CN104029973B - A kind of tunnel machine being applied to automatic material access system - Google Patents
A kind of tunnel machine being applied to automatic material access system Download PDFInfo
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- CN104029973B CN104029973B CN201410269160.6A CN201410269160A CN104029973B CN 104029973 B CN104029973 B CN 104029973B CN 201410269160 A CN201410269160 A CN 201410269160A CN 104029973 B CN104029973 B CN 104029973B
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Abstract
The invention discloses a kind of tunnel machine being applied to automatic material access system, including pedestal and tunnel machine body, described pedestal is provided with bilinear guide rail and travelling gear tooth bar, described tunnel machine body vertically moves and is provided with material accessor robot and the COM code reading knowledge industrial camera with left and right turn function on module, on the machine body of described tunnel, automatic charging & discharging machine is installed, built in motion is installed on described pedestal and controls the industrial computer of card, described industrial computer is for the motion managed with control motor, receive the signal of sensor, data communication is carried out with host computer, information during storage execution.This kind of tunnel machine, the batch access of electronics charging tray can be realized, storage/access efficiency is high, and also order discharging etc. can be launched by order BOM, the time of getting the raw materials ready be can effectively shorten, the generation of dull material, minimizing Material Sorting and erect-position mistake prevented, automaticity is high, has broad application prospects.
Description
Technical field
The present invention relates to automated warehousing and the sorting field of SMT industry electronic material, particularly to a kind of tunnel machine being applied to SMT industry electronic material disc automatic material access system.
Background technology
SMT(electronic circuit surface installation technique, Surface Mount Technology) it is the infrastructural industries of electronic manufacturing field.At present, SMT industry is the most increasingly automated on surface mount produces, but in terms of material storage sorting, still take tradition racks store and manual sorting's mode, the drawback of this traditional mode is mainly reflected in the drawbacks such as efficiency is low, recruitment is many, easily makes mistakes and produces dull material, tailing is wasted seriously, floor space is big, and the material information of the client of foundry services is maintained secrecy by inconvenience, consumer product or technology are the most compromised, and product quality also is difficult to review.
At present, it is the most increasingly automated that SMT industry produces line, and recruitment is few, major part recruitment be concentrated mainly on material storage, sort, link of providing and delivering, also major part is for artifact in quality management and control, and therefore, SMT industry solves the problems referred to above in the urgent need to the material storage of a kind of automatization with sorting arrangement.
Summary of the invention
The present invention is directed in SMT factory material storage and sort process that warehouse compartment utilization rate is low, workman is many and working performance is low, manual sorting is error-prone, be susceptible to the problems such as dull material, it is provided that a kind of tunnel machine being applied to SMT industry electronic material disc automatic material access system.
The technical scheme is that
A kind of tunnel machine being applied to automatic material access system, including pedestal and tunnel machine body, described pedestal is provided with bilinear guide rail and travelling gear tooth bar, described tunnel machine body vertically moves and is provided with material accessor robot and the COM code reading knowledge industrial camera with left and right turn function on module, on the machine body of described tunnel, automatic charging & discharging machine is installed, built in motion is installed on described pedestal and controls the industrial computer of card, described industrial computer is for the motion managed with control motor, receive the signal of sensor, data communication is carried out with host computer, information during storage execution.
Further, described tunnel machine body includes supporting substrate, and described support substrate is provided with horizontal movement servomotor and the decelerator for driving horizontal movement；The described module that vertically moves includes being installed vertically on the vertical support seat of support substrate both sides, is perpendicular to support seat horizontally disposed up and down motion substrate, the screw mandrel of up and down motion substrate motion, motion servo motor, reductor and realize the shaft coupling of reductor and the motion transmission of screw mandrel, being provided with bilinear guide rail inside described vertical support seat, described up and down motion substrate is connected by the line slideway inside contiguous block and two vertical support seats.
Further, described support substrate side surfaces is provided with anti-mistake and rushes stopper and photoelectric sensor for position, and described support seat top is fixed two by connecting plate and supported seat and screw mandrel.
