CN104891171A - Mechanical arm and automatic transport system using same - Google Patents

Mechanical arm and automatic transport system using same Download PDF

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Publication number
CN104891171A
CN104891171A CN201510308352.8A CN201510308352A CN104891171A CN 104891171 A CN104891171 A CN 104891171A CN 201510308352 A CN201510308352 A CN 201510308352A CN 104891171 A CN104891171 A CN 104891171A
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CN
China
Prior art keywords
manipulator
rotary components
axis
rotating shaft
automatic conveying
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CN201510308352.8A
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Chinese (zh)
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CN104891171B (en
Inventor
蒋海兵
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蒋海兵
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Priority to CN201510308352.8A priority Critical patent/CN104891171B/en
Publication of CN104891171A publication Critical patent/CN104891171A/en
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Publication of CN104891171B publication Critical patent/CN104891171B/en

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Abstract

The invention discloses a mechanical arm and an automatic transport system using the same. The mechanical arm comprises a base, a first rotating component, a second rotating component, a third rotating component and a grabbing component for grabbing or putting down a product, which are connected sequentially. The first rotating component, the second rotating component and the third rotating component rotate around one of an X-axis, a Y-axis and a Z-axis, respectively. According to the automatic transport system using the mechanical arm, an automatic transport device is provided for automatic transport of products, the mechanical arm is provided to automatically grab or put down the product, thus production efficiency can be greatly increased, and manpower is effectively saved. Besides, the mechanical arm enables the automatic grabbing or putting-down of the product and the rotation between different working positions, the rotational degree of freedom is good, and positioning accuracy is high.

Description

The automatic conveying system of a kind of manipulator and employing manipulator

Technical field

The present invention relates to field of machinery automation, particularly relate to the automatic conveying system of a kind of manipulator and employing manipulator.

Background technology

Along with the development of science and technology and the rising of human cost, manufacture starts to seek mechanization and automation, and over nearly 20 years, manufacture researches and develops and use robot to realize the production automation gradually.Button series products, the products such as the remote controller such as produced, calculator, after producing, need to carry out the operations such as Performance Detection.Current operations needs manually to complete, and manually-operated operating personal needs the work carrying out repeatability, easily produces fatigue state, and the Detection job of product and efficiency can not be guaranteed.

Traditionally, button series products is detected at needs, such as during remote controller, general several buttons by artificial pressing remote controller, test equipment is decoded after receiving the signal that tested remote controller sends, and judges test result artificially, and it needs a large amount of artificial, detection speed is slow, is difficult to realize automation batch testing.The applicant's application number be 201510124762.7 patent application be intended to protect a kind of Infrared remote controller test equipment and test method; it realizes the automatic detection of remote controller by Infrared remote controller test equipment; but; its material loading and blanking still need manual operations, do not realize the automation of whole system.And if adopt existing feeding, discharge mechanical device, because this type of test equipment requires higher to the locating effect of product, existing feeding, discharge mechanical device is not good to the locating effect of carried product, the accuracy rate of the manipulator of crawl product is not high, is difficult to the needs meeting this type of test equipment.

Summary of the invention

The present invention is intended to solve existing delivery system and is difficult to carry out full automatic conveying to product, and not good to the locating effect of institute's conveying products, capture the not high technical matters of the accuracy rate of manipulator of product.

The present invention is achieved through the following technical solutions: a kind of manipulator, it is characterized in that, described manipulator comprises the pedestal, the first rotary components, the second rotary components, the 3rd rotary components and the grabbing assembly for capturing or put down product that connect successively, described first rotary components, the second rotary components, a 3rd rotary components X-axis rotate respectively in X-axis, Y-axis, Z axis.

As the further improvement of technique scheme, described first rotary components comprises column spinner, and described column spinner can be installed on pedestal rotatably around Z axis.

As the further improvement of technique scheme, described second rotary components comprises the first connecting arm, the first revolving part, the second connecting arm, the second revolving part that connect successively, and described second rotary components can be installed on the first rotary components rotatably around Y-axis.

As the further improvement of technique scheme, described first connecting arm is fixed on the first rotary components, described first connecting arm comprises two contiguous blocks, rotating shaft, and described two contiguous blocks are individually fixed in the both sides of the first rotary components, and described rotating shaft is connected between two contiguous blocks; The rotating shaft that described first revolving part is installed on described first connecting arm can rotate around the axis.

