Precise device transfer production line

Abstract

The application provides a precision device transfer production line, and belongs to mechanical equipment. The application comprises a rack, a conveying line for conveying a workpiece to be transferred, a transmission mechanism comprising a first driving member and a moving assembly, the first driving member driving the moving assembly to move, a first mechanical hand connected to the moving assembly and located above the conveying line, comprising a driving assembly and a clamping assembly, and a righting mechanism righting the workpiece to be transferred through a second mechanical hand; the moving assembly drives the first mechanical hand to reciprocate between the conveying line and a transfer trolley, transfers the workpiece to be transferred on the conveying line to the transfer trolley, and transfers the workpiece to be transferred to a next station through the transfer trolley. The application does not need manual participation in the whole process, improves the automation degree of the transfer production line, avoids damage of the workpiece to be transferred in the transfer process, and improves the yield of the workpiece to be transferred.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, in particular to a precision device transfer production line. BACKGROUND

[0002] With the rapid development of domestic instrument industry in recent ten years, a large number of new auxiliary equipment and tools for instrument production have been produced. Among them, the handling manipulator widely used in production line handling, assembly and other aspects is particularly prominent, and has become a common and essential device on the instrument industry production line. However, the production line relying on traditional manipulator is difficult to cope with the special structure of pipeline flowmeter, weak lining surface and other characteristics, resulting in the decline of pipeline flowmeter yield, unstable clamping and other problems.

[0003] The Chinese invention patent with application number CN201711492097.2 discloses an instrument automatic production line, which is provided with a transfer device around the traditional industrial robot and within its working range, realizes the pressing of the needle, the front frame pressing of the full-automatic instrument, and can detect and process the instrument. However, the traditional industrial robot used in the production line uses a clamping type grabbing method which is easy to scratch the lining of the pipeline flowmeter. Therefore, developing a production line for pipeline flowmeter transfer has important significance for improving the automation process of China's instrument industry. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a precision device transfer production line, which is used to solve the problem of low yield of pipeline flowmeter during transfer in the prior art.

[0005] In order to achieve the above object and other related objects, the present application provides a precision device transfer production line, which is specifically configured as follows: comprising a rack, a conveying line, a first manipulator, a righting mechanism and a transfer trolley, the conveying line is arranged in the rack along a first direction and is used for conveying a workpiece to be transferred; a transmission mechanism is connected to the rack and comprises a first driving member and a moving assembly, the first driving member drives the moving assembly to move along a second direction, the second direction is perpendicular to the first direction; the first manipulator is connected to the moving assembly and is located above the conveying line and comprises a driving assembly and a clamping assembly, the driving assembly comprises a second driving member, the clamping assembly comprises two oppositely arranged clamping jaws which are connected to the second driving member at the same time, an insertion part is arranged on each of the two clamping jaws, when the second driving member drives the two clamping jaws to approach or move away from each other, the insertion part inserts into or exits from the workpiece to be transferred, so as to clamp or release the workpiece to be transferred; the righting mechanism is arranged on one side of the conveying line and comprises a second manipulator, the workpiece to be transferred located on the conveying line is righted by the second manipulator, so that the first manipulator can grasp the workpiece to be transferred; the transfer trolley is arranged on one side of the conveying line, the moving assembly drives the first manipulator to reciprocate between the conveying line and the transfer trolley, so as to transfer the workpiece to be transferred on the conveying line to the moving trolley, and then transfer the workpiece to be transferred to the next station through the moving trolley.

[0006] Optionally, a mounting part connected with the insertion part and a fixing member movably connected to the mounting part are further arranged on the clamping jaw, when the insertion part inserts into the workpiece to be transferred, the fixing member moves and is arranged on the outer wall of the workpiece to be transferred, so as to fix the workpiece to be transferred on the insertion part.

[0007] Optionally, the first manipulator further comprises a connecting plate connected to the moving assembly, the driving assembly is connected to the connecting plate, the driving assembly further comprises a transmission member connected to the driving end of the second driving member and two execution members connected to the transmission member at the same time, the second driving member drives the two execution members to approach or move away from each other through the transmission member, and each execution member is connected to one clamping jaw.

[0008] Optionally, a first guide member is arranged on the end of the execution member away from the clamping jaw, and a sliding part is arranged on the first guide member, a guide groove is arranged on one side of the connecting plate facing the clamping jaw, and the sliding part is slidingly arranged in the guide groove, so as to guide the movement of the execution member.

[0009] Optionally, the first mechanical arm further comprises at least one set of guide assemblies connected to the connecting plate, each set of the guide assemblies comprising at least two adapters connected to the connecting plate and a second guide connected between the two adapters, and the second guide is slidably connected with the clamping jaw.

[0010] Optionally, the moving mechanism further comprises a sensor set arranged at both ends of the moving direction of the moving assembly, the sensor set comprising a transmitting end and a receiving end, and the moving assembly is provided with a through detection hole, the light emitted by the transmitting end can pass through the detection hole, and the receiving end receives the light to detect whether the movement of the transmission assembly deviates from the preset track.

