Composite manipulator

Abstract

The utility model relates to the technical field of ribbon cartridge production equipment, in particular to a composite manipulator, which is characterized in that a third moving seat is arranged on a second moving seat and can move vertically relative to the second moving seat, and the second moving seat is arranged on a first moving seat and can move vertically relative to the first moving seat. The first moving seat is arranged on the rack and can horizontally move relative to the rack, the third moving seat is integrated with a first material suction seat and a second material suction seat, and clamping jaws are further arranged on the two opposite sides of the first material suction seat respectively, during use, a box cover is sucked through a first negative pressure air nozzle on the first material suction seat, and a blue film is sucked through a second negative pressure air nozzle on the second material suction seat; the blue film and the box cover are sequentially placed on the box body, then the two clamping jaws are relatively close to each other to clamp the box body or the jig so as to transfer an assembled product / the jig to the next working procedure, and therefore the combined mechanical arm can complete blue film and box cover assembling and transferring operation, the structural integration degree is high, and the occupied area of a production line or equipment can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of ribbon box production equipment, in particular to a composite manipulator. Background Art

[0002] During the assembly process of the ribbon cassette, the blue film needs to be placed inside the cassette body, and then the cassette lid is put on. Then the assembled product is transferred as a whole to the next pressing process. At present, the above three processes are arranged in sequence on one side of the conveyor line on the production line, which will cause the production line to be too long. The three processes are relatively simple, and another prior art is to set three manipulators at the same workstation on the conveyor line, and the three manipulators respectively perform the tasks of placing the blue film, covering the cassette, closing the cassette, and transferring the cassette. This method wastes structural resources, and the actions of the three manipulators are prone to interference, resulting in collisions and line stops. Utility Model Content

[0003] In order to achieve the above object, the utility model provides a composite manipulator, comprising:

[0004] frame;

[0005] A first movable seat, connected to a first driving source, wherein the first driving source is used to drive the first movable seat to reciprocate horizontally on the frame;

[0006] a second moving seat connected to a second driving source, wherein the second driving source is used to drive the second moving seat to reciprocate vertically on the first moving seat;

[0007] a third moving seat connected to a third driving source, the third driving source being used to drive the third moving seat to vertically reciprocate on the second moving seat;

[0008] Two clamping jaws are arranged at the lower end of the third movable seat and are connected to a clamping driving source, wherein the clamping driving source is used to drive the two clamping jaws to be relatively close to each other or relatively far away from each other;

[0009] A first material suction seat is installed at the lower end of the third movable seat and is located between the two clamping claws, and a plurality of first negative pressure air nozzles are arranged at the lower end of the first material suction seat;

[0010] The second material suction seat is installed on the third movable seat and is spaced apart from the first material suction seat. A plurality of second negative pressure air nozzles are arranged at the lower end of the second material suction seat.

[0011] In some possible embodiments, the clamping drive source is horizontally arranged at the bottom of the third movable seat, the two clamping jaws are arranged on opposite sides of the clamping drive source, and the first suction seat is arranged at the bottom of the clamping drive source.

[0012] In some possible embodiments, positioning blocks are respectively arranged around the first material suction seat, and an inclined guide surface is arranged on the inner side of the positioning block.

[0013] In some possible embodiments, at least one positioning pin extends from the lower end of the first material suction seat.

[0014] In some possible embodiments, a plurality of the first negative pressure air nozzles are vertically distributed downward at the bottom of the first suction seat.

[0015] In some possible embodiments, a support portion extending inward is provided at the bottom of the clamping jaw.

[0016] In some possible embodiments, a wear-resistant layer is provided on the inner side of the clamping jaw.

[0017] In some possible embodiments, there are at least two second negative pressure air nozzles which are evenly distributed vertically downward on the second suction seat, and a blue film detection component is also provided on the third movable seat, and the blue film detection component is aligned with the bottom of the second suction seat.

[0018] Compared with the prior art, the beneficial effect of the utility model is that the utility model arranges the third movable seat on the second movable seat and can move vertically relative to the second movable seat, the second movable seat is arranged on the first movable seat and can move vertically relative to the first movable seat, the first movable seat is arranged on the frame and can move horizontally relative to the frame, the first suction seat and the second suction seat are integrated on the third movable seat, and the first suction seat is also provided with clamps on the opposite sides. When in use, the box cover is sucked by the first negative pressure air nozzle on the first suction seat, and the blue film is sucked by the second negative pressure air nozzle on the second suction seat, and the blue film and the box cover are placed on the box body in turn, and then the two clamps are relatively close to clamp the box body or the jig to transfer the assembled product / jig to the next process. It can be seen that the composite manipulator of the utility model can complete the assembly of blue film, box cover and transfer operations, with high structural integration, which is beneficial to reducing the footprint of the production line or equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A front view of the three-dimensional structure of the composite manipulator provided by an embodiment of the utility model;

[0021] Figure 2 A bottom view of the structure of the composite manipulator provided in an embodiment of the utility model.

