4. Each station is provided with a vacuum adsorption hole so that the relay 10 will not be thrown out during rotation.

[0081] First, the first gripping mechanism 5 is arranged at the loading and unloading station, and is used to clamp the relay 10 on the feeding line 2 onto the turntable 4 and clamp the relay 10 on the turntable 4 onto the discharging line 3, and keep the shape of the relay 10 unchanged during the process.

[0082] refer to Figure 6-Figure 10 The first grasping mechanism 5 includes a first rotating member 51, a first connecting rod 52, a second rotating member 53, a second connecting rod 54, and a third rotating member 55; the first rotating member 51 is fixedly connected to the output end of the first divider 12, and the first divider 12 is configured to be suitable for rotation and lifting, thereby driving the first rotating member 51 to rotate around the second vertical axis 561 relative to the frame 1 and slide relative to the frame 1 along the direction of the second axis.

[0083] The first rotating member 51 is also rotatably connected to the second rotating member 53 around the fifth vertical axis 564, and is rotatably connected to the third rotating member 55 around the seventh vertical axis 566. Specifically, the first rotating member 51 is provided with two rotating parts 511, Fig. 9 , Fig.10 , the two rotating parts 511 are provided with a bearing group 5111, a sleeve 5112 and an elastic ring 5113 to facilitate the rotation connection with the second rotating member 53 and the third rotating member 55 respectively. Among them, the bearing group 5111 is used to reduce the friction coefficient during the movement and ensure its rotation accuracy. The bearing group 5111 includes at least one bearing; the sleeve 5112 is provided with a mounting cavity, and the bearing group 5111 is placed in the mounting cavity and sits on the bottom wall of the mounting cavity to achieve the installation and support of the bearing group 5111; in the vertical direction, the two sleeves 5112 are respectively arranged with intervals with the corresponding second rotating member 53 and the third rotating member 55 to prevent the second rotating member 53 and the third rotating member 55 from rubbing against the sleeve 5112 when rotating, thereby improving the rotation efficiency. The elastic ring 5113 is installed in the mounting cavity and abuts against the bearing group 5111, and the elastic ring 5113 prevents the axial movement of the bearing group 5111 caused by the lifting of the first rotating member 51.

[0084] The first connecting rod 52 has two ends universally connected to the frame 1 and the second rotating member 53 respectively and is suitable for rotating relative to the frame 1 around the third vertical axis 562 and rotating relative to the second rotating member 53 around the fourth vertical axis 563.

[0085] refer to Figure 7 , Fig. 9 The second rotating member 53 is provided with a first mounting plate 531, a first gasket 532, a first bolt 533 and a first clamping claw 534. The first mounting plate 531 is provided with a first shaft. The first clamping claw 534 is used to clamp the relay 10 and is provided on the first mounting plate 531. The first mounting plate 531 is universally connected to the first connecting rod 52 and is suitable for rotating relative to the first connecting rod 52 around the fourth vertical axis 563. The first mounting plate 531 is also rotatably connected to the first rotating member 51 around the fifth vertical axis 564 and rotatably connected to the second connecting rod 54 around the sixth vertical axis 565. When the second rotating member 53 is installed, the bearing group 5111 is sleeved on the first shaft and rotatably connected to the first shaft. The first gasket 532 is seated on the bearing group 5111 and the first gasket 532 and the first shaft are locked by the first bolt 533. At this time, the first gasket 532 prevents the first shaft from escaping from the bearing group 5111.

[0086] The two ends of the first connecting rod 52 are respectively connected to the first mounting plate 531 and the frame 1 to achieve synchronous rotation and lifting of other components driven by the first rotating member 51. Compared with the overall lifting of the first grasping mechanism 5, or the independent lifting of the first clamping jaw 534 and the second clamping jaw 554, the structure is simpler, energy-saving and has better synchronization.

[0087] The second connecting rod 54 is rotatably connected to the second rotating member 53 around the sixth vertical axis 565 and is rotatably connected to the third rotating member 55 around the eighth vertical axis.

