Universal tray carrying robot suitable for X-ray counting equipment

Abstract

The utility model discloses a transfer robot, belongs to the technical field of X-ray high-speed online automatic material counting equipment, and particularly relates to a universal tray transfer robot suitable for the X-ray material counting equipment, which comprises a mounting bottom plate, a linear driving device and an intelligent suction device, the linear driving device is installed on the installation bottom plate, the intelligent suction device is installed on the linear driving device, and the intelligent suction device sucks a material disc; the linear driving device comprises a first linear module, a second linear module and a third linear module so as to drive the intelligent suction device to move in the X direction, the Y direction and the Z direction, and the trays can be taken and placed at different heights and different positions. The problem of sucking various trays with different specifications and sizes without replacing the sucking disc is solved. The device is compact in structure, novel in idea and wide in application range, the cost is effectively reduced, and the detection efficiency is improved.

Description

Technical Field

[0001] The utility model discloses a handling robot, belongs to the technical field of X-ray high-speed online automatic material counting equipment, and particularly relates to a universal material tray handling robot suitable for X-ray material counting equipment. Background Art

[0002] X-ray spotting equipment is used for high-precision inspection of the internal structure or substance of materials. It primarily performs material inspection: checking for defects, impurities, or structural inhomogeneities. Quality control: ensuring that products meet specifications during production. Fault analysis: helping to identify potential problems in equipment or components. The equipment illuminates a sample with X-rays and uses a detector to capture the transmitted or scattered X-rays, generating an image of the sample's internal structure. This image helps professionals analyze the material's internal characteristics.

[0003] Existing equipment usually uses a clamping claw to clamp the tray from the center to load and unload materials. Because the tray is a plastic part, the clamping claw can easily crack the center hole of the tray during transportation, causing the tray to fall during transportation. Utility Model Content

[0004] The purpose of the utility model is to provide a universal tray handling robot suitable for X-ray spotting equipment to solve the above-mentioned problems.

[0005] Technical solution: A universal tray handling robot suitable for X-ray spotting equipment, the handling robot comprising: a mounting base, a linear drive device and an intelligent suction device;

[0006] The mounting base is fixedly mounted on the working area, the linear drive device is mounted on the mounting base, the intelligent suction device is mounted on the linear drive device, and the intelligent suction device sucks the material tray;

[0007] The linear drive device includes: a first linear module, a second linear module and a third linear module; the first linear module, the second linear module and the third linear module drive the intelligent suction device to move in the XYZ directions to achieve the picking and placing of the material tray at different heights and positions.

[0008] In a further embodiment, the first linear module is mounted on the mounting base, and the first linear module includes: a first transmission part, fixedly mounted on the mounting base; a first motor, mounted on the first transmission part to cooperate with the linear motion of the first transmission part; a linear guide rail, fixedly mounted on the mounting base; a slider, slidably mounted on the linear guide rail; and a first connecting plate, fixedly mounted on the slider and the first transmission part to follow the linear motion of the first transmission part.

[0009] In a further embodiment, the second linear module is installed on the first linear module to follow its Y-axis movement, and the second linear module includes: a second transmission part, fixedly installed on the first connecting plate; a second motor, cooperating with the second transmission part to drive the second transmission part to move linearly; a second connecting plate, fixedly installed on the second transmission part to follow the second transmission part to move linearly.

[0010] In a further embodiment, the third linear module is installed on the second linear module to follow its Z-axis movement, and the third linear module includes: a third transmission part, fixedly installed on the second connecting plate; a third motor, installed on the second connecting plate and cooperating with the third transmission part to drive the third transmission part to move linearly; a third connecting plate, fixedly installed on the third transmission part to follow the linear movement of the third transmission part.

[0011] In a further embodiment, the intelligent suction device is installed on the third linear module to follow its Z-axis movement, and the intelligent suction device includes: a connecting bracket, fixedly mounted on the third connecting plate; an axis mounting plate, fixedly mounted on the connecting bracket; a suction cup mounting plate, connected to the axis mounting plate through a guide shaft; and a vacuum surface suction cup, mounted on the bottom of the suction cup mounting plate.

[0012] In a further embodiment, a first sensor is provided on the suction cup mounting plate, and two first sensors are provided and arranged symmetrically; the first sensor is fixedly mounted on the vacuum surface suction cup through a sensor bracket, and the first sensor is used to determine whether the suction cup accurately absorbs the material tray;

[0013] The shaft mounting plate is provided with a second sensor, the suction cup mounting plate is provided with a sensor sheet, and the second sensor and the sensor sheet cooperate with the second sensor to determine whether the material tray suction position is reached.

