CN104891171B - A kind of automatic conveying system - Google Patents
A kind of automatic conveying system Download PDFInfo
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- CN104891171B CN104891171B CN201510308352.8A CN201510308352A CN104891171B CN 104891171 B CN104891171 B CN 104891171B CN 201510308352 A CN201510308352 A CN 201510308352A CN 104891171 B CN104891171 B CN 104891171B
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Abstract
The invention discloses a kind of manipulator and the automatic conveying systems of use manipulator.The manipulator includes sequentially connected pedestal, the first rotary components, the second rotary components, third rotary components and the grabbing assembly for capturing or putting down product, and first rotary components, the second rotary components, third rotary components are rotated rotating around a reference axis in X-axis, Y-axis, Z axis.The automatic conveying system of the present invention realizes the automatic conveying of product by the way that automatic conveying device is arranged, and is realized by manipulator and product is captured or put down automatically, can greatly improve production efficiency, has been effectively saved artificial.And the manipulator of the present invention, which can be realized, to be captured or puts down to the automatic of product, and can realize the rotation between different station, and rotary freedom is good, and positioning accuracy is high.
Description
Technical field
The present invention relates to the automatic delivery systems of field of machinery automation more particularly to a kind of manipulator and use manipulator
System.
Background technology
With the development of science and technology with the rising of human cost, manufacturing industry is sought for mechanization and automation, nearly 20 years
Come, manufacturing industry is gradually researched and developed and realizes production automation using robot.Button class product, such as the remote controler of production, meter
The products such as device are calculated after producing, need to carry out the operations such as performance detection.Operations needs are accomplished manually at present, artificial to grasp
The operating personnel of work need to carry out the labour of repeatability, easy to produce fatigue state, and the detection quality and efficiency of product obtain
Less than guarantee.
Traditionally, it is needing to detect button class product, such as when remote controler, generally by manually pressing the several of remote controler
Button, test equipment is decoded after receiving the signal that tested remote controler is sent out, and artificially judges test result,
Need a large amount of artificial, detection speed is slow, is difficult to realize automation batch testing.Application No. is 201510124762.7 by the applicant
Patent application be intended to protect a kind of IR remote controller test equipment and test method, it is real to pass through IR remote controller test equipment
The automatic detection of existing remote controler is not carried out the automation of whole system however, there is still a need for manual operationss for its feeding and blanking.
It is existing since such test equipment is more demanding to the locating effect of product and if using existing feeding, discharge mechanical device
Product of the feeding, discharge mechanical device to being conveyed bad, crawl product the manipulator of locating effect accuracy it is not high, it is difficult
To meet the needs of such test equipment.
Invention content
Present invention seek to address that existing transport system is difficult to carry out full automatic conveying to product, and to conveying production
The not high technical problem of the accuracy of bad, crawl product the manipulator of the locating effects of product.
The present invention is achieved through the following technical solutions：A kind of manipulator, which is characterized in that the manipulator includes connecting successively
Pedestal, the first rotary components, the second rotary components, third rotary components and the crawl group for capturing or putting down product connect
Part, first rotary components, the second rotary components, third rotary components are rotating around a reference axis in X axis, Y-axis, Z axis
Rotation.
As a further improvement of the above technical scheme, first rotary components include column spinner, and the column spinner can
It is rotatably mounted on pedestal about the z axis.
As a further improvement of the above technical scheme, second rotary components include sequentially connected first connection
Arm, the first revolving part, the second linking arm, the second revolving part, second rotary components can be rotatably mounted to the first rotation around Y-axis
Turn on component.
As a further improvement of the above technical scheme, first linking arm is fixed on the first rotary components, described
First linking arm includes two link blocks, shafts, and described two link blocks are individually fixed in the both sides of the first rotary components, described
Shaft is connected between two link blocks；First revolving part is installed in the shaft of first linking arm and can be around the shaft
Rotation.
As a further improvement of the above technical scheme, second linking arm is fixed on the first revolving part, and described
Two linking arms include two link blocks, shafts, and described two link blocks are individually fixed in the both sides of the first revolving part, the shaft
It is connected between two link blocks；Second revolving part is installed in the shaft of second linking arm and the shaft rotation that can rotate
It is dynamic.
As a further improvement of the above technical scheme, the third rotary components include rotary body, and the rotary body can
It is rotatably mounted on the second rotary components around X-axis.
As a further improvement of the above technical scheme, the front end of the third rotary components is equipped with shaft, the crawl
Component can turn to be rotatably mounted in the shaft around Y.
As a further improvement of the above technical scheme, the grabbing assembly includes sequentially connected first spill spin block,
Two spill spin blocks, the grippers for capturing product, first spill spin block can be rotatably mounted to the third rotation group around Y-axis
In the shaft of part, first spill spin block is equipped with shaft, and second spill spin block can be rotatably mounted to the first rotation around Z axis
In the shaft of switch block, the front end of second spill spin block is equipped with connecting shaft, and the grippers are fixed in the connecting shaft.
