CN103662802B - One turns to overturn system - Google Patents

One turns to overturn system Download PDF

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Publication number
CN103662802B
CN103662802B CN201310644075.9A CN201310644075A CN103662802B CN 103662802 B CN103662802 B CN 103662802B CN 201310644075 A CN201310644075 A CN 201310644075A CN 103662802 B CN103662802 B CN 103662802B
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pair
drive
overturn
driving
actuating
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CN103662802A (en
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王斌
竺志大
朱明�
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Jiangsu Isaac robot Limited by Share Ltd
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JIANGSU ASK TECHNOLOGY Co Ltd
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Abstract

One turns to overturn system.Relate to material transfer, positioning field.Provide a kind of delicate structure, easy to use, to the carrying out effectively towards, material end face positive and negative of material length direction, regulate and control accurately turn to overturn system.The described overturn system that turns to comprises frame, running gear, steering swivel system and overturn system; Described running gear comprise a pair along X to arrange adapter plate, a pair along X to arrange portable plate and at least one travel driving unit; Described steering swivel system is along X to comprising brush detecting direction and steering hardware successively; Described overturn system is along X to comprising the positive and negative detecting device of brush holder and turning device successively; The described overturn system that turns to also comprises control system.The present invention, while effectively ensureing positional precision, significantly improves overall work efficiency.

Description

One turns to overturn system
Technical field
The present invention relates to material transfer, positioning field, particularly relate to strip shape lump material turn to and overturn system propose improvement.
Background technology
At present, when carrying out secondary processing (plant hair, encapsulate, bond or the operation such as to spray paint) to such as toothbrush, the isometric bar shaped lump material of chopsticks, need by transporter by material transfer in secondary processing equipment, wherein, because the Working position in secondary processing equipment is generally a fixed position, towards, the positive and negative of material end face, all there is fixing requirement to material length direction.Therefore, in traditional processing mode, need by manually carrying out capturing, aliging, its work efficiency is low, and alignment thereof is loaded down with trivial details.
Summary of the invention
The present invention is directed to above problem, provide a kind of delicate structure, easy to use, to the carrying out effectively towards, material end face positive and negative of material length direction, regulate and control accurately turn to overturn system.
Technical scheme of the present invention is: described in turn to overturn system to comprise frame, running gear, steering swivel system and overturn system;
Described running gear comprise a pair along X to the adapter plate arranged, a pair along X to the portable plate arranged and at least one travel driving unit, adapter plate described in a pair to be connected in described frame and adapter plate to offer some storage tanks one for accommodating material; Described travel driving unit to be connected in frame and to be positioned at below described adapter plate, portable plate described in a pair is connected to described travel driving unit top and described in a pair between adapter plate, described portable plate offers some storage tanks two for accommodating material; Drive a pair portable plate in the ZX plane at respective place, do rotary feeding system motion by travel driving unit;
Described steering swivel system is along X to comprising brush detecting direction and steering hardware successively;
Described brush detecting direction comprises detection pincers, stage clip, clamp block, proximity switch and clamp block actuating device, described clamp block actuating device is connected to the top of adapter plate described in a pair, and described clamp block to be connected on described clamp block actuating device and under the driving of clamp block actuating device, to make the crank motion of Z-direction; Described clamp block offers slide opening, the described jaw detecting pincers down and be located in described slide opening, described slide opening is stretched out and its top is provided with spacing ring in the described top detecting pincers, and described detections of described stage clip socket clamps and between the end face and the bottom surface of described slide opening of described jaw; Described proximity switch is fixedly connected in described clamp block, and described proximity switch and described detection clamper are in same ZY plane and be positioned at the oblique upper of spacing ring;
Described steering hardware comprises turning platform, rotating driving device and lifting drive, the end face of described turning platform offers brush holder storage tank, described lifting drive is connected to bottom frame, described rotating driving device is connected to lifting drive top, described turning platform be connected to described rotating driving device top and described in a pair between portable plate; Turning platform is made under the driving of lifting drive, to make Z-direction crank motion and rotate in XY plane under the driving of rotating driving device;
Described overturn system is along X to comprising the positive and negative detecting device of brush holder and turning device successively;
The positive and negative detecting device of described brush holder comprises the photoelectric switch be positioned at above described a pair portable plate, and described photoelectric switch is connected in frame;
Described turning device comprises roll-over table and overturning drive device, adapter plate described in one offers the storage tank three with the arc of described roll-over table adaptation, described roll-over table to be contained in described storage tank three and roll-over table to offer the parallel plane draw-in groove with XY, the Z-direction height of the end face of the Z-direction height≤described adapter plate of the bottom surface of described draw-in groove; Described overturning drive device is connected between frame and roll-over table, and described roll-over table is rotated under the driving of overturning drive device in ZX plane;
The described overturn system that turns to also comprises control system, and described control system is communicated with described travel driving unit, clamp block actuating device, proximity switch, rotating driving device, lifting drive, photoelectric switch and overturning drive device.
