Manipulator carrying device

Abstract

The utility model provides a manipulator carrying device which comprises a portal frame, an adjusting groove is formed in the top of the portal frame, a transverse sliding seat is arranged in the adjusting groove in a sliding mode, a side seat is fixed to one side of the transverse sliding seat in a spaced mode, two sliding rails are fixed to the side seat in a spaced mode, and a lifting seat is arranged on the two sliding rails in a sliding mode. A lifting base is installed on the top of the portal frame, a manipulator is installed below the lifting base, a workbench is arranged on one side of the portal frame, a plurality of fixing clamps are arranged on the workbench at intervals, workpieces are placed on the fixing clamps, a sliding groove is formed in the workbench in a penetrating mode, a first industrial camera is installed at the top of the vertical base, and the first industrial camera is located over the workpieces. The utility model solves the problems that the CCD camera in the prior art can only detect one side of the workpiece and cannot detect all the positions of the workpiece, so that the missing detection phenomenon occurs in the use process, and the product quality is influenced.

Description

Technical Field

[0001] The utility model relates to the field of handling, in particular to a manipulator handling device. Background Art

[0002] After the processing and assembly of pipe fitting products, it is necessary to detect whether there are missing or omitted small parts such as sealing rings on the products. At present, most of them are manually observed and detected, and the products are manually picked and placed. At the same time, manual observation and detection are also required. This is not only easy to cause fatigue, but also reduces efficiency with the increase of quantity and working hours. Moreover, there is a phenomenon that missing products are not detected by manual inspection, resulting in some defective products being missed, reducing the reliability of detection. Therefore, a workbench for component detection is designed to improve efficiency and accuracy, and the problem of product movement and handling needs to be solved in the research and development of the detection workbench.

[0003] Publication No. CN215511043U discloses a product handling manipulator mechanism for a component detection workbench, including a finished product flow channel, a sliding seat, a transverse movement driving mechanism for driving the sliding seat to move horizontally, a lifting seat, and a lifting driving mechanism for driving the lifting seat to lift. The lifting driving mechanism is installed on the sliding seat; an inner vertical plate is fixed to the lifting driving mechanism, an outer vertical plate is fixed with a jaw cylinder and a first CCD camera. The two clamping ends of the jaw cylinder are respectively fixed with product jaws, and the opposite surfaces of the two product jaws have corresponding concave arc surfaces. A positioning groove is formed in the vertical direction on the plate surface of the outer vertical plate, and a fixing block is fixedly matched in the positioning groove. The fixing block is provided with a card slot adapted to the first CCD camera, and the first CCD camera is fixed to the card slot; the finished product flow channel is located on one side outside the sliding seat and is inclined. It improves the detection efficiency and ensures the reliability and consistency of detection.

[0004] However, when the above product is used, its first CCD camera can only detect one side of the workpiece and cannot detect all positions of the workpiece. Therefore, there will be a phenomenon of missed detection during use, which affects the quality of the product.

[0005] Therefore, it is necessary to provide a new manipulator handling device to solve the above technical problems. Summary of the Utility Model

[0006] To solve the above technical problems, the utility model provides a manipulator handling device, which solves the problem that the CCD camera in the prior art can only detect one side of the workpiece and cannot detect all positions of the workpiece. Therefore, there will be a phenomenon of missed detection during use, which affects the quality of the product.

[0007] The manipulator handling device provided by the utility model comprises a gantry. An adjustment groove is formed at the top of the gantry. A transverse sliding seat is slidably arranged inside the adjustment groove. A side seat is fixedly arranged at intervals on one side of the transverse sliding seat. Two slide rails are fixedly arranged at intervals on the side seat. A lifting seat is slidably arranged on the two slide rails. A manipulator is installed below the lifting seat. A workbench is arranged on one side of the gantry. A plurality of fixed clamps are arranged at intervals on the workbench. A workpiece is placed on the fixed clamp;

[0008] A chute is formed through the workbench. A moving seat is slidably arranged inside the chute. A vertical seat is fixedly arranged on the moving seat. A first industrial camera is installed at the top of the vertical seat. The first industrial camera is located directly above the workpiece.

[0009] In a preferred embodiment, a through groove is formed on the workbench. A base is fixedly arranged at the bottom of the moving seat. A second industrial camera is installed on the base. The second industrial camera is located directly below the workpiece.

[0010] In a preferred embodiment, a motor is installed on one side of the vertical seat. A driving gear is installed at the output end of the motor;

[0011] A rack is installed on the workbench. The driving gear meshes with the rack.