As a further improvement of the above technical scheme, the grippers include fixed plate and the use in fixed plate
In the array sucker for drawing product.
The present invention also provides a kind of automatic conveying system, the automatic conveying system includes matrix, the use on matrix
In the automatic conveying device of conveying products, for multi-direction multi-angle rotary to capture or put down manipulator, the Yi Jiyong of product
In the control panel for controlling the automatic conveying device, robot work, the automatic conveying device, manipulator and control panel
Electrical connection；Wherein, the manipulator is manipulator as described above.Implement
The beneficial effects of the practice of the present invention is：The automatic conveying system of the present invention is realized by the way that automatic conveying device is arranged
The automatic conveying of product is realized by manipulator and product is captured or put down automatically, can greatly improved production efficiency, have
It saves to effect artificial.And the manipulator of the present invention is by being arranged the first rotary components, the second rotary components, third rotation group
Part and grabbing assembly for capturing or putting down product, first rotary components, the second rotary components, third rotary components
Rotating around the reference axis rotation in X-axis, Y-axis, Z axis, it can realize and the automatic of product is captured or put down, and can be real
Rotation between present different station, rotary freedom is good, and positioning accuracy is high.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of automatic conveying system according to a preferred embodiment of the invention.
Fig. 2 is the stereoscopic schematic diagram of the external test equipment of automatic conveying system of Fig. 1.
Fig. 3 is the stereoscopic schematic diagram of another angle of the external test equipment of automatic conveying system shown in Fig. 2.
Fig. 4 is the stereoscopic schematic diagram 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 stereoscopic schematic diagram of automatic conveying device.
Fig. 6 is the stereoscopic schematic diagram of the automatic conveying device of the automatic conveying system of Fig. 1.
Fig. 7 is the stereoscopic schematic diagram of another angle of automatic conveying device shown in fig. 6.
Fig. 8 is the stereoscopic schematic diagram of the manipulator of the preferred embodiment of the present invention.
Fig. 9 is the stereoscopic schematic diagram that manipulator shown in Fig. 8 does not install grippers.
Figure 10 is the stereoscopic schematic diagram of the grippers of manipulator shown in Fig. 8.
Figure 11 is the flow chart of the application method of the automatic conveying system of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is further detailed below in conjunction with attached drawing.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.On the contrary, this
The embodiment of invention includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal
Object.In the embodiment of the present invention of diagram, the purpose using the term positions such as " left side ", " right side ", " front end ", " rear end " exists
In keeping description apparent, it is to be understood that in other embodiment, the position and orientation of each component can carry out as needed
It is corresponding to change 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 includes matrix 10, is set on matrix 10
For the automatic conveying device 30 of conveying products, for multi-direction multi-angle rotary to capture or put down the manipulator of product
50 and for control the automatic conveying device 30, manipulator 50 work control panel (not shown), the automatic conveying
Device 30, manipulator 50 are electrically connected with control panel.The present invention automatic conveying system 100 can realize product is passed through it is automatic
Conveying device 30 is transported at manipulator 50, then product is put into test equipment 70 by manipulator 50, such as：It is put into Shen
It asks someone application No. is being detected in 201510124762.7 IR remote controller test equipment, then test equipment 70 will be passed through
Detection is qualified and underproof product is respectively put into corresponding position；The full mechanical automation of whole process is realized, can effectively be saved
About artificial and cost.
Specifically, as shown in Figures 3 to 5, described matrix 10 includes substrate 11, the framework 12 being installed on substrate 11,
And it is installed on substrate 11 and positioned at the cabinet 13 at 12 middle part of the framework；Several idler wheels are installed on the substrate 11
14, to be moved easily automatic conveying system 100.The framework 12 is equipped with several openings 15, and glass can be installed at the opening 15
On the one hand glass door or windowpane are conducive to the cleaning and dustlessization that keep internal unit, on the other hand convenient in external observation, or
Person enters inspection or Awaiting Parts in matrix 10 by glass door.Also, it is equipped in the framework 12 for showing product
(the product information that the product information that the liquid crystal display 16 is shown can be shown with test equipment 70 of liquid crystal display 16 of information
Unanimously), the left side of the framework 12 is equipped with substandard products discharge port 17, and the right side of the framework 12 is connected with test equipment 70 and shape
At working position, and the right side of the framework 12 is equipped with certified products discharge port 18.The manipulator 50, automatic conveying device 30 are pacified
Loaded on the cabinet 13, the control panel is contained in the cabinet 13.
