Multi-linkage conveying device

Abstract

The utility model discloses a multi-linkage conveying device which comprises a transferring mechanism and a transferring mechanism, and the transferring mechanism comprises a carrier assembly and a Y-direction linear module used for driving the carrier assembly to move between a first position and a second position. The carrier assembly comprises a carrier support arranged on the Y-direction linear module and a plurality of discharging tables arranged on the carrier support at intervals, and each discharging table comprises a carrier base B provided with a notch or a carrier base A arranged on the carrier support through a rotating air cylinder. The transferring mechanism comprises an X-direction linear module arranged at a second position in the X-axis direction and three sliding bases synchronously driven by the X-direction linear module, each sliding base is provided with a transferring assembly, the three transferring assemblies comprise the two transferring assemblies A and the one transferring assembly B, each transferring assembly A comprises a variable-pitch module and an adsorption block A, and each adsorption block B comprises a variable-pitch module and an adsorption block B; and the transfer assembly B comprises a rotary driving mechanism and an adsorption block B. The conveying device is compact in structure, accurate butt joint and efficient circulation of products between stations can be achieved, and conveying efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of material conveying technology, and in particular to a multi-linkage conveying device. Background Technology

[0002] In automated production processes, the flow of materials between various stages is a crucial link. Taking the inspection equipment for solar cells as an example, based on the production requirements of solar cells, comprehensive appearance defect inspection is required before assembly.

[0003] Currently, robots are often used to place products under a vision inspection system, and the product's angle is changed to allow the system to scan the product from all angles, thus detecting product appearance defects. However, because the robot needs to travel back and forth between picking up, inspecting, and unloading materials, the transfer process is lengthy, resulting in long inspection times for individual products, which is not conducive to high-efficiency production. Therefore, it is necessary to improve existing technologies to overcome their shortcomings. Utility Model Content

[0004] The problem to be solved by this utility model is to provide a multi-linkage conveying device to overcome the defect of low conveying efficiency.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a multi-linkage conveying device, comprising:

[0006] The transfer mechanism comprises multiple sets of transfer mechanisms arranged at intervals along the X-axis. Each set of transfer mechanisms includes a carrier assembly for adsorbing and fixing the product, and a Y-axis linear module for driving the carrier assembly to reciprocate between a first position and a second position. The first and second positions are located at the two ends of the Y-axis linear module. The carrier assembly includes a carrier bracket on the execution end of the Y-axis linear module and multiple feeding platforms arranged at equal intervals along the X-axis on the carrier bracket. The feeding platform includes a carrier B with a notch, or a carrier A mounted on the carrier bracket via a rotary cylinder.

[0007] The transfer mechanism includes an X-axis linear module located at the second position along the X-axis and three slides synchronously driven by the X-axis linear module. Each slide is provided with a transfer component capable of picking up and placing products between two adjacent second positions. The three sets of transfer components include two sets of transfer components A with identical structures and one set of transfer components B. Transfer component A includes a variable pitch module and an adsorption block A located on the execution end of the variable pitch module. Transfer component B includes a rotary drive mechanism and an adsorption block B located on the execution end of the rotary drive mechanism.

[0008] As a further improvement, the carrier A is disposed on the rotating platform of the rotary cylinder, including a mounting block connected to the rotating platform and an adsorption base disposed on the mounting block. The adsorption base is elastically connected to the mounting block and is used to adsorb and fix the product.

[0009] As a further improvement, the carrier B is mounted on the vehicle support via a rotating assembly. The rotating assembly includes two rotating connecting seats respectively disposed at both ends of the vehicle support in the X-axis direction, a rotating plate connected to the two rotating connecting seats to mount the carrier B, and a first driving mechanism disposed at either end of the vehicle support for driving the rotating plate to swing around the X-axis.

[0010] The notch on the carrier B is opened along the Y-axis direction.

[0011] As a further improvement, the three sets of the transfer components are respectively mounted on the slide block via Z-axis linear modules;

[0012] The variable pitch module is mounted on the execution end of the corresponding Z-axis linear module along the X-axis direction, and the rotary drive mechanism is mounted on the execution end of the corresponding Z-axis linear module via a connection.

[0013] As a further improvement, the number of actuators of the variable pitch module and the number of rotary drive mechanisms of the transfer component B are both configured to be consistent with the number of loading platforms on the carrier component.

