Transfer mechanism

Abstract

The utility model provides a transfer mechanism. The transfer mechanism comprises a channel and a transfer mechanism, the tray is movably arranged on the channel; the manipulator is arranged corresponding to the channel; the protection assembly comprises a first trigger part, a detection part and a control part, the first trigger part is arranged on the channel, the detection part is arranged above the channel, the first trigger part is located on the side, away from the manipulator, of the detection part, and the control part is in signal connection with the detection part, the first trigger part and the manipulator; when the tray moves in the channel, the tray can trigger the first trigger piece, the control piece switches the detection piece to a stop state according to a trigger signal of the first trigger piece and controls the mechanical arm to be in an open state, and when a person moves in the channel, the person can trigger the detection piece to start the mechanical arm. The control piece controls the mechanical arm to be switched to the stop state according to a trigger signal of the detection piece. Through the technical scheme provided by the invention, the problem that a manipulator in the related technology may cause harm to people can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of production lines, in particular to a transfer mechanism. Background Art

[0002] Milk powder is a powder made from animal milk and after removing water, which can provide nutrients for infants or middle-aged and elderly people. In order to facilitate the storage and transportation of milk powder, milk powder cans are often used to package milk powder.

[0003] In the related technology, milk powder cans need to be transported on pallets and grabbed by a robot to transfer the milk powder cans to the canning production line for powder filling. In order to prevent misoperation and parameter setting errors from causing erroneous actions of the robot, the robot itself is equipped with a protection system. There is a safety door in the robot operation area, and the safety door and the robot form a safety interlock emergency stop system.

[0004] However, there is no safe and controllable interlock for personnel entering the working interval through the loading channel, and there are safety risk points in safety risk management. This working environment is not conducive to safe production and will bring unsafe hazards to the factory and relevant production personnel. Therefore, it is necessary to improve this risk point to eliminate safety hazards. Utility Model Content

[0005] The utility model provides a transfer mechanism to solve the problem that a manipulator in the related technology may cause harm to people.

[0006] The utility model provides a transfer mechanism, which includes: a channel; a tray, which is movably arranged on the channel; a manipulator, which is arranged corresponding to the channel; a protective component, which includes a first triggering member, a detecting member and a controlling member, wherein the first triggering member is arranged on the channel, the detecting member is arranged above the channel, the first triggering member is located on a side of the detecting member away from the manipulator, and the controlling member is respectively connected with the detecting member, the first triggering member and manipulator signals; wherein, when the tray moves in the channel, the tray can trigger the first triggering member, the controlling member switches the detecting member to a stopped state and controls the manipulator to be in an opened state according to a trigger signal of the first triggering member, and when a person moves in the channel, the person can trigger the detecting member, and the controlling member controls the manipulator to switch to a stopped state according to a trigger signal of the detecting member.

[0007] Furthermore, the protection component also includes a second trigger member arranged on the channel, the second trigger member is located between the manipulator and the detection member, the control member is connected to the second trigger member signal, the tray can trigger the second trigger member, and the control member can switch the detection member to an open state according to the trigger signal of the second trigger member.

[0008] Furthermore, the transfer mechanism also includes brackets arranged on both sides of the channel, the brackets are located between the first trigger member and the second trigger member, and the detection member is arranged on the brackets.

[0009] Furthermore, the detection component is a photoelectric detection device, which includes a transmitting end and a receiving end. The bracket includes two support beams arranged on both sides of the channel, and the transmitting end and the receiving end are respectively arranged on the two support beams.

[0010] Furthermore, there are two detection members, which are vertically spaced apart and arranged on the bracket.

[0011] Furthermore, the protection component also includes a power supply, which is electrically connected to the first trigger component, the detection component and the second trigger component respectively.

[0012] Furthermore, the protection component also includes a relay, and the control component is connected to the detection component, the first trigger component, the second trigger component and the robot signal through the relay.

[0013] Furthermore, the protection component also includes a control cabinet, and the control components and relays are arranged in the control cabinet.

[0014] Furthermore, the protection component also includes a wiring terminal, and the detection component, the first trigger component and the second trigger component are all connected to the relay through the wiring terminal.

[0015] Furthermore, there are two channels, two trays, two first trigger members, two second trigger members, two trays and two detection members, which correspond to two channels respectively. The manipulator is located between the two channels. The protection component also includes a three-position knob, which is connected to the manipulator signal. The three-position knob has a first state, a second state and a third state. When the three-position knob is in the first state, the manipulator is in a maintenance state. When the three-position knob is in the second state and the third state, the manipulator corresponds to the two channels respectively.