Travel driving unit in described running gear comprises along the vertical actuating device of Z-direction setting with along X to the horizontal drive apparatus arranged, described vertical actuating device is connected to bottom described frame, described horizontal drive apparatus is connected between the bottom of portable plate described in the top of described vertical actuating device and a pair, portable plate described in a pair is driven to do Z-direction motion by described vertical actuating device, and drive portable plate described in a pair to make X to motion by described horizontal drive apparatus, a pair portable plate is made to do to rise under the driving of described vertical actuating device and horizontal drive apparatus, advance, decline, the rotary feeding system motion retreated,
Described vertical actuating device is all communicated with described control system with horizontal drive apparatus.
Travel driving unit in described running gear comprises drive wheel, rotating shaft, support and wheel drive unit, described support arranges along Z-direction and is fixedly connected in frame, described rotating shaft along Y-direction arrange and the two ends of rotating shaft be all fixedly connected on support, described drive wheel be socketed described rotating shaft and with described rotating shaft concentric, described drive wheel is described in a pair between portable plate, and portable plate described in a pair is hinged on the edge of the both ends of the surface of drive wheel respectively; Described wheel drive unit to be connected in frame and to be connected with described drive wheel, drives described drive wheel to rotate around the shaft by wheel drive unit, and drives portable plate described in a pair circumferentially to do rotary feeding system motion;
Described wheel drive unit is communicated with described control system.
Described steering swivel system also comprises pinch device;
Described pinch device comprises briquetting, depression bar, footstock and spring, described footstock to be connected in described frame and the correspondence position be positioned at above described turning platform, described depression bar arranges along Z-direction and is located in described footstock, described briquetting is fixedly connected on described depression bar bottom, the end face of described footstock is stretched out on the top of described depression bar and the top of depression bar is provided with bulge loop, depression bar described in described spring empty set and between the end face and the bottom surface of footstock of briquetting;
The end face of the turning platform of described steering hardware offers the briquetting storage tank be communicated with described brush holder storage tank, described briquetting storage tank and described briquetting adaptation.
Described overturn system also comprises fixing device;
Described fixing device comprises clamping piece and driving clamping device, and described driving clamping device is connected in described frame, and described clamping piece to be connected on described driving clamping device and under the driving of described driving clamping device, to make Y-direction crank motion; Described clamping piece to be positioned at outside adapter plate described in a pair and consistent with the height of described draw-in groove, on the adapter plate of described clamping piece side, offer the storage tank four with clamping piece adaptation;
Described driving clamping device is communicated with described control system.
The described feed end of overturn system that turns to is provided with feeding control system, described feeding control system comprises at least one lever and at least one lever actuating device, described lever actuating device is arranged along Z-direction, and be connected to central rack, the Y-direction position of described lever actuating device is described in a pair between portable plate and its X to be close between two storage tanks one of feed end on described adapter plate to position, described lever is connected to the top of lever actuating device, drives described lever along Z-direction up-and-down movement by described lever actuating device;
Described lever actuating device is communicated with described control system.