Wherein, as shown in Fig. 3 and Fig. 5 to Fig. 7, the automatic conveying device 30 is installed on the cabinet by holder
13 front side, and the front end (i.e. feed end) of the automatic conveying device 30, extend the left side of the framework 12 to the left,
In order to which product is put into automatic conveying device 30.The automatic conveying device 30 includes fixed frame 31, is installed on fixed frame 31
On at least a pair of of guide roller 32, the conveyer belt 33 that is installed on guide roller 32；The conveyer belt 33 is transported around the guide roller 32
It is dynamic so that the product on conveyer belt 33 is moved to rear end from the front end of automatic conveying device 30.Preferably, the fixed frame
31 include two block baffles 34 for being oriented to product, the adjustable working face for being installed on conveyer belt 33 of two block baffle 34
The top of the upper surface of product (place) and the both sides for being located at conveyer belt 33, being formed between two block baffle 34 can
The deflector chute 35 of adjusting；By installing two block baffles 34, the deflector chute between two block baffle 34 in the top of conveyer belt 33
35 is adjustable so that the product that is positioned on conveyer belt 33 in deflector chute 35 while being located between two block baffles 34, avoids
Situations such as product is likely to occur landing, direction is reverse and positive and negative reverse so that product can be existed with required direction and position
It is moved on conveyer belt 33, and convenient for the crawl of subsequent mechanical hand 50；It is understood that adjusting the positioning production of two block baffles 34
Product, need to avoid it is too tight or too loose, in order to avoid hinder product the effect for moving or not having positioning product.
Further, at least one cylinder 36 for positioning product, the cylinder 36 are installed on the fixed frame 31
It is installed on the top of the working face of conveyer belt 33, close to the rear end of conveyer belt 33, i.e. discharge end is arranged；And it is described at least one
Cylinder 36 is relatively arranged on the both sides of conveyer belt 33 respectively or at least one cylinder is located at the side of conveyer belt 33, institute
The other side for stating conveyer belt 33 is equipped with positioning plate 37, and the cylinder 36 is oppositely arranged with the positioning plate 37.When the product moves
When moving the rear end of conveyer belt 33, the cylinder 36 by being located at 33 both sides of conveyer belt abuts against the product, or positioned at defeated
It send the cylinder 36 of 33 side of band to abut against product on positioning plate 37, product can be efficiently located to fixed position, so as to
It is captured in manipulator 50.In the embodiment shown in fig. 6, the cylinder 36 is four, and every side of conveyer belt 33 is respectively set
Two cylinders 36.It is highly preferred that the cylinder 36 is two, two cylinders 36 are respectively positioned on the side of conveyer belt 33, the conveying
It is equipped with positioning plate 37 with 33 other side, the cylinder 36 is oppositely arranged with the positioning plate 37.It is noted that if vapour
Cylinder 36 be less than two, then it is unreliable to position, and cylinder 36 and space are wasted if more than three, thus, it is preferable to set-up mode
The use of cylinder 36 can be saved, and is made relatively reliable to the positioning of product.The cylinder 36 and solenoid valve (not shown)
Electrical connection, the switch block that cylinder 36 is used as by solenoid valve are used to control the action of cylinder 36, and the cylinder 36 includes cavity
With can stretch out the piston rod with retraction cavity, the structure and electric connection mode of the cylinder 36 and solenoid valve have been this field skill
Known to art personnel；It is understood that can realize other machineries of the positioning action of cylinder 36 and the on-off action of solenoid valve,
Electronic unit can also be used for the application.In the present embodiment, the automatic conveying device 30 further includes position sensor 301, institute
It states position sensor 301 close to the rear end of first baffle 341 or second baffle 342 to be arranged, passes through setting for position sensor 301
It sets, when at product in-position inductor 301, position sensor 301 senses product, to the electricity being electrically connected with cylinder 36
Magnet valve sends out signal, inspires solenoid valve and opens so that the cylinder 36 works, the piston rod of cylinder 36 is protruding by product top
It is against on positioning plate 37 so that product can obtain effectively fixing the crawl in order to manipulator 50.Preferably, the position
Inductor 301 is installed on the positioning plate 37, and installation site is more reasonable, can preferably sense product.
