CN102730412B - Automatic loading and unloading device and system - Google Patents
Automatic loading and unloading device and system Download PDFInfo
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- CN102730412B CN102730412B CN201210181127.9A CN201210181127A CN102730412B CN 102730412 B CN102730412 B CN 102730412B CN 201210181127 A CN201210181127 A CN 201210181127A CN 102730412 B CN102730412 B CN 102730412B
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- unloading
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Abstract
The invention provides a kind of automatic loading and unloading device and system.Wherein said device comprises: for the pneumatic suction pen of material loading and blanking; For driving described pneumatic suction pen along the first driving device of first direction movement; For driving described first driving device along the second driving device of second direction movement; For driving described second driving device along the 3rd driving device of third direction movement; And the 4th driving device for driving described pneumatic suction pen to rotate along own axes.The present invention adopts pneumatic suction pen to realize by the absorption of loading and unloading parts and release, the mode of the artificial loading and unloading of more existing employing, can effectively reduce by the damage of loading and unloading parts.In addition, present invention employs four drivings device to realize the four-dimensional movement of pneumatic suction pen, parts are transported to corresponding surveying work position, effectively can improve the efficiency of loading and unloading.
Description
Technical field
The present invention relates to photoreceptor detection technique, particularly relate to a kind of automatic loading and unloading device and system.
Background technology
Photographing module (CMOSCameraModule is called for short CCM) is the core devices for various New Generation of Portable picture pick-up device, has miniaturization, low-power consumption, low cost, the advantage of high image quality compared with traditional camera system.CCM can be widely used in shooting mobile phone, videophone, automobile assistant driving, the fields such as security monitoring.
For CCM manufacturer, the detection of photoreceptor (SENSOR) is the important step in CCM production process.By detecting, the quality of photoreceptor can effectively ensure, avoids inferior-quality photoreceptor to enter next and assembles the quality that link affects photographing module.At present, domestic when detecting photoreceptor many employings manually to load and photoreceptor is placed into detection zone by the mode of discharging, and the photoreceptor be detected to be taken out from detection zone, namely adopts artificial mode material loading and blanking (hereinafter referred to as upper small powder)., also often there is static electricity on human body to the infringement of camera module, cause unnecessary loss in this material-uploading style not only inefficiency.
Summary of the invention
The invention provides a kind of automatic loading and unloading device and system, to reduce by the damage of material loading and blanking parts, improve loading and unloading efficiency.
One aspect of the present invention is to provide a kind of automatic loading and unloading device, comprising:
Pneumatic suction pen;
For driving described pneumatic suction pen along the first driving device of first direction movement;
For driving described first driving device along the second driving device of second direction movement;
For driving described second driving device along the 3rd driving device of third direction movement;
For the 4th driving device driving described pneumatic suction pen to rotate along own axes;
Wherein, described first direction, second direction and third direction are mutually angle; The first direction power intake of described pneumatic suction pen is connected with the first direction clutch end of described first driving device; The second direction power intake of described first driving device is connected with the second direction clutch end of described second driving device; The third direction power intake of described second driving device is connected with the third direction clutch end of described 3rd driving device; The rotary drive input of described pneumatic suction pen is connected with the rotary drive input of described 4th driving device.
The present invention is on the other hand to provide a kind of automatic loading and unloading system, comprising: above-mentioned automatic loading and unloading device and for controlling the control setup of described automatic loading and unloading device by pre-set programs material loading and blanking; Described control setup is connected with described pneumatic suction pen, the first driving device, the second driving device, the 3rd driving device and the 4th driving device respectively.
Technique effect of the present invention is: the present invention adopts pneumatic suction pen to realize by the absorption of loading and unloading parts and release, the mode of the artificial loading and unloading of more existing employing, can effectively reduce by the damage of loading and unloading parts.In addition, present invention employs four drivings device to realize the four-dimensional movement of pneumatic suction pen, parts are transported to corresponding surveying work position, effectively can improve the efficiency of loading and unloading.
Accompanying drawing explanation
Fig. 1 is the front elevational schematic of automatic loading and unloading device embodiment provided by the invention;
Fig. 2 is the schematic top plan view of automatic loading and unloading device embodiment provided by the invention;
Fig. 3 is the schematic side view of automatic loading and unloading device embodiment provided by the invention;
Fig. 4 is the principle schematic of pneumatic suction pen in automatic loading and unloading device embodiment provided by the invention;
Fig. 5 is a concrete structure schematic diagram of the first driving device in automatic loading and unloading device embodiment provided by the invention, the second driving device or the 3rd driving device;
Fig. 6 is the front elevation of another concrete structure schematic diagram of the first driving device in automatic loading and unloading device embodiment provided by the invention, the second driving device or the 3rd driving device;
Fig. 7 is the birds-eye view of another concrete structure schematic diagram of the first driving device in automatic loading and unloading device embodiment provided by the invention, the second driving device or the 3rd driving device.