The described discharge end of overturn system that turns to is provided with discharging checking system, and described discharging checking system comprises sensor detector between a pair portable plate and photoelectric detector, and described sensor detector and described photoelectric detector are all fixedly connected in frame;
Described sensor detector and photoelectric detector are all communicated with described control system.
Running gear in the present invention along material working direction by material transfer accommodating in a upper storage tank one to next storage tank one, can be realized stable " transmitting step by step " single material by " rotary feeding system motion ".Its transportation mode is stablized, and can to guarantee in a storage tank one an only accommodating material when transporting and material in all storage tanks one is all arranged along Y-direction simultaneously.Steering swivel system in the present invention can effectively guarantee material length direction towards being all consistent, overturn system then effectively can guarantee that the positive and negative of material end face is all consistent.Thus, the present invention is made to instead of traditional manual operation with full automatic mechanical equipment, while effectively ensureing positional precision (material length direction towards, material end face positive and negative all corresponding with the fixed position in secondary processing equipment), significantly improve overall work efficiency.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention,
Fig. 2 is the birds-eye view of Fig. 1,
Fig. 3 is block diagram one of the present invention,
Fig. 4 is block diagram two of the present invention;
Fig. 5 is the structural representation of the first embodiment of travel driving unit in the present invention,
Fig. 6 is the birds-eye view of Fig. 5,
Fig. 7 is the block diagram of the first embodiment of travel driving unit in the present invention,
Fig. 8 is the structural representation of the second embodiment of travel driving unit in the present invention,
Fig. 9 is the birds-eye view of Fig. 8;
Figure 10 is the block diagram of steering hardware in the present invention;
Figure 11 is the structural representation of pinch device in the present invention,
Figure 12 is the block diagram of pinch device in the present invention;
Figure 13 is the structural representation of brush detecting direction in the present invention,
Figure 14 is the block diagram of brush detecting direction in the present invention;
Figure 15 is the structural representation of turning device in the present invention,
Figure 16 is the block diagram of turning device in the present invention;
Figure 17 is the structural representation of fixing device in the present invention,
Figure 18 is the block diagram of fixing device in the present invention;
In figure, 3 is turn to overturn system, and 31 is frames;
32 is running gears, and 321 is adapter plates, and 3210 is storage tanks one, and 322 is portable plates, and 3220 is storage tanks two, and 323 is travel driving units, and 3231 is vertical actuating devices, and 3232 is horizontal drive apparatus, and 3233 is drive wheels, and 3234 is rotating shafts;
33 is steering swivel systems, and 331 is brush detecting directions, and 3311 is detect pincers, and 33110 is spacing rings, 3312 is stage clips, and 3313 is clamp blocks, and 3314 is proximity switches, and 3315 is clamp block actuating devices, 332 is steering hardwares, and 3321 is turning platforms, and 33211 is brush holder storage tanks, 33212 is briquetting storage tanks, and 3322 is rotating driving devices, and 3323 is lifting drives, 333 is pinch devices, and 3331 is briquettings, and 3332 is depression bars, 33320 is bulge loops, and 3333 is footstocks, and 3334 is springs;
34 is overturn systems, and 341 is the positive and negative detecting devices of brush holder, and 3411 is photoelectric switchs, and 342 is turning devices, and 3421 is roll-over tables, and 34210 is draw-in grooves, and 3422 is overturning drive devices, and 343 is fixing devices, and 3431 is clamping pieces, and 3432 is driving clamping devices;
35 is feeding control systems, and 351 is levers, and 352 is lever actuating devices;
36 is discharging checking systems, and 361 is sensor detectors, and 362 is photoelectric detectors.
Detailed description of the invention
The present invention is as shown in Fig. 1-18, and for toothbrush, toothbrush comprises brush, brush neck and brush holder;
The described overturn system 3 that turns to comprises frame 31, running gear 32, steering swivel system 33 and overturn system 34.
