Driving belt material taking manipulator

Abstract

The invention discloses a driving belt material taking mechanical arm which comprises a material taking support. The horizontal driving mechanism is mounted on the material taking bracket; the material taking mechanism is connected to the horizontal driving mechanism, the horizontal driving mechanism can drive the material taking mechanism to horizontally move relative to the material taking support, and the material taking mechanism comprises a material taking base and at least one material taking assembly arranged on the material taking base; the material taking assembly comprises a rotary driving part, a bearing part connected to the rotary driving part, a material taking part and two material supporting parts, the material taking part and the two material supporting parts are connected to the bearing part, the rotary driving part is connected to the material taking base and drives the bearing part to rotate horizontally, and the material taking part is located between the two material supporting parts. Through cooperation of the horizontal driving mechanism and the material taking mechanism, grabbing of a transmission belt on a material frame of a previous working procedure can be achieved, and the transmission belt can be quickly in butt joint with a next detection station; the two material taking assemblies are driven to move to the corresponding detection stations through the same horizontal driving mechanism, alternate line production is achieved, and the material taking and detection efficiency of the transmission belt is improved.

Description

Technical Field

[0001] The invention relates to the technical field of transmission belt detection, and in particular to a transmission belt material taking manipulator. Background Art

[0002] The transmission belts after production need to be inspected for appearance before packaging and shipment to see if there are any appearance defects such as wrinkles, pits, wear, scratches, etc. If there are any, the defective transmission belts should be removed in time. However, the existing method of taking materials for subsequent inspection is still manual, which has low working efficiency and reduces the efficiency of transmission belt inspection. Summary of the invention

[0003] In view of the deficiencies in the prior art, an object of the present invention is to provide a transmission belt retrieving robot for retrieving and placing components for fully automatic appearance inspection of transmission belts.

[0004] In order to achieve the above object, the present invention provides:

[0005] A transmission belt material taking manipulator, comprising:

[0006] Reclaiming bracket;

[0007] A horizontal driving mechanism, mounted on the material taking support;

[0008] A material picking mechanism is connected to the horizontal driving mechanism, and the horizontal driving mechanism can drive the material picking mechanism to move horizontally relative to the material picking support. The material picking mechanism includes a material picking seat and at least one material picking component arranged on the material picking seat. The material picking component includes a rotating driving member, a supporting member connected to the rotating driving member, and a material picking member and two supporting members connected to the supporting member. The rotating driving member is connected to the material picking seat and drives the supporting member to rotate horizontally. The material picking member is located between the two supporting members.

[0009] As a further improvement of the present invention, the material picking seat includes a base plate and a vertical plate fixedly connected to the upper part of the base plate, the upper part of the vertical plate is fixedly connected to the sliding part of the horizontal driving mechanism, and the rotating driving member is connected to the lower part of the base plate.

[0010] As a further improvement of the present invention, the bearing member includes a bearing mounting plate, and the rotary driving member and the material picking member are both connected to the bearing mounting plate and are respectively located on two opposite surfaces of the bearing mounting plate.

[0011] As a further improvement of the present invention, the material supporting member includes a material supporting rod and a push plate capable of horizontally moving along the material supporting rod, and the material supporting rod is fixedly connected to the load-bearing mounting plate.

[0012] As a further improvement of the present invention, a push-pull cylinder is arranged on the load-bearing mounting plate, a cylinder body of the push-pull cylinder is fixed to the load-bearing mounting plate, and a cylinder rod of the push-pull cylinder is fixedly connected to the push plate.

[0013] As a further improvement of the present invention, the material picking member includes a clamping jaw driving member and two clamping jaws driven by the clamping jaw driving member to perform opening and closing movements.

[0014] As a further improvement of the present invention, the two clamping jaws are arranged opposite to each other up and down.

[0015] As a further improvement of the present invention, two material picking assemblies are arranged side by side at intervals on the material picking seat, and each of the material picking assemblies can be moved to a corresponding detection station under the drive of the horizontal driving mechanism.