As the further improvement of technique scheme, described second connecting arm is fixed on the first revolving part, described second connecting arm comprises two contiguous blocks, rotating shaft, and described two contiguous blocks are individually fixed in the both sides of the first revolving part, and described rotating shaft is connected between two contiguous blocks; The rotating shaft that described second revolving part is installed on described second connecting arm can rotate around the axis.

As the further improvement of technique scheme, described 3rd rotary components comprises swivel, and described swivel can be installed on the second rotary components rotatably around X-axis.

As the further improvement of technique scheme, the front end of described 3rd rotary components is provided with rotating shaft, and described grabbing assembly can rotate around Y and rotatably be installed in described rotating shaft.

As the further improvement of technique scheme, described grabbing assembly comprise connect successively the first swivel block, the second swivel block, for capturing the grippers of product, described first swivel block can in the rotating shaft that Y-axis is installed on described 3rd rotary components rotatably, described first swivel block is provided with rotating shaft, described second swivel block can in the rotating shaft that Z axis is installed on the first swivel block rotatably, the front end of described second swivel block is provided with adapter shaft, and described grippers is fixed on described adapter shaft.

As the further improvement of technique scheme, described grippers comprises adapter plate and is located at the array sucker for drawing product on adapter plate.

The present invention also provides a kind of automatic conveying system, described automatic conveying system comprises matrix, the automatic conveying device for conveying products be located on matrix, for multi-aspect multi-angle rotary with capture or put down the manipulator of product and the control panel for controlling described automatic conveying device, robot work, described automatic conveying device, manipulator are electrically connected with control panel; Wherein, described manipulator is manipulator as above.Implement

Enforcement the invention has the beneficial effects as follows: automatic conveying system of the present invention, the automatic transport of product is realized by arranging automatic conveying device, realized product automatic capturing by manipulator or put down, can production efficiency be drastically increased, effectively saving artificial.And manipulator of the present invention is by arranging the first rotary components, the second rotary components, the 3rd rotary components and the grabbing assembly for capturing or put down product, described first rotary components, the second rotary components, a 3rd rotary components X-axis rotate respectively in X-axis, Y-axis, Z axis, can realize the automatic capturing of product or put down, and the rotation that can realize between different station, rotary freedom is good, and positioning precision is high.

Accompanying drawing explanation

Fig. 1 is the schematic perspective view of automatic conveying system according to a preferred embodiment of the invention.

Fig. 2 is the schematic perspective view of the external test equipment of automatic conveying system of Fig. 1.

Fig. 3 is the schematic perspective view of another angle of the external test equipment of automatic conveying system shown in Fig. 2.

Fig. 4 is the schematic perspective view of the matrix in the automatic conveying system of Fig. 1.

Fig. 5 is the manipulator of the automatic conveying system of Fig. 1 and the schematic perspective view of automatic conveying device.

Fig. 6 is the schematic perspective view of the automatic conveying device of the automatic conveying system of Fig. 1.

Fig. 7 is the schematic perspective view of another angle of automatic conveying device shown in Fig. 6.

Fig. 8 is the schematic perspective view of the manipulator of the preferred embodiments of the present invention.

Fig. 9 is the schematic perspective view that the manipulator shown in Fig. 8 does not install grippers.

Figure 10 is the schematic perspective view of the grippers of the manipulator shown in Fig. 8.

Figure 11 is the diagram of circuit of the using method of automatic conveying system of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further detailed.

Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.On the contrary, embodiments of the invention comprise fall into attached claims spirit and intension within the scope of all changes, amendment and equivalent.In graphic embodiments of the invention; the object of the term position such as " left side ", " right side ", " front end ", " rear end " is adopted to be to make description more clear; be understandable that; in other embodiments; the position of each parts and orientation can change accordingly as required and adjust, also in protection scope of the present invention.

As shown in Figures 1 to 3, the automatic conveying system 100 of the preferred embodiment of the present invention comprises matrix 10, the automatic conveying device 30 for conveying products be located on matrix 10, for multi-aspect multi-angle rotary with capture or put down product manipulator 50 and for control described automatic conveying device 30, manipulator 50 work control panel (not shown), described automatic conveying device 30, manipulator 50 are electrically connected with control panel.Automatic conveying system 100 of the present invention can realize product to be transported to manipulator 50 place by automatic conveying device 30, by manipulator 50, product is put into test equipment 70 again, such as: putting into applicant's application number is detect in the Infrared remote controller test equipment of 201510124762.7, more qualified and inferior-quality product will be detected through test equipment 70 and put into corresponding position respectively; The full mechanical automation of whole process realizes, and effectively can save artificial and cost.