[0012] In a preferred embodiment, a placement groove matching each part of the workpiece is formed on the upper surface of the fixed clamp.

[0013] In a preferred embodiment, a transverse lead screw is rotatably arranged inside the adjustment groove through a bearing. The transverse lead screw penetrates through the transverse sliding seat, and the transverse lead screw is in threaded connection with the transverse sliding seat.

[0014] In a preferred embodiment, a longitudinal lead screw is rotatably arranged on one side of the side seat through a bearing. The longitudinal lead screw penetrates through the lifting seat, and the longitudinal lead screw is in threaded connection with the lifting seat.

[0015] Advantages of the utility model:

[0016] 1. When this handling mechanism is in use, the manipulator can be driven to perform translational or lifting movements by rotating the transverse lead screw and the longitudinal lead screw. When the manipulator moves to the workpiece, the clamping jaws on the manipulator can clamp and move the workpiece. When the manipulator clamps the workpiece and moves it to the fixed clamp, at this time, the first industrial camera and the second industrial camera can take pictures of the upper and lower surfaces of the workpiece to detect whether the product is in place and whether there are missing parts on the product. After passing the inspection, the manipulator can drive the workpiece to move to the finished product flow channel;

[0017] 2. To achieve all-round inspection of the workpiece, the motor is started at this time to drive the driving gear to rotate. Under the transmission of the driving gear and the rack, the entire moving seat can slide along the chute, so that the two industrial cameras can take all-round photos of the workpiece for inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a perspective view of the main structure of the manipulator handling device provided by the present utility model;

[0019] Figure 2 is Figure 1 an enlarged schematic structural view of A shown in;

[0020] Figure 3 is a side view of the main structure of the manipulator handling device provided by the present utility model.

[0021] Reference numerals in the drawings: 1, gantry; 2, adjustment groove; 3, transverse sliding seat; 4, side seat; 5, slide rail; 6, lifting seat; 7, manipulator; 8, workbench; 9, fixed clamp; 10, workpiece; 11, chute; 12, moving seat; 13, vertical seat; 14, first industrial camera; 15, through groove; 16, base; 17, second industrial camera; 18, motor; 19, driving gear; 20, rack; 21, transverse lead screw; 22, longitudinal lead screw. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0023] Please refer to Figure 1 , Figure 2 and Figure 3 , wherein Figure 1 is a perspective view of the main structure of the manipulator handling device provided by the present utility model; Figure 2 is Figure 1 an enlarged schematic structural view of A shown in; Figure 3 is a side view of the main structure of the manipulator handling device provided by the present utility model.

[0024] In the specific implementation process, as shown in Figures 1 - 3 , it includes a gantry 1. An adjustment groove 2 is opened at the top of the gantry 1. A transverse sliding seat 3 is slidably arranged inside the adjustment groove 2. A side seat 4 is fixedly arranged at intervals on one side of the transverse sliding seat 3. Two slide rails 5 are fixedly arranged at intervals on the side seat 4. A lifting seat 6 is slidably arranged on the two slide rails 5. A manipulator 7 is installed below the lifting seat 6. A longitudinal lead screw 22 is rotatably arranged on one side of the side seat 4 through a bearing. The longitudinal lead screw 22 penetrates through the lifting seat 6, and the longitudinal lead screw 22 is threadedly connected with the lifting seat 6. A transverse lead screw 21 is rotatably arranged inside the adjustment groove 2 through a bearing. The transverse lead screw 21 penetrates through the transverse sliding seat 3, and the transverse lead screw 21 is threadedly connected with the transverse sliding seat 3. AsFigure 1 As shown in the figure, both the longitudinal lead screw 22 and the transverse lead screw 21 are driven by corresponding motors.

[0025] On one side of the gantry 1, there is a workbench 8. A plurality of fixed clamps 9 are arranged at intervals on the workbench 8. The upper surface of the fixed clamp 9 is provided with a placement groove matching each part of the workpiece 10 for placing the workpiece 10. The workpiece 10 is placed on the fixed clamp 9. A through groove 15 is provided on the workbench 8. A base 16 is fixed to the bottom of the moving seat 12. A second industrial camera 17 is installed on the base 16. The second industrial camera 17 is located directly below the workpiece 10. When this handling mechanism is in use, the manipulator 7 can be driven to perform translational or lifting movements by the rotation of the transverse lead screw 21 and the longitudinal lead screw 22. When the manipulator 7 moves to the workpiece 10, the jaws on the manipulator 7 can pick up and move the workpiece 10. When the manipulator 7 picks up the workpiece 10 and moves it to the fixed clamp, at this time, the first industrial camera 14 and the second industrial camera 17 can take pictures of both the upper and lower surfaces of the workpiece 10 to detect the arrival of the product and whether there are missing parts on the product. After passing the inspection, the manipulator 7 can drive the workpiece 10 to move to the finished product flow channel.

