Automatic implantation carrier circulation equipment for motor

Abstract

The utility model relates to a motor automatic implantation carrier circulation device which comprises a machine frame, a discharging streamline and a motor carrier, the machine frame is provided with a feeding streamline, a tray feeding and discharging mechanism and an NG streamline, and carrier carrying manipulators, upper visual inspection modules and transfer streamlines are arranged on the machine frame and located on the two sides of the feeding streamline. A carrier jacking and clamping assembly is arranged on the portion, located on the transfer streamline, of the rack, a motor feeding mechanical arm, a motor coarse positioning platform, a motor fine positioning platform and a motor implanting mechanical arm are sequentially arranged on the portion, located beside the material disc feeding and discharging mechanism, of the rack, and a lower visual positioning module is arranged on the portion, located beside the motor fine positioning platform, of the rack. And the carrier discharging manipulator is arranged corresponding to the feeding end of the discharging streamline. The device has the beneficial effects that the motor can be automatically taken out from the tray, positioned, implanted into the carrier and detected, and the carrier can be automatically transferred and conveyed, so that the implanting efficiency of the motor is improved.

Description

Technical Field

[0001] This utility model relates to the field of motor production and processing equipment, specifically to an automated motor implantation carrier transfer device. Background Technology

[0002] A motor is a device that converts electrical energy into mechanical energy, and it is widely used in modern industry, transportation, and home appliances. The motor body mainly consists of a housing, stator, rotor, and bearings. When motors are processed on the production line, they need to be loaded into a carrier for clamping before being sent to various workstations for processing.

[0003] The existing motor loading device is a semi-automatic loading device. After the elastic clamping component of the device is released by the device release mechanism, the motor is then manually removed from the tray and placed into the device to complete the motor insertion operation. The existing motor loading efficiency is low. Utility Model Content

[0004] The purpose of this invention is to provide an automated motor implantation carrier transfer device that can automatically remove, position, implant, and inspect motors from a material tray, and automatically transfer and transport the carriers, thereby improving the motor implantation efficiency.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automated motor implantation carrier transfer device, comprising a frame, an output flow line, and a motor carrier. The frame is equipped with an input flow line, a tray loading / unloading mechanism, and an NG flow line. A carrier handling robot, an upper vision detection module, and a transfer flow line are fixedly connected to both sides of the input flow line on the frame. The NG flow line is located beside the transfer flow line. A carrier lifting and clamping assembly is provided on the transfer flow line on the frame. A motor loading robot, a motor coarse positioning platform, a motor fine positioning platform, and a motor implantation robot are sequentially arranged on the frame beside the tray loading / unloading mechanism. A lower vision positioning module is provided on the frame beside the motor fine positioning platform. A carrier unloading robot is provided on the frame at the output end of the input flow line, and the carrier unloading robot is correspondingly arranged at the input end of the output flow line.

[0006] Furthermore, the carrier handling robot includes an XZ moving module, a rotary cylinder, and a handling gripper cylinder. The XZ moving module is fixedly connected to the frame, the rotary cylinder is fixedly connected to the moving platform of the XZ moving module, and the handling gripper cylinder is fixedly connected to the rotating platform of the rotary cylinder.

[0007] Furthermore, the upper vision detection module includes a line detection module and an upper CCD camera. The line detection module is fixedly connected to the frame, and the upper CCD camera is fixedly connected to the moving stage of the line detection module. The lower vision positioning module includes a lower CCD camera, which is fixedly connected to the frame.

[0008] Furthermore, the vehicle lifting and clamping assembly includes a lifting base, a lifting cylinder, a lifting platform, a vehicle clamping mechanism, and a vehicle positioning mechanism. The lifting base is fixedly connected to the frame, and the lifting cylinder, the vehicle clamping mechanism, and the vehicle positioning mechanism are all fixedly connected to the lifting base.

[0009] Furthermore, both the coarse positioning platform and the fine positioning platform of the motor are provided with positioning columns and positioning slots. The frame is fixedly connected to the carrier lifting and clamping assembly, the coarse positioning platform of the motor, and the fine positioning platform of the motor. The motor carrier, the coarse positioning platform of the motor, and the fine positioning platform of the motor are all provided with elastic clamping assemblies.

