Disorderly grabbing mechanism for ball rotor assembling machine

Abstract

The utility model relates to automatic assembly line technical field especially relates to a kind of disordered grabbing mechanism for ball rotor assembly machine, including workbench, the disordered grabbing table of installation in the upper end of workbench, the conveying table of installation in the upper end of workbench and located disordered grabbing table left side, the tray mechanism of installation in the upper end of workbench and located disordered grabbing table right side, the mechanical grabbing arm mechanism of installation in the upper end of workbench and located between disordered grabbing table and tray mechanism upper end.The utility model, by the scientific rationalization improvement of the original disordered grabbing mechanism, Y-axis sliding table, X-axis sliding table, X-axis double-shaft air cylinder and Y-axis double-shaft air cylinder are arranged between disordered grabbing table and light transmission plate, the comprehensive dynamic adjustment operation of ball rotor X-axis and Y-axis direction on light transmission plate can be realized, the through-hole of ball rotor can be adjusted to vertical up, which facilitates the subsequent continuous disordered grabbing operation of ball rotor, and also improves the efficiency, continuity and stability of disordered grabbing mechanism work.

Description

Technical Field

[0001] This utility model relates to the field of automated assembly line technology, and in particular to a disordered gripping mechanism for a ball rotor assembly machine. Background Technology

[0002] Automated assembly lines are generally organically integrated systems comprised of conveyor equipment and specialized equipment. They are highly automated assembly production lines based on electromechanical, information, imaging, and networking technologies. In the manufacturing process of most assembly line equipment, the processing and manufacturing of various parts usually begins first, followed by product assembly. This production model is not only applicable to the assembly line industry but also to the manufacturing processes of other products. Automated assembly lines are production equipment specifically designed for various assembly, inspection, labeling, and packaging processes in the later stages of product manufacturing.

[0003] The previous generation of ball rotor assembly machine had a disordered gripping mechanism with its light-transmitting plate fixed as an integral part between the parallel light lamps of the disordered gripping table. This resulted in uneven distribution of the ball rotors as they fell onto the light-transmitting plate via the electric conveyor belt and the unloading slide. Since there was no other auxiliary operation to adjust the shape of the ball rotors, it was impossible to ensure that the through holes of most ball rotors were vertically facing upwards. This made it inconvenient for the mechanical gripper to perform subsequent directional gripping operations. Ball rotors with misaligned through holes would continue to accumulate on the light-transmitting plate, affecting the subsequent continuous disordered gripping operations of the ball rotors.

[0004] In view of this, it is particularly important to design and manufacture a disordered gripping mechanism that can adjust the shape of the ball rotor and improve the stability and continuity of the disordered gripping operation of the ball rotor, which is applied in ball rotor assembly machines. Utility Model Content

[0005] The purpose of this utility model is to solve the problem that the disordered gripping mechanism of the original ball rotor assembly machine cannot adjust the shape of the ball rotor, resulting in the continuous accumulation of ball rotors with deviated through hole positions on the light-transmitting plate, which affects the normal gripping operation of the ball rotor. Therefore, a disordered gripping mechanism for ball rotor assembly machine is proposed.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A disordered gripping mechanism for a ball rotor assembly machine includes a worktable, a disordered gripping platform mounted on the upper part of the worktable, a conveyor platform mounted on the upper part of the worktable and located to the left of the disordered gripping platform, a material tray mechanism mounted on the upper part of the worktable and located to the right of the disordered gripping platform, a mechanical gripping arm mechanism mounted on the upper part of the worktable and located between the upper ends of the disordered gripping platform and the material tray mechanism, a top frame mounted on the upper part of the worktable and located directly above the disordered gripping platform, and a high-definition camera mounted in the middle of the upper end of the top frame and facing the upper end of the disordered gripping platform. A parallel light is installed at the lower end of the disordered gripping platform, a light-transmitting plate is provided between the upper ends of the disordered gripping platform and the parallel light, and an adjustment mechanism for shaking and adjusting the ball rotor before gripping is provided between the disordered gripping platform and the light-transmitting plate.