[0016] As a further improvement of the present invention, the horizontal driving mechanism includes a first horizontal moving mechanism and a second horizontal moving mechanism connected to the first horizontal moving mechanism. The first horizontal moving mechanism is arranged on the material picking bracket, the material picking mechanism is connected to the second horizontal moving mechanism, and the moving direction of the first horizontal moving mechanism is perpendicular to the moving direction of the second horizontal moving mechanism.

[0017] As a further improvement of the present invention, a guide assembly is provided on the material picking bracket, and the guide assembly is parallel to the first horizontal moving mechanism. The second horizontal moving mechanism is fixed with a support seat, one end of the support seat is movably connected to the first horizontal moving mechanism, and the other end of the support seat is movably connected to the guide assembly.

[0018] The beneficial effects of the present invention are:

[0019] (1) The present invention has a simple structure and is easy to use. Through the cooperation of the horizontal driving mechanism and the material taking mechanism, the transmission belt on the material rack of the previous process can be grabbed and quickly connected to the next inspection station, which is very convenient and fast with high work efficiency.

[0020] (2) While the picking member of the picking mechanism is picking up materials from the transmission belt, the two supporting members on both sides of the picking member pass through the transmission belt and support the transmission belt, so as to facilitate the rapid transfer of the transmission belt to the inspection station and realize the subsequent rapid inspection of the transmission belt.

[0021] (3) The same horizontal drive mechanism can be used to drive the two material-retrieving components to move to the corresponding inspection stations respectively, so as to realize the alternating material-retrieving and inspection flow operation and improve the material-retrieving and inspection efficiency of the transmission belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0024] Figure 2 It is a structural schematic diagram of a material taking mechanism in a preferred embodiment of the present invention;

[0025] Figure 3 It is a bottom view structural schematic diagram of a material taking mechanism of a preferred embodiment of the present invention;

[0026] In the figure: 1. material picking bracket, 2. horizontal driving mechanism, 21. first horizontal moving mechanism, 22. second horizontal moving mechanism, 3. material picking mechanism, 31. material picking seat, 311. base plate, 312. vertical plate, 32. material picking assembly, 321. rotating driving member, 322. bearing member, 3221. bearing mounting plate, 3222. first bearing seat, 3223. second bearing seat, 3224. bearing rod, 323. material picking member, 3231. clamping jaw driving member, 3232. clamping jaw, 324. material supporting member, 3241. material supporting rod, 3242. push plate, 3243. push-pull cylinder. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] See also Figure 1-Figure 3The embodiment of the present application discloses a transmission belt material picking manipulator, including a material picking bracket 1, a horizontal driving mechanism 2, and a material picking mechanism 3. The horizontal driving mechanism 2 is installed on the material picking bracket 1, and the horizontal driving mechanism 2 is supported by the material picking bracket 1. The material picking mechanism 3 is connected to the horizontal driving mechanism 2, and the horizontal driving mechanism 2 can drive the material picking mechanism 3 to move horizontally relative to the material picking bracket 1. The material picking mechanism 3 includes a material picking seat 31, at least one material picking component 32 arranged on the material picking seat 31, and the material picking component 32 includes a rotating driving member 321, a bearing member 322 connected to the rotating driving member 321, and a material picking member 323 connected to the bearing member 322 and two material supporting members 324. The rotating driving member 321 is connected to the material picking seat 31 and drives the bearing member 322 to rotate horizontally. The material picking member 323 is located between the two material supporting members 324.

[0029] The horizontal driving mechanism 2 is used to drive the picking mechanism 3 to move horizontally, and the picking mechanism 3 drives the picking seat 31 to move horizontally, thereby driving the picking piece 323 of the picking assembly 32 to grab the transmission belt to be inspected in the previous process, and then the rotating driving member 321 of the picking assembly 32 drives the transmission belt to rotate horizontally, so that it can be docked with the next inspection station, which is very convenient and fast, and has high work efficiency; in addition, while the picking piece 323 picks up the transmission belt, the two supporting pieces 324 on both sides of the picking piece 323 pass through the transmission belt and support the transmission belt, which is convenient for quickly transferring the transmission belt to the inspection station, thereby realizing subsequent rapid inspection of the transmission belt.