[0088] refer to Figure 7 , Fig.10 The third rotating member 55 is provided with a second mounting plate 551, a second gasket 552, a second bolt 553 and a second clamping claw 554. The second mounting plate 551 is respectively rotatably connected to the first rotating member 51 around the seventh vertical axis 566 and is rotatably connected to the second connecting rod 54 around the eighth vertical axis. A second shaft rod is provided on the second mounting plate 551, and the second clamping claw 554 is provided on the second mounting plate 551. During installation, the bearing group 5111 is sleeved on the second shaft rod and rotatably connected to the second shaft rod. The second gasket 552 is seated on the bearing group 5111 and is locked with the second gasket 552 and the second shaft rod by the second bolt 553. At this time, the second gasket 552 forms a second limiting portion 17 to prevent the second shaft rod from escaping from the bearing group 5111.

[0089] The first and second limiting portions 17 and 17 are respectively seated on the bearing groups 5111 of the corresponding rotating portions 511 to prevent the first and second shaft rods from being separated from the corresponding rotating portions 511, thereby ensuring the stability of the rotation process.

[0090] The first clamping jaw 534 and the second clamping jaw 554 are adapted to move between a first state and a second state. In the first state, the first clamping jaw 534 is located at a first position to clamp the relay 10 on the feed line 2, and the second clamping jaw 554 is located at a second position to clamp the relay 10 on the turntable 4. In the second state, the first clamping jaw 534 is located at a second position to place the relay 10 on the turntable 4, and the second clamping jaw 554 is located at a third position to place the relay 10 on the discharge line 3.

[0091] In the first state or the second state, the line connecting the second vertical axis 561 and the third vertical axis 562 is parallel to the line connecting the fourth vertical axis 563 and the fifth vertical axis 564, the line connecting the second vertical axis 561 and the fifth vertical axis 564 is parallel to the line connecting the fourth vertical axis 563 and the third vertical axis 562; the line connecting the fifth vertical axis 564 and the sixth vertical axis 565 is parallel to the line connecting the seventh vertical axis 566 and the eighth vertical axis, and the line connecting the fifth vertical axis 564 and the seventh vertical axis 566 is parallel to the line connecting the sixth vertical axis 565 and the eighth vertical axis. This ensures that the shape of the relay 10 on the first clamp 534 and the second clamp 554 does not change.

[0092] Specifically, when the first clamp 534 and the second clamp 554 are located on the fifth vertical axis 564 and the seventh vertical axis 566, respectively, the distance between the fifth vertical axis 564 and the second vertical axis 561 and the distance between the seventh vertical axis 566 and the second vertical axis 561 are equal; when the first clamp 534 is not located on the fifth vertical axis 564 and the second clamp 554 is not located on the seventh vertical axis 566, the line connecting the first clamp 534 to the fifth vertical axis 564 and the line connecting the second clamp 554 to the seventh vertical axis 566 are parallel. This ensures that both the first clamp 534 and the second clamp 554 can be located at the second position, so that both can work on the workstation on the turntable 4 corresponding to the second position. This ensures that both the first clamp 534 and the second clamp 554 can be located at the second position, so that both can work on the workstation on the turntable 4 corresponding to the second position, thereby improving efficiency.

[0093] Preferably, the line connecting the fifth vertical axis 564 and the second vertical axis 561 and the line connecting the seventh vertical axis 566 and the second vertical axis 561 are perpendicular, so that the layout of the first grasping mechanism 5 is more compact, the footprint is reduced, and the rotation of the first clamping jaw 534 and the second clamping jaw 554 can be completed by rotating ninety degrees, thereby improving work efficiency.

[0094] The positioning mechanism 6 is arranged at the positioning station. The positioning mechanism 6 is provided with two positioning plates suitable for moving toward each other, so that when the relay 10 is transferred to the positioning station, the two positioning plates move toward each other and both press against the relay 10 to beat the relay 10, so as to prevent the relay 10 from being slightly offset due to the vibration of the mechanism or the machine when the relay 10 is placed on the turntable 4 through the first grasping mechanism 5, so that the relay 10 has a correct shape and is convenient for subsequent clamping and detection. Since the two positioning plates are respectively used to beat the two sides of the relay 10, the movement direction of the positioning plates is perpendicular to the long side of the relay slot 10 compared to the wide side perpendicular to the relay slot 10. When beating, the contact area is larger and easier to position. Therefore, when the relay 10 enters the turntable 3, it also needs to enter with the long side.