[0010] Furthermore, a release push plate is fixedly connected to the moving platform of the release and translation mechanism, and the movable clamping end of the elastic clamping assembly is provided with a protrusion corresponding to the release push plate.

[0011] Furthermore, the output ends of the motor-feeding robot and the motor-implanting robot are both fixedly connected to vacuum nozzles.

[0012] Furthermore, the structure of the carrier unloading robot is the same as that of the carrier handling robot, and a translational pushing component is fixedly connected to the feeding flow line.

[0013] The beneficial effects of this utility model are: it is equipped with a carrier handling robot and a carrier unloading robot to cooperate in the feeding flow line and transfer flow line, so as to realize the circulation of the carrier;

[0014] The upper vision detection module and the lower vision positioning module provide visual guidance, and the coarse positioning platform and fine positioning platform of the motor are used for staged calibration to ensure the alignment accuracy between the motor and the carrier; eliminate cumulative errors and ensure implantation consistency.

[0015] It can automatically remove, position, implant, and inspect motors from the tray, and automatically transfer and transport them to the carrier, thus improving the efficiency of motor implantation. Attached Figure Description

[0016] Figure 1 This is an isometric schematic diagram of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the vehicle handling robot and the upper vision inspection module of this utility model.

[0018] Figure 3This is a schematic diagram of the material inlet flow line of this utility model.

[0019] Figure 4 This is a schematic diagram of the structure of the vehicle lifting and clamping assembly of this utility model.

[0020] Figure 5 This is a schematic diagram of the motor-driven feeding robot of this utility model.

[0021] Figure 6 This is a schematic diagram of the motor coarse positioning platform of this utility model.

[0022] Figure 7 This is a schematic diagram of the motor precision positioning platform of this utility model.

[0023] Figure 8 This is a schematic diagram of the motor implanted in the robotic arm according to this utility model.

[0024] Figure 9 This is a schematic diagram of the carrier unloading robot of this utility model.

[0025] In the diagram: 1. Carrier handling robot; 101. XZ moving module; 102. Rotary cylinder; 103. Handling gripper cylinder; 2. Upper vision inspection module; 201. Linear inspection module; 202. Upper CCD camera; 3. Carrier lifting and clamping assembly; 301. Lifting base; 302. Lifting cylinder; 303. Lifting platform; 304. Carrier clamping mechanism; 305. Carrier positioning mechanism; 4. Clamping and translation mechanism; 401. Loosening clamp pusher; 5. Motor-driven feeding robot; 6. Motor coarse positioning platform; 7. Motor fine positioning platform; 8. Motor implantation robot; 9. Carrier unloading robot; 10. Discharge flow line; 11. Feed flow line; 12. Material tray loading and unloading mechanism; 13. NG flow line; 14. Transfer flow line; 15. Motor carrier; 16. Vacuum nozzle; 17. Lower vision positioning module; 18. Translational pushing assembly; 19. Motor. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this utility model.

[0027] Example:

[0028] refer to Figures 1-9The illustrated automated motor implantation carrier transfer device includes a frame, an output flow line 10, and a motor carrier 15. The frame is equipped with an input flow line 11, a tray loading / unloading mechanism 12, and an NG flow line 13. A carrier handling robot 1, an upper vision inspection module 2, and a transfer flow line 14 are fixedly connected to both sides of the input flow line 11 on the frame. The NG flow line 13 is located next to the transfer flow line 14. A carrier lifting and clamping assembly 3 is installed on the transfer flow line 14 on the frame. A motor loading robot 5, a motor coarse positioning platform 6, a motor fine positioning platform 7, and a motor implantation robot 8 are sequentially arranged next to the tray loading / unloading mechanism 12 on the frame. A lower vision positioning module 17 is installed next to the motor fine positioning platform 7 on the frame. A carrier unloading robot 9 is installed at the output end of the input flow line 11 on the frame, and the carrier unloading robot 9 is correspondingly arranged at the input end of the output flow line 10.

[0029] The carrier handling robot 1 includes an XZ moving module 101, a rotary cylinder 102, and a handling gripper cylinder 103. The XZ moving module 101 is used to drive the rotary cylinder 102 and the handling gripper cylinder 103 to move to the carrier picking station or the carrier unloading station for unloading. The rotary cylinder 102 is used to drive the carrier to rotate for angle adjustment.