Described running gear 32 comprise a pair along X to arrange adapter plate 321, a pair along X to arrange portable plate 322 and at least one travel driving unit 323, adapter plate 321 described in a pair to be connected in described frame 31 and adapter plate 321 to offer some storage tanks 1 for accommodating material, and the width of described storage tank 1 is greater than the width of a brush holder and is less than the width of two brush holders; Described travel driving unit 323 to be connected in frame 31 and to be positioned at below described adapter plate 321, portable plate 322 described in a pair is connected to described travel driving unit 323 top and between adapter plate described in a pair 321, described portable plate 322 offers some storage tanks 2 3220 for accommodating material, the width of described storage tank 2 3220 is greater than the width of a brush holder and is less than the width of two brush holders; Drive a pair portable plate 322 in the ZX plane at respective place, do rotary feeding system motion by travel driving unit 323; Accommodating toothbrush in a upper storage tank 1 can be transported in next storage tank 1 along material working direction by this type of " rotary feeding system motion ", single toothbrush is realized stable " transmitting step by step ".Meanwhile, rotary feeding system motion can guarantee that brush holder " lies low " in storage tank one or two on the one hand effectively; On the other hand, enough processing spaces are left to follow-up " turning to ", " upset " operation.
Described steering swivel system 33 is along X to comprising brush detecting direction 331 and steering hardware 332 successively;
Described brush detecting direction 331 comprises detection pincers 3311, stage clip 3312, clamp block 3313, proximity switch 3314 and clamp block actuating device 3315, described clamp block actuating device 3315 is connected on the back timber of frame 31 of the top being positioned at adapter plate 321 described in a pair, and described clamp block 3313 to be connected on described clamp block actuating device 3315 and under the driving of clamp block actuating device 3315, to make the crank motion of Z-direction; Described clamp block 3313 offers slide opening, the jaw of described detection pincers 3311 down and be located in described slide opening, described slide opening is stretched out on the top of described detection pincers 3311 and its top is provided with spacing ring 33110, and described stage clip 3312 is socketed described detection pincers 3311 and between the end face and the bottom surface of described slide opening of described jaw; Described proximity switch 3314 is fixedly connected in described clamp block 3313, and described proximity switch 3314 and described detection pincers 3311 to be positioned in same ZY plane and to be positioned at the oblique upper of spacing ring 33110; During use, can according to feather planting machine arrange orientation first determine brush towards, again the Y-direction position of clamp block actuating device 3315 is adjusted, be located at the top of brush neck, and select the detection of a jaw and brush neck size fit to clamp 3311 according to the processing specification of the toothbrush of current processing batch; Like this, when have toothbrush through running gear 32 deliver to detect below pincers 3311 time, by clamp block actuating device 3315 drive detect pincers 3311 descending to brush towards judging; If brush is towards correctly, then brush neck can accommodating with jaw among; If brush is towards mistake, then brush holder will block and detect pincers 3311, and oppress stage clip 3312, make to detect pincers 3311 up, thus make spacing ring 33110 trigger proximity switch 3314, and by signal transmission to control system;
Described steering hardware 332 comprises turning platform 3321, rotating driving device 3322 and lifting drive 3323, the end face of described turning platform 3321 offers brush holder storage tank 33211, described lifting drive 3323 is connected to bottom frame 31, described rotating driving device 3322 is connected to lifting drive 3323 top, described turning platform 3321 be connected to described rotating driving device 3322 top and between portable plate described in a pair 322; Make turning platform 3321 make Z-direction crank motion under the driving of lifting drive 3323 and rotate in XY plane under the driving of rotating driving device 3322; After control system receives the signal of proximity switch 3314, memory brush is towards the toothbrush of mistake, and when above it moves to turning platform 3321, first opening lifting drive 3323 drives turning platform 3321 to rise along Z-direction, toothbrush is promoted to above storage tank 1, then opens rotating driving device 3322, make toothbrush rotate 180 ° in XY plane, drive turning platform 3321 descending along Z-direction finally by lifting drive 3323, toothbrush is got back in storage tank 1.Like this, can guarantee that the brush of toothbrush is towards being all consistent by actv. by steering swivel system 33, and with feather planting machine to arrange orientation corresponding.