Further, said two vertical support seat bottom portion is provided with reinforcement gusset, is fixed on bracket by thrust bearing bottom described screw mandrel.
Further, being provided with material accessor robot on described up and down motion substrate, described material accessor robot includes that flexible straight line module, rotation drive servomotor, reductor, are fixed on up and down motion substrate in order to support the annular module that straight line module rotates.
Further, the slide block of described flexible straight line module being provided with machinery and cups one hand in the other before the chest, described flexible straight line module includes straight line screw mandrel motion slide unit, slide block, motor, shaft coupling.
Further, described annular module includes the slide block being connected to below straight line module and the ring-shaped guide rail being arranged on up and down motion substrate.
Further, COM code is installed on described support pedestal read to know industrial camera and automatic charging & discharging machine, described COM code is read to know industrial camera and is used planer type structure to be arranged on support pedestal, including industrial camera and portal frame, described automatic charging machine uses stacked upper and lower trigger structure, described automatic charging & discharging machine inner hollow, has stacked material dividing plate inside left and right therein.
The invention have the advantage that
This kind of tunnel machine, there is ratio existing product adaptability the most widely and higher operating efficiency, the batch access of electronics charging tray can be realized, storage/access efficiency is high, and also order discharging etc. can be launched by order BOM, can effectively shorten the time of getting the raw materials ready, prevent the generation of dull material, minimizing Material Sorting and erect-position mistake, automaticity is high, has broad application prospects.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings and embodiment the invention will be further described:
Fig. 1 is the overall structure schematic diagram that the present invention is applied to the tunnel machine of automatic material access system；
Fig. 2 is that the present invention is applied to the tunnel machine of automatic material access system position view in material automated warehouse；
Fig. 3 is machine lower end, tunnel (feeding robot the is positioned at bottom) side view that the present invention is applied to automatic material access system；
Fig. 4 is machine upper end, tunnel (feeding robot the is positioned at top) side view that the present invention is applied to automatic material access system；
Fig. 5 is the top view that the present invention is applied to the tunnel machine of automatic material access system；
Fig. 6 is the back overall structure schematic diagram that the present invention is applied to the tunnel machine of automatic material access system；
Fig. 7 is the lower end rearview that the present invention is applied to the tunnel machine of automatic material access system.
nullWherein: 1、Pedestal，2、Tunnel machine body，3、Material accessor robot，4、COM code is read to know industrial camera，5、Automatic charging & discharging machine，6、Built in motion controls the industrial computer of card，21、Support substrate，211、Anti-mistake rushes stopper，212、Photoelectric sensor for position，221、Horizontal movement servomotor，222、Decelerator，223、Bilinear guide rail，224、Travelling gear tooth bar，231、Vertical support seat，232、Up and down motion substrate，233、Screw mandrel，234、Servomotor，235、Reductor， 236、Bilinear guide rail，237、Contiguous block，238、Connecting plate，239、Reinforcement，240、Bracket，241、Shaft coupling，242、Screw mandrel axle sleeve，31、Straight line module，311、Straight line screw mandrel motion slide unit，312、Slide block，313、Motor，314、Shaft coupling，315、Feeding machinery is cupped one hand in the other before the chest，32、Servomotor，33、Reductor，34、Annular module，341、Slide block，342、Ring-shaped guide rail，41、Industrial camera，42、Portal frame，51、Material dividing plate.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention of greater clarity, below in conjunction with detailed description of the invention and referring to the drawings, the present invention is described in more detail.It should be understood that these describe the most exemplary, and it is not intended to limit the scope of the present invention.Additionally, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring idea of the invention.
Embodiment:
Shown in Fig. 1-7, a kind of tunnel machine being applied to automatic material access system of the present embodiment, including pedestal 1, tunnel machine body 2, have left and right turn function material accessor robot 3, material recognition code read know industrial camera 4, automatic charging & discharging machine 5, built in motion control card industrial computer 6, and the external host computer for human-machine operation.
