Sealing head pulling-out tool

Abstract

A sealing head pulling-out tool comprises a servo module and a clamping jaw assembly, the servo module comprises a truss, a robot assembly and a first guide rail, the first guide rail is arranged on a first frame body of the truss, a lead screw module is arranged on the first guide rail, and the robot assembly can slide along the first guide rail under driving of the lead screw module. The clamping jaw assembly is arranged below the robot assembly, the robot assembly is used for driving the clamping jaw assembly to move up and down, and the clamping jaw assembly comprises a first clamping jaw used for grabbing a sealing head and a second clamping jaw used for pulling out the sealing head. The first clamping jaw is provided with a plurality of grabbing clamps used for grabbing the sealing heads in different shapes, and the second clamping jaw is provided with a plurality of pulling-out clamps used for pulling out the sealing heads in different shapes.

Description

Technical Field

[0001] The utility model relates to the technical field of sealing head pulling-off, in particular to a sealing head pulling-off tool. Background Art

[0002] For the work of extracting sealing heads, using robot grasping instead of manual grasping is an inevitable trend of industrial development. At present, the robot-used sealing head extraction device can only grasp and extract the sealing heads of the same type, and is not compatible with sealing heads of different types, sizes, and shapes. The types of sealing heads usually include round sealing heads, square sealing heads, rubber sealing heads, metal winding sealing heads, flat sealing heads, corrugated sleeve sealing heads, etc., and the sizes are also varied. The adapted grasping methods are not uniform, and conventional sealing head extraction devices are difficult to adapt and be compatible at the same time. Summary of the invention

[0003] The utility model provides a sealing head extraction tool that can grab and extract different types of sealing heads with high efficiency and high precision. The sealing head extraction tool in the utility model includes a servo module and a clamping jaw assembly, the servo module includes a truss, a robot assembly and a first guide rail, the first guide rail is arranged on the first frame of the truss and is provided with a screw module, the robot assembly can slide along the first guide rail under the drive of the screw module, the clamping jaw assembly is arranged below the robot assembly, the robot assembly is used to drive the clamping jaw assembly to move up and down, the clamping jaw assembly includes a first clamping jaw for grabbing the sealing head and a second clamping jaw for extracting the sealing head, the first clamping jaw is provided with a plurality of grabbing clamps for grabbing sealing heads of different shapes, and the second clamping jaw is provided with a plurality of extracting clamps for extracting sealing heads of different shapes.

[0004] Furthermore, the truss also includes a second frame and a third frame arranged in parallel, the second frame and the third frame are respectively arranged on both sides of the first frame and are arranged vertically with the first frame, the second frame and the third frame are respectively provided with a second guide rail and a third guide rail, and the two ends of the first frame are respectively arranged on the second guide rail and the third guide rail and can slide on the second guide rail and the third guide rail.

[0005] Furthermore, the servo module further comprises a guide rail support block, the second frame and the third frame are respectively provided with the guide rail support block, and the second guide rail and the third guide rail are respectively provided on the guide rail support block.

[0006] Furthermore, the servo module also includes an adjustment block, and several of the adjustment blocks are arranged on the second frame and the third frame and below the guide rail support block. The adjustment block can lift or lower the guide rail support block by adjusting its own height. The adjustment block is used to adjust the distance between the guide rail support block and the second frame and the third frame.

[0007] Furthermore, the servo module also includes a drag chain, which is arranged on the truss and is used to accommodate cables of the robot assembly. The drag chain can slide on the first frame along with the robot assembly.

[0008] Furthermore, the robot assembly includes a servo motor, a servo electric cylinder and a linear bearing, the servo motor is arranged on the first guide rail, the servo electric cylinder is arranged below the servo motor, the servo motor is used to drive the servo electric cylinder, the servo electric cylinder is used to drive the gripper assembly to move up and down, and the linear bearing is used to assist the servo electric cylinder in linear guidance.