[0014] As a further improvement, the adsorption block A is provided with a square-shaped substrate A that can adsorb and fix the product, and a sponge layer is provided on one side of the adsorption surface of the substrate A.

[0015] The adsorption block B is provided with a substrate B that matches the shape of the notch on the carrier B and can adsorb and fix the product. A sponge layer is also provided on one side of the adsorption surface of the substrate B.

[0016] As a further improvement, both substrate A and substrate B are made of PEEK material, and the thickness of the sponge layer is 3mm-5mm.

[0017] As a further improvement, the two sets of multi-linkage conveying devices are symmetrically arranged on both sides of the vision inspection system with the line connecting the multiple first positions as the center line.

[0018] The beneficial effects of this utility model are as follows: By simultaneously driving multiple transfer components through the X-axis linear module, the consistency of the transfer component actions is ensured, the product transfer speed is accelerated, not only eliminating redundant transfer time but also simplifying the device structure, thereby improving overall production efficiency; the transfer mechanism enables rapid movement of products between the detection position and the handover position, while the transfer mechanism enables precise handover of products between adjacent transfer mechanisms. The coordinated actions of the two enable smooth flow of products in the detection process, thereby improving the efficiency of the entire detection process; in addition, the rotation function of the transfer mechanism and the transfer mechanism enables multi-angle and multi-directional detection of products. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a perspective view of the multi-linkage conveying device of this utility model;

[0021] Figure 2 This is a layout diagram of the multi-linkage conveying device and vision inspection system of this utility model;

[0022] Figure 3 This utility model is designed to display a perspective view of the carrier A and the transfer component A;

[0023] Figure 4 This utility model is capable of displaying a three-dimensional view of the carrier B;

[0024] Figure 5 This is a perspective view of the transfer component B of this utility model;

[0025] Figure 6 This is a state diagram of the flipped adsorption block B product of this utility model.

[0026] Referring to the accompanying drawings, the following explanations are provided:

[0027] 1. Transfer mechanism; 11. Y-axis linear module; 12. Carrier assembly; 121. Carrier bracket; 122. Rotary cylinder; 1221. Rotary table; 123. Carrier A; 1231. Mounting block; 1232. Adsorption base; 124. Rotary connecting seat; 125. Rotating plate; 126. First drive mechanism; 127. Carrier B; 1271. Notch; 2. Transfer mechanism; 21. X-axis linear module; 211. Slide; 22. Z-axis linear module; 23. Transfer assembly A; 231. Variable pitch module; 232. Adsorption block A; 2321. Base A; 24. Transfer assembly B; 241. Connecting frame; 242. Rotary drive mechanism; 243. Adsorption block B; 2431. Base B; Q. Vision inspection system. Detailed Implementation

[0028] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1 As shown, this embodiment provides a multi-linkage conveying device. For ease of description, the length direction of the multi-linkage conveying device is defined as the X-axis direction, the width direction as the Y-axis direction, and the height direction as the Z-axis direction.

[0030] Please see Figure 2 As shown, the two sets of multi-linkage conveying devices are symmetrically arranged on both sides of the vision inspection system Q (the position is outlined by the dashed line) along the Y-axis, forming two inspection paths to improve inspection efficiency. The vision inspection system Q can employ existing CCD inspection technology.

[0031] To facilitate the description of the technical solution, this embodiment takes a multi-linkage conveyor device installed on one side of the vision inspection system Q as an example.

[0032] The multi-linkage conveying device includes a transfer mechanism 1 and a transfer mechanism 2. The transfer mechanism 1 carries the product and drives it to move between a first position (detection position) and a second position (transfer position), i.e., the transfer mechanism 1 moves along the Y-axis. The transfer mechanism 2 transfers the product between adjacent second positions (transfer positions), i.e., the transfer mechanism 2 moves along the X-axis. In other words, the transfer mechanism 1 and the transfer mechanism 2 are arranged perpendicularly, thereby achieving the technical effect of the two detection channels mentioned above.

[0033] Regarding the transfer mechanism 1.