As shown in Figs. 5 to 7, the front end of the conveyer belt 33 is equipped with the feeding port for being put into product, the feeding degree of lip-rounding
The front end of two block baffles 34 described in Cheng Yu, the size of the feeding port is larger, convenient for being put into for product.In a preferred embodiment,
Two block baffle 34 is respectively first baffle 341 and second baffle 342, before the first baffle 341 and second baffle 342
End is inclined outwardly setting, the straight setting in middle part of the first baffle 341 and second baffle 342,341 He of the first baffle
The front end of second baffle 342 forms the trapezoidal deflector chute 35 being gradually reduced towards middle part, and the front end of the trapezoidal deflector chute 35 is
The deflector chute 35 at the middle part of feeding port, the first baffle 341 and second baffle 342 is equal in magnitude；First baffle 341 and second
Trapezoidal deflector chute 35 between baffle 342 is put into conveyer belt 33 convenient for product, and along first baffle 341 and second baffle 342
The deflector chute 35 of formation moves forward.In the illustrated embodiment, the rear end of the first baffle 341 is disposed adjacent with cylinder, institute
The rear end for stating second baffle 342 is connected with positioning plate 37 so that the structure of automation equipment arrangement is more reasonable, and product is along the
The deflector chute 35 that one baffle 341 and second baffle 342 are formed moves forward at cylinder 36, and it is fixed that cylinder 36 abuts against product
On the plate 37 of position, product can be efficiently located to fixed position, in order to which manipulator 50 captures.In addition, the fixed frame 31
Rear end be equipped with block 38 for avoiding product from falling, avoid the rear end that the product is moved to conveyer belt 33 from leading to product
It falls.
As shown in Figure 6 and Figure 7, the fixed frame 31 includes two fixed links 39 positioned at both sides, two block baffle 34
It is respectively arranged in described two fixed links 39, can either manually or automatically adjust the gap between two block baffles 34, from
The dynamic mode adjusted, such as may be used and the mode of motor is installed on baffle 34 carries out.The guide roller 32 is two, described
The front end of two fixed links 39 connects a guide roller 32, and the rear end of the fixed link 39 connects another guide roller 32, described
Conveyer belt 33 is sheathed on described two guide rollers 32, around 32 iterative motion of described two guide rollers.The automatic conveying
Device 30 further includes 40, two help rolls 41 of drive roll, and the drive roll 40 and help roll 41 are installed on the fixed frame 31
And positioned at the lower section of fixed frame 31, the drive roll 40 is located at the lower section of described two help rolls 41, described two help rolls
There are gap between 41, the conveyer belt 33 is sheathed on the drive roll 40 and across described two help rolls 41,
Conveyer belt 33 is drawn by two help rolls 41 for being arranged described, enables to the installation of conveyer belt 33 more reliable, keeps away
The generation for phenomena such as exempting to skid.The shaft of the drive roll 40 and two help rolls 41 is connected with motor (not shown), passes through
Motor drives help roll 41 described in the drive roll 40 to rotate, and drives 33 iterative motion of the conveyer belt, defeated to drive
The product on band 33 is sent to move.The drive roll 40, help roll 41 shaft and motor connection type, the structure of motor be
It is known by a person skilled in the art that this will not be repeated here.In the present embodiment, the fixed frame 31 further includes two mounting blocks 42,
Described two mounting blocks 42 are respectively arranged in the outside of two fixed links 39, and 40, two help rolls 41 of the drive roll are installed on
On described two mounting blocks 42, shaft is pierced by mounting blocks 42 and is connect with motor.
Automatic conveying device 30 through the invention, product is positioned on conveyer belt 33, the both sides installation of conveyer belt 33
There is adjustable two block baffle 34 so that the product that is positioned in the deflector chute 35 of conveyer belt 33 while being located in two block baffles
Between 34, situations such as product is likely to occur landing, direction is reverse and positive and negative reverse is avoided so that product can be by required side
It is moved on conveyer belt 33 to position, position sensor 301 and cylinder 36 is installed close to the rear end of conveyer belt 33, work as product
When at in-position inductor 301, position sensor 301 senses product, and letter is sent out to the solenoid valve being electrically connected with cylinder 36
Number, it inspires solenoid valve and opens so that the cylinder 36 works, the piston rod of cylinder 36 is protruding to abut against positioning plate by product
On 37 so that product can obtain effectively fixing the crawl in order to 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 in the cabinet 13
Portion, and corresponding with the flowing end of the automatic conveying device 30 (i.e. the rear end of the conveyer belt 33 of automatic conveying device 30) set
It sets.The manipulator 50 includes sequentially connected pedestal 51, the first rotary components 60, the second rotary components 70, third rotation group
Part 80 and grabbing assembly 90 for capturing or putting down product, first rotary components 60, the second rotary components 70, third
Rotary components 80 are rotated rotating around a reference axis in X-axis, Y-axis, Z axis.Refering to Fig. 3, pass through first rotary components
60, the setting of the second rotary components 70, third rotary components 80 so that manipulator 50 can be to anticlockwise to substandard products discharge port
17, it is rotated down product on crawl automatic conveying device 30, to right rotation to certified products discharge port 18 and test equipment 70
Working position, and product can be correspondingly positioned on the working position of test equipment 70.