Described overturn system 34 is along X to comprising the positive and negative detecting device 341 of brush holder and turning device 342 successively;
The positive and negative detecting device of described brush holder 341 comprises the photoelectric switch 3411 be positioned at above described a pair portable plate 322, and described photoelectric switch 3411 is connected in frame 31 by connecting arm detouchable; Because the shape of the positive and negative of brush holder is usually inconsistent, thus the positive and negative height of same check point is usually also inconsistent; Therefore, during use, can first face up according to which of the location information determination toothbrush of feather planting machine, then according to the surface configuration of the toothbrush of current processing batch and size, the predetermined distance of setting photoelectric switch 3411; After unlatching, if brush holder pros and cons is towards correctly, then photoelectric switch does not trigger; If brush holder pros and cons is towards mistake, then photoelectric switch triggers, and signal is sent to control system;
Described turning device 342 comprises roll-over table 3421 and overturning drive device 3422, adapter plate 321 described in one offers the storage tank three with the arc of described roll-over table 3421 adaptation, described roll-over table 3421 to be contained in described storage tank three and roll-over table 3421 to offer the parallel plane draw-in groove 34210 with XY, the Z-direction height of the end face of the Z-direction height≤described adapter plate 321 of the bottom surface of described draw-in groove 34210; Described overturning drive device 3422 is connected between frame 31 and roll-over table 3421, and described roll-over table 3421 is rotated under the driving of overturning drive device 3422 in ZX plane; After control system receives the signal of photoelectric switch 3411, anti-supine toothbrush is remembered, and when it moves in draw-in groove, open overturning drive device 3422, make roll-over table 3421 rotate 180 ° in ZX plane, like this, can guarantee that the positive and negative of toothbrush is all consistent by actv..
The described overturn system that turns to also comprises control system, and described control system is communicated with described travel driving unit 323, clamp block actuating device 3315, proximity switch 3314, rotating driving device 3322, lifting drive 3323, photoelectric switch 3411 and overturning drive device 3422.Regulated and controled by the operation acts of control system to a whole set of feed system, to realize the effect of full automaticity processing.Wherein clamp block actuating device, lifting drive all can be the linear drive apparatus of the form such as cylinder, hydraulic actuating cylinder, and rotating driving device wherein and overturning drive device can be the rotating driving device of the form such as servomotor, timing motor.
Below for travel driving unit, with the representatively property explanation of two kinds of embodiments:
Embodiment one:
Travel driving unit 323 in described running gear 32 comprises the vertical actuating device 3231(arranged along Z-direction and can be cylinder, the linear drive apparatus of the forms such as hydraulic actuating cylinder) and can be cylinder along X to the horizontal drive apparatus 3232(arranged, the linear drive apparatus of the forms such as hydraulic actuating cylinder), described vertical actuating device 3231 is connected to bottom described frame 31, described horizontal drive apparatus 3232 is connected between the bottom of portable plate 322 described in the top of described vertical actuating device 3231 and a pair, portable plate 322 described in a pair is driven to do Z-direction motion by described vertical actuating device 3231, and drive portable plate 322 described in a pair to make X to motion by described horizontal drive apparatus 3232, a pair portable plate 322 is made to do to rise under the driving of described vertical actuating device 3231 and horizontal drive apparatus 3232, advance, decline, the rotary feeding system motion retreated, like this, can be transported in next storage tank one along material working direction by accommodating toothbrush in a upper storage tank one by actv., its transporting mode be stable, efficient, specifically:
1), rise: drive a pair portable plate up by vertical actuating device, toothbrush is left from storage tank one, and enters storage tank two; 2), advance: drive a pair portable plate upwards to advance along material working direction at X by horizontal drive apparatus, advance is the spacing of adjacent storage tank one; 3), decline: drive a pair portable plate descending by vertical actuating device, make toothbrush fall into storage tank one, and be separated with storage tank two; 4), retreat: drive a pair portable plate to retreat by horizontal drive apparatus and reset.
Described vertical actuating device 3231 is all communicated with described control system with horizontal drive apparatus 3232.