[0009] Furthermore, the first gripper also includes a first gripper cylinder and a first throttle valve, the first gripper cylinder is arranged below the robot assembly, the first throttle valve is arranged in the first gripper cylinder, the first gripper cylinder is used to drive the grabbing fixture, the first throttle valve is used to control the movement speed of the grabbing fixture, and the grabbing fixture is used to grab one or more of a circular sealing head, a square sealing head, a rubber sealing head, a metal winding sealing head, a flat sealing head and a corrugated sleeve sealing head.

[0010] Furthermore, the second clamping jaw also includes a second clamping jaw cylinder, a second throttle valve and a blowing device, the second clamping jaw cylinder is arranged below the robot assembly, the second throttle valve is arranged in the second clamping jaw cylinder, the blowing device is arranged between the second clamping jaw cylinder and the robot assembly, the second clamping jaw cylinder is used to drive the pull-out clamp, the second throttle valve is used to control the speed of movement of the pull-out clamp, the pull-out clamp is used to grab one or more of a circular sealing head, a square sealing head, a rubber sealing head, a metal winding sealing head, a flat sealing head and a corrugated sleeve sealing head, and the blowing device is used to blow away the sealing head adhered to the pull-out clamp.

[0011] Furthermore, the number of the grabbing fixtures and the pulling-out fixtures is the same, and the grabbing fixtures and the pulling-out fixtures are used to grab and pull out sealing heads of the same shape.

[0012] Furthermore, the utility model also includes a visual detection assembly, which includes an image sensor, a fill light element and a fixed plate. The visual detection assembly is integrated with the robot assembly through the fixed plate, and the image sensor and the fill light element are arranged below the fixed plate. The image sensor is used to photograph the sealing head pulled out after being grasped, and the fill light element is used to fill light for the image sensor. The utility model provides.

[0013] The sealing head extraction tool provided by the utility model realizes precise positioning of the sealing head through the truss, the screw module and the multiple guide rails thereon, thereby effectively avoiding errors in the process of extracting the sealing head; the guide rail support block and the adjustment block enable the entire servo module to operate efficiently, avoiding jamming and rapid wear of the mechanism due to angle errors, and reducing mechanical losses; the robot assembly grasps and extracts different types of sealing heads, and the visual inspection assembly detects whether the sealing head is qualified, so that the sealing head extraction tool of the utility model has many advantages such as high efficiency, high precision, high degree of automation, versatility, high safety, low cost, strong reliability, easy maintenance, space saving and strong adaptability, and can bring about improved production efficiency, guaranteed production quality and improved operational convenience in the field of sealing head extraction devices in the manufacturing industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the sealing head removal tool provided by the utility model.

[0015] Figure 2 It is a schematic diagram of the clamping jaw assembly in the utility model.

[0016] Figure 3 It is a bottom view of the clamping jaw assembly in the utility model.

[0017] Figure 4 It is a schematic diagram of the visual detection assembly and its camera range in the present invention. DETAILED DESCRIPTION

[0018] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the present invention is described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0019] It should be noted that the terms "first", "second", "third", "fourth", etc. in the specification and claims of the utility model are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0020] See also Figures 1 to 4The utility model provides a sealing head extraction tool, which can extract sealing heads of different types, shapes and materials through a three-axis module robot. The sealing head extraction tool in the utility model includes a servo module 1, a clamping jaw assembly 2 and a visual inspection assembly 3. The clamping jaw assembly 2 and the visual inspection assembly 3 are arranged on the robot assembly 12 of the servo module 1 and can move with the robot assembly 12. The clamping jaw assembly 2 is used to clamp and extract the sealing head, and the visual inspection assembly 3 is used to take pictures and detect the extracted workpiece to detect whether it is qualified. Specifically, the servo module 1 includes a truss, a robot assembly 12 and a first guide rail 13. The first guide rail 13 is arranged on the first frame 111 of the truss and a screw module is arranged thereon. The robot assembly 12 can slide along the first guide rail 13 under the drive of the screw module. The clamp assembly 2 and the visual inspection assembly 3 are arranged below the robot assembly 12; the clamp assembly 2 includes a first clamp 21 for grasping the sealing head and a second clamp 22 for pulling out the sealing head. The first clamp 21 is provided with a plurality of clamps for grasping the sealing head. The grabbing fixture 211 of the same shape of the sealing head, and the second clamping jaw 22 are provided with a plurality of extraction fixtures 221 for extracting sealing heads of different shapes; the visual inspection assembly 3 includes an image sensor 31, a fill light element 32 and a fixing plate 33, and the visual inspection assembly 3 is integrated with the robot assembly 12 through the fixing plate 33, and the image sensor 31 and the fill light element 32 are arranged below the fixing plate 33, and the image sensor 31 is used to photograph the sealing head extracted after being grabbed, and the fill light element 32 is used to fill light for the image sensor 31. The sealing head extraction tooling of the utility model realizes precise positioning of the sealing head by moving the robot assembly 12 and the visual inspection assembly 3 through the servo module 1, grabs and extracts different types of sealing heads through the robot assembly 12, and detects whether the sealing head is qualified through the visual inspection assembly 3, thereby preventing the outflow of defective products from the process level, and has many advantages such as high efficiency, high precision, high degree of automation and strong adaptability.

