CN101628785B - Locating machine of basket tool vehicle - Google Patents
Locating machine of basket tool vehicle Download PDFInfo
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- CN101628785B CN101628785B CN2009100886929A CN200910088692A CN101628785B CN 101628785 B CN101628785 B CN 101628785B CN 2009100886929 A CN2009100886929 A CN 2009100886929A CN 200910088692 A CN200910088692 A CN 200910088692A CN 101628785 B CN101628785 B CN 101628785B
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- tool vehicle
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Abstract
The invention discloses a locating machine of a basket tool vehicle, comprising a first chassis (1) and a second chassis (2) which have long strip shapes and are arranged side by side at a certain interval; support rolls (3) with the same height are respectively arranged at the two ends of the first chassis and the second chassis; bosses with the same width extend out of the two ends of the first chassis along the direction vertical to the length of the chassis, and the ends of the bosses are respectively provided with a first locating block (5); the outer sides of the ends corresponding to the first chassis and the second chassis are respectively provided with a second locating block (6). The locating machine has the advantages that the mechanical locating device is firm and reliable, and can reduce the cost under the condition of meeting the requirement of accuracy.
Description
Technical field
The present invention relates to a kind of locating mechanism of basket tool car, particularly relate to a kind of locating machine of basket tool vehicle that is used to locate basket tool car.
Background technology
In the production of sheet glass, the loading and unloading of automatic production line head and the tail adopt the mode of mechanical manipulator to finish, so that guarantee processing beat and and the positional precision of streamline upper glass.Mechanical manipulator has proposed accuracy requirement for the stacking of sheet glass to be grasped, and the therefore this device that satisfies the mechanical manipulator extracting is exactly a basket tool car.Can not satisfy accuracy requirement but depend merely on basket tool car, though, can not ensure the repetitive positioning accuracy when getting back to the mechanical manipulator crawl position behind the each run because basket tool car can guarantee self precision.Existing solution is to utilize the non-contact type position measurement sensor mostly, basket tool specified location is accurately measured, then data are sent to mechanical manipulator (robot), calculate according to central control system again and the action of mechanical manipulator is controlled, reach the purpose of accurate extracting glass.Though such processing mode is simple in structure to take up room for a short time, cost costliness very mainly is that the cost of non-contact type position measurement sensor is higher.
Summary of the invention
The purpose of this invention is to provide a kind of locating mechanism of basket tool car, a kind of locating machine of basket tool vehicle particularly is provided.
For achieving the above object, technical scheme of the present invention provides a kind of locating machine of basket tool vehicle, described locating machine of basket tool vehicle comprises first chassis and second chassis of the long strip shape that is arranged side by side at certain intervals, at the two ends on described first chassis and second chassis contour supporting roll is installed respectively; Each leisure of the two ends on described first chassis is provided with first preset pieces perpendicular to the boss that extends equal wide on the chassis length direction separately in the termination of described boss; The outside at the corresponding end in described first chassis and second chassis is provided with second preset pieces separately.
Wherein, described each supporting roll is attached with a snubber.
Wherein, be provided with some set screw and set nut between described supporting roll and the chassis, the screw that runs through the set screw center is fastenedly connected described supporting roll and chassis.
Wherein, described supporting roll by some around its separately the roller that rotates of central shaft form.
Wherein, the middle part on described second chassis is along extending a boss perpendicular to its length direction, and this boss is provided with thrust unit, and described thrust unit is provided with push pedal and is used to promote basket tool car to be positioned movement in vertical direction along the length direction on described chassis.
Wherein, described thrust unit includes base plate, on the described base plate cylinder is installed, the top of thrust unit is provided with linear bearings and the straight line guide pillar leads, described straight line guide pillar is fixed on the base plate of thrust unit by bearing, push pedal connects the linear axis bearing, and the linear axis bearing is connected with the cylinder take-off lever by bent plate.
Wherein, described locating machine of basket tool vehicle comprises that also symmetry is installed in the position detecting device on first chassis and second chassis, is used to detect basket tool car relevant location information.