[0011] Optionally, the transmission mechanism further comprises a transmission assembly connected with the driving end of the first driving member, the moving assembly is arranged on the transmission assembly, the transmission assembly drives the moving assembly to move, and the moving assembly comprises a third driving member, the driving end of the third driving member is connected with the first mechanical arm to drive the first mechanical arm to reciprocate.

[0012] Optionally, the moving trolley comprises a base, a tray arranged on the base, and a fourth driving member and a fifth driving member connected with the tray, the fourth driving member drives the tray to move left and right, and the fifth driving member drives the tray to move forward and backward.

[0013] Optionally, the moving trolley further comprises a sliding assembly connected with the tray, the sliding assembly is located between the base and the tray, the sliding assembly comprises a rolling member, an adapter connected with the tray and a first elastic member, the adapter is provided with a cavity with an opening, the rolling member is located in the cavity and extends out of the opening, and two ends of the first elastic member are respectively abutted on the rolling member and the inner wall of the cavity away from the rolling member.

[0014] Optionally, the second mechanical arm comprises a mechanical arm and a righting assembly connected to the mechanical arm, the righting assembly comprises a sixth driving member and a gripper connected to the driving end of the sixth driving member, the sixth driving member drives the gripper to open or close, the righting mechanism further comprises a base and a seventh driving member, the second mechanical arm is arranged on the base, and the seventh driving member can drive the base to rotate.

[0015] As described above, the precision device transfer production line has the following beneficial effects:

[0016] The workpiece to be transferred is conveyed to a preset station through a conveying line, the second mechanical arm of the righting mechanism rightens the workpiece to be transferred, the moving assembly drives the first mechanical arm to reciprocate between the conveying line and the moving trolley, when the first mechanical arm moves to the conveying line, the second driving member drives the insertion part to insert into the workpiece to be transferred, so as to clamp the workpiece to be transferred, when the first mechanical arm moves to the moving trolley, the second driving member drives the insertion part to withdraw from the workpiece to be transferred, so as to release the workpiece to be transferred and place it on the moving trolley, so that the moving trolley transfers the workpiece to be transferred to the next station, the transfer of the workpiece to be transferred is completed, no manual intervention is needed in the whole process, the automation degree of the transfer production line is improved, and damage of the workpiece to be transferred in the transfer process is avoided, and the yield of the workpiece to be transferred is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 A structure schematic diagram of a precision device transfer production line according to an embodiment of the present application is shown;

[0018] Figure 2 A structure schematic diagram of a righting mechanism according to an embodiment of the present application is shown;

[0019] Figure 3 A structure schematic diagram of a part of the righting mechanism is shown; Figure 1

[0020] Figure 4 A structure schematic diagram of a part of the righting mechanism is shown; Figure 3

[0021] Figure 5 A structure schematic diagram of a first mechanical arm according to an embodiment of the present application is shown;

[0022] Figure 6 A structure schematic diagram of another view of the first mechanical arm is shown; Figure 5

[0023] Figure 7 A structure schematic diagram of a clamping assembly is shown; Figure 5

[0024] Figure 8 A structure schematic diagram of a moving trolley according to an embodiment of the present application is shown;

[0025] Figure 9 A structure schematic diagram of a part of the moving trolley is shown; Figure 8

[0026] Figure 10 A structure schematic diagram of a sliding assembly is shown. Figure 8 BRIEF DESCRIPTION OF DRAWINGS

[0027]

[0028] ​​​​​​1-frame; 11-monitoring element; 12-camera; 13-slide;

[0029] 2-conveying line;

[0030] 3-righting mechanism; 31-second mechanical arm; 311-mechanical arm; 312-righting assembly; 312A-sixth driving member; 312B-gripper; 32-base; 33-seventh driving member;

[0031] 4-transmission mechanism; 41-first driving member; 42-moving assembly; 421-third driving member; 422-supporting member; 422A-detection hole; 422B-first roller; 423-fastener; 43-sensor group; 431-transmitting end; 432-receiving end; 44-transmission assembly; 441-driving shaft; 442-gear; 443-belt; 444-driven shaft;

[0032] 5-first mechanical arm; 51-driving assembly; 511-second driving member; 512-transmission member; 513-executing member; 514-first guide member; 514A-sliding part; 52-clamping assembly; 521-clamping jaw; 521A-clearance slot; 522-inserting part; 523-mounting part; 524-fixing member; 525-eighth driving member; 526-third elastic member; 527-baffle; 53-connecting plate; 531-guide slot; 54-guide assembly; 541-adapting member; 542-second guide member;

[0033] 6-transfer trolley; 61-base; 62-tray; 63-fourth driving member; 631-limiting rod; 64-fifth driving member; 65-sliding assembly; 651-rolling member; 652-adapting member; 653-first elastic member; 66-tray support; 661-supporting part; 67-trolley body; 671-guide rail; 68-second roller; 69-rotating shaft; 70-detection element. DETAILED DESCRIPTION

[0034] The present application is herein described, by way of example only, with the assistance of specific details to facilitate a thorough understanding of the application. The application is not limited to these details, but can be practiced with modifications and alterations, all without departing from the spirit and scope of the application. The description of the application is intended to be illustrative, and not to limit the scope of the application. Based upon the current description, those skilled in the art can employ the-concepts with further modifications without departing from the scope of the application.