[0016] The technical solution of the utility model is applied, and the transfer mechanism includes a channel, a pallet, a manipulator and a protective component. When the milk powder cans are transported by the pallet, the milk powder can array is set on the pallet, and the pallet moves along the channel toward the manipulator. When the pallet moves, the first triggering member set on the channel is triggered, and the first triggering member generates a trigger signal. The control member switches the detection member to a stop state according to the trigger signal of the first triggering member, and controls the manipulator to be in an open state. When the pallet passes through the detection member, the detection member stops working and no signal is generated. When the pallet moves to the manipulator, the manipulator is used to transfer the milk powder cans on the pallet to the canning production line. When a person moves along the channel toward the manipulator, since the first triggering member is set on the channel, the person will not trigger the first triggering member, and when the person passes through the detection member, the detection member can be triggered, and the detection member generates a trigger signal. The control member controls the manipulator to switch to a stop state according to the trigger signal of the detection member. At this time, the manipulator will not cause harm to the person. Furthermore, as long as the object moves toward the manipulator through the channel and has a certain height, as long as it does not touch the channel, the first triggering member will not be triggered, but the detection member can be triggered, so that the manipulator can stop working and achieve safe production. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0018] Figure 1 A partial schematic diagram of a transfer mechanism provided according to an embodiment of the utility model is shown;

[0019] Figure 2 Another partial schematic diagram of the transfer mechanism provided according to an embodiment of the utility model is shown;

[0020] Figure 3 Another partial schematic diagram of the transfer mechanism provided according to an embodiment of the utility model is shown.

[0021] The above drawings include the following reference numerals:

[0022] 10. Passage; 11. Tray;

[0023] 20. Robotic arm;

[0024] 30. Protection component; 31. First trigger component; 32. Detection component; 321. Transmitter; 322. Receiving end; 33. Second trigger component; 34. Bracket; 35. Control cabinet. DETAILED DESCRIPTION

[0025] 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. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0026] like Figures 1 to 3 As shown, an embodiment of the utility model provides a transfer mechanism, which includes a channel 10, a tray 11, a manipulator 20, and a protective component 30. The tray 11 is movably arranged on the channel 10; the manipulator 20 is arranged corresponding to the channel 10; the protective component 30 includes a first trigger member 31, a detection member 32 and a control member, the first trigger member 31 is arranged on the channel 10, the detection member 32 is arranged above the channel 10, the first trigger member 31 is located on the side of the detection member 32 away from the manipulator 20, and the control member is respectively connected with the detection member 32, the first trigger member 31 and the manipulator 20 by signal; wherein, when the tray 11 moves in the channel 10, the tray 11 can trigger the first trigger member 31, and the control member switches the detection member 32 to a stopped state according to the trigger signal of the first trigger member 31 and controls the manipulator 20 to be in an open state, and when a person moves in the channel 10, the person can trigger the detection member 32, and the control member controls the manipulator 20 to switch to a stopped state according to the trigger signal of the detection member 32.

[0027] By applying the technical solution of the utility model, the transfer mechanism includes a channel 10, a pallet 11, a manipulator 20 and a protective component 30. When the pallet 11 is used to transport milk powder cans, the milk powder can array is set on the pallet 11, and the pallet 11 is moved along the channel 10 toward the manipulator 20. When the pallet 11 moves, the first trigger member 31 set on the channel 10 is triggered, and the first trigger member 31 generates a trigger signal. The control member switches the detection member 32 to a stop state according to the trigger signal of the first trigger member 31, and controls the manipulator 20 to be in an open state. When the pallet 11 passes through the detection member 32, the detection member 32 stops working and no signal is generated. When the pallet 11 moves to the manipulator 20, the manipulator 20 is used to transfer the milk powder cans on the pallet 11 to the canning production line. When a person moves toward the manipulator 20 along the channel 10, since the first triggering member 31 is set on the channel 10, the person will not trigger the first triggering member 31, and when the person passes through the detection member 32, the detection member 32 can be triggered, and the detection member 32 generates a trigger signal. The control member controls the manipulator 20 to switch to a stop state according to the trigger signal of the detection member 32. At this time, the manipulator 20 will not cause harm to people. In addition, as long as the object moves toward the manipulator through the inside of the channel and has a certain height, as long as it does not touch the channel, that is, the first triggering member 31 will not be triggered, but the detection member 32 can be triggered, so that the manipulator 20 can stop working and achieve safe production.