[0034] Please see Figure 1 and Figure 3Multiple sets of the transfer mechanisms 1 are arranged at intervals along the X-axis, with each set of transfer mechanisms 1 corresponding to one appearance inspection item. Specifically, each set of transfer mechanisms 1 includes a Y-axis linear module 11 and a carrier assembly 12 for carrying the product, which is disposed on the execution end of the Y-axis linear module 11. The Y-axis linear module 11 is used to drive the carrier assembly 12 to reciprocate between a first position and a second position set along the Y-axis, so that the product can be inspected at the first position and handed over to the transfer mechanism 2 at the second position.

[0035] Furthermore, the carrier assembly 12 includes a carrier bracket 121 mounted on the Y-axis linear module 11, and a plurality of feeding platforms equidistantly arranged on the carrier bracket 121 along the X-axis direction. The feeding platforms are used to hold and hold the products. The carrier bracket 121 is positioned on the actuating end of the Y-axis linear module 11, allowing it to reciprocate along the Y-axis direction. The four feeding platforms are equidistantly arranged along the X-axis direction.

[0036] Depending on the different actions of the carrier component 12 (to facilitate the vision inspection system Q to perform all-round inspection of the product), the unloading platform is set in two ways.

[0037] ① In one type of carrier assembly 12: the feeding platform includes a rotary cylinder 122 mounted on the carrier bracket 121, and a carrier A123 mounted on a rotating platform 1221 of the rotary cylinder 122; the carrier A123 includes a mounting block 1231 connected to the rotating platform 1221, and an adsorption base 1232 mounted on the mounting block 1231. The adsorption base 1232 is elastically connected to the mounting block 1231 and is used to adsorb and fix the product. The rotary cylinder 122 can drive the carrier A123 to rotate the product around the Z-axis, thereby adjusting the product detection angle and ensuring that all parts can be covered by the vision inspection system. The elastic connection can reduce the impact force on the product during the handover process and avoid product damage. At the same time, the adsorption base 1232 fixes the product by air pressure adsorption, so that the surface of the product to be inspected is fully exposed, so that the vision inspection system can obtain an overall image of the inspection surface and improve the detection accuracy.

[0038] The number of material feeding platforms can be adjusted according to actual production needs.

[0039] ②Another carrier component 12 is: In order to realize the detection of the side of the product, the feeding platform is mounted on the carrier bracket 121 by a rotating component, so that the product can swing around the X-axis, thereby adjusting the side angle of the product to cooperate with the vision detection system to complete the side detection.

[0040] Specifically, the rotating assembly includes two rotating connecting seats 124 respectively disposed at both ends of the carrier bracket 121 in the X-axis direction, a rotating plate 125 connected to the two rotating connecting seats 124 for mounting the feeding platform, and a first driving mechanism 126 disposed at either end of the carrier bracket 121 for driving the rotating plate 125 to swing around the X-axis. The first driving mechanism 126 includes a motor and a toothed belt. The toothed belt is wound around the motor drive shaft and the corresponding ends of the rotating plate. The motor drives the toothed belt to move by rotating in both directions, thereby causing the rotating plate 125 to swing around the X-axis, ultimately realizing the dynamic adjustment of the product's lateral angle.

[0041] The feeding platform includes a carrier B127, on which a notch 1271 is provided along the Y-axis direction to cooperate with the adsorption block B243 described below.

[0042] In addition, the rotating connecting seat 124 is a bearing seat to ensure the flexible swing of the rotating plate.

[0043] Reference Appendix Figure 1 In this embodiment, the transfer mechanism is configured in three sets. The second and third sets of transfer mechanisms are equipped with rotating components. The three sets of transfer mechanisms are driven by the Y-axis linear module 11 to realize the transfer of the product between the detection position and the handover position. With the Z-axis rotation and X-axis swing function of the unloading table, a composite detection mode of "top-side-multi-angle" is formed to ensure that there are no dead angles on the product's appearance surface.

[0044] Regarding the forwarding agency 2.

[0045] Please continue to refer to the appendix. Figure 1 , Figure 3 and Figure 5 To meet the high-efficiency product transfer requirements in automated production lines, the system integrates variable-pitch adsorption and flipping functions, enabling precise handover and attitude adjustment of products between adjacent transfer mechanisms.

[0046] Specifically, the transfer mechanism 2, located at the second position, is used to transfer products between adjacent transfer mechanisms 1. It includes an X-axis linear module 21 arranged along the X-axis direction. The X-axis linear module 21 has three synchronously and equidistantly arranged slide blocks 211, driven by servo motors to ensure synchronized movement of all slide blocks 211. This simplifies the structure while improving the consistency of actions, thereby eliminating redundant transfer time. The three sets of transfer components are respectively mounted on the three slide blocks 211 via Z-axis linear modules 22 to realize product loading and unloading.

