Rubber plug pickup device and rubber plug transfer device

Abstract

The utility model discloses a rubber plug picking device and a rubber plug transferring device and relates to the technical field of automatic machining. A rubber plug picking device is used for solving the problem that in the prior art, the functions of adjusting the orientation of picked objects and adjusting the distance between the picked objects are not achieved at the same time, the rubber plug picking device comprises a connecting frame, the connecting frame comprises a butt joint used for being in butt joint with a mechanical arm, and the rubber plug picking device is characterized in that a sliding frame is arranged on the connecting frame; a sliding block is arranged on the sliding frame, a plurality of picking frames are connected to the sliding frame in a sliding mode, each picking frame is provided with a plurality of picking devices, each picking device comprises a picking head and a first motor, each first motor is in transmission connection with the corresponding picking head and used for driving the corresponding picking head to rotate, and a variable-pitch driving mechanism is arranged between the sliding block and the sliding frame. And the technical effects of picking, direction adjustment and distance change are achieved. The rubber plug transfer device comprises a multi-axis mechanical arm or a truss mechanical arm, and a rubber plug pickup device is carried on the multi-axis mechanical arm or the truss mechanical arm.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic production and processing, in particular to a rubber stopper picking device and a rubber stopper transfer device. Background Technique

[0002] The rubber stopper is a part of medical packaging and is used for plugging medicine bottles. The rubber stopper includes a plug column for inserting into the bottle mouth. The commonly used material is butyl rubber.

[0003] In the feeding process of rubber stopper production (such as vulcanization), when some rubber stoppers are placed in batches on a tray or a work station, there are requirements for the orientation of each rubber stopper placement for the convenience of subsequent matching with the characteristics of the mold. For example, for a rubber stopper with a notch in the plug column part, when placing such rubber stoppers, the orientations of the notches should be the same, so as to facilitate subsequent automatic placement into the processing mold. When transferring the batch-placed rubber stoppers, it is sometimes necessary to adjust the spacing of the parts in one direction.

[0004] In the process of automatic rubber stopper placement, the rubber stoppers are first placed in one step by the technical scheme of circular vibration plus linear vibration, and then transferred to the feeding tray. Usually, the size of the feeding tray is large, and in the X direction, the hole pitch for placing the rubber stoppers is greater than the diameter of one rubber stopper; during the vibration placement process, the rubber stoppers are placed next to each other. When picking up, in order to improve the picking efficiency and picking effect, the interval picking method is usually adopted - picking one at an interval; in this way, when picking up the rubber stoppers for the first time, the spacing is also the diameter of one rubber stopper, which generates the technical requirement of variable pitch.

[0005] In the above placement and transfer processes, if carried out manually, the work intensity is high, the efficiency is low, and it is difficult to unify the placement orientations of the parts.

[0006] However, the existing picking devices have the problem of not having both the functions of adjusting the orientation of the picked object and adjusting the spacing of the picked object.

[0007] The truss manipulator is a full-automatic industrial device based on a right-angle X, Y, Z[1] three-coordinate system, which can adjust the workpieces at workstations or realize functions such as the trajectory movement of the workpieces. Its execution end can also be equipped with a robotic arm for rotation and displacement to improve flexibility. Content of the Utility Model

[0008] The purpose of the utility model is to provide a functional component picking device to solve the problem in the existing technology that it does not have both the functions of adjusting the orientation of the picked object and adjusting the spacing of the picked object.

[0009] The technical solution adopted by the utility model to solve its technical problems is as follows:

[0010] The rubber stopper picking device includes a connecting frame, the connecting frame includes a docking head for docking with a manipulator, a sliding frame is provided on the connecting frame, a plurality of picking frames are slidably connected to the sliding frame, and a plurality of picking devices are provided on each picking frame. The picking device includes a picking head and a first motor, and the first motor is drivingly connected to the picking head to drive the picking head to rotate. A variable pitch driving mechanism is provided between the slider and the sliding frame.

[0011] Beneficial effects:

[0012] In the picking device of the present utility model, the picking head is used for picking parts. After picking is completed, the orientation of the picked part can be adjusted by driving the rotation of the first motor. The first motor adopts a model that is convenient for controlling the angular displacement. Compared with manual orientation adjustment, the technical solution provided by the present utility model is more objective for the angle adjustment of parts, which is conducive to accurate implementation and is also conducive to automated production work. The above technical solution adopted in this embodiment is particularly suitable for the placement work of some parts that can be picked by negative pressure. Then, the variable pitch driving mechanism drives the picking frame to change the pitch, thereby realizing the variable pitch work of the picked parts and the function of pitch variation.

[0013] Further, the first motor is a stepping motor.