Embodiment two:
Travel driving unit 323 in described running gear 32 comprises drive wheel 3233, rotating shaft 3234, support and wheel drive unit (can be servomotor, the rotating driving device of the forms such as timing motor), described support is arranged along Z-direction, and be fixedly connected in frame, described rotating shaft is arranged along Y-direction, and the two ends of rotating shaft 3234 are all fixedly connected on support, described drive wheel 3233 is socketed described rotating shaft 3234, and with described rotating shaft 3234 concentric, described drive wheel 3233 is between portable plate described in a pair 322, described in a pair, portable plate 322 is hinged on the edge of the both ends of the surface of drive wheel 3233 respectively, described wheel drive unit to be connected in frame 31 and to be connected with described drive wheel 3233, drives described drive wheel 3,233 3234 to rotate around the shaft, and drive portable plate 322 described in a pair circumferentially to do rotary feeding system motion by wheel drive unit, like this, can be transported in next storage tank one along material working direction by accommodating toothbrush in a upper storage tank one by actv., its transporting mode be stable, efficient, specifically: control a pair portable plate by wheel drive unit in this embodiment and carry out rotary feeding system motion with the form of circular movement.
Described wheel drive unit is communicated with described control system.
Described steering swivel system 33 also comprises pinch device 333;
Described pinch device 333 comprises briquetting 3331, depression bar 3332, footstock 3333 and spring 3334, described footstock 3333 is connected in described frame 31, and the correspondence position be positioned at above described turning platform 3321, described depression bar 3332 is arranged along Z-direction, and be located in described footstock 3333, described briquetting 3331 is fixedly connected on described depression bar 3332 bottom, the end face of described footstock 3333 is stretched out on the top of described depression bar 3332, and the top of depression bar 3332 is provided with bulge loop 33320, depression bar 3332 described in described spring 3334 empty set, and between the end face and the bottom surface of footstock of briquetting 3332,
The end face of the turning platform 3321 of described steering hardware 332 offers the briquetting storage tank 33212 be communicated with described brush holder storage tank 33211, described briquetting storage tank 33212 is adaptive with described briquetting 3331.At brush towards mistake, when need turn to, after turning platform rises, toothbrush can be pushed down by briquetting, to prevent it, play occur; Meanwhile, owing to having set up spring between the end face and the bottom surface of footstock of briquetting, thus in the mode of " Compliant pressure ", the damage of toothbrush is avoided.
Described overturn system 34 also comprises fixing device 343;
Described fixing device 343 comprises the linear drive apparatus that clamping piece 3431 and driving clamping device 3432(can be the form such as cylinder, hydraulic actuating cylinder), described driving clamping device 3432 is connected in described frame 31, and described clamping piece 3431 to be connected on described driving clamping device 3432 and to make Y-direction crank motion under the driving of described driving clamping device 3432; Described clamping piece 3431 to be positioned at outside adapter plate 321 described in a pair and consistent with the height of described draw-in groove 34210, on the adapter plate 321 of described clamping piece 3431 side, offer the storage tank four with clamping piece 3421 adaptation; Can when brush holder positive and negative orientations mistake, toothbrush enters after in draw-in groove, driving clamping piece to promote toothbrush in the opposite side of roll-over table, making toothbrush be contained between draw-in groove and clamping piece when overturning, avoiding it to produce play when overturning by driving clamping device.Meanwhile, be also that the Y-direction position of toothbrush is further unified.
Described driving clamping device 3432 is communicated with described control system.
Material enters from the feed end of overturn system, and transports from discharge end;
The described feed end of overturn system 3 that turns to is provided with feeding control system 35, described feeding control system 35 comprises at least one lever 351 and at least one lever actuating device 352(can be cylinder, the linear drive apparatus of the forms such as hydraulic actuating cylinder), described lever actuating device 352 is arranged along Z-direction, and be connected in the middle part of frame 31, the Y-direction position of described lever actuating device 352 is between portable plate described in a pair 322, and its X is close between two storage tanks 1 of feed end to position on described adapter plate 321, described lever 351 is connected to the top of lever actuating device 352, drive described lever 351 along Z-direction up-and-down movement by described lever actuating device 352, like this, lever actuating device can be opened when charging, make lever increase along Z-direction, thus avoid toothbrush to fall into " non-first " storage tank.