[0008] As a further description of the above technical solution:

[0009] The adjustment mechanism includes a first slide rail symmetrically installed on the left and right sides of the upper end of the disordered gripping table, a Y-axis slide table movably installed between the upper ends of the first slide rails, a second slide rail symmetrically installed on the front and rear sides of the upper end of the Y-axis slide table, an X-axis slide table movably installed between the upper ends of the second slide rails, a Y-axis dual-axis cylinder installed between the rear ends of the disordered gripping table and the Y-axis slide table, and an X-axis dual-axis cylinder installed between the right ends of the Y-axis slide table and the X-axis slide table.

[0010] As a further description of the above technical solution:

[0011] The light-transmitting plate is fixed in the middle of the X-axis slide, and the upper end of the X-axis slide is provided with a material ejection section for pushing and discharging excess ball rotors out of the light-transmitting plate.

[0012] As a further description of the above technical solution:

[0013] The unloading section includes a third slide rail symmetrically installed on the front and rear sides of the upper end of the X-axis slide, an unloading slide movably installed between the upper ends of the third slide rail, a single-cylinder cylinder installed in the middle of the right end of the X-axis slide and connected to the unloading slide, an unloading hopper installed in the middle of the left side of the lower end of the X-axis slide and connected to the left side of the light-transmitting plate, and a dropping box installed on the left side of the upper end of the disordered gripping platform and located below the unloading hopper.

[0014] As a further description of the above technical solution:

[0015] An electric conveyor belt is installed at the middle right end of the conveyor platform, above the disordered gripping platform, and a feed hopper is installed at the upper end of the conveyor platform, above the electric conveyor belt.

[0016] As a further description of the above technical solution:

[0017] The left end of the disordered gripping table is located at the lower right end of the electric conveyor belt, and a feeding slide is installed thereon.

[0018] As a further description of the above technical solution:

[0019] The mechanical gripper mechanism includes two X-axis servo modules mounted parallel to each other on the upper part of the worktable and located on the front and rear sides of the disordered gripping table, a Y-axis servo module movably mounted between the upper ends of the two X-axis servo modules, a Z-axis pneumatic module movably mounted in the middle of the upper end of the Y-axis servo module, and a pneumatic gripper mounted on the lower end of the Z-axis pneumatic module.

[0020] As a further description of the above technical solution:

[0021] The material tray mechanism includes a rotary table mounted on the upper part of the workbench and located to the right of the disordered gripping table, a feeding disc mounted on the upper part of the rotary table, and a servo motor mounted on the lower part of the rotary table and connected to the rotary table for transmission.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0023] In this invention, the original disordered grasping mechanism has been scientifically and rationally improved. A Y-axis slide, an X-axis slide, an X-axis dual-axis cylinder, and a Y-axis dual-axis cylinder are installed between the disordered grasping platform and the light-transmitting plate. When the ball rotor falls onto the light-transmitting plate, a parallel light illumination lamp illuminates the plate, while a high-definition camera captures images of the ball rotor on the light-transmitting plate. When it is detected that the through-holes of most of the ball rotors on the light-transmitting plate are misaligned, the X-axis dual-axis cylinder drives the entire X-axis slide to slide laterally along the X-axis. This design enables lateral sway adjustment of the ball rotor, while the dual-axis Y-axis cylinder drives the Y-axis slide to slide longitudinally along the Y-axis, thereby achieving longitudinal sway adjustment of the ball rotor. This drives the through-hole of the ball rotor to face vertically upwards. This structure allows for comprehensive dynamic adjustment of the ball rotor along the X and Y axes on the light-transmitting plate, adjusting the through-hole of the ball rotor to face vertically upwards. This facilitates subsequent continuous disordered gripping operations of the ball rotor and improves the efficiency, continuity, and stability of the disordered gripping mechanism. Attached Figure Description

[0024] Figure 1 This is a simplified structural diagram of a disordered gripping mechanism for a ball rotor assembly machine proposed in this utility model;

[0025] Figure 2 This is a three-dimensional front view schematic diagram of the disordered grasping mechanism in this utility model;

[0026] Figure 3 This is a right rear view schematic diagram of the disordered grasping mechanism in this utility model.