[0014] The beneficial effect is: it is conducive to accurately controlling the angular displacement of each first motor, and thus conducive to ensuring the accuracy of the orientation adjustment work of each rubber stopper.

[0015] Further, the picking head is a negative pressure picking head, and the picking device further includes a rotary joint and a pneumatic joint. The first motor includes a hollow rotating shaft, and the picking head, the hollow rotating shaft, the rotary joint, and the pneumatic joint are connected in series to form an air path.

[0016] Beneficial effects: It is conducive to the picking, orientation adjustment, and variable pitch work of some parts suitable for negative pressure picking.

[0017] Further, the picking frame includes an upper cross beam, a middle cross beam, and a lower cross beam arranged in sequence from top to bottom. The upper cross beam, the middle cross beam, and the lower cross beam are parallel to each other. Support members are provided between the upper cross beam, the middle cross beam, and the lower cross beam. The first motor is connected to the lower cross beam, the rotary joint is connected to the middle cross beam, and the pneumatic joint is connected to the upper cross beam.

[0018] The beneficial effect is: it is conducive to ensuring the stability of the picking device.

[0019] Further, the upper cross beam is detachably connected to the upper end of the support member, and the lower cross beam is detachably connected to the lower end of the support member.

[0020] The beneficial effect is: it is convenient for assembly and maintenance.

[0021] Furthermore, the slide frame is provided with four rows of slide rails, each row of slide rails is parallel to each other, each of the picking racks is connected to two sliders, each slider is slidably connected to a row of slide rails, and the two sliders located on adjacent slide frames are staggered.

[0022] The beneficial effect is that the minimum spacing in the pitch changing process can be reduced as much as possible while sliding smoothly.

[0023] Furthermore, the sliding block is detachably connected to the picking frame.

[0024] The beneficial effects are: convenient assembly and maintenance.

[0025] Furthermore, the variable pitch drive mechanism includes a second motor, a drive shaft and a nut member. The second motor is connected to the drive shaft in a driving manner to drive the drive shaft to rotate. The drive shaft is provided with multiple guide screws, and the directions of two adjacent guide screws are opposite. Each drive shaft is provided with a nut member, and each nut member cooperates with a guide screw.

[0026] The beneficial effects are: it is beneficial to improve the compactness of the equipment and ensure the accuracy of the pitch change.

[0027] Furthermore, the guide spiral is in the form of a groove, and the nut member includes a section of internal teeth, which are used to cooperate with the guide spiral in the form of the groove. The nut member includes a first half and a second half, and the first half and the second half are detachably connected by two hexagon socket bolts.

[0028] The beneficial effects are: it is easy to produce and assemble, and is also conducive to the accurate control of the sliding distance, thereby facilitating the accuracy of the variable pitch of the utility model.

[0029] Furthermore, a connecting block is provided on the nut member, the connecting block is arranged toward the side of the pickup frame facing the guide rail, a hole is provided on the connecting block, and a plug-in extending to the hole is provided on the side of the pickup frame facing the guide rail for connection between the two.

[0030] The beneficial effect is: it is convenient for quick and easy connection.

[0031] A rubber plug transfer device is provided to facilitate the transfer of components, and has the functions of component picking, transfer, component orientation adjustment, and component spacing adjustment.

[0032] A technical solution for a plug transfer device is provided, comprising a multi-axis manipulator, wherein the multi-axis manipulator comprises a base and a multi-section rotatable manipulator arm, wherein the execution end of the multi-axis manipulator is equipped with any one of the above-mentioned plug picking devices.

[0033] Another technical solution of the rubber stopper transfer device includes a truss manipulator, characterized in that the execution end of the truss manipulator is connected to the rubber stopper picking device described in any one of the above. Description of the Drawings

[0034] Figure 1 Schematic perspective view of the rubber stopper picking device of Embodiment 1;

[0035] Figure 2 Schematic view of the picking rack and the picking device of Embodiment 1;

[0036] Figure 3 Schematic view of the picking head of Embodiment 1;

[0037] Figure 4 Schematic view of the carriage of Embodiment 1;

[0038] Figure 5 Schematic view of the drive shaft and the nut member of Embodiment 1;

[0039] Figure 6 For Figure 5 Enlarged view of part A in;

[0040] Figure 7 Schematic view of the nut member of Embodiment 1;

[0041] Figure 8 Schematic view of the rubber stopper transfer device of Embodiment 1;

[0042] Figure 9 Schematic view of the rubber stopper transfer device in Embodiment 2;