Wherein, described first chassis and second chassis are to be welded by steel plate and section bar.
Locating machine of basket tool vehicle provided by the present invention in the not high direction of accuracy requirement, can utilize the mechanical type location, the direction higher to accuracy requirement, can utilize this device to carry out coarse positioning earlier, and then utilize position detection accurately to measure, related data is sent to robot.Like this on the not high direction of accuracy requirement, only be to need the fixing action of robot to grasp, on the high direction of accuracy requirement, robot adjusts action according to position data, thereby the accurate extracting or the loading of mechanical manipulator have been realized, thereby can save cost to greatest extent, and mechanical locating device there are advantages such as solid and reliable.
Description of drawings
Fig. 1 is the one-piece construction synoptic diagram of locating machine of basket tool vehicle of the present invention;
Fig. 2 is the view of basket tool car when locating on locating machine of basket tool vehicle of the present invention;
Fig. 3 is the structural representation on second chassis of locating machine of basket tool vehicle of the present invention;
Fig. 4 is the structural representation on first chassis of locating machine of basket tool vehicle of the present invention;
Fig. 5 is position and the installation form synoptic diagram of supporting roll on localization machine of locating machine of basket tool vehicle of the present invention;
Fig. 6 is the supporting roll of locating machine of basket tool vehicle of the present invention and the syndeton synoptic diagram on chassis;
Fig. 7 is the thrust unit structural representation of locating machine of basket tool vehicle of the present invention;
Fig. 8 is the position detecting device structural representation of locating machine of basket tool vehicle of the present invention.
Wherein, 1: the first chassis; 2: the second chassis; 3: supporting roll; 4: snubber; 5: the first preset piecess; 6: the second preset piecess; 7: thrust unit; 8: position detecting device; 9: basket tool car; 10: set screw; 11: set nut; 12: screw; 13: push pedal; 14: base plate; 15: cylinder; 16: the linear axis bearing; 17: linear bearings; 18: the straight line guide pillar; 19: bearing; 20: the contact-type position transducer; 21: web plate.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, embodiments of the invention provide a kind of locating machine of basket tool vehicle, described locating machine of basket tool vehicle comprises first chassis 1 and second chassis 2 that is the long strip shape that certain intervals is arranged side by side, two ends on described first chassis 1 and second chassis 2 respectively are equipped with contour supporting roll 3, each supporting roll 3 be attached with a snubber 4, supporting roll 3 is provided with some set screw 10 and set nut 11 respectively and between first chassis 1 and second chassis 2, the screw 12 that runs through set screw 10 centers is fastenedly connected described supporting roll 3 respectively with first chassis 1 and second chassis 2, supporting roll 3 by some around its separately the roller that rotates of central shaft form.Extend the boss of equal wide on each comfortable directions X of the two ends on described first chassis 1, be provided with first preset pieces 5 (X to) in the termination of described boss separately; Be provided with second preset pieces 6 (Y to) at the Y on described first chassis 1 and second chassis 2 separately to the outside of positive dirction one end.The middle part on second chassis 2 is extended a boss along X to negative direction, and this boss is provided with thrust unit 7, and described thrust unit 7 is provided with push pedal 13 to be used to promote basket tool car to be positioned and to move along directions X.On first chassis 1 and second chassis 2, be symmetrically installed with position detecting device 8, be used to detect the relevant location information of basket tool car 9.
Be divided into left and right sides two portions on this outfit of equipment, the intermediary space is to be used for the hand operated transport of walking, hand operated transport is placed on the 50mm that raises on the pallet fork to basket tool car, direction shown in the Y in the figure is pushed into the top of localization machine then, until basket tool car with stop to advance fork truck after second preset pieces 6 on the localization machine contacts, fall the pallet fork of hydraulic pressure fork truck, make basket tool chassis plane contact with 4 groups of supporting rolls of localization machine, so far basket tool car is located to direction and the short transverse machine that is positioned at Y.Basket tool car moves until contacting with first preset pieces 5 along the diagram directions X under the promotion of thrust unit 7 at X.
