CN106219236A - A kind of unmanned apparatus for feeding of NOTE - Google Patents

A kind of unmanned apparatus for feeding of NOTE Download PDF

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Publication number
CN106219236A
CN106219236A CN201610780466.7A CN201610780466A CN106219236A CN 106219236 A CN106219236 A CN 106219236A CN 201610780466 A CN201610780466 A CN 201610780466A CN 106219236 A CN106219236 A CN 106219236A
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CN
China
Prior art keywords
panel
box
cylinder
track
axle
Prior art date
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Granted
Application number
CN201610780466.7A
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Chinese (zh)
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CN106219236B (en
Inventor
郑贵军
侯德胜
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.)
Suzhou Longkun automation equipment Co., Ltd
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Suzhou Lang Kun Automation Equipment Co Ltd
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Application filed by Suzhou Lang Kun Automation Equipment Co Ltd filed Critical Suzhou Lang Kun Automation Equipment Co Ltd
Priority to CN201610780466.7A priority Critical patent/CN106219236B/en
Publication of CN106219236A publication Critical patent/CN106219236A/en
Application granted granted Critical
Publication of CN106219236B publication Critical patent/CN106219236B/en
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Classifications

    • 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
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • B23P19/007Picking-up and placing mechanisms

Abstract

The invention discloses a kind of NOTE unmanned charging haulage equipment, including housing, cylinder frame, panel feeding carrying mechanism, empty BOX backflow turn to carrying mechanism, panel BOX carrying mechanism, panel transverse refluxing elevator, panel transmission track, and panel cleans equipment;Cylinder frame includes cylinder track setting up and down, and wherein top cylinder track is pan feeding track, and lower section cylinder track is that BOX flows out track;Panel feeding carrying mechanism is arranged on pan feeding track extension line side, matches with panel transmission track, and panel feeding carrying mechanism arranges the first grabbing assembly.The unmanned apparatus for feeding of a kind of NOTE that the present invention provides, this equipment flows out mechanism by penel lift rotary, and BLU lift rotary flows out mechanism, complete automatization's charging of penal and BLU, equipment is reasonable in design, and working performance is high, can meet automatization's fuel requirements of plurality of specifications NOTE product.

Description

A kind of unmanned apparatus for feeding of NOTE
Technical field
The present invention relates to a kind of apparatus for feeding, be specifically related to a kind of unmanned apparatus for feeding of NOTE, belong to automatic field.
Background technology
Panel computer framework (BLU) and screen assembly (panel) assembling process involve accurate assembling industry, conventional life Produce assembling mode typically by certain position tool, after the most respectively framework and screen assembly being combined, panel in bonding processes The lower association of very high accuracy is needed to form with BLU.Conventional automation equipment cannot accomplish the highly controllable of precision, association quality Unstable.Due to the Rapid Variable Design of consumer electronics market, the model change cycle substantially accelerates, in small lot, many specifications Feature, if utilizing the conventional mode of production to meet the market demand, needs exploitation much more very assembly locating fixtures, tool Meeting the specification of different product, owing to specific fixture, tool construction cycle are longer, cost is high, is increasingly not suitable with scale Produce and need.Being placed in carrier owing to panel is typically stacked, spaced apart with dust-free paper between panel, panel has captured Bi Hou, should remove dust-free paper, also carrier is carried out working region after the penel in carrier captured.Same with this Time, BLU is wrapped with protecting film as moulding, surface, it is achieved dike and front, be removed by protecting film, and existing automation equipment cannot Complete above-mentioned automated production target.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of unmanned apparatus for feeding of NOTE, this equipment passes through penel Lift rotary flows out mechanism, and BLU lift rotary flows out mechanism, completes automatization's charging of penal and BLU, and equipment is reasonable in design, Working performance is high, can meet automatization's fuel requirements of plurality of specifications NOTE product.