[0095] The second gripping mechanism 71 and the bottom detection mechanism 72 are arranged at the bottom detection station. The second gripping mechanism 71 includes a fourth rotating member 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 clamps 712 mounted on the fourth rotating member 711. The output end of the second divider 13 is fixedly connected to the fourth rotating member 711. When the relay 10 on the turntable 4 is transferred to the bottom detection station, the three third clamps 712 are respectively suitable for clamping the relay 10 on the turntable 4, suspending the relay 10 for the bottom detection mechanism 72 to detect the bottom of the relay 10, and placing the detected relay 10 on the turntable 4. If the relay 10 is carried on a transparent glass plate for bottom detection, after a period of use, dust will adhere to the glass plate, which will scratch the next relay 10 and the presence of dust will also affect the detection result. This phenomenon can be prevented by suspending the relay 10, and there is no need to perform a pick-up and place action at the detection position, and the process is simple. Compared with a single gripper to pick up and inspect materials, this method uses three third grippers to move synchronously, so that the material transfer is not delayed during inspection, which speeds up work efficiency and improves productivity. Clamping the relay by sliding can effectively prevent the problem of scratching the bottom of the relay 10 caused by directly clamping and rotating the turntable 4.

[0096] 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 three third clamping jaws 712 are respectively located at the position corresponding to the turntable 4, the position corresponding to the bottom detection mechanism 72, and the position corresponding to the detection. After the third clamping jaw 712 corresponding to the turntable 4 grabs the relay 10, the fourth rotating member 711 rotates to make each third clamping jaw 712 move forward one position, so that the relay 10 after the detection is suitable for being placed on the turntable 4. In this embodiment, there are four third clamping jaws 712, so as to better control the timing, and the working principle is the same as when there are three. Of course, more third clamping jaws can also be set.

[0097] The first detection mechanism 8 includes a character detection unit 81 and an appearance detection unit 82 and is respectively arranged at the character shooting station and the appearance detection station. Both the character detection unit 81 and the appearance detection unit 82 can directly detect the relay 10 on the turntable 4; the character detection unit 81 is used to detect the surface characters of the relay 10, and the appearance detection unit 82 is suitable for detecting whether there are appearance defects on other surfaces of the relay 10 except the bottom, such as residual glue, scratches, etc. The first detection mechanism 8 detects other surfaces of the material, and cooperates with the bottom detection mechanism 72 to complete the overall detection of the material, which is completed on the same device with high efficiency.

[0098] In this embodiment, the detection method is to photograph the surface of the relay 10 through an industrial camera, and obtain the detection result after processing and analyzing the photographed image. When the detection result is a defective product, the defective category of the relay 10 is also obtained. This detection technology is already a prior art and will not be elaborated on here.

[0099] The second transfer mechanism 92 is arranged at the inferior product classification station, and cooperates with the first transfer mechanism 91 and the third transfer mechanism 93 to complete the classification of inferior products, so as to facilitate the subsequent re-inspection and background statistics of inferior product data. Specifically, the rack 1 is provided with a plurality of classification slots 18 arranged along the first direction and extending along a second square perpendicular to the first direction and corresponding to a plurality of inferior product categories of the relay 10;

[0100] refer to Fig.11 , Fig.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 suitable for sliding relative to the frame 1 so that the material level 911 stops at the material taking level 911 and a plurality of classification positions corresponding to the classification slots 18 .

[0101] The controller can pre-store several commands, each command corresponding to the inferior product category of the relay 10. When the controller learns the inferior product category of the relay 10 and the relay 10 is placed on the material level 911, it drives the first transfer mechanism 91 to slide and makes the material level 911 stop at the classification slot 18 corresponding to the inferior product category.

[0102] The second transfer mechanism 92 includes a fifth rotating member and a fourth clamping claw mounted on the fifth rotating member. The fifth rotating member rotates relative to the frame 1 around the tenth vertical axis and slides relative to the frame along the direction of the second vertical axis. Clamping the relay by sliding can effectively prevent the problem of scratching the bottom of the relay caused by directly clamping and rotating it from the turntable 4. The second transfer mechanism 92 is suitable for transferring the relay 10 to the material level 911 when the relay 10 is parked at the work station corresponding to the second transfer mechanism 92, the material level 911 is at the material fetching level 911, and the bottom detection mechanism 72 or the character detection unit 81 or the appearance detection unit 82 detects that the relay 10 is a defective product; the second transfer mechanism 92 will slide according to the defective category of the relay 10 to make the material level 911 park in front of the classification slot 18 corresponding to the defective category.