[0014] Beneficial effects: The purpose of the present utility model is to provide a universal material tray handling robot suitable for X-ray counting equipment, and particularly relates to the technical field of X-ray high-speed online automatic counting equipment, including a mounting base, a linear drive device and an intelligent suction device, and the intelligent suction device is driven by the linear drive device to move in the XYZ direction, thereby realizing the picking and placing of material trays at different heights and positions. The present utility model adopts a vacuum surface suction cup, which effectively protects the appearance of the material tray from damage, and solves the problem of absorbing a variety of material trays of different specifications and sizes without replacing the suction cup. At the same time, the present utility model realizes the buffering function of the intelligent suction device during suction through the guide shaft, and adopts a sensor installed on the vacuum surface suction cup to monitor whether the vacuum surface suction cup accurately absorbs the material tray; the present utility model has a compact structure, novel ideas, a wide range of applications, effectively reduces costs, and improves detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an axonometric drawing of the present utility model.

[0016] Figure 2 It is a schematic diagram of the present utility model.

[0017] Figure 3 It is the main view of the present utility model.

[0018] Figure 4 It is a left view of the present utility model.

[0019] Figure 5 It is a schematic diagram of the intelligent suction device of the present utility model.

[0020] Figure numerals: mounting base plate 1, linear drive device 2, intelligent suction device 3, first linear module 4, second linear module 5, third linear module 6, first transmission part 7, first motor 8, linear guide rail 9, slider 10, first connecting plate 11, second transmission part 12, second motor 13, second connecting plate 14, third transmission part 15, third motor 16, third connecting plate 17, connecting bracket 18, shaft mounting plate 19, suction cup mounting plate 20, guide shaft 21, vacuum surface suction cup 22, first sensor 23, second sensor 24, sensor sheet 25, material tray 26. DETAILED DESCRIPTION

[0021] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between 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. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] A universal tray handling robot suitable for X-ray spotting equipment, such as Figure 1 As shown, it includes: a mounting base plate 1, a linear drive device 2, and an intelligent suction device 3.

[0025] In one embodiment, Figure 1 and Figure 2 As shown, the mounting base 1 is fixedly mounted on the working area, the linear drive device 2 is mounted on the mounting base 1, the intelligent suction device 3 is mounted on the linear drive device 2, and the intelligent suction device 3 sucks the material tray 26;

[0026] The linear drive device 2 includes: a first linear module 4, a second linear module 5 and a third linear module 6; the first linear module 4, the second linear module 5 and the third linear module 6 drive the intelligent suction device 3 to move in the XYZ direction to realize the picking and placing of the material tray 26 at different heights and different positions.

[0027] In one embodiment, Figure 3 and Figure 4 As shown, the first linear module 4 is installed on the mounting base 1, and the first linear module 4 includes: a first transmission part 7, fixedly mounted on the mounting base 1; a first motor 8, mounted on the first transmission part 7 to cooperate with the linear motion of the first transmission part 7; a linear guide rail 9, fixedly mounted on the mounting base 1; a slider 10, slidably mounted on the linear guide rail 9; and a first connecting plate 11, fixedly mounted on the slider 10 and the first transmission part 7 to follow the linear motion of the first transmission part 7.

[0028] In one embodiment, Figure 3 and Figure 4As shown, the second linear module 5 is installed on the first linear module 4 to follow its Y-axis movement. The second linear module 5 includes: a second transmission part 12, fixedly installed on the first connecting plate 11; a second motor 13, cooperating with the second transmission part 12 to drive the second transmission part 12 to move linearly; a second connecting plate 14, fixedly installed on the second transmission part 12 to follow the second transmission part 12 to move linearly.

[0029] In one embodiment, Figure 3 and Figure 4 As shown, the third linear module 6 is installed on the second linear module 5 to follow its X-axis movement. The third linear module 6 includes: a third transmission part 15, fixedly installed on the second connecting plate 14; a third motor 16, installed on the second connecting plate 14 and cooperated with the third transmission part 15 to drive the third transmission part 15 to move linearly; a third connecting plate 17, fixedly installed on the third transmission part 15 to follow the third transmission part 15 to move linearly.

[0030] In one embodiment, Figure 5 As shown, the intelligent suction device 3 is installed on the third linear module 6 to follow its Z-axis movement. The intelligent suction device 3 includes: a connecting bracket 18, fixedly mounted on the third connecting plate 17; an axis mounting plate 19, fixedly mounted on the connecting bracket 18; a suction cup mounting plate 20, connected to the axis mounting plate 19 through a guide shaft 21; and a vacuum surface suction cup 22, mounted on the bottom of the suction cup mounting plate 20.

[0031] In one embodiment, Figure 5 As shown, the suction cup mounting plate 20 is provided with a first sensor 23, and two first sensors 23 are provided and arranged in a symmetrical manner; the first sensor 23 is fixedly mounted on the vacuum surface suction cup 22 through a sensor bracket, and the first sensor 23 is used to determine whether the suction cup accurately absorbs the material tray 26;

[0032] The shaft mounting plate 19 is provided with a second sensor 24 , and the suction cup mounting plate 20 is provided with a sensor sheet 25 . The second sensor 24 and the sensor sheet 25 cooperate with the second sensor 24 to determine whether the material tray 26 has reached the suction position.