[0026] A chute 11 runs through the workbench 8. A moving seat 12 is slidably arranged inside the chute 11. A vertical seat 13 is fixed to the moving seat 12. A first industrial camera 14 is installed at the top of the vertical seat 13. The first industrial camera 14 is located directly above the workpiece 10. A motor 18 is installed on one side of the vertical seat 13. A driving gear 19 is installed at the output end of the motor 18. A rack 20 is installed on the workbench 8. The driving gear 19 meshes with the rack 20. The specific process of inspecting the workpiece 10 is as follows: Start the motor 18 to drive the driving gear 19 to rotate. Under the transmission action of the driving gear 19 and the rack 20, the entire moving seat 12 can slide along the chute 11, so that the two industrial cameras can take pictures and inspect the workpiece 10 in all directions.

[0027] The working principle of the present utility model: When this handling mechanism is in use, the manipulator 7 can be driven to perform translational or lifting movements by the rotation of the transverse lead screw 21 and the longitudinal lead screw 22. When the manipulator 7 moves to the workpiece 10, the jaws on the manipulator 7 can pick up and move the workpiece 10. When the manipulator 7 picks up the workpiece 10 and moves it to the fixed clamp, at this time, the first industrial camera 14 and the second industrial camera 17 can take pictures of both the upper and lower surfaces of the workpiece 10 to detect the arrival of the product and whether there are missing parts on the product. After passing the inspection, the manipulator 7 can drive the workpiece 10 to move to the finished product flow channel.

[0028] The specific process of inspecting the workpiece 10 is as follows: Start the motor 18 to drive the driving gear 19 to rotate. Under the transmission action of the driving gear 19 and the rack 20, the entire moving seat 12 can slide along the chute 11, so that the two industrial cameras can inspect the workpiece 10 in all directions.

[0029] The circuits and controls involved in the present utility model are all prior arts and will not be elaborated herein.

[0030] The above are only the embodiments of the present utility model, and do not thus limit the patent scope of the present utility model. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall similarly be included in the patent protection scope of the present utility model.

Claims

1. A manipulator handling device, comprising a gantry (1), an adjustment slot (2) is provided on the top of the gantry (1), a transverse slide seat (3) is slidably arranged inside the adjustment slot (2), a side seat (4) is fixed at intervals on one side of the transverse slide seat (3), two slide rails (5) are fixed at intervals on the side seat (4), a lifting seat (6) is slidably arranged on the two slide rails (5), and a manipulator (7) is installed below the lifting seat (6), characterized in that: A workbench (8) is provided on one side of the gantry (1), a plurality of fixing clamps (9) are arranged at intervals on the workbench (8), and a workpiece (10) is placed on the fixing clamps (9); The workbench (8) is provided with a slide groove (11) extending therethrough, a movable seat (12) is slidably arranged inside the slide groove (11), a stand (13) is fixed on the movable seat (12), a first industrial camera (14) is installed on the top of the stand (13), and the first industrial camera (14) is located directly above the workpiece (10).

2. The robot handling device according to claim 1, characterized in that: The workbench (8) is provided with a through slot (15), a base (16) is fixed at the bottom of the movable seat (12), a second industrial camera (17) is installed on the base (16), and the second industrial camera (17) is located directly below the workpiece (10).

3. The robot handling device according to claim 2, characterized in that: A motor (18) is installed on one side of the stand (13), and a driving gear (19) is installed on the output end of the motor (18); A rack (20) is installed on the workbench (8), and the driving gear (19) is meshed with the rack (20).

4. The robot handling device according to claim 3, characterized in that: The upper surface of the fixing clamp (9) is provided with placement grooves matching various parts of the workpiece (10).

5. The robot handling device according to claim 4, characterized in that: A transverse screw rod (21) is movably arranged inside the adjustment groove (2) via a bearing, the transverse screw rod (21) penetrates the transverse slide seat (3), and the transverse screw rod (21) is threadedly connected to the transverse slide seat (3).

6. The robot handling device according to claim 5, characterized in that: A longitudinal screw rod (22) is movably provided on one side of the side seat (4) through a bearing, the longitudinal screw rod (22) penetrates the lifting seat (6), and the longitudinal screw rod (22) is threadedly connected to the lifting seat (6).

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