[0047] Based on the different functions of the transfer components, the transfer components are also configured with two structures. Of the three sets of transfer components, the first and third sets have the same structure and are both defined as transfer component A23. They have a spacing adjustment function to adapt to different spacing of the feeding platform, achieving precise product transfer. The second set of transfer components is defined as transfer component B24, which has a product flipping function to flip the product over, meeting comprehensive inspection needs.

[0048] Please see the appendix Figure 3 The first structure of the transfer component: The transfer component A23 is equipped with a variable pitch module 231 and an adsorption block A232. The variable pitch module 231 is a variable pitch linear drive module arranged along the X-axis. Its working principle is the same as that of the X-axis linear module 21, except that the variable pitch linear drive module is equipped with four actuators, each of which is connected to an adsorption block A232. These actuators can move independently or synchronously to adjust the spacing of the adsorption blocks A232 along the X-axis. At the same time, the adsorption blocks A232 are driven by the Z-axis linear module 22 to perform lifting and lowering movements, thereby realizing the picking and placing of products and improving the versatility of the transfer component A. According to the spacing of the material placement platform on the rear transfer mechanism 1, the four actuators move synchronously to realize the equidistant scaling of the adsorption blocks A, improve the variable pitch efficiency, and achieve precise docking of products.

[0049] Furthermore, the adsorption block A232 includes a square-shaped substrate A2321 capable of adsorbing and fixing the product, with a 3mm-5mm thick sponge layer on one side of its adsorption surface. The substrate A2321 is made of PEEK material, combining lightweight and high strength to reduce the load on the mechanism and ensure high-speed movement. The 4mm thick sponge layer attached to the adsorption surface of the substrate A2321 acts as a buffer, ensuring vacuum adsorption stability and preventing scratches on the product surface.

[0050] Please see Figure 5 The second structure of the transfer assembly: The transfer assembly B24 includes a connecting frame 241, a rotary drive mechanism 242, and an adsorption block B243; the adsorption block B243 is connected to the execution end of the rotary drive mechanism 242 and can rotate under the drive of the rotary drive mechanism 242, and the adsorption block B243 can adsorb and fix the product. Here, the rotary drive mechanism 242 is also a rotary cylinder, and the adsorption block B243 is disposed on the rotating part of the cylinder so that the adsorption block B can rotate around the Y-axis, thereby realizing the product flipping operation.

[0051] In addition, the adsorption block B243 is provided with a substrate B2431 that matches the shape of the notch 1271 on the carrier B127 and is able to adsorb and fix the product. A sponge layer is also provided on one side of the adsorption surface of the substrate B2431.

[0052] Specifically, the product handover process between transfer component B24 and transfer mechanism 1 is as follows:

[0053] First, the transfer component B24 picks up the product from the unloading platform of the previous transfer mechanism 1 via the adsorption block B243 and lifts the product. Then, the rotary drive mechanism 242 drives the adsorption block B243 to rotate 180° around the Y-axis, so that the product's reverse side faces upward (as shown in the attached diagram). Figure 6 (Displays the flipped state).

[0054] Then, the X-axis linear module 21 drives the transfer assembly B24 to move along the X-axis to above the second position of the next transfer mechanism 1; the Z-axis linear module 22 is activated, driving the transfer assembly B24 to descend as a whole, so that the adsorption block B243 carries the product closer to the target unloading platform. When the adsorption block B243 descends to the bottom and is embedded in the notch 1271 on the carrier B127, the lower surface of the product contacts the upper surface of the carrier B127; the adsorption block B243 releases vacuum adsorption, and the carrier B127 adsorbs the product.

[0055] Finally, the Y-axis linear module 11 of the transfer mechanism 1 drives the carrier assembly 12 to move from the second position to the first position. At this time, the adsorption block B243 is pulled out from the notch 1271, completing the product handover.