[0043] In the figure: 1 connecting frame, 11 docking head, 12 carriage, 2 picking rack, 201 upper cross beam, 202 middle cross beam, 203 lower cross beam, 204 support member, 21 picking head, 22 first motor, 221 hollow rotating shaft, 23 middle pipe section, 24 rotary joint, 25 pneumatic joint, 3 slide rail, 4 slider, 5 second motor, 6 drive shaft, 61 guiding helix, 7 nut member, 71 first half part, 72 second half part, 73 internal thread, 74 connecting block, 76 counterbore, 77 hexagon socket head bolt. Detailed Embodiments

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0045] As shown Figure 1 in the figure, the rubber stopper picking device includes a connecting frame 1. The connecting frame 1 includes a docking head 11 which is used to dock with the manipulator, and the specific structure of the docking head 11 is determined by the model of the manipulator on which it is installed. A sliding frame 12 is provided on the connecting frame 1, and a plurality of picking frames 2 are slidably connected to the sliding frame 12.

[0046] As shown Figures 1 to 3 in the figure, each picking frame 2 is provided with a plurality of picking devices. The picking device includes a picking head 21 and a first motor 22, and the first motor 22 is a stepping motor. The first motor 22 and the picking head 21 are in transmission connection to drive the picking head 21 to rotate. A variable pitch drive mechanism is provided between the slider 4 and the sliding frame 12. In this embodiment, the picking head 21 is a negative pressure picking head. The picking head 21 includes a central cover 211, and a connecting portion 212 is axially connected to the central cover 211. The area inside the picking head 21 and outside the central cover 211 and the connecting portion 212 is the air flow channel 213. This kind of picking head is suitable for picking a type of rubber stopper (or only the plug column part of the rubber stopper) that is cylindrical, includes a central hole, and the central hole is a through hole. When picking, the central cover 211 is used to block the central hole of this kind of rubber stopper, so as to facilitate maintaining negative pressure. According to different picking objects, some other types of picking heads can also be selected in actual application. For example, an electromagnetic type is selected when picking parts that can be magnetically adsorbed.

[0047] As shown Figure 2 in the figure, the picking device further includes a rotary joint 24 and a pneumatic joint 25. The first motor 22 includes a hollow rotating shaft 221. The picking head 21, the hollow rotating shaft 221, the rotary joint 24, and the pneumatic joint 25 are connected in series to form an air path - the upper end of the picking head 21 includes a pipe section which is fixedly connected to the lower end of the hollow rotating shaft 221, the upper end of the hollow rotating shaft 221 is connected to the rotary joint 24, and a middle pipe section 222 is provided at the lower end of the pneumatic joint 25. The middle pipe section 222 is connected to the series rotary joint 24. The rotary joint is used to form an air path between the pneumatic joint 25 and the hollow rotating shaft 221 and can also rotate relative to each other.

[0048] As shown Figure 2 in the figure, the picking frame 2 includes an upper cross beam 201, a middle cross beam 202, and a lower cross beam 203 which are arranged in sequence from top to bottom. The upper cross beam 201, the middle cross beam 202, and the lower cross beam 203 are parallel to each other. Support members 204 are provided between the upper cross beam 201, the middle cross beam 202, and the lower cross beam 203. The first motor 22 is connected to the lower cross beam 203. The rotary joint 24 is connected to the middle cross beam 202, and the pneumatic joint 25 is connected to the upper cross beam 201. The upper cross beam 201 is detachably connected to the upper end of the support member 204, and the lower cross beam 203 is detachably connected to the lower end of the support member 204.

[0049] like Figures 1 to 2 As shown, the picking device in the utility model, the picking head is used to pick up parts, and after the picking is completed, the direction of the picked parts can be adjusted by driving the rotation of the first motor 22. The first motor 22 adopts a model that is convenient for controlling angular displacement. Compared with manual adjustment of the direction, the technical solution provided by the utility model is more objective and conducive to accurate adjustment of the angle of the parts; it is also conducive to automated production. The above technical solution adopted in this embodiment is particularly suitable for the placement of some parts that can be picked up by negative pressure. The picking frame is then driven to change the pitch through the variable pitch drive mechanism, thereby realizing the variable pitch work of the picked parts and the function of variable pitch.

[0050] like Figure 1 and Figure 4 As shown, four rows of slide rails are provided on the slide 12. The rows of slide rails 3 are parallel to each other, and each pick-up frame 2 is connected to two sliders 4, each slider 4 is slidably connected to a row of slide rails 3, and the two sliders 4 on adjacent slides 12 are staggered, so that the two adjacent pick-up frames can be as close as possible. The slider 4 is detachably connected to the pick-up frame 2, and the two are detachably connected by bolts.

