Manipulator for transferring O-shaped sealing rings

Abstract

The utility model relates to the technical field of sealing ring assembling equipment, in particular to a mechanical arm for transferring O-shaped sealing rings, which comprises a ring taking and placing module and a longitudinal and transverse driving mechanism, and the ring taking and placing module comprises a bearing plate and a plurality of pneumatic clamping jaws which are arranged in parallel. Each pneumatic clamping jaw comprises a cylinder body fixed on the bearing plate and a plurality of clamping blocks movably mounted on the cylinder body, the plurality of clamping blocks are respectively provided with a ring expanding rod, and the cylinder body can drive the plurality of ring expanding rods to be gathered together to be inserted into the sealing ring or be far away from each other to open the sealing ring to clamp the sealing ring through the clamping blocks; the knocking-over mechanism comprises a knocking-over plate and a knocking-over driving piece, and the knocking-over plate is provided with a plurality of knocking-over holes allowing the ring expanding rods of the pneumatic clamping jaws to be inserted; the knocking-over driving piece can drive the knocking-over plate to move linearly, so that the sealing rings clamped by the pneumatic clamping jaws are stroked out of the ring expanding rod by the knocking-over plate at the same time. Compared with the prior art, a plurality of sealing rings can be taken and mounted at the same time, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of sealing ring assembly equipment, in particular to a manipulator for transferring O-shaped sealing rings. Background Art

[0002] Among the sealing rings, O-rings are the most commonly used. O-rings are the most widely used seals on various mechanical equipment. They have an extremely simple cross-sectional structure and are self-sealing with reliable sealing performance. They are mainly used for static sealing and reciprocating motion sealing.

[0003] In order to improve the sealing effect of the workpiece, it is necessary to insert the O-ring into the groove of the workpiece. During installation, the O-ring should be expanded and passed over any end of the workpiece before being inserted into the groove. As the shape of the workpiece becomes smaller and smaller, the size of the O-ring is also getting smaller and smaller, which brings great inconvenience to the installation work. The traditional assembly of O-rings generally relies on manual assembly, resulting in a high rate of product failure, limited assembly efficiency, time-consuming and labor-intensive, and greatly increased production costs. At the same time, due to the low assembly speed of manual operation, it is difficult to adapt to the needs of automated assembly and the needs of fierce market competition.

[0004] Therefore, an automatic assembly device for O-rings was later developed, which can realize the automation of O-ring assembly. For example, an automatic assembly device for O-rings disclosed in a Chinese patent document with the announcement number CN103317336B includes an upper ring support module and a ring transfer and ring removal module; the upper ring support module forms a feeding station and a ring support station; when the O-ring feeding device is in the feeding station, the O-ring feeding device transfers the O-ring to the O-ring feeding device; the feeding needle cylinder drives the O-ring feeding device to move to the ring support station, and the ring support device performs a ring support action on the O-ring, and the ring support device transfers the O-ring to the ring transfer and ring removal module, and the ring transfer and ring removal module transfers the enlarged O-ring from the ring support station to the ring removal station, and separates from the enlarged O-ring so that it is sleeved in the groove of the workpiece to be assembled, thereby realizing the automatic assembly of the workpiece and the O-ring. It can realize the automation of O-ring assembly, greatly improve product qualification rate and assembly efficiency, reduce labor intensity and reduce production costs.

[0005] The existing robotic arms for grabbing sealing rings for assembly can only grab one sealing ring at a time, and the reciprocating material picking and assembly take up a lot of space, resulting in a long assembly time for a single sealing ring, which affects production efficiency. Summary of the invention

[0006] In view of the above technical problems in the prior art, the utility model provides a robot for transferring O-rings.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] Provided is a manipulator for transferring O-rings, comprising a ring pick-and-place module and a longitudinal and transverse driving mechanism, wherein the ring pick-and-place module comprises a carrier plate and a plurality of pneumatic clamps arranged in parallel, wherein each pneumatic clamp comprises a cylinder body fixed to the carrier plate and a plurality of clamping blocks movably mounted on the cylinder body, wherein the plurality of clamping blocks are respectively provided with ring expansion rods, and the cylinder body can drive the plurality of ring expansion rods to gather together and insert into the sealing ring or to move away from each other to stretch the sealing ring and clamp it through the clamping blocks;

[0009] The longitudinal and transverse driving mechanism can drive the bearing plate and multiple pneumatic clamps to move transversely and longitudinally;