[0030] The upper vision inspection module 2 includes a linear detection module 201 and an upper CCD camera 202. The linear detection module 201 is used to drive the upper CCD camera 202 to translate. The upper CCD camera 202 can perform surface inspection on the motor 19 from top to bottom to check for surface defects. The lower vision positioning module 17 includes a lower CCD camera. The lower CCD camera is used to visually guide the motor implantation robot 8 to implant the motor 19 into the motor carrier 15.

[0031] The carrier lifting and clamping assembly 3 includes a lifting base 301, a lifting cylinder 302, a lifting platform 303, a carrier clamping mechanism 304, and a carrier positioning mechanism 305. The lifting cylinder 302 is used to drive the lifting platform 303 to rise, thereby lifting the motor carrier 15 on the transfer flow line 14 so that it is separated from the transfer flow line 14 and placed at the implantation station. The carrier positioning mechanism 305 positions the motor carrier 15, and the carrier clamping mechanism 304 clamps the motor carrier 15.

[0032] Both the coarse positioning platform 6 and the fine positioning platform 7 of the motor are equipped with positioning posts and positioning slots. The positioning posts and positioning slots are used to position the loading motor 19. The clamping and translating mechanism 4 is used to loosen the elastic clamping component, which facilitates the picking up and unloading of materials from the motor 19. When the elastic clamping component is loosened, the clamping and translating mechanism 4 drives the clamping push plate 401 to translate and push, so that the protrusion at the movable clamping end of the elastic clamping component is loosened.

[0033] Both the motor-feeding robot 5 and the motor-implanting robot 8 have vacuum nozzles 16 fixedly connected to their output ends. The vacuum nozzles 16 are used to adsorb motors 19 for transfer. A translational pushing assembly 18 is fixedly connected to the feed line. The translational pushing assembly 18 is used to push the motor carrier flowing in from the feed line 11 to the transfer lines 14 on both sides.

[0034] The working principle of this utility model is as follows: The motor carrier 15 is fed from the feed line 11. The tray loading and unloading mechanism 12 is used to load and unload trays containing multiple motors. After the motor carrier 15 flows into the feed line 11, the CCD camera 202 detects whether the motor carrier 15 is in an unloaded state. The translational pushing component 18 is used to push the motor carrier flowing into the feed line 11 to the transfer lines 14 on both sides. The transfer lines 14 transport the unloaded motor carrier 5 to the assembly station. The lifting cylinder 302 is used to drive the lifting of the motor carrier. Platform 303 rises to lift the motor carrier 15 on the transfer flow line 14, causing it to detach from the transfer flow line 14 and move to the implantation station. The motor carrier 15 is centered and positioned by the carrier positioning mechanism 305, and then the motor carrier 15 is clamped by the carrier clamping mechanism 304. The clamping and translating mechanism 4 drives the clamping and translating push plate 401 to translate and push the protrusion at the movable clamping end of the elastic clamping component to release the motor carrier 15. For non-empty motor carriers 5, they are transferred to the NG flow line 13 through the transfer flow line 14 and the carrier handling robot 1 for outflow.

[0035] At the same time, the motor 19 is picked up and transferred from the material tray to the motor coarse positioning platform 6 by the motor feeding robot 5 (at this time, the elastic clamping component on the motor coarse positioning platform 6 is in the loose clamping state). Then the loose clamping translation mechanism 4 is reset, and the elastic clamping component returns to the positioning clamping state to achieve coarse positioning. After the motor feeding robot 5 picks up the motor 19, it is loosened again.

[0036] The motor 19 is picked up and transferred from the coarse positioning platform 6 to the fine positioning platform 7 by the motor feeding robot 5 (at this time, the elastic clamping component on the fine positioning platform 6 is in the loose clamping state). Then the loose clamping translation mechanism 4 is reset, and the elastic clamping component returns to the positioning clamping state to achieve fine positioning. After the subsequent motor implantation robot 8 picks up the motor 19, it is loosened again.