For reaching above-mentioned purpose, technical scheme is as follows: a kind of NOTE unmanned charging haulage equipment, including shell Body, including cylinder frame, panel feeding carrying mechanism, empty BOX backflow turn to carrying mechanism, panel BOX carrying mechanism, Panel transverse refluxing elevator, panel transmission track, panel cleans equipment;Described cylinder frame includes rolling setting up and down Cylinder track, wherein top cylinder track is pan feeding track, and lower section cylinder track is that BOX flows out track;Described panel feeding is carried Mechanism is arranged on described pan feeding track extension line side, matches with described panel transmission track, and described panel feeding is carried Being provided with the first grabbing assembly for capturing panel in mechanism, described first grabbing assembly is used for penel from panel BOX captures and turns to and be placed on described panel transmission track;
Described empty BOX backflow commutation carrying mechanism matches with described panel transverse refluxing elevator, and described empty BOX returns Stream commutation carrying mechanism includes lifting unit and transport unit, and described lifting unit drives described transport unit elevating movement, described lifting unit Under jacking state, described transport unit is concordant with described panel transverse refluxing elevator upper extreme position, and described panel is horizontal It is concordant that backflow elevator lower limit position flows out track with described BOX;
Described panel cleaning equipment is arranged on directly over described penel transmission track, and presses close to described penel transmission skin Band.
Preferably, also include that BOX detent mechanism, described BOX detent mechanism are arranged on the described pan feeding track extension line of institute, Being close to described pan feeding track, described BOX detent mechanism is concordant with described pan feeding track.
Preferably, described panel feeding carrying mechanism includes the first axle and the second axle, described first axle and described second axle It is vertically arranged, described second axle is provided with the first grasping mechanism;Described first grasping mechanism one end is with described second axle even Connecing, be provided with rotary cylinder on described first grasping mechanism, described rotary cylinder is vertically arranged in described first grasping mechanism On, be provided with the first Suction cup assembly in described rotary cylinder bottom, described first Suction cup assembly lower surface at grade, Described first Suction cup assembly connects angrily pressure pipe.
Preferably, described panel BOX carrying mechanism includes the 3rd axle and the 4th axle, described 3rd axle and described 4th axle It is vertically arranged, described 4th axle is provided with the second grasping mechanism;Described second grasping mechanism one end is with described second axle even Connecing, be provided with jaw cylinder on described second grasping mechanism, described jaw cylinder is vertically arranged in described second grasping mechanism On, be provided with the second Suction cup assembly in described jaw cylinder bottom, described second Suction cup assembly lower surface at grade, Described second Suction cup assembly connects angrily pressure pipe, and described jaw cylinder matches with panel BOX.
Preferably, described lifting unit includes substrate, and described substrate side is provided with the guiding that at least four direction is consistent Axle, runs through on the described axis of guide and has carrying mechanism, described carrying mechanism is fixed with linear with what the described axis of guide matched Bearing, described carrying mechanism moves along a straight line along the described axis of guide, is symmetrically arranged with at least two liter on described carrying mechanism Sending down the abnormal ascending QI cylinder, described lift cylinder cylinder body is fixed on described carrying mechanism, and described lift cylinder movable end is fixed with described substrate, Described lift cylinder activity direction is consistent with the described axis of guide;
Described carrying mechanism includes symmetrically arranged transmission track, the drive mechanism driving described transmission track to operate, institute Stating the reversing speed reducer that drive mechanism includes driving motor and matching with described driving motor, described reversing speed reducer is by driving Moving axis is connected with the driving wheel being arranged on described transmission track.
Preferably, also include that sky BOX backflow turns to carrying mechanism, described empty BOX backflow to turn to carrying mechanism to include vertically The gripper shoe arranged, the cylinder frame being installed in this gripper shoe, drive mechanism, guiding mechanism, described drive mechanism is used for driving Dynamic described guiding mechanism, described guiding mechanism includes the line slide rail being set in parallel in described gripper shoe side and is arranged on described Ball screw on gripper shoe axis, described cylinder frame is fixed on described guiding mechanism, and described cylinder frame is linearly slided Rail in the vertical direction moves along a straight line, and described ball screw end is provided with belt pulley, and described drive mechanism is fixed on described Opposite side relative with described cylinder frame in gripper shoe, described drive mechanism and described belt pulley are connected by belt.