[0021] Please refer to Figure 1Furthermore, the truss also includes a second frame 112 and a third frame 113 arranged in parallel. The second frame 112 and the third frame 113 are respectively arranged on both sides of the first frame 111 and are arranged vertically with the first frame 111. The second frame 112 and the third frame 113 are respectively provided with a second guide rail 14 and a third guide rail 15. The two ends of the first frame 111 are respectively arranged on the second guide rail 14 and the third guide rail 15 and can slide on the second guide rail 14 and the third guide rail 15. Specifically, in the present embodiment, the first frame 111, the second frame 112 and the third frame 113 form an "I" shape, and the first frame 111 and the first guide rail 13 thereon can slide on the second guide rail 14 of the fixed second frame 112 and the third guide rail 15 of the third frame 113, and the second guide rail 14 and the third guide rail 15 are also provided with a screw module, that is, the position of the robot assembly 12 can be further adjusted by adjusting the position of the first frame 111 on the second frame 112 and the third frame 113, for example: the extension direction of the first frame 111 is defined as the first direction, and the extension direction of the second frame 112 and the third frame 113 is the second direction perpendicular to the first direction, and by adjusting the position of the first frame 111 along the second direction and adjusting the position of the robot assembly 12 on the first guide rail 13 along the first direction, the jaw assembly 2 can be precisely positioned on the plane formed by the first direction and the second direction. The sealing head extraction tooling of the utility model realizes accurate positioning of the sealing head through the servo module 1 thus arranged, thereby effectively avoiding errors in the process of extracting the sealing head. In addition, a drag chain 6 is also correspondingly arranged on the truss of the utility model, and the drag chain 6 is used to accommodate the cables of the robot assembly 12. The drag chain 6 can slide with the robot assembly 12 on the first frame 111, the second frame 112 and the third frame 113. The utility model uses the screw action of the screw module, and according to the characteristics that the load capacity of the modules with different leads is different, the load of the large lead is small and the load of the small lead is large, after the module is in place, the robot assembly 12 is controlled according to high synchronization, so that the force can be evenly applied when the sealing head is extracted, and the sealing head can be pulled out completely more easily. At the same time, due to the high precision of the screw module, the position information fed back by the robot assembly 12 can be guaranteed to be accurate through the fixed lead.