[0028] It should be noted that the channel 10 includes two parallel guide rails, and the tray 11 is movably arranged on the guide rails. The first trigger member 31 is arranged on one of the guide rails, and the first trigger member 31 can be a proximity switch, which can be triggered when the tray 11 moves to the proximity switch.

[0029] Among them, since the first trigger member 31 can be triggered when the tray 11 passes through it, and the detection member 32 is arranged above the channel 10, the trigger signal generated by the first trigger member 31 can enable the control member to control the detection member 32 to stop working, and then when the tray 11 passes through the detection member 32, the detection member 32 will not generate a trigger signal, and the robot 20 will not stop working.

[0030] like Figure 1 As shown, the protection component 30 also includes a second trigger 33 disposed on the channel 10, the second trigger 33 is located between the manipulator 20 and the detection member 32, the control member is connected to the second trigger 33 signal, the tray 11 can trigger the second trigger 33, and the control member can switch the detection member 32 to the open state according to the trigger signal of the second trigger 33. When the tray 11 passes through the detection member 32 and moves to the second trigger 33, the tray 11 triggers the second trigger 33, and the control member can switch the detection member 32 to the open state according to the trigger signal of the second trigger 33, so as to prevent the manipulator 20 from causing harm to the person after the person passes through.

[0031] In this embodiment, the second trigger member 33 is also configured as a proximity switch.

[0032] like Figure 1 and Figure 2 As shown, the transfer mechanism further includes brackets 34 disposed on both sides of the channel 10, the brackets 34 are located between the first trigger member 31 and the second trigger member 33, and the detection member 32 is disposed on the brackets 34. The detection member 32 is disposed using the brackets 34, which has the advantages of simple structure and easy installation.

[0033] like Figure 1 As shown, the detection element 32 is a detection photoelectric device, which includes a transmitting end 321 and a receiving end 322. The bracket 34 includes two support beams arranged on both sides of the channel 10, and the transmitting end 321 and the receiving end 322 are respectively arranged on the two support beams. The detection element set by the detection photoelectric device has the advantages of low cost and convenient material acquisition.

[0034] In this embodiment, the bracket 34 is a partition disposed on both sides of the channel 10, and the partition is used to separate the area where the milk powder cans are transferred to the tray 11 and the area where the robot 20 grabs the milk powder cans. The support beam is a support beam of the partition.

[0035] When a person passes through the partition, the human body can block the light emitted from the transmitting end 321 to the receiving end 322, thereby preventing the receiving end 322 from receiving the light and generating a trigger signal. The control component stops the robot 20 from working according to the trigger signal.

[0036] In this embodiment, there are two detection members 32, and the two detection members 32 are arranged vertically and spaced apart on the bracket 34. The two detection members 32 can form a complementary effect, and when one of them fails, the transfer mechanism can work normally.

[0037] Specifically, a mounting frame is provided on the bracket 34, and the detection photoelectric device is provided on the mounting frame.

[0038] The protection component 30 further includes a power supply, which is electrically connected to the first trigger member 31, the detection member 32, and the second trigger member 33. Using the power supply to supply power to the first trigger member 31 and the detection member 32 has the advantages of simple structure and easy setting.

[0039] In this embodiment, the protection component 30 further includes a relay, and the control component is connected to the detection component 32, the first trigger component 31, the second trigger component 33 and the manipulator 20 through the relay. The relay can use a low current to control a high current, thereby realizing the control function of the control component on the first trigger component 31, the second trigger component 33 and the manipulator 20.

[0040] like Figure 2As shown, the protection assembly 30 further includes a control cabinet 35, and the control components and relays are arranged in the control cabinet 35. The above structure has the advantages of saving space and being easy to arrange.

[0041] In this embodiment, the control cabinet 35 is an original control cabinet of the system, and the control component is a PLC in the control cabinet.

[0042] In this embodiment, the protection component 30 further includes a wiring terminal, and the detection member 32, the first trigger member 31 and the second trigger member 33 are all connected to the relay through the wiring terminal. The use of the wiring terminal for circuit switching can facilitate the layout of the circuit and make the circuit layout neater.