Because robot is from basket tool car extracting glass the time, higher to Y direction position accuracy demand, position accuracy demand to directions X and above-below direction is lower, therefore also need position-measurement device further to measure in the Y direction, and data are sent to its reference of robot confession to determine its movement locus.Since then, the work of localization machine location is finished.Fig. 2 is the state of basket tool car 9 when positioning on locating machine of basket tool vehicle.
Fig. 3 and Figure 4 shows that first chassis 1 of locating machine of basket tool vehicle of the present invention and the structural representation on second chassis 2.Described first chassis 1 and second chassis 2 are to be welded by steel plate and section bar.
Fig. 5 is position and the installation form synoptic diagram of supporting roll 3 on localization machine of locating machine of basket tool vehicle of the present invention.Every cover localization machine that this embodiment provided has 4 groups of supporting rolls 3, and its effect is a support basket tool car 9, makes basket tool car 9 locate on short transverse.As shown in Figure 6, supporting roll 3 is installed in respectively on first chassis 1 and second chassis 2, and each supporting roll 3 is realized contour adjustment between horizontal adjustment and the 4 groups of supporting rolls by 4 set screw 10.After finishing, adjustment locks with set nut 11 again.The screw 12 that last resort runs through set screw 10 centers is fastenedly connected with first chassis 1 and second chassis 2 respectively.Each supporting roll 3 is made up of three cover rollers, and roller is free to rotate round central shaft.A snubber 4 is installed on every group of supporting roll 3 next doors, its objective is the impact that as far as possible reduces pair of rollers when basket tool car 9 falls along with fork of forklift truck, the work-ing life of improving integral device.
Be illustrated in figure 7 as the structural representation of the thrust unit 7 of locating machine of basket tool vehicle of the present invention.In order to guarantee that basket tool car 9 closely contacts with first preset pieces 5, therefore applied the X outward force and made basket tool car to realize the purpose that closely contacts with first preset pieces 5 at last at X to there being one section to move.This external force is exactly that X provides to thrust unit 7.As shown in the figure, the propulsion source of promotion comes from the cylinder 15 that is positioned at the center.Cylinder 15 drives push pedal 13 by connecting rod and moves to the diagram direction of arrow, push pedal 13 is the parts that directly promote basket tool car 9, in order to guarantee translational motion, push pedal 13 connects linear axis bearing 16, lead by two linear bearingss 17 and straight line guide pillar 18 above, straight line guide pillar 18 is fastened on the base plate 14 by bearing 19 again, and cylinder 15 also is installed on the base plate 14, and therefore whole thrust unit 7 has just formed.
Be illustrated in figure 8 as the position detecting device structural representation of locating machine of basket tool vehicle of the present invention.In the embodiments of the invention, symmetric position is equipped with position detecting device 8 on two chassis of described locating machine of basket tool vehicle.When basket tool car 9 on the localization machine location after, robot sends instructions for the cylinder 15 among the figure, the cylinder piston rod piston rod moves in direction as shown, connected web plate 21 drives transmitter 20 motions, transmitter 20 contacts with basket tool car 9 after cylinder 15 puts in place, and note basket tool car 9 relevant positions, the symmetric transmitter 20 in both sides image data respectively is transferred to robot, and next step the but movement locus of glass of grabbing then can be judged by robot.