[0022] Furthermore, the servo module 1 also includes a guide rail support block 4 and an adjustment block 5. The guide rail support blocks 4 are respectively arranged on the second frame 112 and the third frame 113. The second guide rail 14 and the third guide rail 15 are respectively arranged on the guide rail support block 4. A number of adjustment blocks 5 are arranged on the second frame 112 and the third frame 113 and below the guide rail support block 4. The adjustment block 5 can lift or lower the guide rail support block 4 by adjusting its own height. The adjustment block 5 is used to adjust the distance between the guide rail support block 4 and the second frame 112 and the third frame 113. Specifically, in the present embodiment, the guide rail support block 4 on the second frame 112 and the guide rail support block 4 on the third frame 113 are both placed along the second direction to support the second guide rail 14 and the third guide rail 15 extending along the second direction; four adjustment blocks 5 are respectively arranged on the second frame 112 and the third frame 113, for a total of eight adjustment blocks 5. Taking the four adjustment blocks 5 on the second frame 112 as an example, the four adjustment blocks 5 are respectively arranged near the two ends of the second frame 112 in the second direction and at the two ends in the first direction. The adjustment blocks 5 are provided with top nuts for adjusting their own heights. Before using the sealing head removal tooling of the utility model, the guide rail support blocks 4 can be adjusted to the same height by manually adjusting the top nuts, so that the second guide rail 14 and the third guide rail 15 are parallel to each other and at the same height, thereby making the first guide rail 13 on the first frame 111 leveled to ensure the working accuracy of the robot assembly 12. The sealing head removal tool of the utility model enables the entire mechanism to operate efficiently through the adjustment block 5, avoids jamming and accelerated wear of the mechanism due to angle errors during the operation of the servo module 1, reduces friction between the guide rail and the slider, and reduces mechanical losses during operation.

[0023] Furthermore, the robot assembly 12 includes a servo motor 121, a servo electric cylinder 122 and a linear bearing 123. The servo motor 121 is arranged on the first guide rail 13, the servo electric cylinder 122 is arranged below the servo motor 121, the servo motor 121 is used to drive the servo electric cylinder 122, the servo electric cylinder 122 is used to drive the gripper assembly 2 to move up and down, and the linear bearing 123 is used to assist the servo electric cylinder 122 in linear guidance. Specifically, in this embodiment, the servo motor 121 is arranged above the servo electric cylinder 122 and is integrally connected with the servo electric cylinder 122, the gripper assembly 2 is installed at the lower end of the servo electric cylinder 122, and the linear bearing 123 is located above the servo electric cylinder 122 in the height direction.

[0024] Please refer to Figure 2 and Figure 3Furthermore, the jaw assembly 2 in the utility model includes a first jaw 21 for grasping a sealing head and a second jaw 22 for pulling out the sealing head. The first jaw 21 includes a first jaw cylinder 21a, a first throttle valve and a plurality of grasping fixtures 211 for grasping sealing heads of different shapes. The first jaw cylinder 21a is arranged below the robot assembly 12, and the first throttle valve is arranged in the first jaw cylinder 21a. The first jaw cylinder 21a is used to drive the grasping fixture 211, and the first throttle valve is used to control the speed of the grasping fixture 211. The grasping fixture 211 is used to grasp one or more of a circular sealing head, a square sealing head, a rubber sealing head, a metal winding sealing head, a flat sealing head and a corrugated sleeve sealing head. Similarly, the second clamp 22 includes a second clamp cylinder 22a, a second throttle valve and a plurality of extraction fixtures 221 for extracting sealing heads of different shapes. The second clamp cylinder 22a is arranged below the robot assembly 12, the second throttle valve is arranged in the second clamp cylinder 22a, the second clamp cylinder 22a is used to drive the extraction fixture 221, the second throttle valve is used to control the speed of the extraction fixture 221, and the extraction fixture 221 is used to grab one or more of a circular sealing head, a square sealing head, a rubber sealing head, a metal winding sealing head, a flat sealing head and a corrugated tube sleeve sealing head. In particular, the second clamp 22 also includes a blowing device 22b, which is arranged between the second clamp cylinder 22a and the robot assembly 12, and the blowing device 22b is used to blow away the sealing head adhered to the extraction fixture 221. Specifically, the first clamp 21 and the second clamp 22 have the same number and shape of sealing heads that can be clamped. It is easy to understand that the clamp assembly 2 in the utility model can grab and pull out sealing heads of different shapes. When working, it needs to grab first and then pull out. Therefore, the grabbing clamps 211 and the pulling clamps 221 on the first clamp 21 and the second clamp 22 are the same in number, arrangement and position, and the shapes of the sealing heads they are adapted to are also the same. In this embodiment, the first clamp 21 and the second clamp 22 are arranged in parallel at the lower end of the robot assembly 12. Taking the second clamp 22 as an example, the second clamp 22 is provided with five pulling clamps 221 located in the same plane in the height direction. The second clamp cylinder 22a, the second throttle valve and the pulling clamp 221 are connected through a three-position five-way solenoid valve. The sealing head extraction tool of the utility model is compatible with various types of sealing heads through the first clamping jaw 21 for grasping the sealing head and the second clamping jaw 22 for pulling out the sealing head. The sealing head and the clamping jaw are prevented from sticking together through the blowing device 22b. The sealing head centering and clamping actions are accurately completed through the throttle valve and the solenoid valve. The utility model has high flexibility and versatility.