[0010] The carrying plate is also provided with a ring-unloading mechanism for pushing the enlarged and clamped sealing ring away from the ring-expanding rod. The ring-unloading mechanism includes a ring-unloading plate and a ring-unloading driving member. The ring-unloading plate is provided with a plurality of ring-unloading holes for inserting the ring-expanding rods of a plurality of pneumatic clamps. When the plurality of ring-expanding rods of each pneumatic clamp are away from each other, the ring-expanding rods rest against the inner wall of the ring-unloading hole. The ring-unloading driving member can drive the ring-unloading plate to move in a straight line, so that the sealing rings clamped by the plurality of pneumatic clamps are simultaneously pushed out of the ring-expanding rod by the ring-unloading plate.

[0011] As a further optional solution, the knockout driving member is a knockout cylinder, a cylinder barrel of the knockout cylinder is fixed to the bearing plate, and a piston rod of the knockout cylinder is fixed to the knockout plate.

[0012] As a further optional solution, the longitudinal and transverse driving mechanism includes a transverse plate, a transverse linear module for driving the transverse plate to move horizontally, a first longitudinal plate slidably mounted on the transverse plate in the longitudinal direction, a first longitudinal driving member mounted on the transverse plate for driving the first longitudinal plate to be lifted or lowered, a second longitudinal plate slidably mounted on the first longitudinal plate in the longitudinal direction, a second longitudinal driving member mounted on the first longitudinal plate for driving the second longitudinal plate to be lifted or lowered, and the supporting plate is fixed to the second longitudinal plate.

[0013] As a further optional scheme, the second longitudinal movement plate is provided with a diverter seat, which is provided with an air inlet main pipe, an air outlet main pipe, multiple air inlet branch pipes and multiple air outlet branch pipes, the multiple air inlet branch pipes are respectively connected to the air inlet main pipe and the air inlet ends of the multiple pneumatic clamps, and the multiple air outlet branch pipes are respectively connected to the air outlet main pipe and the air outlet ends of the multiple pneumatic clamps.

[0014] As a further optional solution, a support frame is also included, and the longitudinal and transverse driving mechanisms are installed on the support frame.

[0015] As a further optional solution, more than two rows of the pick-and-place ring modules are respectively provided on both sides of the support frame.

[0016] As a further optional solution, a loading module is provided below the pick-and-place ring module, which includes a ring carrier plate, a plurality of ring columns arranged in an array are provided on the top of the ring carrier plate, a plurality of rod placement grooves are circumferentially opened on the outer wall of the ring column, and a plurality of expansion grooves are opened on the side of the ring column of the ring carrier plate, which penetrate through the rod placement grooves one by one.

[0017] As a further optional solution, the ferrule column includes an introduction cone section and a clamping ring straight section arranged up and down.

[0018] As a further optional solution, each group of material loading modules also includes a material loading base plate, and the carrier ring plate is installed on the material loading base plate.

[0019] As a further optional scheme, there are two carrier ring plates on each group of loading base plates, the loading base plate is provided with an auxiliary guide rail, the two carrier ring plates are slidably mounted on the auxiliary guide rail, and a compression spring is provided between the two carrier ring plates to maintain a preset distance from each other; the loading module is provided with a closing drive member, which is used to overcome the force of the compression spring and drive the two carrier ring plates on the loading base plate to approach each other.

[0020] Beneficial effects of the utility model:

[0021] The utility model is a manipulator for transferring O-rings. When in use, the longitudinal and transverse driving mechanism drives the ring picking and placing module to move horizontally and vertically, and multiple pneumatic clamps are used to pick up multiple sealing rings at the same time, and then move to the assembly station to assemble multiple sealing rings to the designated product at the same time. Compared with the prior art, it can pick up and install multiple sealing rings at the same time, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Schematic diagram of the structure of a robot for transferring O-rings in an embodiment.

[0023] Figure 2 Schematic diagram of the structure of a single set of pick-and-place ring modules in an embodiment.

[0024] Figure 3 for Figure 2 Another perspective and a partial enlarged schematic diagram.

[0025] Figure 4 Schematic diagram of the structure of a single pneumatic gripper in the embodiment.

[0026] Figure 5 It is a schematic diagram of the loading module and the change of working status in the embodiment.

[0027] Figure 6 Schematic diagram of the structure of the carrier plate in the embodiment.