[0022] Description of the accompanying figures: frame 10, first movable seat 11, first driving source 111, second movable seat 12, second driving source 121, third movable seat 13, third driving source 131, clamping jaws 14, clamping driving source 141, supporting portion 142, wear-resistant layer 143, first suction seat 15, first negative pressure air nozzle 151, positioning block 152, inclined guide surface 153, positioning pin 154, second suction seat 16, second negative pressure air nozzle 161, blue film detection component 162. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Reference Figure 1 and Figure 2A composite manipulator is shown, which includes a frame 10, on which a first moving seat 11 and a first driving source 111 are arranged, the first driving source 111 is used to drive the first moving seat 11 to move back and forth horizontally on the frame 10, the first moving seat 11 is provided with a second moving seat 12 and a second driving source 121, the second driving source 121 is used to drive the second moving seat 12 to move back and forth vertically on the first moving seat 11, the second moving seat 12 is provided with a third moving seat 13 and a third driving source 131, the third driving source 131 is used to drive the third moving seat 13 to move back and forth vertically on the second moving seat 12, the third moving seat 13 is provided with a first suction seat 15 and a second suction seat 16, the first suction seat 15 and the second suction seat 16 are provided The material seats 16 are arranged at intervals in the horizontal direction, and a plurality of first negative pressure air nozzles 151 are arranged at the lower end of the first material suction seat 15, and a plurality of second negative pressure air nozzles 161 are arranged at the lower end of the second material suction seat 16. Two clamping jaws 14 are also arranged on the opposite sides of the first material suction seat 15, and the two clamping jaws 14 are connected to a clamping drive source 141. The clamping drive source 141 is used to drive the two clamping jaws 14 to approach synchronously to clamp the ribbon box / jig or to move away synchronously to release the ribbon box / jig. When the utility model is in use, the first drive source 111 can be used to drive the third movable seat 13 to move horizontally to the top of the blue film stacking area, the second drive source 121 drives the second material suction seat 16 to move quickly, and the third drive source 131 drives the second material suction seat 16 to move precisely. So that the second negative pressure air nozzle 161 gradually approaches and contacts the blue film stacked on the top without generating a large pressure on the second negative pressure air nozzle 161, so as to avoid damaging the second negative pressure air nozzle 161 and / or the blue film stacking rack; after sucking the blue film, the first driving source 111 drives the third moving seat 13 to move to the box cover storage area; the second driving source 121 drives the first suction seat 15 to move quickly; the third driving source 131 drives the first suction seat 15 to move accurately so that the first negative pressure air nozzle 151 gradually approaches and contacts the upper end surface of the box cover without generating a large pressure on the first negative pressure air nozzle 151, so as to avoid damaging the box cover; after sucking the box cover, the first driving source 111 drives the third moving seat 13 to move to the top of the box body to be assembled, and first places the blue film on the box body. When installing the box cover, the third driving source 131 drives the third movable seat 13 to descend slowly to ensure that the positioning column on the box cover is accurately inserted into the positioning groove on the box body. In this embodiment, the box cover can be only pre-installed or the upper end surface of the box cover can be crimped by the first suction seat 15 to firmly cover the box cover on the box body to complete the assembly. The two clamps 14 can clamp the assembled product or the fixture and transfer it to the next process. Of course, the two clamps 14 can also cooperate with the external detection system to remove the unqualified products from the conveyor line, that is, the external detection system detects that a certain product is unqualified at the front end of this process, and controls the composite robot to clamp the unqualified product together with the fixture through the two clamps 14 and transfer it out of the conveyor line.

[0025] In some possible embodiments, the clamping drive source 141 is horizontally placed at the bottom of the third movable seat 13, and the two clamping jaws 14 are arranged on opposite sides of the clamping drive source 141. The clamping drive source 141 can drive the two clamping jaws 14 to move horizontally closer or farther away synchronously to achieve the functions of clamping and loosening. The first suction seat 15 is fixedly installed at the bottom of the clamping drive source 141 through a bolt structure. When sucking or assembling the box cover, the clamping drive source 141 drives the two clamping jaws 14 to move away from each other to avoid interference between the clamping jaws 14 and the box cover / box body or the jig.

[0026] In some possible embodiments, positioning wheels 152 are respectively provided on the four sides of the first suction seat 15, and an inclined guide surface 153 is provided on the inner side of the positioning wheel 152. The function of the positioning wheel 152 is to accurately position the relative position of the box cover and the first suction seat 15 to ensure that the box cover can be accurately covered on the box body, that is, when the first suction seat 15 descends with the third movable seat 13 and gradually approaches the box cover, the inclined guide surface 153 first contacts the box cover and pushes the box cover to move, so that the box cover is located in the area enclosed by the four positioning wheels 152, and the first suction seat 15 continues to descend so that the first negative pressure air nozzle 151 can stably absorb the box cover.