[0027] Legend:

[0028] 1. Workbench; 2. Unordered gripping table; 201. First slide rail; 202. Y-axis slide table; 203. Second slide rail; 204. X-axis slide table; 205. Third slide rail; 206. Unloading slide table; 207. Discharging slide table; 208. Unloading hopper; 3. Conveyor table; 301. Feed hopper; 302. Electric conveyor belt; 4. X-axis servo module; 401. Y-axis servo module; 402. Z-axis pneumatic module; 403. Pneumatic gripper; 5. Rotary table; 501. Servo motor; 502. Discharging rotary table; 6. Top frame; 601. High-definition camera; 7. Parallel light illumination lamp; 8. Transparent plate; 9. X-axis dual-axis cylinder; 10. Y-axis dual-axis cylinder; 11. Single cylinder; 12. Drop box. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figure 1-3 This utility model provides a technical solution: a disordered gripping mechanism for a ball rotor assembly machine, including a worktable 1, a disordered gripping platform 2 installed on the upper end of the worktable 1, a conveyor 3 installed on the upper end of the worktable 1 and located to the left of the disordered gripping platform 2, a material tray mechanism installed on the upper end of the worktable 1 and located to the right of the disordered gripping platform 2, a mechanical gripping arm mechanism installed on the upper end of the worktable 1 and located between the upper ends of the disordered gripping platform 2 and the material tray mechanism, a top frame 6 installed on the upper end of the worktable 1 and located directly above the disordered gripping platform 2, and a high-definition camera 601 installed in the middle of the upper end of the top frame 6 and facing the upper end of the disordered gripping platform 2. A parallel light lamp 7 is installed at the lower end of the disordered gripping platform 2, a light-transmitting plate 8 is provided between the upper ends of the disordered gripping platform 2 and the parallel light lamp 7, and an adjustment mechanism for shaking and adjusting the ball rotor before gripping is provided between the disordered gripping platform 2 and the light-transmitting plate 8.

[0031] Specifically, such as Figure 1-3As shown, the positioning mechanism includes a first slide rail 201 symmetrically installed on the left and right sides of the upper end of the disordered gripping table 2, a Y-axis slide 202 movably installed between the upper ends of the first slide rail 201, a second slide rail 203 symmetrically installed on the front and rear sides of the upper end of the Y-axis slide 202, an X-axis slide 204 movably installed between the upper ends of the second slide rail 203, a Y-axis dual-axis cylinder 10 installed between the rear ends of the disordered gripping table 2 and the Y-axis slide 202, and a cylinder 10 installed on the Y-axis slide 202 and the X-axis slide 204. The X-axis dual-axis cylinder 9 between the right ends of the slide table 204 can drive the X-axis slide table 204 on the Y-axis slide table 202 to reciprocate along the X-axis. At the same time, the Y-axis dual-axis cylinder 10 can drive the Y-axis slide table 202 on the disordered gripping table 2 to reciprocate along the Y-axis. This comprehensively adjusts the swaying of the ball rotor on the light-transmitting plate 8, so that the through holes of the ball rotor can be vertically upward, which facilitates the subsequent lifting, gripping, conveying and unloading operations of the pneumatic gripper 403.

[0032] The light-transmitting plate 8 is fixed in the middle of the X-axis slide table 204. The upper end of the X-axis slide table 204 is equipped with a material discharge section for pushing and discharging excess ball rotors from the light-transmitting plate 8. The material discharge section includes a third slide rail 205 symmetrically installed on the front and rear sides of the upper end of the X-axis slide table 204; a material discharge slide 206 movably installed between the upper ends of the third slide rails 205; a single-cylinder cylinder 11 installed in the middle of the right end of the X-axis slide table 204 and connected to the material discharge slide 206; and a material discharge hopper 208 installed in the middle of the left side of the lower end of the X-axis slide table 204 and connected to the left side of the light-transmitting plate 8. The material discharge box 12, installed on the upper left side of the disordered gripping table 2 and located below the discharge hopper 208, can extend outwards when the assembly line stops working or when the ball rotor on the light-transmitting plate 8 cannot be used after continuous adjustment. This causes the single-cylinder cylinder 11 to slide horizontally to the left on the X-axis slide 204, moving the ball rotor on the light-transmitting plate 8 towards the discharge hopper 208. When the ball rotor falls into the discharge hopper 208, it can fall into the material discharge box 12 under the action of gravity, thus realizing the discharge operation of the ball rotor.