[0025] Before the sealing head extraction tooling of the utility model works, first adjust the adjustment block 5 to level the first guide rail 13. When the sealing head extraction tooling of the utility model works, start the robot assembly 12, the first clamp 21 moves downward under the control of the servo motor 121, grabs the sealing head to the specified position through the grabbing fixture 211, and then the first clamp 21 releases the sealing head and returns upward, the second clamp 22 moves downward under the control of the servo motor 121, pulls out the sealing head at the specified position, and runs the blowing device 22b at the same time to prevent the sealing head from sticking to the extraction fixture 221 of the second clamp 22, and the second clamp 22 returns upward. Finally, run the visual inspection assembly 3, the servo module 1 moves the visual inspection assembly 3 to the top of the specified position, the image sensor 31 takes a photo and analyzes it, if the analysis shows that the sealing head is completely pulled out, the feedback is that the sealing head is qualified, if the analysis shows that the sealing head is unqualified, the feedback is that the sealing head is unqualified.

[0026] In summary, the sealing head extraction tooling of the utility model realizes precise positioning of the sealing head through the truss, the screw module and the multiple guide rails thereon, thereby effectively avoiding errors in the process of extracting the sealing head; the guide rail support block and the adjustment block enable the entire servo module to operate efficiently, avoiding jamming and rapid wear of the mechanism due to angle errors, and reducing mechanical losses; the robot assembly grasps and extracts different types of sealing heads, and the visual inspection assembly detects whether the sealing head is qualified, so that the sealing head extraction tooling of the utility model has many advantages such as high efficiency, high precision, high degree of automation, versatility, high safety, low cost, strong reliability, easy maintenance, space saving and strong adaptability, etc., which can bring about improved production efficiency, guaranteed production quality and improved operational convenience in the field of sealing head extraction devices in the manufacturing industry.

[0027] The above are only specific implementations of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which 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 sealing head removal tool, characterized in that: The invention comprises a servo module (1) and a clamping jaw assembly (2), wherein the servo module (1) comprises a truss, a robot assembly (12) and a first guide rail (13), wherein the first guide rail (13) is arranged on a first frame (111) of the truss and a screw module is arranged thereon, wherein the robot assembly (12) can slide along the first guide rail (13) under the drive of the screw module, wherein the clamping jaw assembly (2) is arranged below the robot assembly (12), wherein the robot assembly (12) is used to drive the clamping jaw assembly (2) to move up and down, wherein the clamping jaw assembly (2) comprises a first clamping jaw (21) for grasping a sealing head and a second clamping jaw (22) for pulling out a sealing head, wherein the first clamping jaw (21) is provided with a plurality of grasping clamps (211) for grasping sealing heads of different shapes, and the second clamping jaw (22) is provided with a plurality of pulling out clamps (221) for pulling out sealing heads of different shapes.

2. The sealing head removal tool according to claim 1, characterized in that: The truss further comprises a second frame (112) and a third frame (113) which are arranged in parallel, wherein the second frame (112) and the third frame (113) are respectively arranged on both sides of the first frame (111) and are arranged vertically with the first frame (111), and the second frame (112) and the third frame (113) are respectively provided with a second guide rail (14) and a third guide rail (15), and the two ends of the first frame (111) are respectively arranged on the second guide rail (14) and the third guide rail (15) and are capable of sliding on the second guide rail (14) and the third guide rail (15).