[0035] It should be noted that the drawings provided in the embodiments only illustrate the basic concepts of the present application in a schematic manner, and only the components related to the present application are shown in the drawings, rather than being drawn according to the number, shape and size of the components in actual implementation. The shape, number and proportion of each component in actual implementation can be arbitrarily changed, and the component layout form can also be more complex. The structure, proportion, size and the like shown in the drawings of the present specification are only used to cooperate with the content disclosed in the specification, so as to be understood and read by those skilled in the art, and do not define the limiting conditions for the implementation of the present application, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" in the present specification are only for the convenience of clear description, and not for limiting the scope of the present application. The change or adjustment of the relative relationship, without substantially changing the technical content, is also considered as the implementation scope of the present application.

[0036] Please refer to Figure 1 The present application provides a precision device transfer production line, comprising a rack 1, a conveying line 2 provided in the rack 1 along a first direction, a transmission mechanism 4 installed on the rack 1, a first mechanical hand 5, a righting mechanism 3 located on one side of the conveying line 2 and a transfer trolley 6. The workpiece to be transferred is conveyed to a preset station through the conveying line 2. When the workpiece to be transferred moves to the preset station, the second mechanical hand 31 of the righting mechanism 3 rightens the workpiece to be transferred. At the same time, the first driving member 41 drives the moving assembly 42 to move towards the conveying line 2, so as to drive the first mechanical hand 5 to move to the preset station. When the first mechanical hand 5 moves to the preset station, the second driving member 511 drives the two clamping jaws 521 to relatively approach, so that the insertion parts 522 respectively arranged on the two clamping jaws 521 are inserted into the workpiece to be transferred, so as to clamp the workpiece to be transferred. Subsequently, the first driving member 41 drives the moving assembly 42 to move towards the moving trolley, so as to drive the first mechanical hand 5 clamping the workpiece to be transferred to move to the moving trolley. When the first mechanical hand 5 moves to the moving trolley, the second driving member 511 drives the two clamping jaws 521 to relatively move away, so that the insertion parts 522 respectively arranged on the two clamping jaws 521 are withdrawn from the workpiece to be transferred, and the workpiece to be transferred is released, so as to place the workpiece to be transferred on the moving trolley. The moving trolley on which the workpiece to be transferred is placed moves, so as to transfer the workpiece to be transferred to the next station.

[0037] It should be noted that the righting mechanism 3 and the transfer trolley 6 can be located on the same side of the conveying line 2, or can be located on opposite sides of the conveying line 2, and can be set according to actual needs. The direction in which the first driving member 41 drives the moving assembly 42 to move is a second direction, and the second direction is perpendicular to the first direction.

[0038] Exemplarily, the first driving member 41 and the second driving member 511 can be servo motors, step motors, or the like.

[0039] It should be noted that the workpiece to be transported is a pipe flow meter, and the pipe flow meter is provided with a through hole in the middle to allow the insertion part 522 to be inserted into the pipe flow meter to clamp the pipe flow meter. The insertion part 522 is arranged at the end of the clamping jaw 521 away from the driving assembly 51, i.e., the end away from the connecting plate 53.

[0040] Specifically, the upper surface of the insertion part 522 can be arc-shaped to increase the contact area between the insertion part 522 and the workpiece to be transported, thereby reducing the force acting on the contact surface of the workpiece to be transported, avoiding damage to the contact surface of the workpiece to be transported, and improving the yield of the workpiece to be transported.

[0041] In some embodiments, the rack 1 is provided with a plurality of monitoring elements 11 located on both sides in the width direction of the conveying line 2 and on both sides perpendicular to the moving direction of the moving trolley, which can be used to monitor whether the pipe flow meter reaches the preset station on the conveying line 2, whether the first mechanical hand 5 moves to the preset station, and whether the moving trolley stops during movement. When the monitoring element 11 for monitoring whether the pipe flow meter reaches the preset station on the conveying line 2 monitors the pipe flow meter, the conveying line 2 stops conveying, so that the pipe flow meter stays at the preset station. When the monitoring element 11 for monitoring the first mechanical hand 5 monitors the first mechanical hand 5, the transmission mechanism 4 stops driving the first mechanical hand 5 to continue moving, so that the first mechanical hand 5 stays at the preset station.

[0042] Exemplarily, the monitoring element 11 can be a photoelectric sensor or the like.

[0043] Figure 2 is a schematic structural view of a righting mechanism according to some embodiments of the present application. As shown in Figure 2 It can be shown that, in some embodiments, the second mechanical hand 31 includes a mechanical arm 311 and a righting assembly 312 mounted on the mechanical arm 311, and the righting assembly 312 includes a sixth driving member 312A and a gripper 312B connected to the driving end of the sixth driving member 312A. The gripper 312B is a structure that can be opened at one end, and the sixth driving member 312A drives the gripper 312B to open or close.