Specifically, as shown in Figures 3 to 5, described matrix 10 comprises substrate 11, the framework 12 be installed on substrate 11, and to be installed on substrate 11 and the cabinet 13 be positioned in the middle part of described framework 12; Described substrate 11 is provided with several roller 14, to facilitate mobile automatic conveying system 100.Described framework 12 is provided with several opening 15, described opening 15 place can mounting glass door or glass port, be conducive on the one hand keeping the clean of internal unit and dustlessization, another aspect is convenient observes in outside, or enters inspection or Awaiting Parts in matrix 10 by glass door.And, described framework 12 is provided with the LCDs 16 (product information that described LCDs 16 shows can be consistent with the product information that test equipment 70 shows) for showing product information, the left side of described framework 12 is provided with substandard products discharging opening 17, the right side of described framework 12 is connected with test equipment 70 and forms working position, and the right side of described framework 12 is provided with certified products discharging opening 18.Described manipulator 50, automatic conveying device 30 are installed on described cabinet 13, and described control panel is contained in described cabinet 13.

Wherein, as shown in Fig. 3 and Fig. 5 to Fig. 7, described automatic conveying device 30 is by the front side of support installing in described cabinet 13, and the front end (i.e. feed end) of described automatic conveying device 30, extend the left side of described framework 12 to the left, so that product is put into automatic conveying device 30.Described automatic conveying device 30 comprises fixed mount 31, at least one pair of guiding roller 32 be installed on fixed mount 31, the load-transfer device 33 be installed on guiding roller 32; Described load-transfer device 33 moves around described guiding roller 32, makes the product be positioned on load-transfer device 33 move to rear end from the front end of automatic conveying device 30.Preferably, described fixed mount 31 comprises two pieces of baffle plates 34 for the product that leads, described two pieces of baffle plates 34 are adjustable to be installed on the top of the driving surface (namely placing the upper surface of product) of load-transfer device 33 and to lay respectively at the both sides of load-transfer device 33, is formed with adjustable deflector chute 35 between described two pieces of baffle plates 34; By installing two pieces of baffle plates 34 above load-transfer device 33, deflector chute 35 between described two pieces of baffle plates 34 is adjustable, make the product be positioned on load-transfer device 33 in deflector chute 35 be located between two pieces of baffle plates 34 simultaneously, avoid that landing may appear in product, direction is put upside down and the positive and negative situation such as to put upside down, product can be moved with required direction and position on load-transfer device 33, and be convenient to the crawl of subsequent mechanical hand 50; Be understandable that, regulate two pieces of baffle plate 34 positioning products, need to avoid too tight or too loose, in order to avoid hinder the effect moving or do not have positioning product of product.

Further, described fixed mount 31 is provided with at least one cylinder 36 for positioning product, described cylinder 36 is installed on the top of the driving surface of load-transfer device 33, and near the rear end of load-transfer device 33, namely discharge end is arranged; And at least one cylinder 36 described is relatively arranged on the both sides of load-transfer device 33 respectively, or at least one cylinder described is positioned at the side of load-transfer device 33, and the opposite side of described load-transfer device 33 is provided with locating plate 37, and described cylinder 36 is oppositely arranged with described locating plate 37.When described product moves to the rear end of load-transfer device 33, described product is leaned by the cylinder 36 laying respectively at load-transfer device 33 both sides, or product relies on locating plate 37 by the cylinder 36 being positioned at load-transfer device 33 side, can effectively positioning product to fixing position so that manipulator 50 captures.In the embodiment shown in fig. 6, described cylinder 36 is four, and every side of load-transfer device 33 arranges two cylinders 36 respectively.More preferably, described cylinder 36 is two, and two cylinders 36 are all positioned at the side of load-transfer device 33, and the opposite side of described load-transfer device 33 is provided with locating plate 37, and described cylinder 36 is oppositely arranged with described locating plate 37.It is worth mentioning that, if cylinder 36 is less than two, then it is unreliable to locate, if more than three, waste cylinder 36 and space, thus, preferred set-up mode can save the use of cylinder 36, and makes the location of product more reliable.Described cylinder 36 is electrically connected with electromagnetic valve (not shown), by electromagnetic valve as the switch block of cylinder 36 for controlling the action of cylinder 36, described cylinder 36 comprises cavity and can stretch out the piston rod with retraction cavity, and structure and the electric connection mode of described cylinder 36 and electromagnetic valve are known to those skilled in the art; Be understandable that, other machineries, the electronic unit that can realize the positioning action of cylinder 36 and the on-off action of electromagnetic valve also can be used for the application.In the present embodiment, described automatic conveying device 30 also comprises position sensor 301, described position sensor 301 is arranged near the rear end of the first baffle plate 341 or second baffle 342, by the setting of position sensor 301, when inductor 301 place, product in-position, position sensor 301 senses product, signal is sent to the electromagnetic valve be electrically connected with cylinder 36, inspiring electromagnetic valve unlatching makes described cylinder 36 work, the piston rod of cylinder 36 is protruding to be relied on product on locating plate 37, make product can obtain actv. to fix so that the crawl of manipulator 50.Preferably, described position sensor 301 is installed on described locating plate 37, and installation site is more reasonable, can sense product preferably.

