CN105668208B - A kind of loading and unloading equipment of collector - Google Patents

A kind of loading and unloading equipment of collector Download PDF

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Publication number
CN105668208B
CN105668208B CN201511021062.1A CN201511021062A CN105668208B CN 105668208 B CN105668208 B CN 105668208B CN 201511021062 A CN201511021062 A CN 201511021062A CN 105668208 B CN105668208 B CN 105668208B
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China
Prior art keywords
collector
loading
unloading
station
positioning
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CN201511021062.1A
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Chinese (zh)
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CN105668208A (en
Inventor
徐永进
鲁然
沈曙明
周永佳
周晨晖
李晨
丁徐楠
宋磊
邵竑湄
郭励
蒋云华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
Zhejiang Electric Power Research Institute
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State Grid Corp of China SGCC
Zhejiang Electric Power Research Institute
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Priority to CN201511021062.1A priority Critical patent/CN105668208B/en
Publication of CN105668208A publication Critical patent/CN105668208A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/56Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections
    • B65G47/57Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections for articles

Abstract

The invention discloses a kind of loading and unloading equipment of collector, includes feed pipeline (3), the detection pipeline (4) of transportation tooling plate of conveying Turnover Box, the Turnover Box and the working plate are used to place the collector;Also include being used for adjusting make in the Turnover Box collector in the distance of the collector and the working plate apart from identical positioning intermediate station (2), and for transmitting the loading and unloading robot (1) of the collector.The loading and unloading equipment of the collector is effectively improved the detection efficiency of collector.

