Material moving device and automatic hole blocking detection device

Abstract

The utility model relates to a material moving device and an automatic hole blocking detection device, the material moving device comprises at least one mechanical arm and further comprises at least one buffer structure, the at least one buffer structure and the at least one mechanical arm are correspondingly arranged, and the buffer structure comprises a first buffer part and a second buffer part; the mechanical arm comprises a first fixing piece, a second fixing piece, a first driving piece and a clamping jaw, the first driving piece is arranged on the first fixing piece, the clamping jaw is arranged on the second fixing piece, the second fixing piece is arranged on a power output shaft of the first driving piece, and the clamping jaw is arranged on the power output shaft of the first driving piece. The first driving part drives the second fixing part to rotate in a preset first direction; the first buffering piece is arranged on the second fixing piece or a power output shaft of the first driving piece; the second buffer piece is located on the rotation track of the first buffer piece in the preset first direction. The material moving device has the advantage of being good in stability.

Description

Technical Field

[0001] The present application relates to a material moving device in hole blockage detection, and in particular to a material moving device and an automatic hole blockage detection device. Background Art

[0002] Rods with through holes may cause internal pores to become clogged during extrusion, cutting, semi-processing, etc., affecting the subsequent use effect. It is necessary to detect and pick out rods with clogged holes. Existing related technology (CN202210759158.1) discloses an automatic hole blockage detection device and a control method thereof, wherein the automatic hole blockage detection device includes a frame, a feeding mechanism, a detection mechanism, a material transfer mechanism, a drying mechanism, a feeding mechanism, and a liquid circulation mechanism; the feeding mechanism is used to feed the rods with detection through holes one by one in sequence; the detection mechanism is arranged on one side of the feeding mechanism, and the detection mechanism includes a detection tool and a visual acquisition component, and the detection tool is used to connect the detection liquid and the detection through hole; the visual acquisition component is arranged on one side of the detection tool to collect the rods The image of the sprayed liquid column; the material transfer mechanism is arranged between the feeding mechanism and the detection mechanism; the blow-drying mechanism is arranged on the opposite side of the feeding mechanism, and is used to blow air to the rod and the detection through hole; the unloading mechanism is arranged on the opposite side of the detection mechanism, and is used to place the qualified and unqualified rods into the good material box or the defective material box respectively; the liquid circulation mechanism is arranged below the detection mechanism, and is used to provide the detection liquid to the detection tooling, and recover the detection liquid after detection; the controller is respectively connected to the feeding mechanism, the detection mechanism, the material transfer mechanism, the blow-drying mechanism, the unloading mechanism and the liquid circulation mechanism. The material transfer mechanism includes a manipulator and a four-station divider. The manipulator has five degrees of freedom, and can open and close the main jaws, open and close the auxiliary jaws, rotate horizontally and vertically, move forward and backward, and rise and fall. In cooperation with the four-station divider, different action processes can be realized in the feeding mechanism, the detection mechanism, the blow-drying mechanism and the unloading mechanism to realize different processes. After a long period of use, it was found that the stability of the robot's movement could not be well guaranteed during the five-degree-of-freedom movement, especially when the size and weight of the rod were large, the problem became more obvious. Utility Model Content

[0003] In order to understand the problem that the movement stability cannot be well guaranteed during the above-mentioned transfer process, the present application provides a material transfer device; and based on the material transfer device, provides an automatic hole blockage detection device.

[0004] In a first aspect, the present application provides a material transfer device, which adopts the following technical solution:

[0005] A material moving device comprises at least one robot and at least one buffer structure, wherein at least one buffer structure is arranged corresponding to at least one robot, and the buffer structure comprises a first buffer member and a second buffer member; the robot comprises a first fixed member, a second fixed member, a first driving member and a clamp, wherein the first driving member is arranged on the first fixed member, the clamp is arranged on the second fixed member, the second fixed member is arranged on a power output shaft of the first driving member, and the first driving member drives the second fixed member to rotate along a preset first direction; the first buffer member is arranged on the second fixed member or on the power output shaft of the first driving member; the second buffer member is located on the rotation trajectory of the first buffer member along the preset first direction.