As shown in Figs. 5 to 7, the front end of described load-transfer device 33 is provided with the feeding port for putting into product, and described feeding port is formed at the front end of described two pieces of baffle plates 34, and the size of described feeding port is comparatively large, is convenient to putting into of product.In a preferred embodiment, described two pieces of baffle plates 34 are respectively the first baffle plate 341 and second baffle 342, the outward-dipping setting in front end of described first baffle plate 341 and second baffle 342, the straight setting in middle part of described first baffle plate 341 and second baffle 342, the front end of described first baffle plate 341 and second baffle 342 forms the trapezoidal deflector chute 35 reduced gradually towards middle part, the front end of described trapezoidal deflector chute 35 and feeding port, deflector chute 35 equal and opposite in direction at the middle part of described first baffle plate 341 and second baffle 342; Trapezoidal deflector chute 35 between first baffle plate 341 and second baffle 342 is convenient to product and is put into load-transfer device 33, and moves forward along the deflector chute 35 that the first baffle plate 341 and second baffle 342 are formed.In the illustrated embodiment, the rear end of described first baffle plate 341 is disposed adjacent with cylinder, the rear end of described second baffle 342 is connected with locating plate 37, make the structural arrangement of automated installation more reasonable, the deflector chute 35 that product is formed along the first baffle plate 341 and second baffle 342 moves forward to cylinder 36 place, product relies on locating plate 37 by cylinder 36, can effectively positioning product to fixing position so that manipulator 50 captures.In addition, the rear end of described fixed mount 31 is provided with the block 38 for avoiding product to drop, and the rear end avoiding described product to move to load-transfer device 33 causes product to drop.

As shown in Figure 6 and Figure 7, described fixed mount 31 comprises two fixed links 39 being positioned at both sides, described two pieces of baffle plates 34 are installed on described two fixed links 39 respectively, manually or automatically the gap between two pieces of baffle plates 34 can be regulated, the mode of automatic adjustment, such as, can adopt the mode of mounted motor on baffle plate 34 to carry out.Described guiding roller 32 is two, the front end of described two fixed links 39 connects a guiding roller 32, the rear end of described fixed link 39 connects another guiding roller 32, and described load-transfer device 33 is sheathed on described two guiding rollers 32, around described two guiding roller 32 iterative motions.Described automatic conveying device 30 also comprises drive roll 40, two help rolls 41, described drive roll 40 and help roll 41 to be installed on described fixed mount 31 and to be positioned at the below of fixed mount 31, described drive roll 40 is positioned at the below of described two help rolls 41, gap is left between described two help rolls 41, described load-transfer device 33 to be sheathed on described drive roll 40 and through described two help rolls 41, draw by arranging described two help rolls, 41 pairs of load-transfer devices 33, the installation of load-transfer device 33 can be made more reliable, avoid the generation of the phenomenons such as skidding.Described drive roll 40 is connected with motor (not shown) with the rotating shaft of two help rolls 41, help roll 41 described in described drive roll 40 is driven to rotate by motor, drive described load-transfer device 33 iterative motion, thus the product on driving conveying belt 33 moves.The structure of the rotating shaft of described drive roll 40, help roll 41 and motor connection mode, motor is known to those skilled in the art, does not repeat at this.In the present embodiment, described fixed mount 31 also comprises two mounting blocks 42, described two mounting blocks 42 are installed on the outside of two fixed links 39 respectively, and described drive roll 40, two help rolls 41 are installed on described two mounting blocks 42, and its rotating shaft passes mounting blocks 42 and is connected with motor.