[0044] When the conveying line 2 conveys the workpiece to be transported to the preset station, the mechanical arm 311 starts to rotate and / or move, so that the gripper 312B can grab the workpiece to be transported, i.e., grab the journal on the outer shell of the pipe flow meter. Then the mechanical arm 311 starts to rotate and / or move again, so that the gripper 312B can right the pipe flow meter, so that the first mechanical hand 5 can grab the pipe flow meter.

[0045] It should be noted that the rack 1 is provided with a camera 12 located above the conveying line 2, which is used to detect the position and placement form of the pipe flow meter on the conveying line 2. Thus, the mechanical arm 311 and the gripper 312B can identify the position and current placement form of the pipe flow meter, so that the gripper 312B can be prepared to grasp the shaft neck on the shell of the pipe flow meter and complete the righting of the pipe flow meter.

[0046] Exemplarily, the camera 12 can be provided with a corresponding number according to actual needs.

[0047] In some embodiments, the righting mechanism 3 further comprises a base 32 and a seventh driving member 33, the second mechanical arm 31 is arranged on the base 32, and the seventh driving member 33 can drive the base 32 to rotate, thereby increasing the moving angle of the second mechanical arm 31 and facilitating the righting of the pipe flow meter by the second mechanical arm 31.

[0048] Figure 3 is a schematic structural view of a part of a precision device transfer production line according to some embodiments of the present application, Figure 4 is a schematic structural view of a part of a precision device transfer production line according to some embodiments of the present application. As Figure 3 、 Figure 4 It can be shown that, in some embodiments, in order to detect whether the movement of the moving assembly 42 deviates from the preset track, i.e., whether the movement of the first mechanical arm 5 deviates from the preset track, the transmission mechanism 4 further comprises a sensor group 43 arranged at both ends of the moving direction of the moving assembly 42, the sensor group 43 comprising a transmitting end 431 and a receiving end 432. The moving assembly 42 is provided with a through detection hole 422A, and the light emitted by the transmitting end 431 can pass through the detection hole 422A, so that the receiving end 432 can receive the light. If the receiving end 432 can receive the light emitted by the transmitting end 431, it indicates that the moving assembly 42 moves along the preset track; if the receiving end 432 does not receive the light emitted by the transmitting end 431, it indicates that the moving assembly 42 moves away from the preset track and needs to be corrected to avoid collision between the pipe flow meter and other structural members during the transfer process.

[0049] It should be noted that the sensor group 43 can be provided with 1 group, 2 groups, 3 groups, etc., according to actual needs. And each time a sensor group 43 is set, the moving assembly 42 is provided with a detection hole 422A corresponding to the sensor group 43.

[0050] Exemplarily, the sensors of the sensor group 43 can be set as a pair of photoelectric sensors, etc.

[0051] In some embodiments, the moving assembly 42 comprises a third driving member 421 and a support member 422 mounted on the third driving member 421, and the detection hole 422A is arranged on the support member 422.

[0052] It should be noted that the driving end of the third driving member 421 is connected with a connecting plate 53, and the third driving member 421 drives the connecting plate 53 to move up and down, thereby increasing the moving position of the first robot 5 and improving the versatility of the first robot 5.

[0053] For example, the third driving member 421 can be a motor, a cylinder or the like.

[0054] In some embodiments, the transmission mechanism 4 further comprises a transmission assembly 44 connected with the driving end of the first driving member 41, and the transmission assembly 44 comprises a driving shaft 441, a gear 442, a belt 443 and a driven shaft 444. The driving shaft 441 is mounted on the driving end of the first driving member 41, and the driving shaft 441 and the driven shaft 444 are both provided with the gear 442, and the two gears 442 are connected by the belt 443. The first driving member 41 drives the gear 442 to rotate, and the rotation of the gear 442 drives the belt 443 to move. Since the moving assembly 42 is mounted on the belt 443, the movement of the belt 443 drives the moving assembly 42 to move, thereby transferring the workpiece to be transferred.

[0055] It should be noted that the moving assembly 42 further comprises a fastener 423 mounted on the third driving member 421, and the third driving member 421 is connected with the belt 443 through the fastener 423.

[0056] In some embodiments, the rack 1 is provided with a slide 13, and the first roller 422B is mounted on the support member 422. When the belt 443 drives the moving assembly 42 to move, the first roller 422B moves on the slide 13, thereby reducing the friction therebetween, so that the driving force of the first driving member 41 can be reduced, which is beneficial to reduce the cost. At the same time, the cooperation between the slide 13 and the first roller 422B also supports the third driving member 421.

[0057] Figure 5 FIG. 1 is a schematic structural view of a first robot according to some embodiments of the present application, Figure 6 FIG. 2 is a schematic structural view of the first robot from another perspective according to some embodiments of the present application, Figure 7 FIG. 3 is a schematic structural view of a clamping assembly according to some embodiments of the present application. As Figure 5 、 Figure 6 and Figure 7As shown, in some embodiments, the clamping jaw 521 is further provided with a mounting portion 523 connected with the insertion portion 522, the mounting portion 523 is connected with a fixing member 524, and the fixing member 524 is movable back and forth relative to the mounting portion 523. When the insertion portion 522 is inserted into the workpiece to be transported, the fixing member 524 is pressed against the outer wall of the workpiece to be transported to fix the workpiece to be transported on the insertion portion 522. The workpiece to be transported is prevented from shaking during the transportation, and friction occurs between the workpiece to be transported and the insertion portion 522, thereby wearing the workpiece to be transported.