Description

A kind of loading and unloading equipment of collector
Technical field
The present invention relates to collector detection field, more particularly to a kind of loading and unloading equipment of collector.
Background technology
At present, the loading and unloading work of collector is still carried by the way of artificial, is manually placed on the detection examination specified Test on platform, manually detected, not only the labor intensity of worker is higher, and detection time is longer, and the detection efficiency of collector is relatively low, It is relatively low to detect reliability, does not meet requirement of the current power detection industry for automation also.
In summary, the detection efficiency of collector how is effectively improved, is that current those skilled in the art are badly in need of solving The problem of.
The content of the invention
It is an object of the invention to provide a kind of loading and unloading equipment of collector, the detection for being effectively improved collector is imitated Rate.
In order to solve the above technical problems, the present invention provides following technical scheme:
A kind of loading and unloading equipment of collector, including feed pipeline, the detection of transportation tooling plate of conveying Turnover Box are defeated Line sending, the Turnover Box and the working plate are used to place the collector;Also include making institute in the Turnover Box for adjustment That states the collector in the distance and the working plate of collector positions intermediate station apart from identical, and described for transmitting The loading and unloading robot of collector.
Preferably, the hand of the loading and unloading robot has the fixture for picking and placeing the collector.
Preferably, the fixture includes the vacuum cup for being served only for adsorbing and placing the collector more.
Preferably, the vacuum cup is installed on the hand of the loading and unloading robot by fixed support.
Preferably, the bottom face of the loading and unloading robot is fixed on the base, and the base is fixed on ground.
Preferably, the loading and unloading robot is specially six-DOF robot.
Preferably, it is described positioning intermediate station include be fixed on ground intermediate station support, be installed on the intermediate station branch Belt conveyor line on frame, and for positioning the locating module of the collector.
Preferably, the locating module includes the cylinder body for adjusting the collector distance.
Preferably, the feed pipeline is motorized pulleys pipeline.
Preferably, the detection pipeline is belt working plate pipeline.
The loading and unloading equipment of collector provided by the present invention, including feed pipeline, detection pipeline, positioning intermediate station And loading and unloading robot, feed pipeline are used to convey Turnover Box, detection pipeline is used for transportation tooling plate, Turnover Box and work Loading board is used to place collector.Loading and unloading robot is used to transmit the collector and positioning transfer in Turnover Box or in working plate Collector on platform, that is to say, that the collector in Turnover Box or in working plate can be transferred to positioning transfer by loading and unloading machine On platform, or by position intermediate station on collector be transferred in Turnover Box or in working plate.Positioning intermediate station is put for adjustment The distance for the collector being placed on positioning intermediate station, positioning acquisition device, makes to adopt in the distance of collector and working plate in Turnover Box The distance of storage is identical, and both can match, and switching collector is positioned in Turnover Box or in working plate, completes collector feeding Expect under collector in working plate on to detection pipeline and on detection pipeline in working plate and had enough to meet the need on feed pipeline Carrying work in case.
The loading and unloading equipment of collector provided by the present invention, the loading and unloading work of collector are taken by loading and unloading robot The mode for putting and positioning intermediate station positioning is carried, and collector is placed on the Detecting data specified by loading and unloading robot, The automatic detection of collector is realized, the labor intensity of worker is not only reduced, reduces detection time, also improve collector Detection efficiency, meet requirement of the current power detection industry for automation.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with Other accompanying drawings are obtained according to these accompanying drawings.
The structural representation of the loading and unloading equipment for the collector that Fig. 1 is provided for a kind of embodiment in the present invention;
Fig. 2 is the structural representation of Tu1Zhong loading and unloading robot;
Fig. 3 is the structural representation of fixture in Fig. 2;
Fig. 4 is the structural representation that intermediate station is positioned in Fig. 1.
Marked in accompanying drawing as follows:
1- loading and unloading robot, 2- positioning intermediate station, 3- feed pipeline, 4- detections pipeline, 11- fixtures, 12- bottoms Seat, 21- locating modules, 22- belt conveyors line, 23- intermediate stations support, 111- fixed supports, 112- vacuum cups.
Embodiment
The core of the present invention is to provide a kind of loading and unloading equipment of collector, is effectively improved the detection effect of collector Rate.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
Fig. 1 to Fig. 4 is refer to, the loading and unloading for the collector that Fig. 1 is provided for a kind of embodiment in the present invention are set Standby structural representation;Fig. 2 is the structural representation of Tu1Zhong loading and unloading robot;Fig. 3 is the structural representation of fixture in Fig. 2; Fig. 4 is the structural representation that intermediate station is positioned in Fig. 1.