Detailed description of the invention
As shown in Figure 1,2 and 3, the structural representation of automatic loading and unloading device embodiment provided by the invention.The present embodiment comprises: pneumatic suction pen 1, first driving device 2, second driving device 3, the 3rd driving device 4 and the 4th driving device 5.Wherein, described pneumatic suction pen 1 is for material loading and blanking, and namely suction elements is given vent to anger after being moved to destination locations releasing parts.Described first driving device 2 moves linearly along first direction for driving described pneumatic suction pen 1.Described second driving device 3, for driving described first driving device 2 along second direction rectilinear movement, moves linearly along second direction to realize described pneumatic suction pen 1.Described 3rd driving device 4, for driving described second driving device 3 along third direction rectilinear movement, moves linearly along third direction to realize described pneumatic suction pen 1.Described 4th driving device 5 rotates, so that parts are placed into destination locations by predetermined direction along own axes for driving described pneumatic suction pen 1.As shown in Fig. 1,2 and 3, described first direction, second direction and third direction are mutually angle, and the angle between all directions can need setting according to the motion of reality.When practical application, described first direction, second direction and third direction can be mutually 90 degree of angles.Particularly, as shown in Fig. 1,2 and 3, described first direction is the Z-direction of three-axis reference, and second direction is the Y direction of three-axis reference, and third direction is the X-direction of three-axis reference.The first direction power intake of described pneumatic suction pen 1 is connected with the first direction clutch end of described first driving device 2.The second direction power intake of described first driving device 2 is connected with the second direction clutch end of described second driving device 3.The third direction power intake of described second driving device 3 is connected with the third direction clutch end of described 3rd driving device 4.The rotary drive input of described pneumatic suction pen 1 is connected with the rotary drive input of described 4th driving device 5.
The present embodiment adopts Pneumatic suction nozzle to realize by the absorption of loading and unloading parts and release, the mode of the artificial loading and unloading of more existing employing, can effectively reduce by the damage of loading and unloading parts, the photoreceptor especially in camera module.In addition, the present embodiment additionally uses four drivings device to realize the four-dimensional movement of pneumatic suction pen, parts is transported to corresponding surveying work position, effectively can improves the efficiency of loading and unloading.
Particularly, described in above-described embodiment, pneumatic suction pen can adopt structure as shown in Figure 4.As shown in FIG., described pneumatic suction pen comprises: air compressor 101, first tee connection 102, second tee connection 103, gas piping 104, first electromagnetic valve 105, second electromagnetic valve 106, first flow control cock 107, second adjustable valve 108, vacuum generator 109 and a suction mouth 110.The pressurized air mouth of described air compressor 101 is connected through first adaptor union of described gas piping 104 with described first tee connection 102.First adaptor union of the second adaptor union of described first tee connection 102, described first electromagnetic valve 105, described first flow control cock 107, vacuum generator 109 and described second tee connection 103 connects in turn through described gas piping 104.Second adaptor union of the 3rd adaptor union of described first tee connection 102, described second electromagnetic valve 106, described second adjustable valve 108 and described second tee connection 103 connects in turn through described input pipe 104.3rd adaptor union of described second tee connection 103 is connected with a described suction mouth 110.
Particularly, for the lighter parts of deadweight, such as photographing module, a pneumatic suction suction elements after sending it to surveying work position, parts are difficult to fall into detection station by own wt, therefore the air-flow of pneumatic suction pen has air-breathing and two different directions of giving vent to anger.As shown in Figure 4, the first adaptor union of the second adaptor union of described first tee connection 102 connected in turn through described gas piping 104, the first electromagnetic valve 105, first flow control cock 107, vacuum generator 109 and the second tee connection 103 constitutes A gas circuit.Second adaptor union of the 3rd adaptor union of described first tee connection 102 connected in turn through input pipe 104, the second electromagnetic valve 106, second adjustable valve 108 and the second tee connection 103 constitutes B gas circuit.The pressurized air produced by air compressor 101 is shunted through the first tee connection 102, when the first electromagnetic valve 105 of A gas circuit is opened, and the second electromagnetic valve 106 of B gas circuit is when closing, A gas circuit air-flow arrives vacuum generator 109 through first flow control cock 107, produce the charge air flow of suction elements, this air-flow size can be regulated by first flow control cock 107.When the second electromagnetic valve 106 of B gas circuit is opened, and when the first electromagnetic valve 105 of A gas circuit is closed, B gas circuit air-flow, through second adjustable valve 108, becomes the entraining air stream that goes out needed for releasing parts, and this air-flow size can be regulated by second adjustable valve 108.Two gas circuits are converged after threeway, arrive and inhale pen, now by this gas circuit of the solenoid control in respective gas circuit, can finally reach absorption and the releasing effect of photographing module.