By automatic conveying device 30 of the present invention, product is positioned on load-transfer device 33, the both sides of load-transfer device 33 are provided with adjustable two pieces of baffle plates 34, make the product be positioned in the deflector chute 35 of load-transfer device 33 be located between two pieces of baffle plates 34 simultaneously, product is avoided to occur landing, direction is put upside down and the positive and negative situation such as to put upside down, product can be moved on load-transfer device 33 by required direction and position, near the rear end of load-transfer device 33, position sensor 301 and cylinder 36 are installed, when inductor 301 place, product in-position, position sensor 301 senses product, signal is sent to the electromagnetic valve be electrically connected with cylinder 36, inspiring electromagnetic valve unlatching makes described cylinder 36 work, the piston rod of cylinder 36 is protruding to be relied on product on locating plate 37, make product can obtain actv. to fix so that the crawl of manipulator 50.

As shown in Fig. 5 and Fig. 8 to Figure 10, the manipulator 50 of the preferred embodiment of the present invention is installed on the middle part of described cabinet 13, and correspondingly with the flowing end (i.e. the rear end of the load-transfer device 33 of automatic conveying device 30) of described automatic conveying device 30 arranges.Described manipulator 50 comprises pedestal 51, first rotary components 60, second rotary components 70, the 3rd rotary components 80 and the grabbing assembly 90 for capturing or put down product that connect successively, described first rotary components 60, second rotary components 70, the X-axis rotate of the 3rd rotary components 80 respectively in X-axis, Y-axis, Z axis.Consult Fig. 3, by the setting of described first rotary components 60, second rotary components 70, the 3rd rotary components 80, make manipulator 50 can to anticlockwise to substandard products discharging opening 17, be rotated down the product captured on automatic conveying device 30, to right rotation to the working position of certified products discharging opening 18 and test equipment 70, and product correspondingly can be positioned on the working position of test equipment 70.

Specifically, as shown in Fig. 3, Fig. 5, Fig. 8 and Fig. 9, described pedestal 51 is fixed on cabinet 13, described first rotary components 60 is column spinner, described column spinner 60 can be installed on pedestal 51 around Z axis rotatably, make manipulator 50 can around Z axis in XY plane to anticlockwise to substandard products discharging opening 17, to right rotation to the working position of certified products discharging opening 18 and test equipment 70.In a preferred embodiment, described column spinner 60 can do 0 ° around Z axis and be installed on rotatably on pedestal 51 to 360 °, makes manipulator 50 larger around the rotary freedom of Z axis.First rotary components 60 that can realize doing around Z axis other versions that 0 ° to 360 ° rotates is understandable that, as long as also can be included in the structure of the application.

Described second rotary components 70 can be installed on the first rotary components 60 around Y-axis rotatably, and described second rotary components 70 can do 0 ° to 90 ° rotation around Y-axis.Manipulator 50 can be rotated downwardly to around Y-axis capture on the product be positioned on automatic conveying device 30 or working position product being correspondingly positioned over test equipment 70, or in Y-axis, leave automatic conveying device 30 or test equipment 70.Specifically, in the present embodiment, described second rotary components 70 comprises the first connecting arm 71, first revolving part 72 connected successively; Wherein, described first connecting arm 71 is fixed on the first rotary components 60, namely on column spinner 60, described first connecting arm 71 comprises two contiguous blocks, rotating shaft, described two contiguous blocks are individually fixed in the both sides of the first rotary components 60, and described rotating shaft to be connected between two contiguous blocks and to be positioned at two contiguous blocks one end away from the first rotary components 60; The rotating shaft that described first revolving part 72 is installed on described first connecting arm 71 can rotate around the axis.Be understandable that, described second rotary components 70, by arranging the first connecting arm 71 and the first revolving part 72, is rotated around the first connecting arm 71 by the first revolving part 72, can realize the second rotary components 70 and rotate around Y-axis.But in order to make the rotary freedom of the second rotary components 70 better, and the structural stability of manipulator 50 is better.Preferably, described second rotary components 70 also comprises the second connecting arm 73 and the second revolving part 74 connected successively, described second connecting arm 73 is fixed on the first revolving part 72, the structure of described second connecting arm 73 is similar to the first connecting arm 71, comprise two contiguous blocks, rotating shaft, described two contiguous blocks are individually fixed in the both sides of the first revolving part, and described rotating shaft to be connected between two contiguous blocks and to be positioned at two contiguous blocks one end away from the first revolving part 72; The rotating shaft that described second revolving part 74 is installed on described second connecting arm 73 can rotate around the axis.In the present embodiment, the front end of described first revolving part 72 is formed with U-shaped groove, and the rear end of described second revolving part 74 is contained in the U-shaped groove of described first revolving part 72 front end, and make the more reasonable structure of whole second revolving part 74, rotate effect is better.