Preferably, described drive mechanism is servomotor.
Preferably, also include a kind of NOTE unmanned charging haulage equipment carrying control method, use claim 1-7 to appoint One described NOTE unmanned charging haulage equipment, it is characterised in that: described method comprises the steps:
1) carrier equipped with panel flows into equipment from feeding mouth, is moved to working region A, BOX location on conveying roller Mechanism action, positions and locks BOX to offset position;
2) interval dust-free paper is moved to be previously positioned in the empty BOX of region B by panel BOX carrying mechanism, then panel Panel in BOX is captured and half-twist by feeding carrying mechanism, is then placed within panel transmission track;
3) step 2 is repeated), until the panel in BOX captures complete;
4) panel transverse refluxing elevator declines, and by the BOX of region B together with the dust-free paper in BOX, drops to corresponding positions Putting, cylinder and empty BOX backflow turn to the transport unit on carrying mechanism to start running, and sky BOX is transferred to transmission track, treats corresponding After position sensor senses BOX, cylinder and transport unit shut down;
5) lifting unit declines, and empty BOX transfers to cylinder frame, flows out by flowing out track;
6) elevator jacking, the empty BOX of position A is gripped and is transferred to position B by panel BOX carrying mechanism;
7) new BOX is after pan feeding track flows into, and repeats step 1).
Compared with prior art, the invention has the beneficial effects as follows:
1. coordinate elevator and revolution carrying mechanism due to the roller frame of employing activity, vertically and horizontally two sides can be completed Mobile to carrier is completed, in device interior small space, complete carrying and the mobile working of BOX flexibly.
2., owing to using adjustable pick-up component and independent at grabbing assembly, can be able to be made by simple regulation Pick-up component meets the crawl demand of various product, and case is captured by fixing grabbing assembly, whole mechanism coordinative operation, effect Rate is high, and agency cost is low.
3.panel BOX carrying mechanism is provided simultaneously with drawing dust-free paper and the function of the empty BOX of gripping, enormously simplify structure Design and plant maintenance efficiency.
4.panel feeding carrying mechanism is provided simultaneously with the crawl to panel and angle adjustment, simplifies structure equally and sets Meter, improves stable equipment operation.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, in embodiment technology being described below The required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only some realities of the present invention Execute example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings Obtain other accompanying drawing.
Fig. 1 is present configuration schematic diagram
Fig. 2 is panel transverse refluxing elevator structure schematic diagram
Fig. 3 is panel BOX carrying mechanism schematic diagram
Fig. 4 is panel feeding carrying mechanism structural representation
Fig. 5 turns to carrying mechanism schematic diagram for empty BOX backflow
Detailed description of the invention
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 Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.
Detailed description of the invention
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 Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.
Embodiment
As it is shown in figure 1, present embodiment discloses a kind of NOTE unmanned charging haulage equipment, including housing 7, including cylinder Frame 4, panel feeding carrying mechanism 1, empty BOX backflow turn to carrying mechanism 3, panel BOX carrying mechanism 2, panel horizontal Backflow elevator, panel transmission track 5, panel cleans equipment 6;Cylinder frame 4 includes cylinder track setting up and down, wherein Top cylinder track is pan feeding track, and lower section cylinder track is that BOX flows out track;Panel feeding carrying mechanism 1 is arranged on pan feeding Track extension line side, matches with panel cylinder track, and panel feeding carrying mechanism is provided with for capturing panel's First grabbing assembly, the first grabbing assembly turns to and is placed on panel transmission rail for being captured from panel BOX by penel On road 5;
Empty BOX backflow commutation carrying mechanism 3 matches with panel transverse refluxing elevator, empty BOX backflow commutation carrying implement Structure 3 includes lifting unit and transport unit, and lifting unit drives transport unit elevating movement, lifting unit under jacking state, transport unit with Panel transverse refluxing elevator upper extreme position is concordant, and panel transverse refluxing elevator lower limit position flows out track with BOX Concordant;
Panel cleaning equipment 6 is arranged on directly over penel transmission track, and presses close to penel transmission track 5.At position A Place also includes that BOX detent mechanism, BOX detent mechanism are arranged on institute's pan feeding track extension line, is close to pan feeding track, and BOX positions Mechanism is concordant with pan feeding track.