Described lever actuating device 352 is communicated with described control system.Actv. can be completed by control system and plan as a whole regulation and control, for the embodiment one of travel driving unit, lever can be fallen while portable plate rises, and rise lever while portable plate declines; Have that accuracy is high, the feature of good stability.
The described discharge end of overturn system 3 that turns to is provided with discharging checking system 36, described discharging checking system 36 comprises sensor detector 361 between a pair portable plate 322 and photoelectric detector 362, and described sensor detector 361 and described photoelectric detector 362 are all fixedly connected in frame 31; Determined whether that toothbrush needs discharging by sensor detector, by photoelectric detector judge brush holder positive and negative towards whether correct.
Described sensor detector 361 is all communicated with described control system with photoelectric detector 362.

Claims (7)

1. turn to an overturn system, it is characterized in that, described in turn to overturn system to comprise frame, running gear, steering swivel system and overturn system;
Described running gear comprise a pair along X to the adapter plate arranged, a pair along X to the portable plate arranged and at least one travel driving unit, adapter plate described in a pair to be connected in described frame and adapter plate to offer some storage tanks one for accommodating material; Described travel driving unit to be connected in frame and to be positioned at below described adapter plate, portable plate described in a pair is connected to described travel driving unit top and described in a pair between adapter plate, described portable plate offers some storage tanks two for accommodating material; Drive a pair portable plate in the ZX plane at respective place, do rotary feeding system motion by travel driving unit;
Described steering swivel system is along X to comprising brush detecting direction and steering hardware successively;
Described brush detecting direction comprises detection pincers, stage clip, clamp block, proximity switch and clamp block actuating device, described clamp block actuating device is connected to the top of adapter plate described in a pair, and described clamp block to be connected on described clamp block actuating device and under the driving of clamp block actuating device, to make the crank motion of Z-direction; Described clamp block offers slide opening, the described jaw detecting pincers down and be located in described slide opening, described slide opening is stretched out and its top is provided with spacing ring in the described top detecting pincers, and described detections of described stage clip socket clamps and between the end face and the bottom surface of described slide opening of described jaw; Described proximity switch is fixedly connected in described clamp block, and described proximity switch and described detection clamper are in same ZY plane and be positioned at the oblique upper of spacing ring;
Described steering hardware comprises turning platform, rotating driving device and lifting drive, the end face of described turning platform offers brush holder storage tank, described lifting drive is connected to bottom frame, described rotating driving device is connected to lifting drive top, described turning platform be connected to described rotating driving device top and described in a pair between portable plate; Turning platform is made under the driving of lifting drive, to make Z-direction crank motion and rotate in XY plane under the driving of rotating driving device;
Described overturn system is along X to comprising the positive and negative detecting device of brush holder and turning device successively;
The positive and negative detecting device of described brush holder comprises the photoelectric switch be positioned at above described a pair portable plate, and described photoelectric switch is connected in frame;
Described turning device comprises roll-over table and overturning drive device, adapter plate described in one offers the storage tank three with the arc of described roll-over table adaptation, described roll-over table to be contained in described storage tank three and roll-over table to offer the parallel plane draw-in groove with XY, the Z-direction height of the end face of the Z-direction height≤described adapter plate of the bottom surface of described draw-in groove; Described overturning drive device is connected between frame and roll-over table, and described roll-over table is rotated under the driving of overturning drive device in ZX plane;
The described overturn system that turns to also comprises control system, and described control system is communicated with described travel driving unit, clamp block actuating device, proximity switch, rotating driving device, lifting drive, photoelectric switch and overturning drive device.