After annealed or crash handling internal stress, three boss can be welded above, in order to horizontal movement line slideway 223 and the driving rack 223 of tunnel machine body 2 are installed to use welding manner or casting mode above pedestal 1.Article three, boss needs to do Surface Machining, with ensure line slideway 223, tooth bar 224 bound fraction need there is higher surface accuracy.
The substrate 21 that supports of tunnel machine body 2 is connected with two line slideways on pedestal 1 by 4 straight-line guide rail slide blocks, and under not affecting stressing conditions, in the middle of it, the place without parts can be with hollow out, to alleviate overall weight；Whole tunnel machine 2 is driven to move horizontally by travelling gear tooth bar 224 and horizontal movement servomotor 221；Vertical stratification includes separating from the vertical support seat 231 supporting substrate 21 both sides, is provided with reinforcement 239 bottom it, is connected fixing or welding with supporting substrate 21 by 6～8 bolts.The both sides of up and down motion substrate 232 are connected with the line slideway 236 inside vertical support seat 231 by slide block 237, it is used for keeping up and down motion substrate 232 stable, up and down motion substrate 232 realizes moving up and down by screw mandrel 233, motor 234, decelerator 235, screw mandrel 233 is connected with up and down motion substrate 232 by screw mandrel axle sleeve 242, ensures that support seat 231, the relative position of screw mandrel 233 are fixed by the connecting plate 238 at top.
It is provided with reinforcement gusset 239 bottom two vertical support seats 231, is fixed on bracket 240 by thrust bearing bottom described screw mandrel 233.
Up and down motion substrate 232 can use certain thickness aluminium sheet, and there is reinforcement 239 lower section, to prevent deformation.On the premise of not affecting stress and deformation, the shape of symmetry can be become with hollow out in the place not having parts to assemble, to alleviate its weight.
Material accessor robot 3 is arranged on up and down motion substrate 232, and material accessor robot 3 includes that flexible straight line module 31, rotation drive servomotor 32, reductor 33, are fixed on up and down motion substrate 232 in order to support the annular module (34) that straight line module 31 rotates.
The rear end of flexible straight line module 31 is arranged on electric rotating machine 32 by connecting plate, and front end is connected on the slide block of annular module 34, and straight line module 31 carries out left rotation and right rotation centered by the axle center of motor 32, and round ring guide 342 is also with the axle center of motor 32 as the center of circle.The position, three, left, center, right residing for straight line module 31, wherein left and right sides homologue feed bin lattice, the gateway of intermediate alignment automatic charging & discharging machine is judged by photoelectric sensor.
Material recognition code is identified by industrial camera 41.Industrial camera 41 can be arranged on pedestal 1 by portal frame 42 mode, it is possible to stretches into inside automatic charging & discharging machine 5, its be in machinery cup one hand in the other before the chest 315 surface.If being arranged on after automatic charging & discharging machine 5, then machinery is cupped one hand in the other before the chest 315 when taking out from automatic charging & discharging machine 5 or be stored in material, identifies COM code, and is stored in background data base；COM code can also be identified during the dividing plate 51 in automatic charging & discharging machine rises or moves down.
For ensureing the steady of up and down motion substrate 232, it is connected by slide block 237 between up and down motion substrate 232 both sides and vertical support seat 231.
Industrial computer 6 is arranged on the side of pedestal 1; it is built-in with motion control card; industrial computer connects regulator cubicle: be mainly used in management and the motion controlling all kinds of motors; and accept the signal of various sensor; and carry out data communication with host computer; and as storage device, the information during storage device execution, cable is protected by tank chain.
Host computer uses the mode of touch screen, it is simple to workman scene human-machine operation.
The workflow of this device is as follows:
In batches when material stock or feeding, each moving component zero position is calibrated automatically, computer calculate each warehouse compartment in the position in storehouse of both sides material bin hollow and warehouse and have the material information of material.