As shown in Figure 4, panel feeding carrying mechanism includes X-axis 331 and Z axis 37, and X-axis 331 is vertically arranged with Z axis 37, X Axle 331 and and Z axis 37 by servomotor or step motor drive.Z axis 37 is provided with grasping mechanism;
Grasping mechanism includes that frame 35, frame 35 one end are connected with Z axis 37, and frame 35 other end is provided with jaw cylinder 34, jaw cylinder 34 is arranged on frame 35 end, jaw cylinder 34 pars contractilis stationary jaw assembly 33, and point claw assembly is symmetrical arranged In frame 35 both sides, jaw cylinder 34 coordinates clip claw assembly in frame 35 end, panel BOX gripping transfer can be provided with suction Plate rail, is symmetrically arranged with some Suction cup assemblies in suction cup carrier, and at grade, Suction cup assembly connects in Suction cup assembly lower surface Angrily pressure pipe.Suction cup carrier includes main muscle 39 and adjustable movable muscle 38, and movable muscle 38 one end is connected with main muscle 39, the other end and Suction cup assembly connects.Movable main muscle 39 and adjustable movable muscle 38 can be flexibly met the absorption demand of different size product. Being provided with vacuum generator 36 in frame 35, vacuum generator 36 is connected with Suction cup assembly, for providing true to Suction cup assembly Pneumatics power, the employing of independent vacuum generator 36, plant maintenance efficiency can be significantly improved, improve the stability of whole equipment.? It is additionally provided with piezometer 332, piezometer 332 in frame 35, is arranged between vacuum generator 36 and Suction cup assembly, be used for detecting With the atmospheric pressure value in display trachea in real time.Piezometer monitors the vacuum values in suction process in real time, if vacuum values goes beyond the scope, then Stopping gripping action, placement panel drops and causes panel to damage.Suction cup carrier is additionally provided with detection device, detects device bag Include support, support is fixed with axle sleeve, be internally provided with, at axle sleeve, match with axle sleeve vertically freely movable Pin, is provided above photoelectric sensor at pin, is fixed with cushion pad in pin lower end, and detection device can be in the process drawn In, whether monitoring panel BOX need the panel captured.Suction cup assembly bottom is less than clip claw assembly 33 bottom, Capture hole BOX and interval dust-free paper action is independent of each other, improve equipment operating efficiency.
As it is shown on figure 3, present embodiment discloses a kind of feeding carrying mechanism, including the 3rd axle 31 and the 4th axle 32, the 3rd Axle 31 is vertically arranged with the 4th axle 32, is provided with connection seat on the 3rd axle 31, is provided with the second gripper on the 4th axle 32 Structure;3rd axle 31 and the 4th axle 32 carry out motor control, grasping mechanism pair from left and right and upper and lower both direction to grasping mechanism The panel of lower section carries out capturing operation, the 3rd axle 31 and and the 4th axle 32 by servomotor or step motor drive.
