A collaborative expansion device composed of an arm-type manipulator and a parallel manipulator

Technical implementation elements:

4. In view of this, the present invention provides a cooperative expansion device composed of an arm-type manipulator and a parallel manipulator, aiming at solving the above-mentioned technical problems.

5. in order to achieve the above object, the utility model adopts the following technical solutions:

6. A collaborative expansion device composed of an arm-type manipulator and a parallel manipulator, comprising:

7. The main detection line body; the main detection line body is used for conveying the upright bottles in a single row in a straight line; the middle part of the main detection line body has a bottle-rejecting part; the entrance of the main detection line body There is a speed increasing node on the running line from the end to the bottle inverted rejection part, which can separate the bottles that are attached and conveyed at equal intervals; between the inverted bottle rejection part and the outlet end of the main detection line body There are speed reducing nodes on the running line body, which can fit the equally spaced bottle bodies to each other;

8. Auxiliary conveying line body; the auxiliary conveying line body is arranged on both sides of the main detection line body, and is used for conveying the receiving tray;

9. A feeding robot; the feeding robot is arranged at the inlet end of the main detection line, and is used for feeding the bottle to be detected into the inlet end;

10. A material-distributing parallel robot; the material-distributing parallel robot is arranged above the main detection line, and is used to adsorb and pick up the bottle bodies that are attached after the deceleration to the receiving tray;

11. Receiving robots; the number of the receiving robots is multiple, and they are respectively located at the outlet end of the main detection line and the ends of the two auxiliary conveying lines, which are used to collect the detected bottles. Pick up to workbench.

12. Through the above technical solutions, the device provided by the present utility model adopts parallel robots, feeding and receiving robots to work together, realizes the discharge and automatic receiving of the lamp inspection machine, improves the automation level, and reduces the labor intensity of operators.

13. In order to realize automatic feeding, the inlet end of the main detection line body is inclined and equipped with a vibrator, so that the bottle body can slide into the inlet end of the main detection line body under the action of vibration.

14. Preferably, in the above-mentioned cooperative expansion device by an arm-type manipulator and a parallel manipulator, the main detection line body includes a linear line body main frame, and the top of the linear line body main frame is symmetrically fixed on both sides. Reinforcing bar nets, a linear conveying channel is formed between the two rows of the reinforcing bar nets; the main frame of the straight line body is located symmetrically on both sides of the bottle-rejecting part

Two driving parts are arranged; the driving part includes three sets of driving wheel sets and passive wheel sets which are connected in turn from the inlet end or the outlet end of the linear body main frame to the direction of the inverted bottle rejecting part; so The driving wheel set is fixedly sleeved with a plurality of driving pulleys, and the passive wheel set is rotatably connected with a plurality of passive pulleys; the adjacent driving wheel sets and the corresponding active belts on the passive wheel set The pulley and the passive pulley are connected at intervals by belts; the passive pulleys corresponding to the two passive pulleys on both sides of the bottle pouring and rejecting part are connected by belts at intervals; the output shafts of the driving pulleys are connected with each other. There is a driving motor; the rotational speed of the driving motor gradually increases from the inlet end or the outlet end of the linear wire body main frame to the direction of the bottle pouring and rejecting part. This structure can realize that there are two acceleration nodes before the inverted bottle rejection part, the bottle body can be separated, and the bottle body can be gathered after the inverted bottle rejection part, which is convenient for collection.

15. Preferably, in the above-mentioned cooperative expansion device by an arm-type manipulator and a parallel manipulator, the steel bar mesh comprises four parallelly arranged diameters of 3 mm.

The steel bars are fixed on the main frame of the linear wire body through a plurality of rib plates. Able to meet structural and conveying needs.

16. Preferably, in the above-mentioned cooperative expansion device composed of an arm-type manipulator and a parallel manipulator, a sensor set is installed in the middle of the main frame of the linear wire body, and the sensor set is fixed on the rib plate. It can detect the quality problems in the bottle.

17. Preferably, in the above-mentioned cooperative expansion device composed of an arm-type manipulator and a parallel manipulator, the bottle-rejecting part includes a sloping plate located on the side of the middle part of the main frame of the linear body; The inclined plate has an opening corresponding to the opening, and the reinforcing bar on the other side is provided with an air nozzle corresponding to the opening; a receiving groove is provided under the inclined plate. The detecting, conveying and collecting device provided by the utility model can reject the inverted bottle during the conveying process, and the use effect is better.

18. Preferably, in the above-mentioned cooperative expansion device composed of an arm-type manipulator and a parallel manipulator, the feeding robot includes a first rotary three-axis manipulator, and the working end of the first rotary three-axis manipulator is displaced with the lead screw. The lead screw of the drive mechanism is threadedly connected; one end of the lead screw displacement drive mechanism is connected with a clamping arm for clamping the feeding tray. It can realize the clamping and feeding of the feeding tray. The lead screw displacement driving mechanism provided by the present invention is a conventional motor, lead screw and slider structure, which will not be repeated here.

19. Preferably, in the above-mentioned cooperation expansion device by an arm-type manipulator and a parallel manipulator, the clamping arm comprises a clamping finger fixed on the end of the lead screw displacement driving mechanism, and the lead screw displacement driving mechanism A clamping cylinder is fixed below the end head, and a clamping push plate is fixed at the telescopic end of the clamping cylinder, and the clamping push plate can cooperate with the clamping fingers to clamp the edge of the feeding tray. Strong clamping stability.

20. Preferably, in the above-mentioned cooperative expansion device by an arm-type manipulator and a parallel manipulator, the receiving robot includes a second rotating three-axis manipulator, and the working end of the second rotating three-axis manipulator is connected. There is a first pneumatic suction cup mechanism with 20 suction cups arranged in a 102 matrix. The bottle at the outlet end can be collected.

21. Preferably, in the above-mentioned cooperative expansion device composed of an arm-type manipulator and a parallel manipulator, the parallel manipulator for material distribution is an adept hornet565 parallel manipulator, and the working end of the adept hornet565 parallel manipulator is connected with a second pneumatic suction cup The second pneumatic suction cup mechanism has 20 suction cups arranged in a 102 matrix. The adept hornet565 parallel manipulator divides the detected bottles, which can be collected and placed on the feeding trays on both sides for separation and collection to improve efficiency.

22. Preferably, in the above-mentioned cooperative expansion device by an arm-type manipulator and a parallel manipulator, the auxiliary conveying line body comprises a first conveying section, a second conveying section and a quarter-circular arc conveying section; A conveying section is arranged in parallel with the main detection line body; the second conveying section is arranged perpendicular to the side of the main detection line body; the quarter circle

Both ends of the arc-shaped conveying segment are respectively butted with the first conveying segment and the second conveying segment. Can meet the transportation needs.

23. As can be seen from the above-mentioned technical solutions, compared with the prior art, the present disclosure provides a cooperative expansion device by an arm-type manipulator and a parallel manipulator, which has the following beneficial effects:

24.1. The device provided by the present utility model adopts parallel robots, feeding and receiving robots to work together, realizes the discharge and automatic receiving of the light inspection machine, improves the automation level, and reduces the labor intensity of operators.

25.2. The detection, conveying and collecting device provided by the utility model can reject the inverted bottle during the conveying process, and the use effect is better.

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