Further, the end of inhaling a mouth described in above-described embodiment is provided with rubber suction cups.Rubber suction cups can prevent in feeding process; inhale the direct scuffing contacted photographing module of tip of the brushstyle of a writing or painting portion and photographing module, when also preventing contact, electrostatic is to the damage of photographing module simultaneously, inhales nib employing rubber suction cups; electrostatic can either be avoided also to play buffer action, protection photographing module.
The first driving device described in the various embodiments described above, the second driving device and the 3rd driving device all realize linear drives.Therefore, these three drivings device can adopt identical structure to realize.As shown in Figure 5, the first driving device, the second driving device and the 3rd driving device, can specifically comprise: the first motor 6, leading screw 7, nut 8 and the first support 9.Wherein, the clutch end of described first motor 6 is connected with the power intake of described leading screw 7.Described leading screw 7 is provided with the described nut 8 be threaded with described leading screw 7.Described nut 8 is provided with the first Connection Block 10 for connecting driven member.Described first motor 6 is arranged on one end of described first support 9, and described leading screw 7 is arranged on described first support 9 through bearing.Wherein, for described first driving device, the driven member that described first Connection Block 10 connects is described Pneumatic suction nozzle.For described second driving device, the driven member that described first Connection Block 10 connects is described first driving device.For described 3rd driving device, the driven member that described first Connection Block 10 connects is described second driving device.
First driving device, the second driving device and the 3rd driving device, except employing said structure realizes, can also adopt following structure to realize.Particularly, as shown in Figures 6 and 7, the first driving device, the second driving device or the 3rd driving device, can specifically comprise: the second motor 11, Timing Belt 12, two synchronizing wheels 13 and 14 and the second support 15.The clutch end of described second motor 11 is connected through the power intake of the first transmission shaft 16 with the first synchronizing wheel 13, and described first transmission shaft 16 is arranged on described second support 15 through bearing.Described second synchronizing wheel 14 is arranged on second driving shaft 17, and described second driving shaft 17 is arranged on described second support 15 through bearing.Described first synchronizing wheel 13 and the second synchronizing wheel 14 are pressed predeterminable range interval and are arranged.The winding of described Timing Belt 12 is on described two synchronizing wheels 13 and 14.Described Timing Belt 12 is provided with the second Connection Block 18 for connecting driven member.Equally, for described first driving device, the driven member that described second Connection Block 18 connects is described Pneumatic suction nozzle.For described second driving device, the driven member that described first Connection Block 18 connects is described first driving device.For described 3rd driving device, the driven member that described first Connection Block 18 connects is described second driving device.
This it is to be noted that due to Timing Belt quality softer, for the larger driven member of deadweight, Timing Belt can be out of shape because the deadweight of driven member is comparatively large, thus the driving of impact to driven member.Therefore described second Connection Block should be set up on described second support, carries the gravity on described second Connection Block by described second support, and described Timing Belt realizes straight-line displacement for driving described second Connection Block.
In addition, compare the screw-nut structure adopted in Fig. 5, the precision of the synchronizing wheel shown in Fig. 6 and Fig. 7 and Timing Belt structure is low, but transmission speed is higher than screw-nut structure.In actual applications, the specific implementation structure of the first transmitting device, the second transmitting device and the 3rd transmitting device can select the one in above-mentioned two kinds of implementation structures according to the transmission demand of reality.
Further, the 4th driving device described in above-described embodiment comprises: the 3rd motor.Wherein, the rotary drive input of described 3rd motor is connected with the rotary drive input of described pneumatic suction pen, for driving described pneumatic suction pen to rotate, is placed on destination locations to make the parts that described pneumatic suction pen adsorbs according to correct direction.
Wherein, in the various embodiments described above, described first motor, the second motor and the 3rd motor all can adopt stepping motor.The driving frequency of this stepping motor and subdivision accuracy can need artificial selected according to the driving of reality.Such as, the optional 500HZ of driving frequency of described stepping motor, subdivision accuracy is 1/1000.Prove after tested, under this frequency and finely divided state, stepping motor motion is the most level and smooth, stable.Simultaneously in startup and stopping place of stepping motor, add program soft start, and that cause violent shake excessive due to acceleration/accel can be avoided by actv..