[0051] like Figures 4 to 7 As shown, the variable pitch drive mechanism includes a second motor 5, a drive shaft 6 and a nut member 7. The second motor 5 is connected to the drive shaft 6 for driving the drive shaft 6 to rotate. The second motor 5 is a stepping motor. The drive shaft 6 is provided with a plurality of guide screws 61, and two adjacent guide screws 61 are in opposite directions. Each drive shaft 6 is provided with a nut member 7, and each nut member 7 cooperates with a guide screw 61; the nut member 7 refers to a general term for a type of member that can slide when the drive shaft 6 rotates. The guide screw 61 is set in the form of a groove, and the nut member 7 includes a section of internal teeth 73, which is used to cooperate with the guide screw 61 in the form of a groove; the nut member 7 includes a first half part 71 and a second half part 72, and the first half part 71 and the second half part 72 are detachably connected by two hexagon socket bolts 77; the second half part 72 is provided with a countersunk hole 76 for hiding the hexagon socket bolt 77, and the bottom of the countersunk hole is provided with a hole for the screw rod of the hexagon socket bolt 77 to pass through, and the first half part 71 is provided with a threaded hole for cooperating with the hexagon socket bolt 77. This structure of the nut member is convenient for assembly and disassembly on the drive shaft 6. The nut member 7 is provided with a connecting block 74, which is arranged toward the side of the pick-up frame 2 facing the guide rail, and the connecting block 74 is provided with a hole position 74. The side of the pick-up frame 2 facing the guide rail is provided with a plug-in extending to the hole position 74 to achieve the connection between the two. The variable pitch mechanism provided by the utility model is conducive to accurate displacement.

[0052] like Figure 8As shown in the figure, the rubber stopper transfer device includes a multi-axis manipulator. The multi-axis manipulator includes a base 8 and a multi-joint rotatably arranged robotic arm 81. The execution end of the multi-axis manipulator is equipped with the rubber stopper picking device described above in this embodiment. The beneficial effects are that it is used for the picking and transfer work of components, and also has the functions of adjusting the orientation and spacing of the components.

[0053] Embodiment 2;

[0054] As Figure 9 shown, compared with Embodiment 1, the difference in Embodiment 2 is that the rubber stopper picking device of the rubber stopper transfer device in Embodiment 2 is mounted on the truss manipulator 9.

Claims

1. A rubber plug picking device, comprising a connecting frame, wherein the connecting frame comprises a docking joint, and the docking joint is used to dock with a manipulator, wherein: The connecting frame is provided with a slide, and a plurality of picking frames are slidably connected to the slide. A plurality of picking devices are provided on each picking frame. The picking devices include a picking head and a first motor. The first motor and the picking head are transmission-connected to drive the picking head to rotate. A variable pitch driving mechanism is provided between the slider and the slide.

2. The rubber plug picking device according to claim 1, characterized in that: The first motor is a stepping motor.

3. The rubber plug picking device according to claim 1, characterized in that: The pickup head shown is a negative pressure pickup head, the pickup device also includes a rotary joint and a pneumatic joint, the first motor includes a hollow shaft, the pickup head, the hollow shaft, the rotary joint, and the pneumatic joint are connected in series to form an air circuit.

4. The rubber plug picking device according to claim 3, characterized in that: The picking frame includes an upper beam, a middle beam and a lower beam arranged in sequence from top to bottom, the upper beam, the middle beam and the lower beam are parallel to each other, and support members are provided between the upper beam, the middle beam and the lower beam. The first motor is connected to the lower beam, the rotary joint is connected to the middle beam, and the pneumatic joint is connected to the upper beam.

5. The rubber plug picking device according to claim 4, characterized in that: The upper cross beam is detachably connected to the upper end of the support member, and the lower cross beam is detachably connected to the lower end of the support member.

6. The rubber plug picking device according to claim 1, characterized in that: The slide frame is provided with four rows of slide rails, each row of slide rails is parallel to each other, each of the picking racks is connected to two sliders, each slider is slidably connected to a row of slide rails, and the two sliders located on adjacent slide frames are staggered.

7. The rubber plug picking device according to claim 1, characterized in that: The sliding block is detachably connected to the picking frame.

8. The rubber plug picking device according to claim 1, characterized in that: The variable pitch drive mechanism includes a second motor, a drive shaft and a nut member. The second motor is connected to the drive shaft for driving the drive shaft to rotate. The drive shaft is provided with multiple guide screws, and the directions of two adjacent guide screws are opposite. Each drive shaft is provided with a nut member, and each nut member cooperates with a guide screw.

9. A rubber plug transfer device, comprising a multi-axis manipulator, the multi-axis manipulator comprising a base and a multi-section rotatable manipulator arm, characterized in that: The execution end of the multi-axis manipulator is equipped with a rubber plug picking device as described in any one of claims 1-8.

10. A rubber plug transfer device, comprising a truss manipulator, characterized in that: The execution end of the truss robot is connected to the rubber plug picking device as described in any one of claims 1-8.

Images