[0033] Specifically, such as Figure 1-3 As shown, an electric conveyor belt 302 is installed at the middle right end of the conveyor platform 3, above the disordered gripping platform 2, which can uniformly and horizontally convey the ball rotor to the right. A feed hopper 301 is installed at the upper end of the conveyor platform 3, above the electric conveyor belt 302, to facilitate the centralized storage of the ball rotor on the conveyor platform 3. A discharge slide 207 is installed at the lower right end of the disordered gripping platform 2, below the right end of the electric conveyor belt 302, which can guide the ball rotor that has moved to the right end of the electric conveyor belt 302 to the light-transmitting plate 8, so that the ball rotor can be evenly arranged on the light-transmitting plate 8.

[0034] Specifically, such as Figure 1As shown, the mechanical gripper mechanism includes two X-axis servo modules 4 mounted parallel to each other on the upper end of the worktable 1 and located on the front and rear sides of the disordered gripping table 2, a Y-axis servo module 401 movably mounted between the upper ends of the two X-axis servo modules 4, a Z-axis pneumatic module 402 movably mounted in the middle of the upper end of the Y-axis servo module 401, and a pneumatic gripper 403 mounted on the lower end of the Z-axis pneumatic module 402. The X-axis servo modules 4, Y-axis servo modules 401 and Z-axis pneumatic modules 402 can drive the pneumatic gripper 403 to perform adjustment operations along the X-axis, Y-axis and Z-axis, thereby realizing the adjustment, gripping and unloading operations of the pneumatic gripper 403, and can continuously grip and transport the ball rotor on the light-transmitting plate 8 to the unloading rotary table 502.

[0035] Specifically, such as Figure 1 As shown, the material tray mechanism includes a rotary table 5 mounted on the upper end of the worktable 1 and located to the right of the disordered gripping table 2, a feeding disc 502 rotatably mounted on the upper end of the rotary table 5, and a servo motor 501 mounted on the lower end of the rotary table 5 and connected to the rotary table 5 for transmission. When the servo motor 501 is working, it can drive the feeding disc 502 on the rotary table 5 to rotate at a fixed angle, adjusting the feeding position without ball rotors to the right side of the mechanical gripping arm mechanism, which facilitates the subsequent gripping and feeding operation of the ball rotors.

[0036] Working Principle: During use, the ball rotors piled up in the feed hopper 301 fall evenly downwards onto the electric conveyor belt 302 on the conveyor table 3. Under the conveying action of the electric conveyor belt 302, the ball rotors fall evenly through the unloading slide 207 on the disordered gripping table 2 onto the light-transmitting plate 8 on the X-axis slide 204. When the parallel light lamp 7 on the disordered gripping table 2 is working, it can illuminate the light-transmitting plate 8, facilitating the acquisition of the ball rotor image data by the high-definition camera 601 on the top frame 6. The high-definition camera 601 can analyze whether the through holes of the ball rotor are vertically distributed based on the ball rotor image and transmit the position signal to the mechanical gripper mechanism. The X-axis servo module 4 can drive the pneumatic gripper 403 to move along the X-axis direction, and the Y-axis servo module 401 can drive the pneumatic gripper 403 to move along the Y-axis direction, thus moving the pneumatic gripper... 403 is adjusted to be above the ball rotor to be gripped. Then, the Z-axis pneumatic module 402 can drive the pneumatic gripper 403 to move downwards, gripping the ball rotor with the required shape, and then automatically placing it into the feeding station of the feeding rotary table 502. When the high-definition camera 601 detects that the shape of the ball rotor on the light-transmitting plate 8 is not convenient for gripping, the X-axis dual-axis cylinder 9 and the Y-axis dual-axis cylinder 10 can work. The X-axis dual-axis cylinder 9 can drive the X-axis slide 204 on the Y-axis slide 202 to reciprocate along the X-axis, adjusting the ball rotor in the X-axis direction. At the same time, the Y-axis dual-axis cylinder 10 can drive the Y-axis slide 202 on the disordered gripping table 2 to reciprocate along the Y-axis, adjusting the ball rotor in the Y-axis direction. After comprehensive adjustment, the through holes of the ball rotor can be vertically distributed upwards, and then the subsequent disordered gripping operation can be performed.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A disordered gripping mechanism for a ball rotor assembly machine, comprising a worktable (1), a disordered gripping table (2) mounted on the upper end of the worktable (1), a conveyor table (3) mounted on the upper end of the worktable (1) and located to the left of the disordered gripping table (2), a tray mechanism mounted on the upper end of the worktable (1) and located to the right of the disordered gripping table (2), a mechanical gripping arm mechanism mounted on the upper end of the worktable (1) and located between the upper ends of the disordered gripping table (2) and the tray mechanism, a top frame (6) mounted on the upper end of the worktable (1) and located directly above the disordered gripping table (2), and a high-definition camera (601) mounted in the middle of the upper end of the top frame (6) and facing the upper end of the disordered gripping table (2), characterized in that, A parallel light lamp (7) is installed at the lower end of the disordered gripping table (2), and a light-transmitting plate (8) is provided between the upper ends of the disordered gripping table (2) and the parallel light lamp (7). An adjustment mechanism for the ball rotor to shake and adjust before gripping is provided between the disordered gripping table (2) and the light-transmitting plate (8).