Further, the automatic loading and unloading device described in the various embodiments described above, also comprises: for gathering the image acquisition device of a described pneumatic suction material loading time institute adsorption element image, described image acquisition device is arranged on described pneumatic suction pen.Certainly, described image acquisition device can also be arranged on other positions of described handling equipment, as long as ensure that described image collecting device can collect a described pneumatic suction material loading time institute adsorption element image.By arranging described image acquisition device, the image of the pneumatic suction material loading time institute adsorption element that described automatic loading and unloading device can gather according to described image acquisition device, judge the direction of described parts, to drive described pneumatic suction pen to rotate, described parts direction is as required made to be placed on desired location.
Automatic loading and unloading system embodiment provided by the invention, comprising: automatic loading and unloading device and control setup.Described control setup for control described pneumatic suction pen and to draw by pre-set control programs or release by loading and unloading parts, and control described first driving device, the second driving device, the 3rd driving device and the 4th driving device by described pre-set programs action.Wherein, described automatic loading and unloading device can adopt the automatic loading and unloading device described in the various embodiments described above.Described control setup is connected with described pneumatic suction pen, the first driving device, the second driving device, the 3rd driving device and the 4th driving device respectively.Described control setup exports control signal according to pre-set programs respectively to described first, second, third and fourth driving device, described first, second, third and fourth driving device exports driving power separately according to described control signal, to realize rectilinear movement and a rotary motion in three directions of pneumatic suction pen; And control described pneumatic suction pen absorption unit under test or release unit under test when described pneumatic suction pen moves to corresponding position according to described pre-set programs, and then complete the loading and unloading process of unit under test.
Further, when being provided with image acquisition device in described automatic loading and unloading device, the sampled signal input end of described control setup is connected with the sampled signal mouth of described image acquisition device, described control device exports corresponding control signal according to the described sampled signal received to described 4th driving device, the pneumatic suction pen of described 4th actuator drives rotates, and rotates to the direction required to make absorption parts thereon.Its concrete working process is as follows:
First, image acquisition device gathers the image of the parts of pneumatic suction pen absorption, and the image collected is delivered to described control setup.
Secondly, the image received and the standard picture stored are compared by described control unit, export control signal to described 4th driving device accordingly according to comparison result.
Subsequently, described 4th driving device drives pneumatic suction pen to rotate respective angles according to the control signal received, and rotates to the direction required to make absorption parts thereon.
Again, described control setup exports corresponding control command, to control the first driving device and the second driving device respectively successively according to the program preset.Described first driving device drives described pneumatic suction pen along first direction displacement according to control command, described second driving device drives described first driving device and pneumatic suction pen jointly along second direction displacement according to control command, moves to setting position to make described pneumatic suction pen.
Finally, the parts be adsorbed on described pneumatic suction pen, at the controller release gas of described control setup, are discharged into desired location by described pneumatic suction pen.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (7)
1. an automatic loading and unloading device, comprising:
Pneumatic suction pen;
For driving described pneumatic suction pen along the first driving device of first direction movement;
For driving described first driving device along the second driving device of second direction movement;
For driving described second driving device along the 3rd driving device of third direction movement;
For the 4th driving device driving described pneumatic suction pen to rotate along own axes;
Wherein, described first direction, described second direction and described third direction are mutually angle; The first direction power intake of described pneumatic suction pen is connected with the first direction clutch end of described first driving device; The second direction power intake of described first driving device is connected with the second direction clutch end of described second driving device; The third direction power intake of described second driving device is connected with the third direction clutch end of described 3rd driving device; The rotary drive input of described pneumatic suction pen is connected with the rotary drive input of described 4th driving device;
It is characterized in that, described pneumatic suction pen comprises: air compressor, the first tee connection, the second tee connection, gas piping, the first electromagnetic valve, the second electromagnetic valve, first flow control cock, second adjustable valve, vacuum generator and a suction mouth, wherein
The pressurized air mouth of described air compressor is connected through first adaptor union of described gas piping with described first tee connection;
First adaptor union of the second adaptor union of described first tee connection, described first electromagnetic valve, described first flow control cock, described vacuum generator and described second tee connection connects in turn through described gas piping;
Second adaptor union of the 3rd adaptor union of described first tee connection, described second electromagnetic valve, described second adjustable valve and described second tee connection connects in turn through described gas piping;
3rd adaptor union of described second tee connection is connected with a described suction mouth.
2. automatic loading and unloading device according to claim 1, is characterized in that, a described suction mouth is provided with rubber suction cups.