When depositing material, material disc is sequentially inserted in the space of upper trigger, machinery is cupped one hand in the other before the chest in 315 insertion charging & discharging machines 5 lower section of topmost charging tray, lift on up and down motion substrate 232 and hold up charging tray, after current material is held up from the shelf 51 of automatic charging & discharging machine 5, machinery is cupped one hand in the other before the chest 315 retractions, takes out material；During retracting, industrial camera 41 identifies this COM code, and computer calculates this material location, including left and right, up and down, front and back three positions；Tunnel machine 2 is according to the current position intending depositing material, proceed by motion before or after level, up and down motion substrate 232 starts up or down motion, straight line module 31 left or right rotates, after 315 alignment current materials plan storage lattice cupped one hand in the other before the chest by machinery, straight line module 31 does extending action, machinery is cupped one hand in the other before the chest and 315 stretches into storehouse lattice, up and down motion substrate 232 moves down, machinery cup one hand in the other before the chest 315 material is placed to storehouse lattice after, the slide block 312 of straight line module 31 is retracted, return machinery and cup one hand in the other before the chest 315, and return start to perform next dish material deposit action, until the material in automatic charging & discharging machine 5 is all deposited complete.After material storage in automatic charging machine 5, whole tunnel machine 2 returns to the doorway in warehouse, and prompting carries out the material stock of next batch.
During feeding, can single-deck discharging or batch discharging.The feeding instruction sent according to computer, manually by industrial computer input discharging specifications and models and quantity, or can accept the incoming order material of MES system (can launch) by BOM, notice warehouse feeding.Calculate the position of material, tunnel machine 2 moves before or after proceeding by level, up and down motion substrate 232 starts up or down motion, straight line module 31 left or right rotates, when machinery cups one hand in the other before the chest 315 alignments currently after taking material bin lattice, the slide block 312 of straight line module 31 stretches out, being cupped one hand in the other before the chest by machinery and 315 stretch into storehouse lattice, up and down motion substrate 232 moves, machinery is cupped one hand in the other before the chest and 315 is held material to be taken, straight line module 31 does retract action, is taken out by material to be taken；Taking out after material, rotate to centre position, machinery is cupped one hand in the other before the chest and 315 charging tray is sent into charging & discharging machine 5, and during feeding, material recognition industrial camera 41 is read to know taken COM code, and carries out back-end data verification, sees whether feeding is correct.As correctly, up and down motion substrate 232 moves down, and material places the material dividing plate 51 of automatic charging & discharging machine 5, and retraction machinery cups one hand in the other before the chest 315, completes the taking-up action of current material；As incorrect, point out manual intervention；Start to perform the taking-up of next dish material, until the material in feeding instruction is all removed.
It should be appreciated that the above-mentioned detailed description of the invention of the present invention is used only for exemplary illustration or explains the principle of the present invention, and it is not construed as limiting the invention.Therefore, any modification, equivalent substitution and improvement etc. done in the case of without departing from the spirit and scope of the present invention, should be included within the scope of the present invention.Additionally, claims of the present invention be intended to fall in the equivalents on scope and border or this scope and border whole change and modifications example.
Claims (6)
1. it is applied to a tunnel machine for automatic material access system, including pedestal (1) and tunnel machine body (2), described
Pedestal (1) is provided with bilinear guide rail (223) and travelling gear tooth bar (224), it is characterised in that described tunnel machine body (2) is hung down
Material accessor robot (3) and the COM code reading knowledge industrial camera with left and right turn function is installed in translation dynamic model group
(4), described tunnel machine body (2) being provided with automatic charging & discharging machine (5), described pedestal is provided with built in motion control on (1)
The industrial computer (6) of card, described industrial computer (6), for the motion managed with control motor, receives the signal of sensor, with host computer
Carry out data communication, the information during storage execution；Described tunnel machine body (2) includes supporting substrate (21), described support
Horizontal movement servomotor (221) and the decelerator (222) for driving horizontal movement it is provided with on substrate (21)；Described vertically
Mobile module includes being installed vertically on the vertical support seat (231) of support substrate (21) both sides, being perpendicular to support seat (231) level
Arrange up and down motion substrate (232), connect up and down motion substrate (232) screw mandrel (233), motion servo motor (234) and
Reductor (235), described reductor (235) is connected by shaft coupling (241) with screw mandrel (233), described vertical support seat (231)
Inner side is provided with bilinear guide rail (236), and described up and down motion substrate (232) is by contiguous block (237) and two vertical support
The bilinear guide rail (236) of seat (231) inner side connects；Described support substrate (21) side is provided with anti-mistake and rushes stopper (211)
And photoelectric sensor for position (212), described support seat (231) top is fixed two by connecting plate (238) and is supported seat (231)
With screw mandrel (233).