[0006] By adopting the above technical solution, the present application improves the material transfer mechanism of the prior art and designs the above material transfer device. Specifically, a corresponding buffer structure is designed for each manipulator, the first driving member drives the second fixed member to rotate along the preset first direction, a first buffer member that rotates with the second fixed member is arranged on the second fixed member, and a second buffer member is arranged on the rotation trajectory of the first buffer member along the preset first direction. According to the preset rotation angle of the clamp (for example, 90°, which can be determined according to demand), the first driving member drives the clamping jaw arranged on the second fixed member to rotate along the preset first direction for each movement, and the first buffer member rotates along the corresponding trajectory stroke with the second fixed member, and then when the first buffer member rotates to a position close to the preset rotation angle, the first buffer member collides with the second buffer member arranged on the rotation trajectory of the first buffer member. During the collision, the kinetic energy is gradually absorbed by the second buffer member, thereby playing a buffering role. The stability of the manipulator's rotational movement can be guaranteed, ensuring that it can adapt to bars of larger specifications and heavier weights.

[0007] Preferably, the buffer structure further includes a support member, the second buffer member is arranged on the support member, and the support member is arranged on the first fixing member.

[0008] By adopting the above technical solution, as a specific structural example, the second buffer is fixed on the first fixing member through the support member, and the shape and size of the support member can be adjusted according to the actual conditions such as the rotation trajectory of the first buffer member and the preset rotation angle of the clamping jaw. The specific overall structure has the advantages of compactness and good stability.

[0009] Preferably, the second buffer is a hydraulic buffer.

[0010] Preferably, the first buffer component is a hollow elastic structure.

[0011] By adopting the above technical solution, as a specific structural example, the second buffer selects the existing oil pressure buffer, and the first buffer selects the hollow elastomer structure. The hollow elastomer structure can be made of existing materials such as rubber and porous polyurethane, and the existing process is used to make the corresponding hollow rubber elastomer and hollow porous polyurethane elastomer. The buffering principle is specifically as follows: when the axis of the oil pressure buffer is impacted by the external force caused by the collision of the hollow elastomer structure, it will drive the piston in the oil pressure buffer to squeeze the hydraulic oil in its inner tube. After the hydraulic oil is pressurized, it will be discharged one by one from the oil discharge holes of the inner tube. At the same time, the hydraulic oil discharged from the inner tube will also flow back to the inner tube from the oil return hole of the inner tube; when the external force disappears, the spring in the oil pressure buffer will bounce the piston back to the starting point and wait for the next action. In this process, the oil pressure buffer cooperates with the hollow elastomer structure, and the kinetic energy is gradually absorbed by the oil pressure buffer, thereby playing a buffering role. In this way, the stability of the rotational motion of the manipulator is better guaranteed.

[0012] Preferably, the clamping jaw comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are spaced apart and distributed on the second fixing member.

[0013] Preferably, the manipulator also includes a second driving member and a third driving member, the first jaw is arranged on the power output shaft of the second driving member, and the second jaw is arranged on the power output shaft of the third driving member, and the second driving member and the third driving member respectively and correspondingly drive the first jaw and the second jaw to open or close.

[0014] By adopting the above technical solution, as a structural example, in order to firmly clamp the rod, the second fixing member is provided with a first clamping jaw and a second clamping jaw spaced apart along the extension direction of the rod to be clamped, and a second driving member and a third driving member are added to the second fixing member to drive the opening and closing of the first clamping jaw and the second clamping jaw one by one, so as to correspondingly realize the loosening action and the clamping action of the rod.

[0015] Preferably, the manipulator further includes a support and a fourth driving member, the first fixing member is arranged on a power output shaft of the fourth driving member, the fourth driving member is arranged on the support, and the fourth driving member drives the first fixing member to slide along a preset second direction.

[0016] By adopting the above technical solution, as a structural example, a support and a fourth driving member are additionally provided. The support is used to support the fourth driving member. The fourth driving member is designed to drive the first fixed member to slide along a preset second direction, thereby driving the clamping claw on the second fixed member to slide along the preset second direction, thereby realizing the forward or backward movement of the manipulator.