In a kind of embodiment, the loading and unloading equipment of collector provided by the present invention, be particularly suitable for use in II type Collector, including feed pipeline 3, detection pipeline 4, positioning intermediate station 2 and loading and unloading robot 1, Turnover Box is positioned over It is fed on pipeline 3, for conveying Turnover Box, working plate is positioned on detection pipeline 4, for transportation tooling plate, Turnover Box It is used to place collector with working plate.Loading and unloading robot 1 is used to transmit the collector in Turnover Box or in working plate and determined Collector on the intermediate station 2 of position, that is to say, that the collector in Turnover Box or in working plate can be transferred to fixed by loading and unloading machine Position intermediate station 2 on, or by position intermediate station 2 on collector be transferred in Turnover Box or in working plate.Positioning intermediate station 2 is used The distance of the collector on positioning intermediate station 2 is positioned in adjustment, positioning acquisition device, makes the distance and work of collector in Turnover Box The distance of collector is identical in loading board, and both can match, and switching collector is positioned in Turnover Box or in working plate, completes to adopt Expect on storage and expect that feed is defeated under the collector in the working plate on detection pipeline 4 and on detection pipeline 4 in working plate Carrying work in line sending 3 in Turnover Box.Specifically, the Turnover Box equipped with collector is transported to collection by feed pipeline 3 After device loading and unloading equipment region, collector is taken out from Turnover Box by loading and unloading robot 1, is put on positioning intermediate station 2, Collector is accurately positioned by positioning intermediate station 2, and the robot of loading and unloading afterwards 1 takes out the collector having good positioning, and is placed into By detection pipeline 4 be conveyed through Lai working plate on, complete feeding action;During blanking, loading and unloading robot 1 first by it is qualified with not Qualified collector is put into qualified and defective work belt line respectively, then is separately cased with underproof collector qualified.
The loading and unloading equipment of collector provided by the present invention, the loading and unloading work of collector pass through loading and unloading robot 1 The mode for picking and placeing and positioning the positioning of intermediate station 2 is carried, and collector is placed on the Detecting data specified by loading and unloading robot 1 On, the automatic detection of collector is realized, the labor intensity of worker is not only reduced, reduces detection time, also improve and adopt The detection efficiency of storage, meet requirement of the current power detection industry for automation.
The loading and unloading equipment of above-mentioned collector is only a kind of preferred scheme, is specifically not limited thereto, on this basis may be used Made according to being actually needed with targetedly adjusting, so as to obtain different embodiments, the hand tool of loading and unloading robot 1 There is fixture 11, fixture 11 can pick and place collector, and the shape of fixture 11 and collector is adapted, fast and easy crawl collector.
On the basis of above-mentioned embodiment, those skilled in the art can be according to the difference of specific occasion, to adopting The loading and unloading equipment of storage carries out some changes, and fixture 11 includes the vacuum cup 112 for being served only for adsorbing and placing collector more, Negative-pressure adsorption, crawl is firm, easy to control.Certainly, vacuum cup 112 is a kind of preferred embodiment, is not unique , other suitable fixtures 11, such as clamping device 11 are can also be, all within the scope of the present invention.
Obviously, under the guidance of this thought, those skilled in the art can be according to the difference of specific occasion to above-mentioned Vacuum cup 112 in embodiment carries out some changes, and vacuum cup 112 is installed on up and down by fixed support 111 Expect the hand of robot 1, fixed support 111 is fixed on the hand of loading and unloading robot 1, and vacuum cup 112 is fixed on fixed branch On frame 111, facilitate vacuum cup 112 to install, firmly install.
It is important to note that the loading and unloading equipment of collector provided by the present invention is not intended to be limited to such a feelings Shape, the bottom face of loading and unloading robot 1 are fixed on base 12, and base 12 is fixed on ground.Base 12 is used for above and below fixed Expect robot 1, the height of adjustment loading and unloading robot 1, keep loading and unloading robot 1 to be easy to pick and place collector, can be carbon steel Material, or other suitable materials, such as composite, the base 12 of which kind of specifically used material can be according to tool The different sets itselfs of body service condition.
In order to further optimize above-mentioned technical proposal, the specially six-DOF robot of loading and unloading robot 1, charging & discharging machine Device people 1 can be with free movement, more flexibly.
The loading and unloading equipment of collector provided by the present invention, in the case of other parts are immovable, position intermediate station 2 Including turntable support, belt conveyor line 22 and locating module 21, intermediate station support 23 is fixed on ground, belt conveyor line 22 It is installed on intermediate station support 23, transmits collector, locating module 21 is used for positioning acquisition device, there can be multiple sprocket bits Put.Preferably, locating module 21 includes the cylinder body of adjustment collector distance, and cylinder body is specifically as follows cylinder.
Specifically, by taking feeding process as an example, collector is put on the belt conveyor line 22 of positioning intermediate station 2;Positioning The belt conveyor line 22 of intermediate station 2 is moved, and more collectors are transported into position location successively, is transported for guarantee collector and quiet Stop bit is put accurate, and the locating module 21 positioned on intermediate station 2 successively releases positioning cylinder, separates every collector, and protect Demonstrate,prove the distance between every collector to be consistent with the orientation distance on frock board clamp 11, treat that last collector is determined Position after, loading and unloading robot 1 acts, and the vacuum cup 112 of fixture 11 holds the front of collector, by its from positioning intermediate station 2 On remove, and rotated, the collector for making to place vertically is changed into horizontal direction placement, and the robot of loading and unloading afterwards 1 acts, will Collector is put into the working plate on automatic detection pipeline 4, completes the work of feeding;During blanking, loading and unloading robot 1 First it is put into qualified respectively in qualified and defective work belt line with underproof collector, then to qualified and underproof collection Device is separately cased.
On the basis of above-mentioned each specific embodiment, feed pipeline 3 is motorized pulleys pipeline, for by Turnover Box Conveying is in place.Preferably, it is belt working plate pipeline to detect pipeline 4, for transporting collector to each functional module.For Material pipeline 3 and detection pipeline 4 convey steadily, convenient and swift.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention. A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one The most wide scope caused.