2. The disordered gripping mechanism for a ball rotor assembly machine according to claim 1, characterized in that, The adjustment mechanism includes a first slide rail (201) symmetrically installed on the left and right sides of the upper end of the disordered gripping table (2), a Y-axis slide (202) movably installed between the upper ends of the first slide rail (201), a second slide rail (203) symmetrically installed on the front and rear sides of the upper end of the Y-axis slide (202), an X-axis slide (204) movably installed between the upper ends of the second slide rail (203), a Y-axis dual-axis cylinder (10) installed between the rear ends of the disordered gripping table (2) and the Y-axis slide (202), and an X-axis dual-axis cylinder (9) installed between the right ends of the Y-axis slide (202) and the X-axis slide (204).

3. The disordered gripping mechanism for a ball rotor assembly machine according to claim 2, characterized in that, The light-transmitting plate (8) is fixed in the middle of the X-axis slide (204), and the upper end of the X-axis slide (204) is provided with a material discharge section for pushing and discharging excess ball rotors out of the light-transmitting plate (8).

4. The disordered gripping mechanism for a ball rotor assembly machine according to claim 3, characterized in that, The unloading section includes a third slide rail (205) symmetrically installed on the front and rear sides of the upper end of the X-axis slide (204), an unloading slide (206) movably installed between the upper ends of the third slide rail (205), a single cylinder (11) installed in the middle of the right end of the X-axis slide (204) and connected to the unloading slide (206), an unloading hopper (208) installed in the middle of the left side of the lower end of the X-axis slide (204) and connected to the left side of the light-transmitting plate (8), and a dropping box (12) installed on the left side of the upper end of the disorder gripping table (2) and located below the unloading hopper (208).

5. The disordered gripping mechanism for a ball rotor assembly machine according to claim 1, characterized in that, An electric conveyor belt (302) is installed at the middle right end of the conveyor platform (3) above the disordered gripping platform (2), and a feed hopper (301) is installed at the upper end of the conveyor platform (3) above the electric conveyor belt (302).

6. The disordered gripping mechanism for a ball rotor assembly machine according to claim 5, characterized in that, The left end of the disordered gripping table (2) is located at the lower right end of the electric conveyor belt (302), and a feeding slide (207) is installed thereon.

7. The disordered gripping mechanism for a ball rotor assembly machine according to claim 1, characterized in that, The mechanical gripper mechanism includes two X-axis servo modules (4) installed in parallel on the upper end of the worktable (1) and located on the front and rear sides of the disordered gripping table (2), a Y-axis servo module (401) movably installed between the upper ends of the two X-axis servo modules (4), a Z-axis pneumatic module (402) movably installed in the middle of the upper end of the Y-axis servo module (401), and a pneumatic gripper (403) installed at the lower end of the Z-axis pneumatic module (402).

8. The disordered gripping mechanism for a ball rotor assembly machine according to claim 1, characterized in that, The material tray mechanism includes a rotary table (5) installed on the upper end of the worktable (1) and located to the right of the disordered gripping table (2), a feeding disc (502) rotatably installed on the upper end of the rotary table (5), and a servo motor (501) installed on the lower end of the rotary table (5) and connected to the rotary table (5) for transmission.

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