3. automatic loading and unloading device according to claim 1, is characterized in that, described first driving device, described second driving device or described 3rd driving device, comprising: motor a, leading screw, nut and support a; Wherein,
The clutch end of described motor a is connected with the power intake of described leading screw;
Described leading screw is connected with described nut thread;
Described nut is provided with the first Connection Block for connecting driven member;
Described motor a is arranged on one end of described support a, and described leading screw is arranged on described support a through bearing.
4. automatic loading and unloading device according to claim 1, is characterized in that, described first driving device, described second driving device or described 3rd driving device, comprising: motor b, Timing Belt, two synchronizing wheels and support b; Wherein,
The clutch end of described motor b is connected through the power intake of the first transmission shaft with the first synchronizing wheel, and described first transmission shaft is arranged on described support b through bearing;
Second synchronizing wheel is arranged on second driving shaft, and described second driving shaft is arranged on described support b through bearing;
Described first synchronizing wheel and described second synchronizing wheel are pressed predeterminable range interval and are arranged;
Described Timing Belt winding is on described two synchronizing wheels;
Described Timing Belt is provided with the second Connection Block for connecting driven member.
5. automatic loading and unloading device according to claim 1, is characterized in that, described 4th driving device comprises: motor c; Wherein, the rotary drive input of described motor c is connected with the rotary drive input of described pneumatic suction pen.
6. automatic loading and unloading device according to claim 1, is characterized in that, also comprise the image acquisition device for gathering a described pneumatic suction material loading time institute adsorption element image, described image acquisition device is arranged on described pneumatic suction pen.
7. an automatic loading and unloading system, it is characterized in that, comprise: as the automatic loading and unloading device as described in arbitrary in claim 1 to 6 and to draw by pre-set control programs for pneumatic suction pen as described in controlling or release by loading and unloading parts, and control described first driving device, described second driving device, described 3rd driving device and the described 4th driving device control setup by described pre-set programs action; Described control setup is connected with described pneumatic suction pen, described first driving device, described second driving device, described 3rd driving device and described 4th driving device respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210181127.9A CN102730412B (en) | 2012-06-04 | 2012-06-04 | Automatic loading and unloading device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210181127.9A CN102730412B (en) | 2012-06-04 | 2012-06-04 | Automatic loading and unloading device and system |
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| CN102730412A CN102730412A (en) | 2012-10-17 |
| CN102730412B true CN102730412B (en) | 2016-03-23 |
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| CN201210181127.9A Expired - Fee Related CN102730412B (en) | 2012-06-04 | 2012-06-04 | Automatic loading and unloading device and system |
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Families Citing this family (9)
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| CN105984731B (en) * | 2015-03-23 | 2019-06-28 | 杨立超 | A kind of cargo loads and sorting and receive-transmit system |
| CN104925516A (en) * | 2015-05-12 | 2015-09-23 | 无锡苏嘉宇正自动化设备科技有限公司 | Automatic delivery mechanism involving firebrick |
| CN105197567A (en) * | 2015-09-30 | 2015-12-30 | 江苏比微曼智能科技有限公司 | Aluminum product feeder |
| CN105856210A (en) * | 2016-05-04 | 2016-08-17 | 沧州致胜机器人科技有限公司 | Vacuum sucker loading and unloading device and method for laser cutting robot |
| CN107640617A (en) * | 2016-05-13 | 2018-01-30 | 安正时尚集团股份有限公司 | A kind of automatic loading and unloading device |
| CN106315222B (en) * | 2016-11-24 | 2018-11-16 | 中山市德马汽车零部件有限公司 | Inserts transfers assembly line |
| CN107201638A (en) * | 2017-05-18 | 2017-09-26 | 常州昌瑞汽车部品制造有限公司 | Air bag pieces of cloth chalker |
| CN113247618A (en) * | 2021-04-27 | 2021-08-13 | 苏州科韵激光科技有限公司 | Mobile equipment compatible with multi-specification products and method |
| CN115533740A (en) * | 2022-11-25 | 2022-12-30 | 唐山国芯晶源电子有限公司 | Quartz wafer take-up device and method |
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| KR20100072816A (en) * | 2008-12-22 | 2010-07-01 | 주성엔지니어링(주) | Substrate transfer apparatus and method for treating subtrate |
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| EP0949169A1 (en) * | 1998-04-07 | 1999-10-13 | FOCKE & CO. | Lifting device (palletizer) with a swing arm |
| CN201253774Y (en) * | 2008-08-15 | 2009-06-10 | 临安东方滑动轴承有限公司 | Thrust slice conveying apparatus |
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