[0030] See also Figure 1 , Figure 2 The material picking seat 31 includes a base plate 311 and a vertical plate 312 fixedly connected to the upper part of the base plate 311. The upper part of the vertical plate 312 is fixedly connected to the sliding part of the horizontal driving mechanism 2 and slides along the horizontal driving mechanism 2. The rotating driving member 321 is connected to the lower part of the base plate 311.

[0031] See also Figure 2 The bearing member 322 includes a bearing mounting plate 3221, and the rotating driving member 321 and the material taking member 323 are both connected to the bearing mounting plate 3221 and are respectively located on two opposite surfaces of the bearing mounting plate 3221. Specifically, the rotating driving member 321 is located on the upper surface of the bearing mounting plate 3221, and the material taking member 323 is located on the lower surface of the bearing mounting plate 3221.

[0032] In this embodiment, the rotary drive member 321 is a rotary cylinder, the body of the rotary cylinder is fixedly connected to the lower part of the base plate 311, and the rotary table of the rotary cylinder is connected to the bearing mounting plate 3221. It can be understood that the rotary drive member 321 is not limited to a rotary cylinder, and can also be a hydraulic motor, a pneumatic motor, or a linear motor with a rack and pinion assembly.

[0033] In this embodiment, the material support member 324 includes a material support rod 3241 and a push plate 3242 that can move horizontally along the material support rod 3241. The material support rod 3241 is fixedly connected to the load-bearing mounting plate 3221. When taking materials, the material support rod 3241 passes through the transmission belt and supports the transmission belt at the same time; when unloading and transferring to the inspection station, the material support rod 3241 can also serve as a guide rod to facilitate the linearity of the push plate 3242 moving horizontally along the material support rod 3241 toward the inspection station, and the transmission belt can be quickly pushed to the inspection station.

[0034] Preferably, a push-pull cylinder 3243 is provided on the load-bearing mounting plate 3221, the cylinder body of the push-pull cylinder 3243 is fixed to the load-bearing mounting plate 3221, and the cylinder rod of the push-pull cylinder 3243 is fixedly connected to the push plate 3242. When the push-pull cylinder 3243 is started, the cylinder rod of the push-pull cylinder 3243 pushes the push plate 3243 to move horizontally along the support rod 3241, so as to facilitate the transmission belt to be quickly and smoothly pushed to the inspection station.

[0035] In order to better achieve a stable connection between the support rod 3241 and the bearing mounting plate 3221, it is preferred that the lower surface of the bearing mounting plate 3221 is fixedly connected with a first bearing seat 3222, and one end of the support rod 3241 is horizontally penetrated and fixedly connected to the first bearing seat 3222. In order to better achieve a stable connection between the push-pull cylinder 3243 and the bearing mounting plate 3221, it is preferred that the lower surface of the bearing mounting plate 3221 is fixedly connected with a second bearing seat 3223, and the cylinder body of the push-pull cylinder 3243 is fixed to the second bearing seat 3223. The second bearing seat 3223 is preferably in an inverted L shape. In order to better achieve a stable connection between the material picking member 323 and the bearing mounting plate 3221, it is preferred that the bearing mounting plate 3221 is fixedly connected with a bearing rod 3224, and the bearing rod 3224 partially extends out of the bearing mounting plate 3221, and the material picking member 323 is installed on one end of the bearing rod 3224 extending out of the bearing mounting plate 3221. To prevent interference with the rotating cylinder, the bearing rod 3224 can be installed on the lower surface of the bearing mounting plate 3221.

[0036] In this embodiment, the material taking member 323 includes a clamping jaw driving member 3231 and two clamping jaws 3232 driven by the clamping jaw driving member 3231 to open and close. Specifically, the two clamping jaws 3232 are arranged opposite to each other up and down, so as to quickly clamp the transmission belt to be tested.