[0027] In some possible embodiments, at least one positioning pin 154 extends from the lower end of the first suction seat 15, and the positioning pin 154 corresponds to the clearance gap on the box body. The clearance gap can be a gap on the outer dimensions of the box body, or it can be the inner ring of the sleeve-mounted adjusting wheel. The positioning pin 154 of this embodiment is used to locate the position of the box body to ensure that the box cover can be accurately covered on the box body.

[0028] In some possible embodiments, a plurality of first negative pressure air nozzles 151 are vertically distributed downward at the bottom of the first suction seat 15, and the distribution of the first negative pressure air nozzles 151 should avoid the positions of the through holes on the box cover to prevent the box cover from being unable to be smoothly transferred due to vacuum.

[0029] In some possible embodiments, reference Figure 2 As shown, a support portion 142 extending inward is provided at the bottom of the clamp 14. After the two clamps 14 clamp the box body / jig and move vertically upward along the third movement, the support portion 142 can support the box body / jig to prevent the box body and the jig from falling and being damaged; further, a wear-resistant layer 143 is provided on the inner side of the clamp 14, the purpose of which is to prevent the clamp 14 from having hard contact with the box body / jig and wearing the box body or damaging the jig / jaw 14.

[0030] In some possible embodiments, there are at least two second negative pressure air nozzles 161 and they are evenly distributed vertically downward on the second suction seat 16. In this embodiment, the blue film is in the shape of a ring sheet, so the second negative pressure air nozzle 161 needs to accurately contact the non-central area of ​​the blue film; a blue film detection component 162 is also provided on the third movable seat 13, and the blue film detection component 162 can be a conventional photoelectric sensor. The blue film detection component 162 is used to detect whether the second negative pressure air nozzle 161 accurately absorbs the blue film. If not, the second negative pressure air nozzle 161 descends with the third movable seat 13 to perform the suction operation here.

[0031] It should be noted that the first driving source 111, the second driving source 121 and the third driving source 131 of all the above-mentioned embodiments can adopt conventional designs and models in the industry, specifically power elements such as linear modules or linear cylinders, and the clamping driving source 141 can also adopt conventional designs, specifically a double-headed cylinder, and the first negative pressure air nozzle 151 and the second negative pressure air nozzle 161 are respectively connected to external negative pressure pumps.

[0032] The above is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A composite manipulator, characterized in that: include: frame; A first movable seat, connected to a first driving source, wherein the first driving source is used to drive the first movable seat to reciprocate horizontally on the frame; a second moving seat connected to a second driving source, wherein the second driving source is used to drive the second moving seat to reciprocate vertically on the first moving seat; a third moving seat connected to a third driving source, the third driving source being used to drive the third moving seat to vertically reciprocate on the second moving seat; Two clamping jaws are arranged at the lower end of the third movable seat and are connected to a clamping driving source, wherein the clamping driving source is used to drive the two clamping jaws to be relatively close to each other or relatively far away from each other; A first material suction seat is installed at the lower end of the third movable seat and is located between the two clamping claws, and a plurality of first negative pressure air nozzles are arranged at the lower end of the first material suction seat; The second material suction seat is installed on the third movable seat and is spaced apart from the first material suction seat. A plurality of second negative pressure air nozzles are arranged at the lower end of the second material suction seat.

2. A composite manipulator according to claim 1, characterized in that: The clamping drive source is horizontally arranged at the bottom of the third movable seat, the two clamping claws are arranged on two opposite sides of the clamping drive source, and the first material suction seat is arranged at the bottom of the clamping drive source.

3. A composite manipulator according to claim 2, characterized in that: Positioning blocks are respectively arranged around the first material suction seat, and an inclined guiding surface is arranged inside the positioning blocks.

4. A composite manipulator according to any one of claims 1 to 3, characterized in that: At least one positioning pin extends from the lower end of the first material suction seat.

5. A composite manipulator according to any one of claims 1 to 3, characterized in that: A plurality of the first negative pressure air nozzles are vertically distributed downward at the bottom of the first material suction seat.

6. A composite manipulator according to claim 2, characterized in that: The bottom of the clamping jaw is provided with a supporting portion extending inwards.

7. A composite manipulator according to claim 6, characterized in that: The inner side of the clamping jaw is provided with a wear-resistant layer.

8. The composite manipulator according to claim 1, characterized in that: There are at least two second negative pressure air nozzles which are evenly distributed vertically downward on the second suction seat. A blue film detection component is also arranged on the third movable seat, and the blue film detection component is aligned with the bottom of the second suction seat.

Images