Specifically, as shown in Fig. 3, Fig. 5, Fig. 8 and Fig. 9, the pedestal 51 is fixed on cabinet 13, first rotation
Component 60 is column spinner, and the column spinner 60 can be about the z axis rotatably mounted on pedestal 51 so that manipulator 50 can exist about the z axis
To anticlockwise to substandard products discharge port 17 on X/Y plane, to right rotation to the working position of certified products discharge port 18 and test equipment 70.
In a preferred embodiment, the column spinner 60 can do 0 ° to 360 ° and be rotatably mounted on pedestal 51 about the z axis so that manipulator 50
Rotary freedom bigger about the z axis.It is understood that as long as the other structures for doing 0 ° to 360 ° rotation about the z axis can be realized
First rotary components 60 of form can also be included in the construction of the application.
Second rotary components 70 can be rotatably mounted to around Y-axis on the first rotary components 60, the second rotation group
Part 70 can do 0 ° to 90 ° rotation around Y-axis.Allow manipulator 50 to be rotated downwardly to crawl around Y-axis and is located at automatic conveying device
Product is either correspondingly positioned on the working position of test equipment 70 or upward out automatic defeated around Y-axis by the product on 30
Send device 30 or test equipment 70.Specifically, in the present embodiment, second rotary components 70 include sequentially connected the
One linking arm 71, the first revolving part 72；Wherein, first linking arm 71 is fixed on the first rotary components 60, i.e. column spinner 60
On, first linking arm 71 includes two link blocks, shafts, and described two link blocks are individually fixed in the first rotary components 60
Both sides, the shaft is connected between two link blocks and is located at one of two link blocks far from the first rotary components 60
End；First revolving part 72 is installed in the shaft of first linking arm 71 and can rotate around the axis.It is understood that
Second rotary components 70 connect by the way that the first linking arm 71 and the first revolving part 72 is arranged, by the first revolving part 72 around first
The rotation of arm 71 is connect, it can be achieved that the second rotary components 70 are rotated around Y-axis.But in order to enable the rotation of the second rotary components 70 from
By spending more preferably, and the structural stability of manipulator 50 is more preferable.Preferably, second rotary components 70 further include being sequentially connected
The second linking arm 73 and the second revolving part 74, second linking arm 73 is fixed on the first revolving part 72, and described second connects
The structure for connecing arm 73 is similar to the first linking arm 71, including two link blocks, shafts, and described two link blocks are individually fixed in
The both sides of one revolving part, the shaft are connected between two link blocks and positioned at two link blocks far from the first revolving part 72
One end；Second revolving part 74 is installed in the shaft of second linking arm 73 and can rotate around the axis.In this implementation
In example, the front end of first revolving part 72 is formed with U-shaped groove, and the rear end of second revolving part 74 is contained in described first
In the U-shaped groove of 72 front end of revolving part so that the more reasonable structure of entire second revolving part 74, rotates effe is more preferably.
The third rotary components 80 are rotary body, and the rotary body 80 can be rotatably mounted to the second revolving part around X-axis
On 74；In the present embodiment, the rotary body 80 can do 0 ° to 360 ° around X-axis and be rotatably mounted on the second revolving part 74, make
The rotary freedom bigger of manipulator 50 is obtained, the manipulator 50 coordinates the second rotary components 70 by third rotary components 80,
Manipulator 50 can be made to realize the crawl of product at the automatic conveying device 30 either different location of test equipment 70 or put
Under.It is understood that as long as the third rotary components for the other structures form for doing 0 ° to 360 ° rotation around X-axis can be realized
80 can also be included in the construction of the application.
The grabbing assembly 90 captures the pith of product as manipulator 50, is installed on third rotary components 80
On, and can be rotated around X-axis, Y-axis, so that the flexibility ratio of manipulator 50 is more preferably, in the first rotary components 60, the second rotation group
On the basis of part 70, third rotary components 80 are rotating around the reference axis rotation in X-axis, Y-axis, Z axis, the grabbing assembly 90
It is suitable for accurate, the fine adjustment to 50 position of manipulator around X-axis, Y-axis rotation so that manipulator 50 captures or put down product
Accuracy is more preferably.Specifically, the third rotary components 80, the i.e. front end of rotary body 80 are equipped with shaft, the grabbing assembly
90 can turn be rotatably mounted in the shaft around Y, and in the present embodiment, refering to Fig. 9 and Figure 10, the grabbing assembly 90 can be around
Y axis does 0 ° and is rotatably mounted to 300 ° in the shaft of the rotary body 80, and the amplitude of rotation is more than the rotation of the second revolving part 74
Turn amplitude, is more advantageous to the position for adjusting grabbing assembly 90.Specifically, the grabbing assembly 90 includes sequentially connected first
Spill spin block 91, the second spill spin block 92, the grippers 93 for capturing product, first spill spin block 91 can rotatably be pacified around Y-axis
In shaft loaded on the rotary body 80, i.e., the described grabbing assembly 90 can do 0 ° to 300 ° rotation by the first spill spin block 91 around Y-axis
It is installed in the shaft of the rotary body 80 with turning.First spill spin block 91 is equipped with shaft, and second spill spin block 92 can
It is rotatably mounted to about the z axis in the shaft of the first spill spin block 91, in the present embodiment, second spill spin block 92 can be done about the z axis
0 ° to 360 ° rotation, so as to adjust the crawl orientation of the grippers 93 connected on the second spill spin block 92.Second rotation
The front end of block 92 is equipped with connecting shaft, and the grippers 93 are fixed in the connecting shaft, and the grippers 93 include fixed plate 94
And the array sucker 95 for capturing product in fixed plate 94, each group of sucker 95 correspond to one product of crawl.Institute
The product on automatic conveying device 30 can be picked up by mechanical force, electromagnetic force or adsorption capacity by stating sucker 95, it is possible to understand that
, the grippers 93 of other forms that can be used in capturing product can also be used for the present invention, can pass through different machinery sides
Formula electronically etc. is realized crawl to product or is put down.