[0037] In order to improve the material picking efficiency, it is preferred that two material picking components 32 are arranged side by side at intervals on the material picking seat 31, and each material picking component 32 can be moved to a corresponding detection station or a waiting material picking station under the drive of the horizontal driving mechanism 2. Through a horizontal driving mechanism 2, the two material picking components 32 can be driven to pick up materials alternately, and the two material picking components 32 correspond to two detection stations respectively, that is, each material picking component 32 can be moved to a corresponding detection station under the drive of the horizontal driving mechanism 2, which simplifies the structure on the one hand, and improves the mechanism utilization, material picking efficiency and detection efficiency on the other hand.

[0038] Preferably, the horizontal driving mechanism 2 includes a first horizontal moving mechanism 21 and a second horizontal moving mechanism 22 connected to the first horizontal moving mechanism 21. The first horizontal moving mechanism 21 is arranged on the material picking bracket 1, and the material picking mechanism 3 is connected to the second horizontal moving mechanism 22. The moving direction of the first horizontal moving mechanism 21 is perpendicular to the moving direction of the second horizontal moving mechanism 22. The first horizontal moving mechanism 21 and the second horizontal moving mechanism 22 both use linear motors. It can be understood that the first horizontal moving mechanism 21 and the second horizontal moving mechanism 22 can also use a motor and a synchronous belt combination structure, a motor with a gear rack structure or a linear guide slider structure, which is not limited here. Specifically, the upper part of the vertical plate 312 is fixedly connected to the second horizontal moving mechanism 22.

[0039] In order to further improve the stability of the horizontal movement of the material picking mechanism 3, it is preferred that a guide assembly 4 is provided on the material picking bracket 1, and the guide assembly 4 is parallel to the first horizontal moving mechanism 21. The second horizontal moving mechanism 22 is fixed with a support seat 5, one end of the support seat 5 is movably connected to the first horizontal moving mechanism 21, and the other end of the support seat 5 is movably connected to the guide assembly 4. The guide assembly 4 can be a guide rail and slider combination structure.

[0040] The two material picking components 32 are set as the first material picking component and the second material picking component respectively. The material rack is set in the previous process for placing the transmission belt to be tested. The two detection stations for detecting the transmission belt in the next process are the first detection station and the second detection station respectively. At this time, the material rack is located on the perpendicular midline of the first detection station and the second detection station. In the initial state, the first material picking component faces the material rack, and the second material picking component faces the second detection station. The movement toward the material rack is set as backward movement, and the movement away from the material rack is set as forward movement. The movement perpendicular to the direction of forward movement or backward movement is set as left movement and right movement respectively. When the first material picking component and the second material picking component are both moved to the right, the first material picking component can face the first detection station to realize the detection of the transmission belt by the first detection station; when the first material picking component and the second material picking component are both moved to the left, the second material picking component can face the second detection station to realize the detection of the transmission belt by the second detection station.

[0041] When the second horizontal moving mechanism 22 is in use, the material picking mechanism 3 moves backward toward the material rack, the clamping claw driving member 3231 of the first material picking assembly is started, the two clamping claws 3232 clamp the transmission belt to be detected on the material rack, and at the same time, the two supporting rods 3241 on both sides of the material picking member 323 pass through the transmission belt and support the transmission belt, and the first material picking assembly picks the material; the first horizontal moving mechanism 21 drives the second horizontal moving mechanism 22 and the material picking mechanism 3 thereon to move right, and at the same time, the rotating driving member 321 of the first material picking assembly is started, driving the bearing member 322 and the material picking member 323 to rotate horizontally 180° together; the second horizontal moving mechanism 22 drives the material picking mechanism 3 to move forward to the first detection station, and the push-pull cylinder 3243 of the first material picking assembly is started, pushing the push plate 3242 to push the transmission belt to the first detection station, and the first detection station detects the transmission belt. At the same time, the second material picking assembly of the material picking mechanism 3 rotates horizontally so that the second material picking assembly faces the material rack; The horizontal moving mechanism 22 drives the material picking mechanism 3 to move backward, and the two clamping claws 3232 of the second material picking assembly clamp the transmission belt to be detected on the material rack. At the same time, the two supporting rods 3241 on both sides of the material picking member 323 pass through the transmission belt and support the transmission belt, and the second material picking assembly picks the material; the first horizontal moving mechanism 21 drives the second horizontal moving mechanism 22 and the material picking mechanism 3 on it to move left, and at the same time, the rotating driving member 321 of the second material picking assembly is started, driving the bearing member 322 and the material picking member 323 to rotate horizontally 180° together; the second horizontal moving mechanism 22 drives the material picking mechanism 3 to move forward to face the second detection station, and the push-pull cylinder 3243 of the second material picking assembly is started, pushing the push plate 3242 to push the transmission belt to the second detection station, and the second detection station detects the transmission belt. At the same time, the rotating driving member 321 of the first material picking assembly is started, driving the bearing member 322 and the material picking member 323 to rotate horizontally 180° together, and the first material picking assembly faces the material rack and repeats the above movement.