In order to meet the appearance characteristics of panel, grasping mechanism includes support, and support one end is connected with the 4th axle 2, at support 37 other ends are provided with rotary cylinder 35, and rotary cylinder 35 is vertically arranged in bracket end, and rotary cylinder 35 can make panel exist Completing spinning movement after crawl, the anglec of rotation selects suitable MAXIMUM SELECTION angle cylinder according to actual needs, and this programme selects For half-twist counterclockwise, the most also adjustable limit block, complete the rotation of set angle, set in rotary cylinder 35 bottom Being equipped with suction cup carrier, suction cup carrier, for being horizontally disposed with, is symmetrically arranged with some Suction cup assemblies 36, Suction cup assembly 36 lower end in suction cup carrier At grade, Suction cup assembly 36 connects angrily pressure pipe in face, completes the crawl to panel by uniform Suction cup assembly 36 and moves Make.Suction cup carrier includes main muscle and adjustable movable muscle equally, and movable muscle one end is connected with main muscle, the other end and Suction cup assembly 36 Connecting, movable muscle is the strip structure of middle hollow out, is fixed on main muscle by nut, by the angle of regulation activity muscle with stretch Go out length to regulate various crawl position.Being provided with vacuum generator on support 37, vacuum generator is with Suction cup assembly 36 even Connect, for providing vacuum pressure to Suction cup assembly 36.Vacuum generator produces negative pressure, is connected to Suction cup assembly by trachea 36, compare central gas supply design, it is to avoid trachea numerous and diverse on equipment, improve efficiency of assembling, reduce rate of breakdown, tie up simultaneously Protect more convenient.Make this grasping mechanism have only to electric power can run, improve adaptability.Due to the light transmission of panel, conventional Photoelectric sensor 311 without being applied to detect below grasping mechanism whether have panel, in order to monitor crawl whether success in real time, Suction cup carrier is additionally provided with detection device 38.
As in figure 2 it is shown, include the gripper shoe 4 being vertically arranged, the cylinder frame being installed in this gripper shoe 4, drive mechanism, Guiding mechanism, drive mechanism is used for the line slide rail driving guiding mechanism, guiding mechanism to include being set in parallel in gripper shoe 4 side 11 and the ball screw 5 that is arranged on gripper shoe 4 axis, cylinder frame is fixed on guiding mechanism, and cylinder frame is linearly slided Rail 11 in the vertical direction moves along a straight line, and ball screw 5 end is provided with belt pulley 8, and drive mechanism is fixed in gripper shoe 4 The opposite side relative with cylinder frame, drive mechanism and belt pulley 8 are connected by guiding belt 6.Drive mechanism be motor or Person's servomotor, preferably price motor advantageously.Cylinder frame includes the roller that support 3 and at least two are arranged side by side 2, support 3 is fixing with guiding mechanism movable part to be connected, and is provided with groove, is provided with feed belt 1 in groove on roller 2.
As it is shown in figure 5, include substrate 55, substrate 55 side is provided with the consistent axis of guide of four direction 53, is guiding Running through on axle 53 and have carrying mechanism, the axis of guide 53 position is corresponding with the position of carrying mechanism corner, carrying mechanism is fixed with The linear bearing 54 that the axis of guide 53 matches, carrying mechanism moves along a straight line along the axis of guide 53, at carrying mechanism two symmetrical sides Position is provided with two lift cylinders 58, and lift cylinder 58 cylinder body is fixed on carrying mechanism, and lift cylinder 58 movable end passes Hole reserved on carrying mechanism is fixed with substrate 55, and lift cylinder 58 activity direction is consistent with the axis of guide 53;Carrying mechanism includes Symmetrically arranged transmission track, drive transmission track operating drive mechanism, drive mechanism include drive motor 511 and with driving The reversing speed reducer 57 that motor 511 matches, reversing speed reducer 57 is double output shaft reversing speed reducer 57.Reversing speed reducer 57 leads to The driving wheel 510 that overdriving axle 59 and is arranged on transmission track is connected, and the reversing speed reducer 57 of dual output can ensure that left and right Feed belt 51 speed on both sides is consistent, it is to avoid carrier offsets during transmitting, and causes card machine to turn over or other are asked Topic, improves stable equipment operation.Being provided with feed belt 51 on transmission track, feed belt 51 is nested in transmission track two Directive wheel 52 and the driving wheel 510 of end, simultaneously through arranging the regulating wheel 56 on transmission track.Regulating wheel 56 is fixed on U-shaped On slotted eye, tensioning guide wheel 52 position can regulate along U-type groove hole.Adjustable regulating wheel 56 can aging according to feed belt 51 Deformation extent regulates belt tension, improves and transmits stability.Whole carrying mechanism uses the elevating mechanism of air cylinder driven to coordinate Transmission track completes lifting and transmits carrier, simple and reasonable, and efficiency is high.