The manipulator 50 of the present invention, can be gone out on X/Y plane to anticlockwise to substandard products about the z axis by the first rotary components 60
Material mouth 17, to right rotation to automatic conveying device 30, then to right rotation to the working position of certified products discharge port 18 and test device；
Pass through the second rotary components 70 so that manipulator 50 can be rotated downwardly to crawl around Y-axis and be located on automatic conveying device 30
Product is either correspondingly positioned on the working position of test equipment 70 or around the upward out automatic conveying device of Y-axis by product
30 or test equipment 70；It is rotated again around X-axis by third rotary components 80, coordinates the second rotary components 70, it can be automatic defeated
Device 30 is sent either to realize the crawl of product at the different location of test equipment 70 or put down.Further, the crawl group
Part 90 is installed on third rotary components 80, and can be rotated around X-axis, Y-axis, is suitable for the accurate, fine of 50 position of manipulator
Adjustment so that manipulator 50 captures or puts down the accuracy of product more preferably.In short, the manipulator 50 can be realized to product
Automatically it captures or puts down, and can realize the rotation between different station, rotary freedom is good, and positioning accuracy is high.
The control panel of the present invention is contained in the cabinet 13, is electrically connected with manipulator 50, automatic conveying device 30
It connects, for controlling the automatic conveying device 30, manipulator 50 works.For example, electric control gear is filled with the automatic conveying of driving
Set the motor electrical connection that 30 40, two help rolls 41 of drive roll rotate, the rotation for controlling 40, two help rolls 41 of drive roll
Turn；Solenoid valve of the electric control gear with position sensor 301 and for connecting cylinder 36 is electrically connected, for making position sensor
301 work, and solenoid valve is made to open and close.Electric control gear is connected with manipulator 50, for control machinery hand 50 around X-axis, Y
Axis, Z axis rotation.In short, can realize that the control panel for carrying out circuit control to automatic conveying device 30, manipulator 50 is available
In the present invention, those skilled in the art can realize that this will not be repeated here by existing control method.
As shown in figure 11, invention additionally discloses the application methods of the automatic conveying system 100, by above-mentioned automatic defeated
System 100 is sent to realize.The application method of the automatic conveying system 100 includes the following steps：Step S10, product is put into institute
The Automatic Conveying device 30 for stating automatic conveying system is transported；Step S20, Automatic Conveying dress is captured by manipulator 50
The product set and being put into takes out after being tested accordingly in corresponding test equipment 70.More specifically, including the following steps：
Step S1, product is put on the conveyer belt 33 of Automatic Conveying device, adjusts the two of 33 both sides of conveyer belt installation
Block baffle 34 will be positioned in deflector chute 35 of the product orientation on conveyer belt 33 between two block baffles 34, the product edge
The movement of conveyer belt 33.In this step S1, by the product after appearance detects, such as：Remote controler is put on conveyer belt 33
Feeding port, the button of remote controler is face-up, is put into deflector chute 35 by certain direction, the product along conveyer belt 33 move
It is dynamic, situations such as product is likely to occur landing, direction is reverse and positive and negative reverse can be avoided under the guiding of deflector chute 35.
When step S2, at product in-position inductor 301, position sensor 301 senses product, inspires cylinder 36
It works product orientation.In step s 2, when product is moved to reach along conveyer belt 33 at position sensor 301, position sense
It answers device 301 to sense product, signal is sent out to the solenoid valve being electrically connected with cylinder 36, inspire solenoid valve and open so that the cylinder
36 work, the piston rod of cylinder 36 is protruding to abut against product on positioning plate 37 so that product can obtain effectively fixed
Position.