[0017] In a second aspect, the present application provides an automatic hole blocking detection device, which adopts the following technical solution:

[0018] A hole blocking automatic detection device comprises the above-mentioned material moving device.

[0019] By adopting the above technical solution and making the above improvements to the material moving device, the obtained automatic hole blocking detection device can better ensure the stability of the rotational movement of the manipulator.

[0020] In summary, this application has the following beneficial effects:

[0021] 1. The material transfer device of the present application has an improved buffer structure. Through the matching design between the first buffer member and the second buffer member, it can play a buffering role when the manipulator performs a rotational motion, thereby better ensuring the stability of the manipulator's rotational motion;

[0022] 2. The automatic hole blocking detection device of the present application improves its material moving device, which can better guarantee the stability of the rotational motion of the manipulator and ensure that it can adapt to bars of larger specifications and heavier weights. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the three-dimensional structure of the material moving device in an embodiment of the present application;

[0024] Figure 2 is a schematic diagram of the three-dimensional structure of the material moving device in another perspective of the embodiment of the present application;

[0025] Figure 3 yes Figure 2 A magnified view of the middle A area;

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure of the material moving device of an embodiment of the present application.

[0027] Description of labels:

[0028] 100. Material transfer device;

[0029] 11. first buffer portion; 12. second buffer portion; 13. supporting portion;

[0030] 21. First fixing member; 22. Second fixing member; 23. First driving member; 24. Clamp; 241. First clamp; 242. Second clamp; 25. Second driving member; 26. Third driving member; 27. Support; 28. Fourth driving member. DETAILED DESCRIPTION

[0031] The present application is further described in detail below with reference to the accompanying drawings and embodiments.

[0032] Example

[0033] See attached Figure 1-4 , wherein throughout all of these views, the same reference numerals denote corresponding components, and a configuration according to one embodiment shown in this embodiment can be seen in Figure 1-3 It should be understood that the material transfer device of this embodiment can be used in all application scenarios involving material transfer.

[0034] like Figure 1-3 As shown, in the material transfer device 100 of the present embodiment, the buffer structure includes a first buffer member 11, a second buffer member 12 and a support member 13. The second buffer member 12 of the present embodiment is an oil pressure buffer, and the first buffer member 11 is a hollow elastomer structure. The elastomer can be a rubber structure or a porous polyurethane structure. The manipulator includes a first fixed member 21, a second fixed member 22, a first driving member 23 and a clamp 24. The first fixed member 21 and the second fixed member 22 of the present embodiment are both plate-like structures, and the first driving member 23 is a rotary cylinder. The second buffer member 12 is arranged on the support member 13, and the support member 13 is arranged on the first fixed member 21. The clamp 24 includes a first clamp 241 and a second clamp 242. The first clamp 241 and the second clamp 242 are spaced apart and distributed at the two ends of the second fixed member 22. The first driving member 23 is arranged on the first fixed member 21, and the second fixed member 22 is arranged on the power output shaft of the first driving member 23. The first driving member 23 drives the second fixed member 22 along a preset first direction ( Figure 1 The rod shown in the figure is in a vertical state, and the preset first direction is Figure 1 The rod rotates in the left-right direction shown in the figure, that is, in the direction tangent to the circumference of the circular support 27). That is, the first driving member 23 is used to realize the rotation of the clamping jaw 24. In this embodiment, the first buffer member 11 is arranged on the second fixing member 22, and the second buffer member 12 is located at a position where the first buffer member 11 rotates 90° along the preset first direction. The preset rotation angle of the clamping jaw 24 is 90°, that is, the first driving member 23 drives the clamping jaw 24 to rotate one action along the preset first direction The corresponding angle is 90°.

[0035] Based on the above structure, when working, after the first clamp 241 and the second clamp 242 clamp the bar, the first driving member 23 drives the second fixing member 22 to rotate 90° along the preset first direction, and the first clamp 241 and the second clamp 242 arranged on the second fixing member 22 perform a rotation action, that is, rotate 90°. The first buffer 11 arranged on the second fixing member 22 rotates along the preset first direction with the second fixing member 22. When the first buffer 11 rotates to nearly 90°, it collides with the second buffer 12, and the kinetic energy is gradually absorbed by the second buffer 12, thereby playing a buffering role. The stability of the manipulator movement can be guaranteed, ensuring that it can adapt to bars of larger specifications and heavier weights.