Work process of the present invention comprises the steps:
1) carrier equipped with panel flows into equipment from feeding mouth, is moved to working region A, BOX location on conveying roller Mechanism action, positions and locks BOX to offset position;
2) interval dust-free paper is moved to be previously positioned in the empty BOX of region B by panel BOX carrying mechanism, then panel Panel in BOX is captured and half-twist by feeding carrying mechanism, is then placed within panel transmission track;
3) step 2 is repeated), until the panel in BOX captures complete;
4) panel transverse refluxing elevator declines, and by the BOX of region B together with the dust-free paper in BOX, drops to corresponding positions Putting, cylinder and empty BOX backflow turn to the transport unit on carrying mechanism to start running, and sky BOX is transferred to transmission track, treats corresponding After position sensor senses BOX, cylinder and transport unit shut down;
5) lifting unit declines, and empty BOX transfers to cylinder frame, flows out by flowing out track;
6) elevator jacking, the empty BOX of position A is gripped and is transferred to position B by panel BOX carrying mechanism;
7) new BOX is after pan feeding track flows into, and repeats step 1).
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention. Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one The widest scope caused.

Claims (8)

1. a NOTE unmanned charging haulage equipment, including housing, it is characterised in that: include that cylinder frame, panel feeding are removed Fortune mechanism, empty BOX backflow turn to carrying mechanism, panel BOX carrying mechanism, panel transverse refluxing elevator, panel to transmit Track, panel cleans equipment;Described cylinder frame includes cylinder track setting up and down, and wherein top cylinder track is pan feeding Track, lower section cylinder track is that BOX flows out track;Described panel feeding carrying mechanism is arranged on described pan feeding track extension line Side, matches with described panel transmission track, described panel feeding carrying mechanism is provided with for capture panel One grabbing assembly, described first grabbing assembly turns to and is placed on described panel for being captured from panel BOX by penel On transmission track;
Described empty BOX backflow commutation carrying mechanism matches with described panel transverse refluxing elevator, and described empty BOX backflow is changed Including lifting unit and transport unit to carrying mechanism, described lifting unit drives described transport unit elevating movement, and described lifting unit is on top Under the state of liter, described transport unit is concordant with described panel transverse refluxing elevator upper extreme position, described panel transverse refluxing It is concordant that elevator lower limit position flows out track with described BOX;
Described panel cleaning equipment is arranged on directly over described penel transmission track, and presses close to described penel feed belt.
A kind of NOTE unmanned charging haulage equipment the most according to claim 1, it is characterised in that: also include that BOX positions Mechanism, described BOX detent mechanism is arranged on the described pan feeding track extension line of institute, is close to described pan feeding track, and described BOX positions Mechanism is concordant with described pan feeding track.
A kind of NOTE unmanned charging haulage equipment the most according to claim 1, it is characterised in that: described panel feeding Carrying mechanism includes that the first axle and the second axle, described first axle are vertically arranged with described second axle, arranges on described second axle There is the first grasping mechanism;
Described first grasping mechanism one end is connected with described second axle, is provided with rotary cylinder on described first grasping mechanism, Described rotary cylinder is vertically arranged on described first grasping mechanism, and described rotary cylinder bottom is provided with the first sucker group Part, at grade, described first Suction cup assembly connects angrily pressure pipe in described first Suction cup assembly lower surface.
A kind of NOTE unmanned charging haulage equipment the most according to claim 1, it is characterised in that: described panel BOX Carrying mechanism includes that the 3rd axle and the 4th axle, described 3rd axle are vertically arranged with described 4th axle, arranges on described 4th axle There is the second grasping mechanism;
Described second grasping mechanism one end is connected with described second axle, is provided with jaw cylinder on described second grasping mechanism, Described jaw cylinder is vertically arranged on described second grasping mechanism, and described jaw cylinder bottom is provided with the second sucker group Part, at grade, described second Suction cup assembly connects angrily pressure pipe, described jaw gas in described second Suction cup assembly lower surface Cylinder matches with panel BOX.