[0028] Reference numerals:

[0029] The material loading module 22 , the material loading bottom plate 221 , the ring loading plate 222 , the ring column 223 , the introduction cone section 2231 , the clamping ring straight section 2232 , the rod placement groove 224 , the ring expansion groove 225 , the auxiliary guide rail 226 , the compression spring 227 ; and the approaching driving member 27 .

[0030] Support frame 31;

[0031] Ring picking and placing module 32, carrying plate 321, pneumatic clamping claw 322, cylinder body 3221, clamping block 3222, ring expanding rod 3223, ring unloading mechanism 323, ring unloading plate 3231, ring unloading hole 32311, ring unloading driving member 3232;

[0032] The longitudinal and transverse driving mechanism 33, the transverse moving plate 331, the transverse moving linear module 332, the first longitudinal moving plate 333, the first longitudinal moving driving member 334, the second longitudinal moving plate 335, and the second longitudinal moving driving member 336;

[0033] The manifold 34 , the air intake manifold 341 , the air outlet manifold 342 , the air intake branch pipe 343 , and the air outlet branch pipe 344 . DETAILED DESCRIPTION

[0034] The following will be combined with the accompanying drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0035] A robot for transferring an O-ring in this embodiment, such as Figures 1 to 6 As shown, it includes a support frame 31, and a pick-and-place ring module 32 and a vertical and horizontal driving mechanism 33 arranged on the support frame 31. The pick-and-place ring module 32 includes a supporting plate 321 and a plurality of pneumatic clamps 322 arranged in parallel. Each pneumatic clamp 322 includes a cylinder body 3221 fixed to the supporting plate 321 and a plurality of clamping blocks 3222 movably mounted on the cylinder body 3221. The plurality of clamping blocks 3222 can move toward or away from the center of the cylinder body 3221. The plurality of clamping blocks 3222 are respectively provided with ring expanding rods 3223. The cylinder body 3221 can drive the plurality of ring expanding rods 3223 to gather together and insert into the sealing ring or move away from each other to stretch the sealing ring and clamp it through the clamping blocks 3222.

[0036] In this embodiment, the supporting plate 321 is also provided with a ring-unloading mechanism 323 for removing the enlarged and clamped sealing ring from the ring-expanding rod 3223 and inserting it into the designated product. The ring-unloading mechanism 323 includes a ring-unloading plate 3231 and a ring-unloading driving member 3232. The ring-unloading plate 3231 is provided with a plurality of ring-unloading holes 32311 for inserting the ring-expanding rods 3223 of a plurality of pneumatic jaws 322. When the plurality of ring-expanding rods 3223 of each pneumatic jaw 322 are away from each other, the ring-expanding rods 3223 abut against the inner wall of the ring-unloading hole 32311; the ring-unloading driving member 3232 can drive the ring-unloading plate 3231 to move in a straight line, so that the sealing rings clamped by the plurality of pneumatic jaws 322 are simultaneously pushed out of the ring-expanding rod 3223 by the ring-unloading plate 3231. Specifically, the knockout driving member 3232 is a knockout cylinder, a cylinder barrel of the knockout cylinder is fixed to the bearing plate 321 , and a piston rod of the knockout cylinder is fixed to the knockout plate 3231 .

[0037] In this embodiment, two rows of the pick-and-place ring modules 32 are respectively arranged on both sides of the support frame 31. Each row of the pick-and-place ring modules 32 has four pneumatic clamps 322, so that eight sealing rings can be taken at each time on each side.

[0038] In this embodiment, the longitudinal and transverse driving mechanism 33 can drive the carrier plate 321 and the plurality of pneumatic clamps 322 to move horizontally and vertically. Specifically, the longitudinal and transverse driving mechanism 33 includes a transverse plate 331, a transverse linear module 332 for driving the transverse plate 331 to move horizontally, a first longitudinal plate 333 slidably mounted on the transverse plate 331 in the longitudinal direction, a first longitudinal driving member 334 mounted on the transverse plate 331 for driving the first longitudinal plate 333 to rise and fall, a second longitudinal plate 335 slidably mounted on the first longitudinal plate 333 in the longitudinal direction, and a second longitudinal driving member 336 mounted on the first longitudinal plate 333 for driving the second longitudinal plate 335 to rise and fall, and the carrier plate 321 is fixed to the second longitudinal plate 335. When in use, it can drive the pick-and-place ring module 32 to move horizontally to the loading station to take the sealing ring and to the assembly station to put the sealing ring on the designated product. After the first longitudinal moving plate 333 moves downward to approach the product, the second longitudinal moving plate 335 moves downward further to approach the product, and then the sealing ring is pulled out and the ring expanding rod 3223 is inserted into the product to complete the assembly.