Described 3rd rotary components 80 is swivel, and described swivel 80 can be installed on the second revolving part 74 around X-axis rotatably; In the present embodiment, described swivel 80 can do 0 ° to 360 ° around X-axis and be installed on the second revolving part 74 rotatably, make the rotary freedom of manipulator 50 larger, described manipulator 50 coordinates the second rotary components 70 by the 3rd rotary components 80, and manipulator 50 can be made to realize the crawl of product at the diverse location place of automatic conveying device 30 or test equipment 70 or put down.The 3rd rotary components 80 that can realize doing around X-axis other versions that 0 ° to 360 ° rotates is understandable that, as long as also can be included in the structure of the application.

Described grabbing assembly 90 captures the pith of product as manipulator 50, it is installed on the 3rd rotary components 80, and can rotate around X-axis, Y-axis, thus make the flexibility ratio of manipulator 50 better, on the basis of the first rotary components 60, second rotary components 70, the X-axis rotate of the 3rd rotary components 80 respectively in X-axis, Y-axis, Z axis, described grabbing assembly 90 rotates around X-axis, Y-axis accurate, the fine adjustment be applicable to manipulator 50 position, makes manipulator 50 capture or put down the particularity of product better.Specifically, described 3rd rotary components 80, namely the front end of swivel 80 is provided with rotating shaft, described grabbing assembly 90 can rotate around Y and rotatably be installed in described rotating shaft, in the present embodiment, consult Fig. 9 and Figure 10, described grabbing assembly 90 can do in 0 ° to the 300 ° rotating shaft being installed on described swivel 80 rotatably around Y-axis, the amplitude rotated is greater than the rotational steps of the second revolving part 74, is more conducive to the position regulating grabbing assembly 90.Specifically, described grabbing assembly 90 comprise connect successively the first swivel block 91, second swivel block 92, for capturing the grippers 93 of product, described first swivel block 91 can in the rotating shaft that Y-axis is installed on described swivel 80 rotatably, and namely described grabbing assembly 90 can be done in 0 ° to the 300 ° rotating shaft being installed on described swivel 80 rotatably around Y-axis by the first swivel block 91.Described first swivel block 91 is provided with rotating shaft, described second swivel block 92 can in the rotating shaft that Z axis is installed on the first swivel block 91 rotatably, in the present embodiment, described second swivel block 92 can do 0 ° to 360 ° rotation around Z axis, thus can regulate the crawl orientation of the grippers 93 that the second swivel block 92 connects.The front end of described second swivel block 92 is provided with adapter shaft, described grippers 93 is fixed on described adapter shaft, described grippers 93 comprises adapter plate 94 and is located at the array sucker 95 for capturing product on adapter plate 94, and each group sucker 95 correspondence captures a product.The product be positioned on automatic conveying device 30 picked up by described sucker 95 by mechanical force, electromagnetic force or adsorption affinity, be understandable that, can be used in capturing the other forms of grippers 93 of product and also can be used for the present invention, can realize the crawl of product by different mechanical systems, electronics mode etc. or put down.

Manipulator 50 of the present invention, by the first rotary components 60 can around Z axis in XY plane to anticlockwise to substandard products discharging opening 17, to right rotation to automatic conveying device 30, then to right rotation to the working position of certified products discharging opening 18 and proving installation; By the second rotary components 70, manipulator 50 can be rotated downwardly to around Y-axis capture on the product be positioned on automatic conveying device 30 or working position product being correspondingly positioned over test equipment 70, or in Y-axis, leave automatic conveying device 30 or test equipment 70; Rotated around X-axis by the 3rd rotary components 80 again, coordinate the second rotary components 70, can the crawl of product be realized at the diverse location place of automatic conveying device 30 or test equipment 70 or put down.Further, described grabbing assembly 90 is installed on the 3rd rotary components 80, and can rotate around X-axis, Y-axis, be applicable to accurate, the fine adjustment to manipulator 50 position, make manipulator 50 capture or put down the particularity of product better.In a word, described manipulator 50 can realize the automatic capturing of product or put down, and can realize the rotation between different station, and rotary freedom is good, and positioning precision is high.