2. one according to claim 1 turns to overturn system, it is characterized in that, travel driving unit in described running gear comprises along the vertical actuating device of Z-direction setting with along X to the horizontal drive apparatus arranged, described vertical actuating device is connected to bottom described frame, described horizontal drive apparatus is connected between the bottom of portable plate described in the top of described vertical actuating device and a pair, portable plate described in a pair is driven to do Z-direction motion by described vertical actuating device, and drive portable plate described in a pair to make X to motion by described horizontal drive apparatus, a pair portable plate is made to do to rise under the driving of described vertical actuating device and horizontal drive apparatus, advance, decline, the rotary feeding system motion retreated,
Described vertical actuating device is all communicated with described control system with horizontal drive apparatus.
3. one according to claim 1 turns to overturn system, it is characterized in that, travel driving unit in described running gear comprises drive wheel, rotating shaft, support and wheel drive unit, described support arranges along Z-direction and is fixedly connected in frame, described rotating shaft along Y-direction arrange and the two ends of rotating shaft be all fixedly connected on support, described drive wheel be socketed described rotating shaft and with described rotating shaft concentric, described drive wheel is described in a pair between portable plate, and portable plate described in a pair is hinged on the edge of the both ends of the surface of drive wheel respectively; Described wheel drive unit to be connected in frame and to be connected with described drive wheel, drives described drive wheel to rotate around the shaft by wheel drive unit, and drives portable plate described in a pair circumferentially to do rotary feeding system motion;
Described wheel drive unit is communicated with described control system.
4. one according to claim 1 turns to overturn system, it is characterized in that, described steering swivel system also comprises pinch device;
Described pinch device comprises briquetting, depression bar, footstock and spring, described footstock to be connected in described frame and the correspondence position be positioned at above described turning platform, described depression bar arranges along Z-direction and is located in described footstock, described briquetting is fixedly connected on described depression bar bottom, the end face of described footstock is stretched out on the top of described depression bar and the top of depression bar is provided with bulge loop, depression bar described in described spring empty set and between the end face and the bottom surface of footstock of briquetting;
The end face of the turning platform of described steering hardware offers the briquetting storage tank be communicated with described brush holder storage tank, described briquetting storage tank and described briquetting adaptation.
5. one according to claim 1 turns to overturn system, it is characterized in that, described overturn system also comprises fixing device;
Described fixing device comprises clamping piece and driving clamping device, and described driving clamping device is connected in described frame, and described clamping piece to be connected on described driving clamping device and under the driving of described driving clamping device, to make Y-direction crank motion; Described clamping piece to be positioned at outside adapter plate described in a pair and consistent with the height of described draw-in groove, on the adapter plate of described clamping piece side, offer the storage tank four with clamping piece adaptation;
Described driving clamping device is communicated with described control system.
6. one according to claim 1 turns to overturn system, it is characterized in that, the described feed end of overturn system that turns to is provided with feeding control system, described feeding control system comprises at least one lever and at least one lever actuating device, described lever actuating device is arranged along Z-direction, and be connected to central rack, the Y-direction position of described lever actuating device is described in a pair between portable plate, and its X is close between two storage tanks one of feed end to position on described adapter plate, described lever is connected to the top of lever actuating device, drive described lever along Z-direction up-and-down movement by described lever actuating device,
Described lever actuating device is communicated with described control system.
7. one according to claim 1 turns to overturn system, it is characterized in that, the described discharge end of overturn system that turns to is provided with discharging checking system, described discharging checking system comprises sensor detector between a pair portable plate and photoelectric detector, and described sensor detector and described photoelectric detector are all fixedly connected in frame;
Described sensor detector and photoelectric detector are all communicated with described control system.
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CN103979307B (en) * 2014-05-07 2016-07-06 浙江汇豪科技有限公司 Socks forward output device
CN104555355B (en) * 2015-01-14 2016-08-24 湖北瑞特威日化有限公司 A kind of toothbrush tufting machine mechanical hand
CN106586091B (en) * 2017-01-09 2019-04-19 序进自动化设备(上海)有限公司 Toothbrush automatic charging assembly line
CN111532713A (en) * 2020-06-29 2020-08-14 浙江隐齿丽医学技术有限公司 Transfer system of dental model
CN111923220A (en) * 2020-07-31 2020-11-13 林铭兰 Closestool production line and production method thereof

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