[0039] In this embodiment, the second longitudinal moving plate 335 is provided with a manifold 34, and the manifold 34 is provided with an air inlet manifold 341, an air outlet manifold 342, a plurality of air inlet branches 343, and a plurality of air outlet branches 344. The plurality of air inlet branches 343 are respectively connected to the air inlet manifold 341 and the air inlet ends of the plurality of pneumatic clamps 322, and the plurality of air outlet branches 344 are respectively connected to the air outlet manifold 342 and the air outlet ends of the plurality of pneumatic clamps 322. The external air source supplies air to each pneumatic clamp 322 via the air inlet manifold 341 and the air inlet branches 343.

[0040] In this embodiment, a loading module 22 is provided below the pick-and-place ring module, and the sealing ring is arranged on it for feeding. Each group of loading modules 22 includes a loading base plate 221 and a ring-carrying plate 222, and the ring-carrying plate 222 is installed on the loading base plate 221. A plurality of ring columns 223 arranged in an array are provided on the top of the ring-carrying plate 222, and a plurality of rod-setting grooves 224 are circumferentially provided on the outer wall of the ring column 223, and a plurality of expanding ring grooves 225 are provided on the side of the ring column 223, which penetrate into the rod-setting grooves 224 one by one. When in use, the sealing ring is sleeved outside the ring column 223, and the outer expanding ring rod is inserted into the rod-setting groove 224, and then moves toward the expanding ring groove 225, so that the sealing ring can be expanded and separated from the ring column 223 and taken out.

[0041] Specifically, the ring column 223 includes an introduction cone section 2231 and a clamping ring straight section 2232 arranged up and down. The introduction cone section 2231 is small at the top and large at the bottom, and is used to introduce the sealing ring. The outer diameter of the clamping ring straight section 2232 matches the inner diameter of the sealing ring, and the sealing ring tightens the clamping ring straight section 2232 with an interference fit.

[0042] In this embodiment, the number of the ring-carrying plates 222 on each group of the loading base plate 221 is two, and the loading base plate 221 is provided with an auxiliary guide rail 226, and the two ring-carrying plates 222 are slidably mounted on the auxiliary guide rail 226, and a compression spring 227 is provided between the two ring-carrying plates 222 to keep a preset distance from each other. A close driving member 27 is also provided, which is used to overcome the force of the compression spring 227 and drive the two ring-carrying plates 222 on the loading base plate 221 to approach each other. At the material preparation station, the two ring-carrying plates 222 of the loading module 22 are far away from each other, so that a certain distance is maintained, which is convenient for different mechanical arms to load sealing rings on different ring-carrying plates 222 respectively. At the material taking station, the two ring-carrying plates 222 are close to each other or even spliced ​​together, which is convenient for the ring taking and placing module to take away the sealing rings on the two ring-carrying plates 222 at the same time. The approaching drive member 27 in this embodiment adopts a cylinder structure, which can be changed to other linear drive modules in practice, or it can be changed to a drive member set on the loading bottom plate 221, as long as it can drive the ring plate 222 to move along the auxiliary guide rail 226.

[0043] In the description of the present invention, it is obvious that the described embodiments are only some embodiments of the present invention, rather than all embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations.

[0044] Therefore, the above detailed description of the embodiments of the utility model provided in the accompanying drawings is not intended to limit the scope of the utility model claimed for protection, but merely represents selected embodiments of the utility model. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of the utility model.