[0058] It should be noted that the mounting portion 523 and the insertion portion 522 are arranged at the same end of the clamping jaw 521, i.e., the end away from the driving assembly 51.

[0059] Specifically, the mounting portion 523 is provided with a mounting cavity, and the eighth driving member 525 is mounted on the mounting portion 523. The fixing member 524 extends into the mounting cavity and is connected with the driving end of the eighth driving member 525. The eighth driving member 525 drives the fixing member 524 to move back and forth. When the insertion portion 522 is inserted into the workpiece to be transported, the eighth driving member 525 drives the fixing member 524 to be pressed against the outer wall of the workpiece to be transported, so as to fix the workpiece to be transported on the insertion portion 522. When the workpiece to be transported is transported to the mobile trolley, the eighth driving member 525 drives the fixing member 524 to move away from the workpiece to be transported, so that the insertion portion 522 can be separated from the workpiece to be transported without friction therebetween, thereby improving the yield rate of the workpiece to be transported.

[0060] Illustratively, the eighth driving member 525 can be a servo motor, a pneumatic cylinder, or the like.

[0061] In other embodiments, the mounting cavity of the mounting portion 523 is further provided with a second elastic member, the second elastic member is located above the fixing member 524, and the other side of the second elastic member away from the fixing member 524 abuts against the inner wall of the mounting cavity. The fixing member 524 abuts against the inner wall of the mounting cavity under the restoring force of the second elastic member, and the fixing member 524 is provided with a guide portion. When the insertion portion 522 is inserted into the workpiece to be transported, the workpiece to be transported enters between the insertion portion 522 and the fixing member 524 along the guide portion of the fixing member 524, so that the fixing member 524 moves away from the insertion portion 522. At this time, the second elastic member is compressed during the upward movement of the fixing member 524, so that the fixing member 524 abuts tightly against the outer wall of the workpiece to be transported, thereby fixing the workpiece to be transported on the insertion portion 522.

[0062] Illustratively, the second elastic member can be a spring, a plastic member with elasticity, or the like.

[0063] Illustratively, the guide portion can be chamfered or the like.

[0064] In some embodiments, the insertion portion 522 and the fixing member 524 are provided with anti-skid pads on the contact surface with the workpiece to be transported, so as to prevent slipping and protect the surface of the workpiece to be transported.

[0065] For example, the material of the anti-skid pad can be rubber.

[0066] In some embodiments, in order to further avoid the shaking of the workpiece to be transported clamped by the clamping jaw 521, the mounting portion 523 is provided with a buffer assembly on the side facing the workpiece to be transported, and the buffer assembly includes a third elastic member 526 connected to the mounting portion 523 and a baffle 527 connected to the third elastic member 526. During the insertion of the insertion portion 522 into the workpiece to be transported, the side wall of the workpiece to be transported gradually contacts the baffle 527, and when the insertion distance of the insertion portion 522 reaches a preset value, the side wall of the workpiece to be transported is in full contact with the baffle 527, and the third elastic member 526 is subjected to a certain extrusion force. Under the restoring force of the third elastic member 526, the buffer assembly exerts a certain force on the workpiece to be transported during the transportation of the workpiece to be transported, so as to avoid the shaking of the workpiece to be transported.

[0067] In some embodiments, the driving end of the second driving member 511 is provided with a transmission member 512, and the transmission member 512 is connected with two execution members 513 at the same time. Each execution member 513 is provided with a clamping jaw 521. The second driving member 511 drives the two execution members 513 to approach or move away from each other through the transmission member 512, and the two execution members 513 drive the two clamping jaws 521 to approach or move away from each other, so as to clamp or release the workpiece to be transported. At the same time, the second driving member 511 drives the two clamping jaws 521 at the same time, so that the moving distance of the two clamping jaws 521 is the same, and the situation that one of the clamping jaws 521 extrudes the workpiece to be transported and causes damage to the workpiece to be transported does not occur.

[0068] It should be noted that the connecting plate 53 is provided with a mounting hole, and the driving end of the second driving member 511 passes through the mounting hole of the connecting plate 53 and is connected with the transmission member 512 located on the side of the connecting plate 53 away from the second driving member 511.

[0069] For example, the transmission member 512 can be provided as a gear 442, and the execution member 513 can be provided as a rack, so as to improve the stability of the clamping jaw 521 in clamping and transporting the workpiece to be transported.

[0070] For example, the second driving member 511 can be provided as a servo motor, a stepping motor, etc.

[0071] In some embodiments, the clamping jaw 521 is provided with a clearance groove 521A. When the length of the workpiece to be transferred is small, the clearance groove 521A is provided so that the execution member 513 can pass through the clamping jaw 521, increasing the movement space of the execution member 513, so that the insertion part 522 can be inserted into the workpiece to be transferred, facilitating the first robot 5 to adapt to more specifications of the workpiece to be transferred, and increasing the versatility of the first robot 5.