Step S3, manipulator 50 rotate to the rear end of Automatic Conveying device, and crawl is positioned on Automatic Conveying device
Product.In step s3, manipulator 50 is rotated to by the first rotary components 60 at automatic conveying device 30, passes through second
Rotary components 70 are rotated down, and grabbing assembly 90 correspondingly captures product, in this process, can also rotate group by third
Part 80 and grabbing assembly 90 rotation of itself make manipulator 50 be accurately positioned to capture product.
Step S4, manipulator 50 rotate to test equipment 70 after capturing product and then product are put into test equipment 70
Working position is tested.In this step S4, manipulator 50 captures product, Ke Yitong by the sucker 95 on grabbing assembly 90
When capture several products, in the present embodiment, every time capture two products.Also, the working position of the test equipment 70 can be with
For moveable two working positions, when a working position enters test equipment 70 and is detected, another working position exits, machine
Tool hand 50 is put into remote controler to another working position, can make the operation of system so more rationally, more can save time and cost.
Step S5, after test, manipulator 50 is rotated to certified products discharge port 18, and the product of test passes is put into conjunction
The product of test failure is put into substandard products discharge port by lattice product discharge port 18 or the rotation of manipulator 50 to substandard products discharge port 17
17.In this step, the product of the product of test passes and test failure is distinguished, will be closed respectively by manipulator 50
Lattice product and defective work are put into certified products discharge port 18 or substandard products discharge port 17, carry out subsequent processing.
Implement the manipulator of the preferred embodiment of the present invention and the automatic conveying system using manipulator, at least has with following
Beneficial effect：
1, automatic conveying system of the invention realizes the automatic conveying of product by the way that automatic conveying device is arranged, passes through machine
Product is captured or is put down automatically by the realization of tool hand, can greatly improve production efficiency, has been effectively saved artificial.It is (opposite
Manual mode can save 3 to 4 Manufacturing Workers.)
2, manipulator of the invention can be discharged on X/Y plane to anticlockwise to substandard products about the z axis by the first rotary components
Mouthful, to right rotation to automatic conveying device, then to right rotation to the working position of certified products discharge port and test device；Pass through second
Rotary components so that manipulator can be rotated downwardly to the product that crawl is located on automatic conveying device around Y-axis or by product
It is correspondingly positioned on the working position of test equipment, or around the upward out automatic conveying device of Y-axis or test equipment；Pass through again
Third rotary components are rotated around X-axis, coordinate the second rotary components, can be in automatic conveying device or the different positions of test equipment
It realizes the crawl of product or puts down in the place of setting.Further, the grabbing assembly is installed on third rotary components, and can be around X
Axis, Y-axis rotation, are suitable for accurate, the fine adjustment to position of manipulator so that manipulator captures or put down the accuracy of product
More preferably.The automatic of product is captured or put down in short, the manipulator can be realized, and can be realized between different station
Rotation, rotary freedom is good, and positioning accuracy is high.
In the description of the present invention, it is to be understood that, term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indicating or implying relative importance.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
Or it is more than two.Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：
In the case of not departing from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments,
The scope of the present invention is limited by claim and its equivalent.
Claims (1)
1. a kind of automatic conveying system, which is characterized in that the automatic conveying system is described automatic for conveying remote controler automatically
Transport system include matrix, on matrix for conveying products automatic conveying device, be used for multi-direction multi-angle rotary
To capture or put down the manipulator of product and the control panel for controlling the automatic conveying device, robot work, institute
State automatic conveying device, manipulator is electrically connected with control panel；Wherein, the manipulator includes sequentially connected pedestal, first
Rotary components, the second rotary components, third rotary components and the grabbing assembly for capturing or putting down product, first rotation
Turn component, the second rotary components, third rotary components to rotate rotating around a reference axis in X-axis, Y-axis, Z axis；The crawl
Component includes sequentially connected first spill spin block, the second spill spin block, the grippers for capturing product, and first spill spin block can
In the shaft that Y-axis is rotatably mounted to the third rotary components, first spill spin block is equipped with shaft, second rotation
Switch block can be about the z axis rotatably mounted in the shaft of the first spill spin block, and the front end of second spill spin block is equipped with connecting shaft, described
Grippers are fixed in the connecting shaft；The grippers include fixed plate and are used to draw product in fixed plate
Array sucker；
The automatic conveying device includes fixed frame, is installed on fixed frame at least a pair of of guide roller is installed on the guiding
Conveyer belt on roller；The fixed frame includes two block baffles for being oriented to product, and two block baffle is adjustable to be installed on