[0045] In the description of the present utility model, it should be noted that the terms "middle", "upper", "lower", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A manipulator for transferring an O-ring, characterized by: The invention comprises a ring picking and placing module (32) and a longitudinal and transverse driving mechanism (33), wherein the ring picking and placing module (32) comprises a bearing plate (321) and a plurality of pneumatic clamps (322) arranged in parallel, wherein each pneumatic clamp (322) comprises a cylinder body (3221) fixed to the bearing plate (321) and a plurality of clamping blocks (3222) movably mounted on the cylinder body (3221), wherein the plurality of clamping blocks (3222) are respectively provided with ring expanding rods (3223), and the cylinder body (3221) can drive the plurality of ring expanding rods (3223) to gather together and insert into the sealing ring or to move away from each other to open the sealing ring and clamp it via the clamping blocks (3222); The longitudinal and transverse driving mechanism (33) can drive the bearing plate (321) and the plurality of pneumatic clamping claws (322) to move transversely and longitudinally; The carrying plate (321) is also provided with a ring unloading mechanism (323) for pushing the enlarged and clamped sealing ring away from the ring expanding rod (3223). The ring unloading mechanism (323) comprises a ring unloading plate (3231) and a ring unloading driving member (3232). The ring unloading plate (3231) is provided with a plurality of ring unloading holes (32311) for inserting the ring expanding rods (3223) of the plurality of pneumatic clamps (322). When the plurality of ring expanding rods (3223) of each pneumatic clamp (322) are away from each other, the ring expanding rod (3223) abuts against the inner wall of the ring unloading hole (32311); the ring unloading driving member (3232) can drive the ring unloading plate (3231) to move linearly, so that the sealing rings clamped by the plurality of pneumatic clamps (322) are simultaneously pushed out of the ring expanding rod (3223) by the ring unloading plate (3231).

2. A robot for transferring an O-ring according to claim 1, characterized in that: The unbowing drive member (3232) is a unbowing cylinder, the cylinder barrel of the unbowing cylinder is fixed to the bearing plate (321), and the piston rod of the unbowing cylinder is fixed to the unbowing plate (3231).

3. The robot for transferring an O-ring according to claim 1, characterized in that: The longitudinal and transverse driving mechanism (33) comprises a transverse plate (331), a transverse linear module (332) for driving the transverse plate (331) to move horizontally, a first longitudinal plate (333) slidably mounted on the transverse plate (331) in the longitudinal direction, a first longitudinal driving member (334) mounted on the transverse plate (331) for driving the first longitudinal plate (333) to move up and down, a second longitudinal plate (335) slidably mounted on the first longitudinal plate (333) in the longitudinal direction, a second longitudinal driving member (336) mounted on the first longitudinal plate (333) for driving the second longitudinal plate (335) to move up and down, and the supporting plate (321) is fixed to the second longitudinal plate (335).

4. A robot for transferring an O-ring according to claim 3, characterized in that: The second longitudinal displacement plate (335) is provided with a diverter seat (34), and the diverter seat (34) is provided with an air intake main pipe (341), an air outlet main pipe (342), a plurality of air intake branch pipes (343) and a plurality of air outlet branch pipes (344). The plurality of air intake branch pipes (343) are respectively connected to the air intake main pipe (341) and the air intake ends of the plurality of pneumatic clamps (322), and the plurality of air outlet branch pipes (344) are respectively connected to the air outlet main pipe (342) and the air outlet ends of the plurality of pneumatic clamps (322).

5. The robot for transferring an O-ring according to claim 1, characterized in that: It also includes a support frame (31), and a longitudinal and transverse driving mechanism (33) is installed on the support frame (31).

6. A robot for transferring an O-ring according to claim 5, characterized in that: More than two rows of the pick-and-place ring modules (32) are respectively arranged on both sides of the support frame (31).

7. The robot for transferring an O-ring according to claim 1, characterized in that: A material loading module (22) is provided below the pick-and-place ring module (32), which includes a ring loading plate (222), a plurality of ring columns (223) arranged in an array are provided on the top of the ring loading plate (222), a plurality of rod placement grooves (224) are circumferentially provided on the outer wall of the ring column (223), and a plurality of ring expansion grooves (225) are provided on the side of the ring column (223) of the ring loading plate (222) and penetrate through the rod placement grooves (224) one by one.

8. The robot for transferring an O-ring according to claim 7, characterized in that: The ferrule column (223) comprises an introduction cone section (2231) and a clamping ring straight section (2232) which are arranged up and down.

9. The robot for transferring an O-ring according to claim 7, characterized in that: Each group of material loading modules (22) also includes a material loading base plate (221), and a ring plate (222) is mounted on the material loading base plate (221).

10. A robot for transferring an O-ring according to claim 9, characterized in that: There are two carrier plates (222) on each group of loading base plates (221), and the loading base plates (221) are provided with an auxiliary guide rail (226). The two carrier plates (222) are slidably mounted on the auxiliary guide rail (226), and a compression spring (227) is provided between the two carrier plates (222) to keep a preset distance from each other; the loading module (22) is provided with a closing driving member (27) for overcoming the force of the compression spring (227) and driving the two carrier plates (222) on the loading base plates (221) to approach each other.

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