[0072] In some embodiments, the execution member 513 is provided with a first guide member 514 at one end away from the clamping jaw 521, and the first guide member 514 is provided with a sliding part 514A. The connecting plate 53 is provided with a guide groove 531 on the side away from the second driving member 511, that is, the side of the connecting plate 53 facing the clamping jaw 521, and the sliding part 514A is located in the guide groove 531 and can move along the guide direction of the guide groove 531 to guide the movement of the execution member 513. Moreover, the first guide member 514 can support the execution member 513 so that the two ends of the execution member 513 are on a straight line to ensure the movement of the execution member 513.

[0073] Specifically, the side of the sliding part 514A in contact with the guide groove 531 is provided with a circular arc structure to facilitate the movement of the sliding part 514A along the guide direction of the guide groove 531.

[0074] For example, the execution member 513 and the first guide member 514 can be integrally formed or connected as a whole by a detachable connection mode.

[0075] In some embodiments, the connecting plate 53 is further provided with at least one set of guide assemblies 54, which can be provided with 1 set, 2 sets, 3 sets, etc. Each set of guide assemblies 54 is in sliding connection with the clamping jaw 521 to guide the movement of the clamping jaw 521, so that the clamping jaw 521 moves along the guide direction of the guide assembly 54, ensuring that the two clamping jaws 521 arranged oppositely move on the same straight line, avoiding damage to the workpiece to be transferred by the clamping jaw 521.

[0076] Specifically, the guide assembly 54 includes at least two adapter members 541 installed on the connecting plate 53 and a second guide member 542 installed between the two adapter members 541, and the clamping jaw 521 is slidingly installed on the second guide member 542 and moves along the guide direction of the second guide member 542.

[0077] It should be noted that the connection between the clamping jaw 521 and the second guide member 542 is the end of the clamping jaw 521 away from the insertion part 522.

[0078] Exemplarily, the second guide 542 can be provided as a guide rail, a cylindrical rod, or the like. When the second guide 542 is provided as a cylindrical rod, the adapter 541 and the clamping jaw 521 are both sleeved on the cylindrical rod. The adapter 541 is fixedly connected with the cylindrical rod, and the clamping jaw 521 is slidingly connected with the cylindrical rod. The clamping jaw 521 can further be provided with a bearing, and the clamping jaw 521 is slidingly connected with the cylindrical rod through the bearing.

[0079] It should be noted that the guide direction of the guide groove 531 is consistent with that of the second guide 542.

[0080] Figure 8 is a schematic structural view of a mobile trolley according to some embodiments of the present application, Figure 9 is a sectional schematic structural view of a mobile trolley according to some embodiments of the present application. As shown in Figure 8 、 Figure 9 shown, in some embodiments, the mobile trolley comprises a base 61, a tray 62, a fourth driving member 63 and a fifth driving member 64. The tray 62 is located on the upper surface of the base 61, and the fourth driving member 63 and the fifth driving member 64 are connected with the tray 62. The tray 62 can move left and right, front and back, front and back, and left and right on the base 61 under the driving of the fourth driving member 63 and the fifth driving member 64, so that the center of gravity of the tray 62 is consistent with that of the workpiece to be transported, avoiding the workpiece to be transported from falling off the tray 62 during the transportation process and being damaged, thereby reducing the production cost.

[0081] Exemplarily, the fixed end of the fourth driving member 63 and the fifth driving member 64 is installed on the tray 62, and the driving end is movably connected with the base 61 or other structural members. Alternatively, the fixed end of the fourth driving member 63 and the fifth driving member 64 is movably connected with the base 61 or other structural members, and the driving end is connected with the tray 62.

[0082] Exemplarily, the fourth driving member 63 and the fifth driving member 64 can be provided as a linear motor, a pneumatic cylinder, or the like.

[0083] In some embodiments, a sliding assembly 65 is installed below the tray 62, and the sliding assembly 65 is located between the base 61 and the tray 62. The sliding assembly 65 comprises a rolling member 651, which rolls on the base 61 when the tray 62 moves under the driving of the fourth driving member 63 and / or the fifth driving member 64, so as to reduce the driving force of the fourth driving member 63 and / or the fifth driving member 64 for driving the tray 62 to move, thereby facilitating cost reduction.

[0084] Exemplarily, the rolling member 651 can be provided as a structural member with a ball, or the like.

[0085] Figure 10is a schematic structural view of a sliding assembly according to some embodiments of the present application. As shown in Figure 10 Specifically, the sliding assembly 65 further comprises an adapter 541 and a first elastic member 653, which are installed below the tray 62. The adapter 541 is provided with a cavity having an opening, the rolling member 651 is located in the cavity and extends from the opening, and the two ends of the first elastic member 653 abut against the rolling member 651 and the inner wall of the cavity away from the rolling member 651, respectively. Under the action of the restoring force of the first elastic member 653, the sliding assembly 65 can support the tray 62.