[0033] Working Principle: This device uses a vacuum suction cup 22 to pick up a tray 26 for loading and unloading, preventing damage to the tray 26 during handling. A servo module drives X, Y, and Z axis motion, enabling access to products at varying heights and locations. This device utilizes a guide shaft 21 (elastic telescopic rod) to provide a buffering function for the intelligent suction device 3 during suction. A sensor mounted on the vacuum suction cup 22 monitors whether the vacuum suction cup 22 is accurately picking up the tray 26.

[0034] The intelligent suction device 3 is fixedly mounted on the third connecting plate 17 through the connecting bracket 18, and the third motor 16 drives the third transmission part 15 to drive the intelligent suction device 3 to realize Z-direction movement; the third transmission part 15 is fixedly mounted on the second transmission part 12 through the second connecting plate 14, and the second motor 13 drives the second transmission part 12 to drive the intelligent suction device 3 to realize X-direction movement; the first transmission part 7 and the linear guide rail 9 are fixedly mounted on the mounting base 1, and the second transmission part 12 is fixedly mounted on the first motor 8 through the first connecting plate 11, and is slidably mounted on the linear guide rail 9 assembly through the slider 10. The first transmission part 7 is driven by the first motor 8 to drive the intelligent suction device 3 to realize Y-direction movement.

[0035] The first sensor 23 is used to determine whether the suction cup has accurately sucked the material tray 26; the second sensor 24 and the sensor sheet 25 cooperate with the second sensor 24 to determine whether the material tray 26 suction position has been reached.

[0036] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A universal tray handling robot suitable for X-ray spotting equipment, characterized in that: The handling robot comprises: a mounting base, a linear drive device and an intelligent suction device; The mounting base is fixedly mounted on the working area, the linear drive device is mounted on the mounting base, the intelligent suction device is mounted on the linear drive device, and the intelligent suction device sucks the material tray; The linear drive device includes: a first linear module, a second linear module and a third linear module; the first linear module, the second linear module and the third linear module drive the intelligent suction device to move in the XYZ directions to achieve the picking and placing of the material tray at different heights and positions.

2. A universal tray handling robot suitable for X-ray spotting equipment according to claim 1, characterized in that: The first linear module is mounted on the mounting base, and the first linear module includes: a first transmission part, fixedly mounted on the mounting base; a first motor, mounted on the first transmission part to cooperate with the linear motion of the first transmission part; a linear guide rail, fixedly mounted on the mounting base; a slider, slidably mounted on the linear guide rail; and a first connecting plate, fixedly mounted on the slider and the first transmission part to follow the linear motion of the first transmission part.

3. A universal tray handling robot suitable for X-ray spotting equipment according to claim 2, characterized in that: The second linear module is installed on the first linear module to follow its Y-axis movement. The second linear module includes: a second transmission part, fixedly installed on the first connecting plate; a second motor, cooperating with the second transmission part to drive the second transmission part to move linearly; a second connecting plate, fixedly installed on the second transmission part to follow the second transmission part to move linearly.

4. A universal tray handling robot suitable for X-ray spotting equipment according to claim 3, characterized in that: The third linear module is installed on the second linear module to follow its Z-axis movement. The third linear module includes: a third transmission part, fixedly installed on the second connecting plate; a third motor, installed on the second connecting plate and cooperating with the third transmission part to drive the third transmission part to move linearly; a third connecting plate, fixedly installed on the third transmission part to follow the third transmission part to move linearly.

5. A universal tray handling robot suitable for X-ray spotting equipment according to claim 4, characterized in that: The intelligent suction device is installed on the third linear module to follow its Z-axis movement. The intelligent suction device includes: a connecting bracket, fixedly installed on the third connecting plate; an axis mounting plate, fixedly installed on the connecting bracket; a suction cup mounting plate, connected to the axis mounting plate through a guide shaft; and a vacuum surface suction cup, installed on the bottom of the suction cup mounting plate.

6. A universal tray handling robot suitable for X-ray spotting equipment according to claim 5, characterized in that: The suction cup mounting plate is provided with a first sensor, and two first sensors are provided and arranged in a symmetrical manner; the first sensor is fixedly mounted on the vacuum surface suction cup through a sensor bracket, and the first sensor is used to determine whether the suction cup has accurately sucked the material tray; The shaft mounting plate is provided with a second sensor, the suction cup mounting plate is provided with a sensor sheet, and the second sensor and the sensor sheet cooperate with the second sensor to determine whether the material tray suction position is reached.

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