[0037] The precisely positioned motor 19 is transferred to the lower vision positioning module 17 by the motor implantation robot 8 for photographic guidance and positioning. Finally, it is implanted into the motor carrier 15 at the assembly station. Then, the release and translation mechanism 4 drives the release push plate 401 to reset, clamping the motor 19 within the motor carrier 15. Next, the upper vision inspection module 2 performs surface inspection on the upper surface of the motor. After inspection, the driving components of the carrier lifting and clamping assembly 3 reset, allowing the motor carrier 15, loaded with the motor 19, to be lowered onto the transfer line 14. According to the test results, for defective motors, the corresponding motor carrier 15 is transferred to the NG flow line 13 by the carrier handling robot 1; for qualified motors, the corresponding motor carrier 15 is transferred to the infeed flow line 11 by the carrier handling robot 1, and then unloaded by the carrier unloading robot 9 to the discharge flow line 10 (two discharge flow lines 10 can be set, one of which works with the carrier unloading robot 9 and the infeed flow line 11 to discharge qualified motors, and the other works with the carrier unloading robot 9 and the NG flow line 13 to discharge NG motors).

[0038] The above embodiments are used to further illustrate the present invention, but do not limit the present invention to these specific embodiments. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be understood as being within the protection scope of the present invention.

Claims

1. An automated motor implantation carrier transfer device, characterized in that: The system includes a frame, a discharge flow line (10), and a motor carrier (15). The frame is equipped with an infeed flow line (11), a tray loading / unloading mechanism (12), and an NG flow line (13). On both sides of the infeed flow line (11), a carrier handling robot (1), an upper vision inspection module (2), and a transfer flow line (14) are fixedly connected. On the transfer flow line (14), a carrier lifting and clamping assembly (3) is provided. On the tray, the... The loading and unloading mechanism (12) is provided with a motor loading robot (5), a motor coarse positioning platform (6), a motor fine positioning platform (7) and a motor implantation robot (8) in sequence. A lower vision positioning module (17) is provided on the frame next to the motor fine positioning platform (7). A carrier unloading robot (9) is provided on the frame at the discharge end of the feed flow line (11). The carrier unloading robot (9) is provided corresponding to the feed end of the discharge flow line (10).

2. The automated motor implantation carrier transfer device according to claim 1, characterized in that: The carrier handling robot (1) includes an XZ moving module (101), a rotary cylinder (102), and a handling gripper cylinder (103). The XZ moving module (101) is fixedly connected to the frame, the rotary cylinder (102) is fixedly connected to the moving platform of the XZ moving module (101), and the handling gripper cylinder (103) is fixedly connected to the rotating platform of the rotary cylinder (102).

3. The automated motor implantation carrier transfer device according to claim 1, characterized in that: The upper vision detection module (2) includes a line detection module (201) and an upper CCD camera (202). The line detection module (201) is fixedly connected to the frame, and the upper CCD camera (202) is fixedly connected to the moving stage of the line detection module (201). The lower vision positioning module (17) includes a lower CCD camera, which is fixedly connected to the frame.

4. The automated motor implantation carrier transfer device according to claim 1, characterized in that: The vehicle lifting and clamping assembly (3) includes a lifting base (301), a lifting cylinder (302), a lifting platform (303), a vehicle clamping mechanism (304), and a vehicle positioning mechanism (305). The lifting base (301) is fixedly connected to the frame, and the lifting cylinder (302), the vehicle clamping mechanism (304), and the vehicle positioning mechanism (305) are all fixedly connected to the lifting base (301).

5. The automated motor implantation carrier transfer device according to claim 1, characterized in that: The motor coarse positioning platform (6) and the motor fine positioning platform (7) are both provided with positioning columns and positioning slots. The frame is fixedly connected to the carrier lifting clamping assembly (3), the motor coarse positioning platform (6) and the motor fine positioning platform (7). The motor carrier (15), the motor coarse positioning platform (6) and the motor fine positioning platform (7) are all provided with elastic clamping assemblies.

6. The automated motor implantation carrier transfer device according to claim 5, characterized in that: The release and translation mechanism (4) has a release and push plate (401) fixedly connected to its moving platform, and the movable clamping end of the elastic clamping assembly is provided with a protrusion corresponding to the release and push plate (401).

7. The automated motor implantation carrier transfer device according to claim 1, characterized in that: The output ends of the motor feeding robot (5) and the motor implantation robot (8) are both fixedly connected to vacuum nozzles (16).

8. The motor-automated implantation carrier transfer device according to claim 1, characterized in that: The structure of the carrier unloading robot (9) is the same as that of the carrier handling robot (1), and a translational pushing component (18) is fixedly connected to the feed flow line (11).

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