[0086] For example, the first elastic member 653 can be a spring or a plastic member with elasticity, etc.

[0087] In some embodiments, a tray support 66 is further installed between the tray 62 and the sliding assembly 65, and the fourth driving member 63 and the fifth driving member 64 are both installed on the tray support 66 and are distributed on the tray support 66 in an up-down manner, and the fourth driving member 63 and the fifth driving member 64 do not directly contact each other, so that they do not interfere with each other during work.

[0088] Specifically, the tray support 66 is provided with a support portion 661 below, when the workpiece to be transported is not placed on the tray 62, the tray 62 and the tray support 66 are supported by the first elastic member 653, so that there is a gap between the support portion 661 and the base 61; when the workpiece to be transported is placed on the tray 62, the first elastic member 653 is not enough to support the above-mentioned structural members under the action of the gravity of the workpiece to be transported, the tray 62 and the tray support 66, so that the first elastic member 653 is further compressed, and the rolling member 651 retreats into the cavity, at this time, the support portion 661 abuts against the base 61 to support the workpiece to be transported, the tray 62 and the tray support 66.

[0089] It should be noted that the workpiece to be transported is placed on the tray 62 only when the center of gravity of the tray 62 moves to be consistent with the center of gravity of the workpiece to be transported. After the workpiece to be transported is placed on the tray 62, the tray 62 will not move again.

[0090] For example, the shape of the contact surface between the tray 62 and the workpiece to be transported is determined by the shape of the workpiece to be transported, so as to increase the contact area between the workpiece to be transported and the tray 62 and avoid the contact surface between the workpiece to be transported and the tray 62 being crushed due to its own gravity. Since the workpiece to be transported in the present application is a pipeline flowmeter, the contact surface between the tray 62 and the workpiece to be transported is provided in an arc shape, and the height of the arc shape is greater than the radius of the pipeline flowmeter, so that the pipeline flowmeter can be prevented from sliding off the tray 62.

[0091] In some embodiments, the base 61 is further provided with a vehicle body 67, the base 61 and the vehicle body 67 form an accommodation cavity with an open top, the tray 62, the tray support 66 and the sliding assembly 65 are all arranged in the accommodation cavity, which can improve the aesthetics of the present application. Among them, the tray 62 is located above the accommodation cavity in order to receive the workpiece to be transferred.

[0092] In some embodiments, the driving end of the fourth driving member 63 and the fifth driving member 64 is provided with a limiting rod 631, the inner wall of the vehicle body 67 is provided with a guide rail 671 corresponding to the limiting rod 631, and the limiting rod 631 is located in cooperation with the guide rail 671. When the fourth driving member 63 and / or the fifth driving member 64 drives the tray 62 to move, the limiting rod 631 moves along the guide direction of the guide rail 671, which can guide the movement of the tray 62 and avoid the tray 62 from deviating from the established movement track.

[0093] For example, at least two guide bars are installed on the opposite inner walls of the vehicle body 67 to form the guide rail 671, and the limiting rod 631 is located between the two guide bars to guide the movement of the tray 62. Alternatively, a linear guide rail is installed on the inner wall of the vehicle body 67, the limiting rod 631 is connected with the slider of the linear guide rail, and the limiting rod 631 moves synchronously with the slider.

[0094] In some embodiments, the lower portion of the base 61 is provided with a ninth driving member and a movement assembly, the ninth driving member drives the movement assembly to move to drive the moving trolley to move, so as to transfer the workpiece to be transferred to the next station.

[0095] Specifically, the movement assembly can include a second roller 68 and a rotating shaft 69. Every two second rollers 68 are connected by a rotating shaft 69, the rotating shaft 69 is connected with the driving end of the ninth driving member, and the ninth driving member drives the rotating shaft 69 to rotate to drive the second roller 68 to rotate, thereby moving the moving trolley.

[0096] It should be noted that in order to make the moving trolley move stably, two groups of rotating shafts 69 and second rollers 68 can be provided, and the two rotating shafts 69 can be driven simultaneously by the ninth driving member, or each rotating shaft 69 can be driven by a ninth driving member.

[0097] For example, the ninth driving member can be a motor or the like.

[0098] In some embodiments, the tray 62 is provided with a detection element 70, when the detection element 70 detects the workpiece to be transferred, it indicates that the tray 62 is placed with the workpiece to be transferred, and then the ninth driving member drives the rotating shaft 69 to rotate to drive the second roller 68 to rotate, so as to transfer the workpiece to be transferred to the next station.

[0099] For example, the detection element 70 can be configured as a proximity switch or the like.

[0100] To sum up, the application provides a kind of precision device transfer production line, by conveying line, the workpiece to be transferred is transported to the preset station, the second mechanical hand of righting mechanism is righted to the workpiece to be transferred, moving assembly drives first mechanical hand to reciprocate between conveying line and mobile trolley, when first mechanical hand moves to conveying line, second drive member drives insertion part to insert workpiece to be transferred, to clamp workpiece to be transferred, when first mechanical hand moves to mobile trolley, second drive member drives insertion part to exit workpiece to be transferred, to release workpiece to be transferred and place it on mobile trolley, so that mobile trolley transfers workpiece to be transferred to next station, completes the transfer of workpiece to be transferred, without manual intervention throughout, improve the degree of automation of transfer production line and avoid the damage of workpiece to be transferred in the process of transfer, improve the yield of workpiece to be transferred.