Claims (8)

1. a kind of loading and unloading equipment of collector, including the feed pipeline (3) of conveying Turnover Box, the detection of transportation tooling plate are defeated Line sending (4), the Turnover Box and the working plate are used to place the collector;Characterized in that, also include making for adjustment The collector apart from identical positions intermediate station in the distance of the collector and the working plate in the Turnover Box (2), and for transmitting the loading and unloading robot (1) of the collector,
The loading and unloading machine (1) is used to the collector in the Turnover Box or in working plate being transferred in the positioning On turntable (2), or the collector on positioning intermediate station (2) is transferred in the Turnover Box or the working plate It is interior;Collector is accurately positioned by the positioning intermediate station (2), afterwards, the institute that the loading and unloading robot (1) will be had good positioning State collector taking-up, be placed into by it is described detection pipeline (4) be conveyed through come the working plate on, complete feeding act;Under During material, the loading and unloading robot (1) is first put into qualified and defective work skin respectively by qualified with the underproof collector On band line, then separately cased with underproof collector qualified;
It is described positioning intermediate station (2) include be fixed on ground intermediate station support (23), be installed on the intermediate station support (23) the belt conveyor line (22) on, and for positioning the locating module (21) of the collector;The locating module (21) Cylinder body including adjusting the collector distance, the cylinder body are specifically as follows cylinder;The locating module (21) is used for successively Positioning cylinder is released, separates every collector, and ensure the distance between every described collector and the working plate Orientation distance on fixture (11) is consistent, after last described collector is positioned, the loading and unloading robot (1) Action, the vacuum cup (112) of the fixture (11) hold the front of the collector, and it is positioned into intermediate station (2) from described On remove, and rotated, the collector for making to place vertically is changed into horizontal direction placement.
2. the loading and unloading equipment of collector according to claim 1, it is characterised in that the loading and unloading robot (1) Hand has the fixture (11) for picking and placeing the collector.
3. the loading and unloading equipment of collector according to claim 2, it is characterised in that the fixture (11) includes more use In the vacuum cup (112) for adsorbing and placing the collector.
4. the loading and unloading equipment of collector according to claim 3, it is characterised in that the vacuum cup (112) passes through Fixed support (111) is installed on the hand of the loading and unloading robot (1).
5. the loading and unloading equipment of collector according to claim 4, it is characterised in that the loading and unloading robot (1) Bottom face is fixed on base (12), and the base (12) is fixed on ground.
6. the loading and unloading equipment of collector according to claim 5, it is characterised in that loading and unloading robot (1) tool Body is six-DOF robot.
7. the loading and unloading equipment of collector according to claim 6, it is characterised in that the feed pipeline (3) is electricity Dynamic drum conveying line.
8. the loading and unloading equipment of collector according to claim 7, it is characterised in that the detection pipeline (4) is skin Band working plate pipeline.
CN201511021062.1A 2015-12-30 2015-12-30 A kind of loading and unloading equipment of collector Active CN105668208B (en)

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CN201511021062.1A CN105668208B (en) 2015-12-30 2015-12-30 A kind of loading and unloading equipment of collector

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Application Number Priority Date Filing Date Title
CN201511021062.1A CN105668208B (en) 2015-12-30 2015-12-30 A kind of loading and unloading equipment of collector

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CN105668208B true CN105668208B (en) 2017-12-29

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106179983B (en) * 2016-07-06 2018-05-18 中山鑫辉精密技术股份有限公司 A kind of main button case ring automatic detecting machine of mobile phone

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CN202174585U (en) * 2011-07-22 2012-03-28 浙江省电力公司 Robot loading and unloading device for electric energy meter
CN103482370A (en) * 2013-08-29 2014-01-01 合肥雄鹰自动化工程科技有限公司 Tray library system of robot palletizer
CN203380890U (en) * 2012-08-13 2014-01-08 国家电网公司 Robot with three-dimension scanning identification function and stacking and unstacking system
CN104001836A (en) * 2014-05-22 2014-08-27 辽宁省机械研究院有限公司 Automatic vertical carrying device for heat exchanger core expansion tube and application method
CN104355111A (en) * 2014-10-28 2015-02-18 辽宁省机械研究院有限公司 Automatic conveying device for helium leak check of air-conditioning heat exchanger cores and using method
CN104647373A (en) * 2014-12-19 2015-05-27 广州达意隆包装机械股份有限公司 Carrying system of robot palletizer and carrying method of robot palletizer
CN104722497A (en) * 2015-03-16 2015-06-24 机科发展科技股份有限公司 Automatic detection sorting machine for compressor parts

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JPS58202210A (en) * 1982-05-19 1983-11-25 Toshiba Corp Vertical transfer apparatus

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102134000A (en) * 2011-03-11 2011-07-27 浙江省电力公司 Watt-hour meter handling manipulator suitable for multi-meter-position tooling board
CN202174585U (en) * 2011-07-22 2012-03-28 浙江省电力公司 Robot loading and unloading device for electric energy meter
CN203380890U (en) * 2012-08-13 2014-01-08 国家电网公司 Robot with three-dimension scanning identification function and stacking and unstacking system
CN103482370A (en) * 2013-08-29 2014-01-01 合肥雄鹰自动化工程科技有限公司 Tray library system of robot palletizer
CN104001836A (en) * 2014-05-22 2014-08-27 辽宁省机械研究院有限公司 Automatic vertical carrying device for heat exchanger core expansion tube and application method
CN104355111A (en) * 2014-10-28 2015-02-18 辽宁省机械研究院有限公司 Automatic conveying device for helium leak check of air-conditioning heat exchanger cores and using method
CN104647373A (en) * 2014-12-19 2015-05-27 广州达意隆包装机械股份有限公司 Carrying system of robot palletizer and carrying method of robot palletizer
CN104722497A (en) * 2015-03-16 2015-06-24 机科发展科技股份有限公司 Automatic detection sorting machine for compressor parts

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