[0043] like Figure 3 As shown, there are two channels 10, trays 11, first triggers 31, second triggers 33 and detection members 32. Two first triggers 31, two second triggers 33, two trays 11 and two detection members 32 are respectively set for two channels 10. The manipulator 20 is located between the two channels 10. The protection component 30 also includes a three-position knob, which is connected to the manipulator 20 signal. The three-position knob has a first state, a second state and a third state. When the three-position knob is in the first state, the manipulator 20 is in the maintenance state. When the three-position knob is in the second state and the third state, the manipulator 20 corresponds to the two channels 10 respectively. With the above arrangement, one manipulator 20 can correspond to two channels 10 at the same time to improve the grabbing efficiency of the milk powder can. In addition, the protection component 30 is set for the two channels 10, so that when the manipulator 20 corresponds to the two channels 10 respectively, no harm will be caused to people.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0046] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present utility model; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0047] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0048] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0049] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A transport mechanism, characterized in that: The transfer mechanism comprises: Channel (10); A tray (11) movably arranged on the channel (10); A manipulator (20) is arranged corresponding to the channel (10); A protection component (30), comprising a first triggering member (31), a detection member (32) and a control member, wherein the first triggering member (31) is arranged on the channel (10), the detection member (32) is arranged above the channel (10), the first triggering member (31) is located on a side of the detection member (32) away from the manipulator (20), and the control member is respectively connected to the detection member (32), the first triggering member (31) and the manipulator (20) by signals; When the tray (11) moves in the channel (10), the tray (11) can trigger the first triggering member (31), and the control member switches the detection member (32) to a stop state and controls the manipulator (20) to be in an open state according to a triggering signal of the first triggering member (31); when a person moves in the channel (10), the person can trigger the detection member (32), and the control member controls the manipulator (20) to switch to a stop state according to a triggering signal of the detection member (32).

2. The transfer mechanism according to claim 1, characterized in that: The protection component (30) further comprises a second triggering member (33) arranged on the channel (10), the second triggering member (33) being located between the robot (20) and the detection member (32), the control member being connected to the second triggering member (33) by signal, the tray (11) being able to trigger the second triggering member (33), and the control member being able to switch the detection member (32) to an open state according to a triggering signal of the second triggering member (33).

3. The transfer mechanism according to claim 2, characterized in that: The transfer mechanism further comprises brackets (34) arranged on both sides of the channel (10), the brackets (34) being located between the first trigger member (31) and the second trigger member (33), and the detection member (32) being arranged on the brackets (34).

4. The transfer mechanism according to claim 3, characterized in that: The detection element (32) is a detection photoelectric device, which includes a transmitting end (321) and a receiving end (322). The bracket (34) includes two support beams arranged on both sides of the channel (10), and the transmitting end (321) and the receiving end (322) are respectively arranged on the two support beams.

5. The transfer mechanism according to claim 3, characterized in that: There are two detection members (32), and the two detection members (32) are arranged on the bracket (34) at intervals in the vertical direction.

6. The transfer mechanism according to claim 2, characterized in that: The protection component (30) also includes a power supply, which is electrically connected to the first trigger component (31), the detection component (32), and the second trigger component (33) respectively.

7. The transfer mechanism according to claim 2, characterized in that: The protection component (30) further comprises a relay, and the control component is connected to the detection component (32), the first trigger component (31), the second trigger component (33) and the manipulator (20) by signals via the relay.

8. The transfer mechanism according to claim 7, characterized in that: The protection assembly (30) further comprises a control cabinet (35), and the control element and the relay are both arranged in the control cabinet (35).

9. The transfer mechanism according to claim 7, characterized in that: The protection component (30) further comprises a connection terminal, and the detection component (32), the first trigger component (31) and the second trigger component (33) are all connected to the relay via the connection terminal.

10. The transfer mechanism according to claim 2, characterized in that: The number of the channel (10), the tray (11), the first trigger member (31), the second trigger member (33) and the detection member (32) are two each. The two first trigger members (31), the two second trigger members (33), the two trays (11) and the two detection members (32) are respectively arranged corresponding to the two channels (10). The manipulator (20) is located between the two channels (10). The protection component (30) further comprises a three-position knob, which is connected to the manipulator (20) by signal. The three-position knob has a first state, a second state and a third state. When the three-position knob is in the first state, the manipulator (20) is in a maintenance state. When the three-position knob is in the second state and the third state, the manipulator (20) corresponds to the two channels (10) respectively.

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