Control panel of the present invention is contained in described cabinet 13, and it is electrically connected with manipulator 50, automatic conveying device 30, and for controlling described automatic conveying device 30, manipulator 50 works.For example, electrical controller is electrically connected, for controlling the rotation of drive roll 40, two help rolls 41 with the motor driving drive roll 40, two help rolls 41 of automatic conveying device 30 to rotate; Electrical controller is electrically connected with position sensor 301 and the electromagnetic valve for being connected cylinder 36, for making position sensor 301 work, and electromagnetic valve is opened and closed.Electrical controller is connected with manipulator 50, rotates around X-axis, Y-axis, Z axis for controlling manipulator 50.In a word, the control panel that can realize automatic conveying device 30, manipulator 50 carry out control circui all can be used for the present invention, and those skilled in the art can be realized by existing control method, do not repeat at this.

As shown in figure 11, the present invention also discloses the using method of described automatic conveying system 100, and it is realized by above-mentioned automatic conveying system 100.The using method of described automatic conveying system 100 comprises the following steps: step S10, the Automatic Conveying device 30 product being put into described automatic conveying system transport; Step S20, capture the product on Automatic Conveying device by manipulator 50 and put into after corresponding test equipment 70 carries out corresponding test and take out.More specifically, comprise the steps:

Step S1, product is put on the load-transfer device 33 of Automatic Conveying device, regulate two pieces of baffle plates 34 that load-transfer device 33 both sides are installed, by in deflector chute 35 between two pieces of baffle plates 34 of the product orientation that is positioned on load-transfer device 33, described product moves along load-transfer device 33.In this step S1, by the product after outward appearance detects, such as: the feeding port on load-transfer device 33 put into by remote controller, the key face of remote controller upward, deflector chute 35 is put into by certain direction, described product moves along load-transfer device 33, can avoid that landing may appear in product, direction is put upside down and the positive and negative situation such as to put upside down under the guiding of deflector chute 35.

Step S2, when inductor 301 place, product in-position, position sensor 301 senses product, inspires cylinder 36 and works product orientation.In step s 2, when product moves to reach position sensor 301 place along load-transfer device 33, position sensor 301 senses product, signal is sent to the electromagnetic valve be electrically connected with cylinder 36, inspiring electromagnetic valve unlatching makes described cylinder 36 work, the piston rod of cylinder 36 is protruding to be relied on product on locating plate 37, makes product can obtain actv. location.

Step S3, manipulator 50 rotates to the rear end of Automatic Conveying device, captures the product be positioned on Automatic Conveying device.In step s3, manipulator 50 rotates to automatic conveying device 30 place by the first rotary components 60, be rotated down by the second rotary components 70, grabbing assembly 90 correspondingly captures product, in this process, manipulator 50 accurately can also be located to capture product by the rotation of the 3rd rotary components 80 and grabbing assembly 90 itself.

Step S4, manipulator 50 rotates the working position then product being put into test equipment 70 to test equipment 70 after capturing product tests.In this step S4, manipulator 50 captures product by the sucker 95 on grabbing assembly 90, can capture several product simultaneously, in the present embodiment, and each crawl two products.And, the working position of described test equipment 70 can be moveable two working positions, a working position enter test equipment 70 detect time, another working position exits, manipulator 50 puts into remote controller to another working position, and the operation of system can be made so more rationally, more to save time and cost.

Step S5, after test terminates, manipulator 50 rotates to certified products discharging opening 18, and the product of test passes is put into certified products discharging opening 18, or manipulator 50 rotates to substandard products discharging opening 17, and the product of test failure is put into substandard products discharging opening 17.In this step, the product of test passes and the product of test failure are distinguished, respectively certified products and off gauge are put into certified products discharging opening 18 or substandard products discharging opening 17 by manipulator 50, carry out follow-up process.

Implement the manipulator of the preferred embodiment of the present invention and adopt the automatic conveying system of manipulator, at least there is following beneficial effect:

1, automatic conveying system of the present invention, realizes the automatic transport of product by arranging automatic conveying device, realized product automatic capturing or put down, can drastically increase production efficiency by manipulator, effectively saves artificial.(relative manual mode can save 3 to 4 Manufacturing Workers.)