[0101] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea disclosed by the present application should be covered by the claims of the present application.

Claims

1. A precision component transfer production line, characterized in that, include: frame; A conveyor line, running along a first direction through the frame, is used to transport workpieces to be transferred. A transmission mechanism, connected to the frame, includes a first driving member and a moving component. The first driving member drives the moving component to move along a second direction, which is perpendicular to the first direction. The first robotic arm, connected to the moving component and located above the conveyor line, includes a drive component and a clamping component. The drive component includes a second drive member, and the clamping component includes two opposing grippers connected to the second drive member. Each gripper has an insertion part. When the second drive member drives the two grippers to move closer or further apart, the insertion part inserts into or retracts from the workpiece to be transferred, thereby clamping or releasing the workpiece to be transferred. A straightening mechanism is provided on one side of the conveyor line, including a second robotic arm. The second robotic arm straightens the workpiece to be transferred on the conveyor line so that the first robotic arm can grasp the workpiece to be transferred. A transfer trolley is set on one side of the conveyor line. The moving component drives the first robot arm to move back and forth between the conveyor line and the transfer trolley, transferring the workpiece to be transferred on the conveyor line to the transfer trolley, and then transferring the workpiece to be transferred to the next workstation via the transfer trolley. The transfer trolley includes a base, a tray mounted on the base, a fourth drive member, a fifth drive member, a sliding assembly, and a tray support connecting the tray and the sliding assembly. The fourth and fifth drive members are mounted vertically on the tray support. The fourth drive member drives the tray to move left and right, and the fifth drive member drives the tray to move back and forth. The sliding assembly is located between the base and the tray. The sliding assembly includes a rolling member, a connecting member connected to the tray, and a first elastic member. The connecting member has a cavity with an opening, and the rolling member is located in the cavity and opens from the opening. The first elastic element extends outwards, with its two ends abutting against the rolling element and the inner wall of the cavity facing away from the rolling element, respectively. A support portion is provided below the tray bracket. When the workpiece to be transferred is not placed on the tray, the tray and the tray bracket are supported by the first elastic element, resulting in a gap between the support portion and the base. When the workpiece to be transferred is placed on the tray, the first elastic element is further compressed under the gravity of the workpiece to be transferred, the tray, and the tray bracket, and the rolling element retracts into the cavity. At this time, the support portion abuts against the base.

2. The precision component transfer production line according to claim 1, characterized in that: The gripper is also provided with a mounting part connected to the insertion part and a fixing member movably connected to the mounting part. When the insertion part is inserted into the workpiece to be transferred, the fixing member moves and presses against the outer wall of the workpiece to be transferred, so as to fix the workpiece to be transferred on the insertion part.

3. The precision component transfer production line according to claim 1 or 2, characterized in that: The first robotic arm further includes a connecting plate connected to the moving component. The connecting plate is connected to the driving component. The driving component further includes a transmission component connected to the driving end of the second driving component and two actuators connected to the transmission component. The second driving component drives the two actuators to move closer or further apart relative to each other through the transmission component, and each actuator is connected to a gripper.

4. The precision component transfer production line according to claim 3, characterized in that: The actuator is provided with a first guide at the end opposite to the gripper, and the first guide is provided with a sliding part. The connecting plate is provided with a guide groove on the side facing the gripper, and the sliding part is slidably disposed in the guide groove to guide the movement of the actuator.

5. The precision component transfer production line according to claim 3, characterized in that: The first robotic arm further includes at least one set of guide components connected to the connecting plate. Each set of guide components includes at least two adapters connected to the connecting plate and a second guide connected between the two adapters. The gripper is slidably connected to the second guide.

6. The precision component transfer production line according to claim 2, characterized in that: The transmission mechanism further includes a sensor group disposed at both ends of the moving component in the direction of movement. The sensor group includes a transmitting end and a receiving end. The moving component is provided with a through detection hole. Light emitted by the transmitting end can pass through the detection hole, and the receiving end receives the light to detect whether the movement of the moving component deviates from the preset trajectory.

7. The precision component transfer production line according to claim 1, characterized in that: The transmission mechanism further includes a transmission component connected to the drive end of the first driving member. The moving component is disposed on the transmission component, and the transmission component drives the moving component to move. The moving component includes a third driving member, and the first robotic arm is connected to the drive end of the third driving member to drive the first robotic arm to reciprocate.

8. The precision component transfer production line according to claim 1, characterized in that: The second robotic arm includes a robotic arm and a straightening assembly connected to the robotic arm. The straightening assembly includes a sixth driving member and a gripper connected to the driving end of the sixth driving member. The sixth driving member drives the gripper to open or close. The straightening mechanism also includes a base and a seventh driving member. The second robotic arm is disposed on the base, and the seventh driving member is capable of driving the base to rotate.

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