The top of the working face of conveyer belt and the both sides for being located at conveyer belt are formed with adjustable guide between two block baffles
Slot；Two block baffle is respectively first baffle and second baffle, and the front end of the first baffle and second baffle is inclined outwardly
The front end of setting, the straight setting in middle part of the first baffle and second baffle, the first baffle and second baffle forms court
The trapezoidal deflector chute being gradually reduced to middle part；Front end, that is, feeding port of the trapezoidal deflector chute, the first baffle and second
The deflector chute at the middle part of baffle is equal in magnitude, and the rear end of the fixed frame is equipped with the block for avoiding conveying product from falling, described
Automatic conveying device further includes the position sensor installed close to the rear end of conveyer belt, and the position sensor is installed on and determines
On the plate of position, the rear end of the second baffle is connected with positioning plate, is equipped on the fixed frame at least one for positioning production
The cylinder of product, the cylinder are installed on the top of the working face of conveyer belt and are arranged close to the rear end of the fixed frame；It is described defeated
The other side of band is sent to be equipped with positioning plate, the cylinder is oppositely arranged with the positioning plate, and the cylinder is electrically connected with the solenoid valve；Institute
It further includes position sensor to state automatic conveying device, and the position sensor is arranged close to the rear end of baffle, first rotation
Component includes column spinner, and the column spinner can be rotatably mounted on pedestal about the z axis, and second rotary components include connecting successively
The first linking arm, the first revolving part, the second linking arm, the second revolving part connect, second rotary components can be around Y-axis rotatably
It is installed on the first rotary components, second rotary components can do 0 ° to 90 ° rotation around Y-axis, and first linking arm is fixed
In on the first rotary components, first linking arm includes two link blocks, shafts, and described two link blocks are individually fixed in the
The both sides of one rotary components, the shaft are connected between two link blocks；First revolving part is installed on described first and connects
It connects in the shaft of arm and can rotate around the axis, second linking arm is fixed on the first revolving part, the second linking arm packet
Two link blocks, shafts are included, described two link blocks are individually fixed in the both sides of the first revolving part, and the shaft is connected to two
Between link block；Second revolving part is installed in the shaft of second linking arm and can rotate around the axis, the third
Rotary components include rotary body, and the rotary body can be rotatably mounted on the second rotary components around X-axis, the third rotation group
The front end of part be equipped with shaft, the grabbing assembly can around Y turn be rotatably mounted in the shaft, the grabbing assembly include according to
First spill spin block of secondary connection, the second spill spin block, the grippers for capturing product, first spill spin block can be rotated around Y-axis
Ground is installed in the shaft of the third rotary components, and first spill spin block is equipped with shaft, and second spill spin block can be around Z
Axis is rotatably mounted in the shaft of the first spill spin block, and the front end of second spill spin block is equipped with connecting shaft, and the grippers are solid
Due in the connecting shaft, the grippers include that fixed plate and the array for drawing product in fixed plate are inhaled
Disk.
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|---|---|---|---|
| CN201510308352.8A CN104891171B (en) | 2015-06-07 | 2015-06-07 | A kind of automatic conveying system |
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|---|---|---|---|
| CN201510308352.8A CN104891171B (en) | 2015-06-07 | 2015-06-07 | A kind of automatic conveying system |
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| CN104891171B true CN104891171B (en) | 2018-08-10 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105217327B (en) * | 2015-09-27 | 2017-11-10 | 黄山学院 | A kind of automatic feeding device of hydraulic-driven |
| CN107585572B (en) * | 2017-09-18 | 2023-10-27 | 安徽机电职业技术学院 | Wooden board automatic feeding machine |
| CN107601037B (en) * | 2017-09-18 | 2023-12-29 | 安徽机电职业技术学院 | Automatic wooden board moving device |
| CN108760155A (en) * | 2018-07-17 | 2018-11-06 | 无锡黎曼机器人科技有限公司 | Safety valve Auto-Test System |
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| CN203935980U (en) * | 2014-06-26 | 2014-11-12 | 凌琳 | A kind of robot automatic dispensing machine |
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| CN202285023U (en) * | 2011-09-14 | 2012-06-27 | 深圳市佳晨科技有限公司 | Shield testing system |
| CN202670706U (en) * | 2012-07-27 | 2013-01-16 | 毛成兵 | Accurate locating intermittent conveying mechanism for paper cylinder cake |
| JP6332900B2 (en) * | 2012-08-31 | 2018-05-30 | セイコーエプソン株式会社 | Robot system and robot controller |
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| US4273506A (en) * | 1977-10-20 | 1981-06-16 | Imperial Chemical Industries Limited | Industrial manipulator for placing articles in close proximity to adjacent articles |
| US4645411A (en) * | 1985-03-18 | 1987-02-24 | Albert Madwed | Gripper assembly |
| CN203935980U (en) * | 2014-06-26 | 2014-11-12 | 凌琳 | A kind of robot automatic dispensing machine |
| CN204220404U (en) * | 2014-10-28 | 2015-03-25 | 温玉桂 | Point glue equipment |
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| Publication number | Publication date |
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| CN104891171A (en) | 2015-09-09 |
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