In the not high direction of accuracy requirement, can utilize the mechanical type location, the direction higher to accuracy requirement can be utilized this device to carry out coarse positioning earlier, and then utilize position detection accurately to measure, and related data is sent to robot.Like this on the not high direction of accuracy requirement, only be to need the fixing action of robot to grasp, on the high direction of accuracy requirement, robot adjusts action according to position data, thereby the accurate extracting or the loading of mechanical manipulator have been realized, thereby can save cost to greatest extent, and mechanical locating device there are advantages such as solid and reliable.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (5)
1. locating machine of basket tool vehicle, it is characterized in that, described locating machine of basket tool vehicle comprises first chassis (1) and second chassis (2) of the long strip shape that is arranged side by side at certain intervals, at the two ends of described first chassis (1) and second chassis (2) contour supporting roll (3) is installed respectively; Each leisure of two ends on described first chassis (1) is provided with first preset pieces (5) perpendicular to the boss that extends equal wide on the chassis length direction separately in the termination of described boss; The outside at the corresponding end in described first chassis (1) and second chassis (2) is provided with second preset pieces (6) separately;
The middle part on described second chassis (2) is along extending a boss perpendicular to its length direction, this boss is provided with thrust unit (7), and described thrust unit is provided with push pedal (13) and is used to promote basket tool car to be positioned along described first chassis (1) and/or the movement in vertical direction of the length direction of second chassis (2);
Described thrust unit includes base plate (14), cylinder (15) is installed on the described base plate (14), the top of thrust unit is provided with linear bearings (17) and straight line guide pillar (18) leads, described straight line guide pillar (18) is fixed on the base plate (14) of thrust unit by bearing (19), push pedal (13) connects linear axis bearing (16), and linear axis bearing (16) is connected with cylinder (15) take-off lever by bent plate;
Described locating machine of basket tool vehicle comprises that also symmetry is installed in the position detecting device (8) on first chassis (1) and second chassis (2), is used to detect the relevant location information of basket tool car (9).
2. locating machine of basket tool vehicle as claimed in claim 1 is characterized in that, described supporting roll (3) be attached with a snubber (4).
3. locating machine of basket tool vehicle as claimed in claim 2, it is characterized in that, described supporting roll (3) respectively and be provided with some set screw (10) and set nut (11) between first chassis (1) and second chassis (2), the screw (12) that runs through set screw (10) center is fastenedly connected described supporting roll (3) respectively with first chassis (1) and second chassis (2).
4. locating machine of basket tool vehicle as claimed in claim 3 is characterized in that, described supporting roll (3) by some around its separately the roller that rotates of central shaft form.
5. as each described locating machine of basket tool vehicle of claim 1-4, it is characterized in that described first chassis (1) and second chassis (2) are to be welded by steel plate and section bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100886929A CN101628785B (en) | 2009-07-06 | 2009-07-06 | Locating machine of basket tool vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100886929A CN101628785B (en) | 2009-07-06 | 2009-07-06 | Locating machine of basket tool vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN101628785A CN101628785A (en) | 2010-01-20 |
| CN101628785B true CN101628785B (en) | 2011-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100886929A Active CN101628785B (en) | 2009-07-06 | 2009-07-06 | Locating machine of basket tool vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115417579B (en) * | 2022-07-19 | 2023-08-01 | 彩虹（合肥）液晶玻璃有限公司 | Positioning and fixing device of batch feeder |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2776925Y (en) * | 2005-02-16 | 2006-05-03 | 旭东机械工业股份有限公司 | Base plate transplanting location device |
| CN1781829A (en) * | 2004-12-01 | 2006-06-07 | 韩德玮 | Transfer system for transferring work piece between transport lines |
| CN201117644Y (en) * | 2007-09-20 | 2008-09-17 | 中国电子科技集团公司第二研究所 | Full-automatic silicon chip charging-discharging machine |
-
2009
- 2009-07-06 CN CN2009100886929A patent/CN101628785B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1781829A (en) * | 2004-12-01 | 2006-06-07 | 韩德玮 | Transfer system for transferring work piece between transport lines |
| CN2776925Y (en) * | 2005-02-16 | 2006-05-03 | 旭东机械工业股份有限公司 | Base plate transplanting location device |
| CN201117644Y (en) * | 2007-09-20 | 2008-09-17 | 中国电子科技集团公司第二研究所 | Full-automatic silicon chip charging-discharging machine |
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| CN101628785A (en) | 2010-01-20 |
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Address after: 100076 Beijing economic and Technological Development Zone No. 9 Building 5 5 Jinghai road. Patentee after: Tianda, Beijing, Qing Guang photoelectric Polytron Technologies Inc Address before: 100076 Beijing economic and Technological Development Zone No. 9 Building 5 5 Jinghai road. Patentee before: Beijing Qingda Tianda Photoelectric Technology Co., Ltd. |
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