[0042] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0043] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A belt reclaiming manipulator, characterized in that: include: Reclaiming bracket; A horizontal driving mechanism, mounted on the material taking support; A material picking mechanism is connected to the horizontal driving mechanism, and the horizontal driving mechanism can drive the material picking mechanism to move horizontally relative to the material picking support. The material picking mechanism includes a material picking seat and at least one material picking component arranged on the material picking seat. The material picking component includes a rotating driving member, a supporting member connected to the rotating driving member, and a material picking member and two supporting members connected to the supporting member. The rotating driving member is connected to the material picking seat and drives the supporting member to rotate horizontally. The material picking member is located between the two supporting members.

2. The transmission belt reclaiming manipulator according to claim 1 is characterized in that: The material taking seat comprises a base plate and a vertical plate fixedly connected to the upper part of the base plate, the upper part of the vertical plate is fixedly connected to the sliding part of the horizontal driving mechanism, and the rotating driving member is connected to the lower part of the base plate.

3. The transmission belt reclaiming manipulator according to claim 1, characterized in that: The bearing member comprises a bearing mounting plate, and the rotating driving member and the material taking member are both connected to the bearing mounting plate and are respectively located on two opposite surfaces of the bearing mounting plate.

4. The transmission belt reclaiming manipulator according to claim 3 is characterized in that: The material supporting member comprises a material supporting rod and a push plate capable of horizontally moving along the material supporting rod, and the material supporting rod is fixedly connected to the bearing mounting plate.

5. The transmission belt reclaiming manipulator according to claim 4, characterized in that: The load-bearing mounting plate is provided with a push-pull cylinder, a cylinder body of the push-pull cylinder is fixed to the load-bearing mounting plate, and a cylinder rod of the push-pull cylinder is fixedly connected to the push plate.

6. The transmission belt reclaiming manipulator according to claim 1, characterized in that: The material taking component comprises a clamping jaw driving component and two clamping jaws driven by the clamping jaw driving component to perform opening and closing movements.

7. The transmission belt reclaiming manipulator according to claim 6, characterized in that: The two clamping jaws are arranged opposite to each other up and down.

8. The transmission belt reclaiming manipulator according to any one of claims 1 to 7, characterized in that: Two material picking assemblies are arranged side by side at intervals on the material picking seat, and each of the material picking assemblies can be moved to a corresponding detection station under the drive of the horizontal driving mechanism.

9. The transmission belt reclaiming manipulator according to claim 8, characterized in that: The horizontal driving mechanism includes a first horizontal moving mechanism and a second horizontal moving mechanism connected to the first horizontal moving mechanism. The first horizontal moving mechanism is arranged on the material picking bracket, and the material picking mechanism is connected to the second horizontal moving mechanism. The moving direction of the first horizontal moving mechanism is perpendicular to the moving direction of the second horizontal moving mechanism.

10. The transmission belt reclaiming manipulator according to claim 9, characterized in that: A guide assembly is provided on the material picking bracket, and the guide assembly is parallel to the first horizontal moving mechanism. The second horizontal moving mechanism is fixed with a support seat, one end of the support seat is movably connected to the first horizontal moving mechanism, and the other end of the support seat is movably connected to the guide assembly.

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