[0103] The third transfer mechanism 93 is suitable for transferring the relay 10 on the material level 911 to the classification slot 18 when the material level 911 stops at the inferior product classification position. The third transfer mechanism 93 is a cam. Specifically, the third transfer mechanism 93 includes a cam 931, a pusher 932 and a reset member 933; the cam 931 rotates relative to the frame 1 around a first horizontal axis parallel to the first direction; the pusher 932 abuts against the cam 931; it is suitable for forming a gap with the classification slot 18 to allow the material level 911 to be suitable for parking the relay 10, and it is also suitable for being driven by the cam 931 to move relative to the frame 1 along the second direction to push the relay 10 on the material level 911 to the classification slot 18 when the material level 911 stops at the inferior product classification position; the reset member 933 acts between the frame 1 and the pusher 932 along the second direction so that the pusher 932 always abuts against the cam 931, thereby realizing the process of pushing the material to the classification slot, which is simple and efficient.

[0104] The input end of the fourth divider 15 is fixedly connected to the cam 931 to drive the cam 931 to rotate, and the output end is fixedly connected to the fifth rotating member to control the rotation and sliding of the fifth rotating member. Whether the fourth clamp clamps the relay 10 is driven according to whether the relay 10 is a defective product.

[0105] Since the input ends of the first divider 12, the third divider 14, and the fourth divider 15 are all fixedly connected to the output end of the driver 11, and the output end of the third divider is also connected to the input end of the second divider, when the driver 11 outputs, each divider can move at the same time, and each divider is strictly timed according to the time required for the action to prevent interference. In addition, since it is driven by only one driver 11, the cost is reduced and the control difficulty is reduced.

[0106] The description of the above specification and embodiments is used to explain the protection scope of the present invention, but does not constitute a limitation on the protection scope of the present invention. Through the enlightenment of the present invention or the above embodiments, ordinary technicians in this field can obtain modifications, equivalent substitutions or other improvements to the embodiments of the present invention or part of the technical features thereof through logical analysis, reasoning or limited experiments, which should be included in the protection scope of the present invention.

Claims

1. A transfer device for transferring materials, characterized in that: include frame, A feeding line, which is installed on the frame; A discharging line, which is installed on the frame; A turntable, which rotates relative to the frame about a first vertical axis to transfer the material thereon to each workstation; and A first grasping mechanism, comprising a first rotating member, a first connecting rod, a second rotating member, a second connecting rod, and a third rotating member; the first rotating member rotates relative to the frame around a second vertical axis and slides relative to the frame along the direction of the second vertical axis; The first connecting rod is universally connected to the frame and is suitable for rotating relative to the frame around a third vertical axis; The second rotating member is universally connected to the first connecting rod and is suitable for rotating relative to the first connecting rod around a fourth vertical axis. The second rotating member is also rotatably connected to the first rotating member around a fifth vertical axis. The second rotating member is provided with a first clamping claw. The second connecting rod is rotatably connected to the second rotating member around a sixth vertical axis. The third rotating member is rotatably connected to the first rotating member around a seventh vertical axis and rotatably connected to the second connecting rod around an eighth vertical axis. The third rotating member is provided with a second clamping claw. The first clamp and the second clamp are adapted to move between a first state and a second state. In the first state, the first clamp is located at a first position to clamp the material on the feed line, and the second clamp is located at a second position to clamp the material on the turntable. In the second state, the first clamp is located at a second position to place the material on the turntable, and the second clamp is located at a third position to place the material on the discharge line. In the first state or the second state, the line connecting the second vertical axis and the third vertical axis is parallel to the line connecting the fourth vertical axis and the fifth vertical axis, and the line connecting the second vertical axis and the fifth vertical axis is parallel to the line connecting the fourth vertical axis and the third vertical axis; A line connecting the fifth vertical axis and the sixth vertical axis is parallel to a line connecting the seventh vertical axis and the eighth vertical axis, and a line connecting the fifth vertical axis and the seventh vertical axis is parallel to a line connecting the sixth vertical axis and the eighth vertical axis.

2. A transfer device according to claim 1, characterized in that: The first clamping jaw and the second clamping jaw are respectively located on the fifth vertical axis and the seventh vertical axis, and the distance between the fifth vertical axis and the second vertical axis is equal to the distance between the seventh vertical axis and the second vertical axis.

3. A transfer device according to claim 1, characterized in that: A line connecting the first clamping jaw and the fifth vertical axis is parallel to a line connecting the second clamping jaw and the seventh vertical axis.