[0036] like Figure 1-3As shown, the material transfer device of this embodiment includes 4 manipulators, 4 buffer structures corresponding to the 4 manipulators, a second drive member 25, a third drive member 26, a support 27 and a fourth drive member 28. The support 27 is circular, and the 4 manipulators are distributed on the support 27 at equal intervals along the circumferential direction of the circular support 27. Each manipulator is provided with a corresponding buffer structure. In each manipulator, the second drive member 25 and the third drive member 26 are distributed and spaced at two ends of the second fixed member 22, the first clamping jaw 241 is provided on the power output shaft of the second drive member 25, and the second clamping jaw 242 is provided on the power output shaft of the third drive member 26. The second drive member 25 and the third drive member 26 respectively and correspondingly drive the first clamping jaw 241 and the second clamping jaw 241 to open or close, and then drive the first clamping jaw 241 and the second clamping jaw 241 to complete the clamping action or the release action. The first fixing member 21 is disposed on the power output shaft of the fourth driving member 28, and the fourth driving member 28 is disposed on the support 27. The fourth driving member 28 drives the first fixing member 21 to move along a preset second direction (i.e. Figure 1 The second driving member 25, the third driving member 26 and the fourth driving member 28 of this embodiment can be selected from common cylinders. In addition, according to actual conditions, a control member, such as a solenoid valve, can be added to control the opening and closing of the first driving member 23, the second driving member 25, the third driving member 26 and the fourth driving member 28.

[0037] like Figure 4 As shown, the automatic hole blocking detection device of this embodiment ( Figure 3 The structure diagram after removing the upper cover) includes a material moving device 100. The structure design of the material moving device 100 and other mechanisms in the automatic hole blocking detection device can refer to the design of the existing related technology, which will not be repeated here.

[0038] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed, but such modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

Claims

1. A material transfer device, comprising at least one manipulator, characterized in that: It also includes at least one buffer structure, at least one of the buffer structures is arranged corresponding to at least one of the manipulators, and the buffer structure includes a first buffer member and a second buffer member; the manipulator includes a first fixed member, a second fixed member, a first driving member and a clamp, the first driving member is arranged on the first fixed member, the clamp is arranged on the second fixed member, the second fixed member is arranged on the power output shaft of the first driving member, and the first driving member drives the second fixed member to rotate along a preset first direction; the first buffer member is arranged on the second fixed member or on the power output shaft of the first driving member; the second buffer member is located on the rotation trajectory of the first buffer member along the preset first direction.

2. The material transfer device according to claim 1, characterized in that: The buffer structure further includes a support member, the second buffer member is arranged on the support member, and the support member is arranged on the first fixing member.

3. The material transfer device according to claim 1 or 2, characterized in that: The second buffer is a hydraulic buffer.

4. The material transfer device according to claim 1, characterized in that: The first buffer component is a hollow elastic structure.

5. The material transfer device according to claim 1, characterized in that: The clamping jaw comprises a first clamping jaw and a second clamping jaw, and the first clamping jaw and the second clamping jaw are spaced apart and distributed on the second fixing member.

6. The material transfer device according to claim 5, characterized in that: The manipulator also includes a second driving member and a third driving member. The first clamp is arranged on the power output shaft of the second driving member, and the second clamp is arranged on the power output shaft of the third driving member. The second driving member and the third driving member respectively drive the first clamp and the second clamp to open or close in sequence.

7. The material transfer device according to claim 6, characterized in that: The manipulator further comprises a support and a fourth driving member, the first fixing member is arranged on a power output shaft of the fourth driving member, the fourth driving member is arranged on the support, and the fourth driving member drives the first fixing member to slide along a preset second direction.

8. An automatic hole blocking detection device, characterized in that: The material transfer device comprises the material transfer device according to any one of claims 1 to 7.

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