[0056] In summary, the multi-linkage conveying device provided by this utility model simultaneously drives multiple transfer components through an X-axis linear module to ensure the consistency of the transfer component movements, accelerate the product transfer speed, eliminate redundant transfer time, simplify the device structure, and thus improve overall production efficiency. The transfer mechanism enables rapid movement of products between the inspection and handover positions, while the transfer mechanism enables precise handover of products between adjacent transfer mechanisms. The coordinated actions of these two mechanisms allow for smooth product flow during the inspection process, thereby improving the efficiency of the entire inspection process. Furthermore, the rotational functions of the transfer and transfer mechanisms enable multi-angle and multi-directional inspection of products.

[0057] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A multi-linkage conveying device, characterized in that, include: The transfer mechanism (1) includes multiple sets of the transfer mechanism (1) arranged at intervals along the X-axis direction. Each set of the transfer mechanism (1) includes a carrier assembly (12) for adsorbing and fixing the product, and a Y-axis linear module (11) for driving the carrier assembly (12) to reciprocate between a first position and a second position. The first position and the second position are located at both ends of the Y-axis linear module (11). The carrier assembly (12) includes a carrier bracket (121) located on the execution end of the Y-axis linear module (11) and multiple feeding platforms arranged at equal intervals along the X-axis direction on the carrier bracket (121). The feeding platform includes a carrier B (127) with a notch (1271), or a carrier A (123) located on the carrier bracket (121) via a rotary cylinder (122). The transfer mechanism (2) includes an X-axis linear module (21) located at the second position along the X-axis and three slides (211) driven synchronously by the X-axis linear module (21). Each slide (211) is provided with a transfer component capable of picking up and placing products between two adjacent second positions. The three sets of transfer components include two sets of transfer components A (23) with the same structure and a set of transfer components B (24). The transfer component A (23) includes a variable pitch module (231) and an adsorption block A (232) located on the execution end of the variable pitch module (231). The transfer component B (24) includes a rotary drive mechanism (242) and an adsorption block B (243) located on the execution end of the rotary drive mechanism (242).

2. The multi-linkage conveying device according to claim 1, characterized in that: The carrier A (123) is disposed on the rotating table (1221) of the rotary cylinder (122), including a mounting block (1231) connected to the rotating table (1221) and an adsorption base (1232) disposed on the mounting block (1231). The adsorption base (1232) is elastically connected to the mounting block (1231) and is used to adsorb and fix the product.

3. The multi-linkage conveying device according to claim 1, characterized in that: The carrier B (127) is mounted on the vehicle support (121) via a rotating assembly. The rotating assembly includes two rotating connecting seats (124) respectively disposed at both ends of the vehicle support (121) in the X-axis direction, a rotating plate (125) connected to the two rotating connecting seats (124) to mount the carrier B (127), and a first driving mechanism (126) disposed at any end of the vehicle support (121) for driving the rotating plate (125) to swing around the X-axis. The notch (1271) on the carrier B (127) is opened along the Y-axis direction.

4. The multi-linkage conveying device according to claim 1, characterized in that: The three sets of transfer components are respectively mounted on the slide block (211) via Z-axis linear modules (22); The variable pitch module (231) is disposed on the execution end of the corresponding Z-axis linear module (22) along the X-axis direction, and the rotary drive mechanism (242) is disposed on the execution end of the corresponding Z-axis linear module (22) through the connecting frame (241).

5. The multi-linkage conveying device according to claim 4, characterized in that: The number of actuators of the variable pitch module (231) and the number of rotary drive mechanisms (242) of the transfer component B (24) are configured to be consistent with the number of loading platforms on the carrier component (12).

6. The multi-linkage conveying device according to claim 3, characterized in that: The adsorption block A (232) is provided with a square-shaped substrate A (2321) that can adsorb and fix the product. A sponge layer is provided on one side of the adsorption surface of the substrate A (2321). The adsorption block B (243) is provided with a substrate B (2431) that matches the shape of the notch (1271) on the carrier B (127) and can adsorb and fix the product. A sponge layer is also provided on one side of the adsorption surface of the substrate B (2431).

7. The multi-linkage conveying device according to claim 6, characterized in that: Both substrate A (2321) and substrate B (2431) are made of PEEK material, and the thickness of the sponge layer is 3mm-5mm.

8. The multi-linkage conveying device according to claim 1, characterized in that: The two sets of multi-linkage conveying devices are symmetrically arranged on both sides of the vision inspection system with the line connecting the multiple first positions as the center line.

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