The tunnel machine being applied to automatic material access system the most according to claim 1, it is characterised in that described two
Individual vertical support seat (231) bottom is provided with reinforcement gusset (239), and described screw mandrel (233) bottom is fixed on torr by thrust bearing
On frame (240).
The tunnel machine being applied to automatic material access system the most according to claim 1, it is characterised in that on described
Being provided with material accessor robot (3) on lower running bases (232), described material accessor robot (3) includes flexible straight line mould
Group (31), rotation drive servomotor (32), reductor (33), are fixed on up and down motion substrate (232) in order to support straight line
The annular module (34) that module (31) rotates.
The most according to claim 3 be applied to automatic material access system tunnel machine, it is characterised in that described in stretch
Being provided with machinery on the slide block (312) of contracting straight line module (31) to cup one hand in the other before the chest (315), described flexible straight line module (31) includes straight line silk
Bar motion slide unit (311), slide block (312), motor (313), shaft coupling (314).
The tunnel machine being applied to automatic material access system the most according to claim 3, it is characterised in that described ring
Shape module (34) includes being connected to the following slide block (341) of straight line module (31) and is arranged on up and down motion substrate (232)
Ring-shaped guide rail (342).
The tunnel machine being applied to automatic material access system the most according to claim 1, it is characterised in that described
Being provided with COM code on support group plate (21) to read to know industrial camera (4) and automatic charging & discharging machine (5), described COM code is read to know work
Industry camera (4) uses planer type structure to be arranged in support substrate (21), including industrial camera (41) and portal frame (42), described
Automatic charging & discharging machine (5) uses stacked upper and lower trigger structure, described automatic charging & discharging machine (5) inner hollow, therein a left side
Right Inboard has stacked material dividing plate (51).
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| CN201410269160.6A CN104029973B (en) | 2014-06-17 | 2014-06-17 | A kind of tunnel machine being applied to automatic material access system |
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| CN201410269160.6A CN104029973B (en) | 2014-06-17 | 2014-06-17 | A kind of tunnel machine being applied to automatic material access system |
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| CN104029973A CN104029973A (en) | 2014-09-10 |
| CN104029973B true CN104029973B (en) | 2016-08-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106408227A (en) * | 2016-08-03 | 2017-02-15 | 重庆盟讯电子科技有限公司 | SMT chip mounting intelligent management system and method |
| CN106292546B (en) * | 2016-10-10 | 2018-09-07 | 安徽朗巴智能科技有限公司 | A kind of industrial robot control system based on telecommunication |
| CN108328194A (en) * | 2018-03-23 | 2018-07-27 | 天津商业大学 | A kind of cylindric blood bank's storage device |
| DE102019117026B4 (en) * | 2019-06-25 | 2021-11-25 | Asm Assembly Systems Gmbh & Co. Kg | Transport system |
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| JPS54100069A (en) * | 1978-01-20 | 1979-08-07 | Daifuku Co Ltd | Warehouse facilities |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3268097A (en) * | 1963-12-10 | 1966-08-23 | Euclid Crane And Hoist Company | Stacker crane |
| CN201198135Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Laneway storehouse stacking robot |
| CN202201410U (en) * | 2011-07-04 | 2012-04-25 | 上海精星物流设备工程有限公司 | Rail-type distribution trolley based on barcode localization used in automatic stereoscopic warehouse |
| CN104003090A (en) * | 2014-06-09 | 2014-08-27 | 苏州伦科思电子科技有限公司 | Material automatic warehouse-in-out and intelligent storing device |
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