A kind of NOTE unmanned charging haulage equipment the most according to claim 1, it is characterised in that: described lifting unit includes Substrate, is provided with, in described substrate side, the axis of guide that at least four direction is consistent, and running through on the described axis of guide has carrying implement Structure, described carrying mechanism is fixed with the linear bearing matched with the described axis of guide, and described carrying mechanism is along the described axis of guide Moving along a straight line, be symmetrically arranged with at least two lift cylinder on described carrying mechanism, described lift cylinder cylinder body is fixed on On described carrying mechanism, described lift cylinder movable end is fixed with described substrate, and described lift cylinder activity direction is led with described Consistent to axle;
Described carrying mechanism includes symmetrically arranged transmission track, the drive mechanism driving described transmission track to operate, described in drive Motivation structure includes the reversing speed reducer driving motor and matching with described driving motor, and described reversing speed reducer passes through drive shaft It is connected with the driving wheel being arranged on described transmission track.
A kind of NOTE unmanned charging haulage equipment the most according to claim 1, it is characterised in that: also include that sky BOX returns Circulate to carrying mechanism, described empty BOX reflux turn to carrying mechanism to include being vertically arranged gripper shoe, be installed in this gripper shoe Cylinder frame, drive mechanism, guiding mechanism, described drive mechanism is used for driving described guiding mechanism, described guiding mechanism bag Include the line slide rail being set in parallel in described gripper shoe side and the ball screw being arranged on described gripper shoe axis, described rolling Cylinder frame is fixed on described guiding mechanism, and described cylinder frame linearly slide rail in the vertical direction moves along a straight line, described Ball screw end is provided with belt pulley, and described drive mechanism is fixed in described gripper shoe another relative with described cylinder frame Side, described drive mechanism and described belt pulley are connected by belt.
A kind of NOTE unmanned charging haulage equipment the most according to claim 6, it is characterised in that: described drive mechanism is Servomotor.
8. a NOTE unmanned charging haulage equipment carrying control method, uses the NOTE described in any one of claim 1-7 Unmanned charging haulage equipment, it is characterised in that: described method comprises the steps:
1) carrier equipped with panel flows into equipment from feeding mouth, is moved to working region A, BOX detent mechanism on conveying roller Action, positions and locks BOX to offset position;
2) interval dust-free paper is moved to be previously positioned in the empty BOX of region B by panel BOX carrying mechanism, then panel feeding Panel in BOX is captured and half-twist by carrying mechanism, is then placed within panel transmission track;
3) step 2 is repeated), until the panel in BOX captures complete;
4) panel transverse refluxing elevator declines, and by the BOX of region B together with the dust-free paper in BOX, drops to relevant position, rolling Cylinder and empty BOX backflow turn to the transport unit on carrying mechanism to start running, and sky BOX is transferred to transmission track, treats relevant position After induction apparatus senses BOX, cylinder and transport unit shut down;
5) lifting unit declines, and empty BOX transfers to cylinder frame, flows out by flowing out track;
6) elevator jacking, the empty BOX of position A is gripped and is transferred to position B by panel BOX carrying mechanism;
7) new BOX is after pan feeding track flows into, and repeats step 1).
CN201610780466.7A 2016-08-31 2016-08-31 A kind of unmanned charging haulage equipment Active CN106219236B (en)

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Cited By (4)

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CN108263823A (en) * 2016-12-31 2018-07-10 亿百力(天津)科技发展有限公司 A kind of full-automatic upper trigger
CN111003507A (en) * 2019-12-30 2020-04-14 郑菊利 Grabbing and conveying device for waffle sheet cooler
CN111731847A (en) * 2020-07-09 2020-10-02 常州市金坛区人民医院 Nursing appliance management system
CN112452856A (en) * 2021-01-26 2021-03-09 苏州盟萤电子科技有限公司 Cell-phone apron surface cleaning equipment

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