4. A transfer device according to claim 1, characterized in that: It also includes a positioning mechanism; the positioning mechanism is provided with two positioning plates suitable for moving towards each other, and the two positioning plates are suitable for pressing against the material when the material on the turntable is transferred to the workstation corresponding to the positioning mechanism to ensure the correct shape of the material.

5. A transfer device according to claim 4, characterized in that: It also includes a second gripping mechanism and a bottom detection mechanism which are located behind the position on the turntable corresponding to the position on the turntable of the positioning mechanism corresponding to the position on the turntable corresponding to the position on the turntable; the second gripping mechanism includes a fourth rotating member which rotates around a ninth vertical axis relative to the frame and slides relative to the frame along the direction of the ninth vertical axis, and at least three third clamps mounted on the fourth rotating member; when the material on the turntable is transferred to the position corresponding to the second gripping mechanism, the three third clamps are respectively suitable for clamping the material on the turntable, clamping the material in mid-air for the bottom detection mechanism to detect the bottom of the material, and placing the detected material on the turntable.

6. A transfer device according to claim 5, characterized in that: It also includes a first detection mechanism corresponding to the workstation on the turntable and located behind the workstation on the turntable corresponding to the positioning mechanism. The first detection mechanism is arranged around the turntable and is used to detect other surfaces of the material on the turntable except the bottom.

7. A transfer device as claimed in claim 6, characterized in that: It also includes a first transfer mechanism, a second transfer mechanism and a third transfer mechanism; The frame is provided with a plurality of classification slots arranged along the first direction and corresponding to a plurality of inferior product categories of the material respectively; The first transfer mechanism is provided with a material position for parking materials, which is suitable for sliding relative to the frame so that the material position is parked at a material taking position and a plurality of classification positions corresponding to the classification slots; The second transfer mechanism corresponds to a station on the turntable and is located behind the stations on the turntable corresponding to the bottom detection mechanism and the first detection mechanism, and is adapted to transfer the material to the material position when the material stops at the station corresponding to the second transfer mechanism, the material is located at the material taking position, and the bottom detection mechanism or the first detection mechanism detects the material as a defective product; The third transfer mechanism is suitable for transferring the material on the material level to the classification trough when the material level stops at the inferior product classification position.

8. A transfer device as claimed in claim 7, characterized in that: Each of the classification grooves extends along a second direction perpendicular to the first direction; The third transfer mechanism includes a cam, a pusher and a reset member; The cam rotates relative to the frame around a first transverse axis parallel to the first direction; The pusher is in contact with the cam; it is suitable for forming a gap with the classification slot to allow the material level to be suitable for parking the material, and it is also suitable for being driven by the cam to move relative to the frame in the second direction to push the material on the material level to the classification slot when the material level is parked at the inferior product classification position; The reset member acts between the frame and the push member along the second direction so that the push member always abuts against the cam; The second transfer mechanism rotates relative to the frame around a tenth vertical axis and slides relative to the frame along the direction of the tenth vertical axis.

9. A transfer device according to claim 8, characterized in that: The frame is provided with a driving member, a first divider, a second divider, a third divider, and a fourth divider. The output end of the driving member is connected to the input ends of the first divider, the third divider, and the fourth divider. The output end of the first divider is fixedly connected to the first rotating member to control the rotation and sliding of the first rotating member. The output end of the second divider is fixedly connected to the fourth rotating member for controlling the rotation and sliding of the fourth rotating member; the output end of the third divider is fixedly connected to the turntable for controlling the rotation of the turntable, and the output end of the third divider is also connected to the input end of the second divider; the input end of the fourth divider is fixedly connected to the cam to drive the cam to rotate, and its output end is fixedly connected to the second transfer mechanism for controlling the rotation and sliding of the second transfer machine.

10. A transfer device according to claim 1, characterized in that: The feeding line is an assembly line, and the frame is provided with a limiting hole for positioning materials and extending along the extension direction of the feeding line. The feeding line is installed on the frame and is located at the bottom of the limiting hole; the frame is also provided with a limiting part, and the limiting part is located above the feeding line and between the beginning and the end of the feeding line. The limiting part is provided with a limiting surface and a stop surface, and the limiting surface is perpendicular to the extension direction of the feeding line, and the stop surface is located in front of the limiting surface along the extension direction of the feeding line and faces the feeding line. The stop surface is vertically connected to the limiting surface, and the stop surface is used to prevent any material from rotating when it hits the limiting surface in a form that is not suitable for detection.

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