3. The sealing head removal tool as claimed in claim 2, characterized in that: The servo module (1) further comprises a guide rail support block (4), the guide rail support block (4) being respectively arranged on the second frame (112) and the third frame (113), and the second guide rail (14) and the third guide rail (15) being respectively arranged on the guide rail support block (4).

4. The sealing head removal tool as claimed in claim 3, characterized in that: The servo module (1) also includes an adjustment block (5), wherein a plurality of the adjustment blocks (5) are arranged on the second frame (112) and the third frame (113) and below the guide rail support block (4), wherein the adjustment block (5) can lift or lower the guide rail support block (4) below by adjusting its own height, and the adjustment block (5) is used to adjust the distance between the guide rail support block (4) and the second frame (112) and the third frame (113).

5. The sealing head removal tool according to claim 1, characterized in that: The servo module (1) further comprises a drag chain (6), wherein the drag chain (6) is arranged on the truss, and the drag chain (6) is used to accommodate cables of the robot assembly (12). The drag chain (6) can slide on the first frame (111) along with the robot assembly (12).

6. The sealing head removal tool according to claim 1, characterized in that: The robot assembly (12) comprises a servo motor (121), a servo electric cylinder (122) and a linear bearing (123); the servo motor (121) is arranged on the first guide rail (13); the servo electric cylinder (122) is arranged below the servo motor (121); the servo motor (121) is used to drive the servo electric cylinder (122); the servo electric cylinder (122) is used to drive the gripper assembly (2) to move up and down; and the linear bearing (123) is used to assist the servo electric cylinder (122) in performing linear guidance.

7. The sealing head removal tool according to claim 1, characterized in that: The first clamping jaw (21) also includes a first clamping jaw cylinder (21a) and a first throttle valve, wherein the first clamping jaw cylinder (21a) is arranged below the robot assembly (12), and the first throttle valve is arranged in the first clamping jaw cylinder (21a), and the first clamping jaw cylinder (21a) is used to drive the grasping fixture (211), and the first throttle valve is used to control the speed of movement of the grasping fixture (211), and the grasping fixture (211) is used to grasp one or more of a circular sealing head, a square sealing head, a rubber sealing head, a metal winding sealing head, a flat sealing head and a corrugated tube sleeve sealing head.

8. The sealing head removal tool according to claim 1, characterized in that: The second clamping jaw (22) further comprises a second clamping jaw cylinder (22a), a second throttle valve and a blowing device (22b); the second clamping jaw cylinder (22a) is arranged below the robot assembly (12); the second throttle valve is arranged in the second clamping jaw cylinder (22a); the blowing device (22b) is arranged between the second clamping jaw cylinder (22a) and the robot assembly (12); the second clamping jaw cylinder (22a) is used to drive the extraction clamp (221); the second throttle valve is used to control the speed of movement of the extraction clamp (221); the extraction clamp (221) is used to grasp one or more of a circular sealing head, a square sealing head, a rubber sealing head, a metal winding sealing head, a plane sealing head and a corrugated tube sleeve sealing head; and the blowing device (22b) is used to blow away the sealing head adhered to the extraction clamp (221).

9. The sealing head removal tool as claimed in claim 7 or 8, characterized in that: The number of the grabbing clamps (211) and the pulling clamps (221) is the same, and the grabbing clamps (211) and the pulling clamps (221) are used to grab and pull out sealing heads of the same shape.

10. The sealing head removal tool according to claim 1, characterized in that: The invention also comprises a visual detection assembly (3), wherein the visual detection assembly (3) comprises an image sensor (31), a fill light element (32) and a fixing plate (33); the visual detection assembly (3) is integrally installed with the robot assembly (12) via the fixing plate (33); the image sensor (31) and the fill light element (32) are arranged below the fixing plate (33); the image sensor (31) is used to photograph the sealing head that is pulled out after being grasped; and the fill light element (32) is used to fill light for the image sensor (31).

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