2, manipulator of the present invention, by the first rotary components can around Z axis in XY plane to anticlockwise to substandard products discharging opening, to right rotation to automatic conveying device, then to right rotation to the working position of certified products discharging opening and proving installation; By the second rotary components, manipulator can be rotated downwardly to around Y-axis and capture the product that is positioned on automatic conveying device or product is correspondingly positioned on the working position of test equipment, or in Y-axis, leave automatic conveying device or test equipment; Rotated around X-axis by the 3rd rotary components again, coordinate the second rotary components, can the crawl of product be realized at the diverse location place of automatic conveying device or test equipment or put down.Further, described grabbing assembly is installed on the 3rd rotary components, and can rotate around X-axis, Y-axis, be applicable to accurate, the fine adjustment to position of manipulator, manipulator is captured or to put down the particularity of product better.In a word, described manipulator can realize the automatic capturing of product or put down, and can realize the rotation between different station, and rotary freedom is good, and positioning precision is high.

In describing the invention, it is to be appreciated that term " first ", " second " etc. are only for describing object, and instruction or hint relative importance can not be interpreted as.In describing the invention, except as otherwise noted, the implication of " multiple " is two or more.Although illustrate and describe embodiments of the invention, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present invention and aim, scope of the present invention is by claim and equivalents thereof.

Claims (10)

1. a manipulator, it is characterized in that, described manipulator comprises the pedestal, the first rotary components, the second rotary components, the 3rd rotary components and the grabbing assembly for capturing or put down product that connect successively, described first rotary components, the second rotary components, a 3rd rotary components X-axis rotate respectively in X-axis, Y-axis, Z axis.
2. manipulator according to claim 1, is characterized in that, described first rotary components comprises column spinner, and described column spinner can be installed on pedestal rotatably around Z axis.
3. manipulator according to claim 1 and 2, it is characterized in that, described second rotary components comprises the first connecting arm, the first revolving part, the second connecting arm, the second revolving part that connect successively, and described second rotary components can be installed on the first rotary components rotatably around Y-axis.
4. manipulator according to claim 3, it is characterized in that, described first connecting arm is fixed on the first rotary components, described first connecting arm comprises two contiguous blocks, rotating shaft, described two contiguous blocks are individually fixed in the both sides of the first rotary components, and described rotating shaft is connected between two contiguous blocks; The rotating shaft that described first revolving part is installed on described first connecting arm can rotate around the axis.
5. manipulator according to claim 4, it is characterized in that, described second connecting arm is fixed on the first revolving part, and described second connecting arm comprises two contiguous blocks, rotating shaft, described two contiguous blocks are individually fixed in the both sides of the first revolving part, and described rotating shaft is connected between two contiguous blocks; The rotating shaft that described second revolving part is installed on described second connecting arm can rotate around the axis.
6. manipulator according to claim 1, is characterized in that, described 3rd rotary components comprises swivel, and described swivel can be installed on the second rotary components rotatably around X-axis.
7. manipulator according to claim 6, is characterized in that, the front end of described 3rd rotary components is provided with rotating shaft, and described grabbing assembly can rotate around Y and rotatably be installed in described rotating shaft.
8. manipulator according to claim 7, it is characterized in that, described grabbing assembly comprise connect successively the first swivel block, the second swivel block, for capturing the grippers of product, described first swivel block can in the rotating shaft that Y-axis is installed on described 3rd rotary components rotatably, described first swivel block is provided with rotating shaft, described second swivel block can in the rotating shaft that Z axis is installed on the first swivel block rotatably, the front end of described second swivel block is provided with adapter shaft, and described grippers is fixed on described adapter shaft.
9. manipulator according to claim 8, is characterized in that, described grippers comprises adapter plate and is located at the array sucker for drawing product on adapter plate.
10. an automatic conveying system, it is characterized in that, described automatic conveying system comprises matrix, the automatic conveying device for conveying products be located on matrix, for multi-aspect multi-angle rotary with capture or put down the manipulator of product and the control panel for controlling described automatic conveying device, robot work, described automatic conveying device, manipulator are electrically connected with control panel; Wherein, described manipulator is the manipulator as described in claim 1 to 9 any one.
CN201510308352.8A 2015-06-07 2015-06-07 A kind of automatic conveying system CN104891171B (en)

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US4645411A (en) * 1985-03-18 1987-02-24 Albert Madwed Gripper assembly
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