CN106219236B - A kind of unmanned charging haulage equipment - Google Patents

A kind of unmanned charging haulage equipment Download PDF

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Publication number
CN106219236B
CN106219236B CN201610780466.7A CN201610780466A CN106219236B CN 106219236 B CN106219236 B CN 106219236B CN 201610780466 A CN201610780466 A CN 201610780466A CN 106219236 B CN106219236 B CN 106219236B
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CN
China
Prior art keywords
screen assembly
box
track
carrying mechanism
sylphon
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Active
Application number
CN201610780466.7A
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Chinese (zh)
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CN106219236A (en
Inventor
郑贵军
侯德胜
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Suzhou Langkun Automatic Equipment Co Ltd
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Suzhou Lang Kun Automation Equipment Co Ltd
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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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    • 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 unmanned charging haulage equipments, including shell, roller rack, screen assembly feeding carrying mechanism, sylphon reflux turn to carrying mechanism, screen assembly box carrying mechanism, screen assembly transverse refluxing elevator, screen assembly transmission track, screen assembly cleaning equipment;Roller rack includes roller track setting up and down, wherein top roller track is pan feeding track, lower section roller track is that box flows out track;Screen assembly feeding carrying mechanism is arranged in pan feeding track extension line side, matches with screen assembly transmission track, the first grabbing assembly is arranged on screen assembly feeding carrying mechanism.A kind of unmanned apparatus for feeding provided by the invention, the equipment flows out mechanism by screen assembly lift rotary, tablet computer frame lift rotary flows out mechanism, complete the automation charging of screen assembly and plate computer frame, equipment design is reasonable, operating efficiency is high, can meet the automation fuel requirements of plurality of specifications product.

Description

A kind of unmanned charging haulage equipment
Technical field
The present invention relates to a kind of apparatuss for feeding, and in particular to a kind of unmanned charging haulage equipment belongs to automatic field.
Background technique
Tablet computer frame and screen assembly assembling process involve precision assembly industry, conventional production and assembly mode one As by certain position jig, manually respectively by after frame and screen assembly combination, screen assembly and plate electricity in bonding processes Brain frame needs to associate under very high-precision.Conventional automation equipment can not accomplish the highly controllable of precision, matter of associating It measures unstable.Due to the quick variation of consumer electronics market, the successive generations of products period obviously accelerates, and is in small lot, more specifications The characteristics of, if meeting the market demand using conventional production method, need to develop very more assembly locating fixtures, jig Meet the specification of different product, it is since specific fixture, jig development cycle are longer, at high cost, increasingly it is not suitable with scale Metaplasia, which produces, to be needed.It is placed in carrier, is spaced apart between screen assembly with dust-free paper, screen since screen assembly is typically stacked After component grabs, dust-free paper should be removed, also carrier to be carried out and is worked after the screen assembly in carrier has grabbed Region.At the same time, for tablet computer frame as moulding, surface is wrapped with protective film, realizes that with before, protective film is gone for dike It removes, existing automation equipment is unable to complete above-mentioned automated production target.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of unmanned charging haulage equipment, which passes through screen Component lift rotary flows out mechanism, and tablet computer frame lift rotary flows out mechanism, completes screen assembly and plate computer frame Automation charging, rationally, operating efficiency is high for equipment design, can meet the automation fuel requirements of plurality of specifications NOTE product.
In order to achieve the above objectives, technical scheme is as follows: a kind of unmanned charging haulage equipment, including shell, Carrying mechanism, screen assembly box carrying mechanism, screen are turned to including roller rack, screen assembly feeding carrying mechanism, sylphon reflux Curtain component transverse refluxing elevator, screen assembly transmission track, screen assembly cleaning equipment;The roller rack includes above dividing into The roller track set, wherein top roller track is pan feeding track, lower section roller track is that box flows out track;The screen assembly Feeding carrying mechanism is arranged in the pan feeding track extension line side, matches with the screen assembly transmission track, the screen The first grabbing assembly for capture screen component is provided on curtain component feeding carrying mechanism, first grabbing assembly is used for Screen assembly is turned to from crawl in screen assembly box and is placed on the screen assembly transmission track;
The sylphon reflux turns to carrying mechanism and matches with the screen assembly transverse refluxing elevator, and the sylphon returns It includes lifting unit and transport unit that stream, which turns to carrying mechanism, and the lifting unit drives the transport unit elevating movement, the lifting unit Under jacking state, the transport unit is concordant with the screen assembly transverse refluxing elevator upper limit position, the group of screens Part transverse refluxing elevator lower limit position is concordant with box outflow track;
The screen assembly cleaning equipment is arranged right above the screen assembly transmission track, and close to the group of screens Part feed belt.
It preferably, further include box positioning mechanism, the box positioning mechanism is arranged on the pan feeding track extension line, and tight The pan feeding track is pasted, the box positioning mechanism is concordant with the pan feeding track.
Preferably, the screen assembly feeding carrying mechanism includes first axle and the second axis, the first axle and described the Two axis are vertically arranged, and are provided with the first grasping mechanism on second axis;First grasping mechanism one end and described second Axis connection, is provided with rotary cylinder on first grasping mechanism, and the rotary cylinder is vertically arranged in first crawl In mechanism, the rotary cylinder lower end is provided with the first Suction cup assembly, first Suction cup assembly lower end surface is same flat On face, first Suction cup assembly connects pressure pipe of doing something in a fit of pique.
Preferably, the screen assembly box carrying mechanism includes third axis and the 4th axis, the third axis and the described 4th Axis is vertically arranged, and is provided with the second grasping mechanism on the 4th axis;Second grasping mechanism one end and second axis Connection, is provided with clamping jaw cylinder, the clamping jaw cylinder is vertically arranged in second gripper on second grasping mechanism On structure, clamping jaw cylinder lower end is provided with the second Suction cup assembly, second Suction cup assembly lower end surface is in same plane On, angrily pressure pipe, the clamping jaw cylinder match with screen assembly box for the second Suction cup assembly connection.
Preferably, the lifting unit includes substrate, and the substrate side is provided with the consistent guiding at least four directions Axis, through there is sylphon reflux to turn to carrying mechanism on the guiding axis, the sylphon reflux turns to be fixed on carrying mechanism The linear bearing matched with the guiding axis, the sylphon reflux turn to carrying mechanism and move in a straight line along the guiding axis, It flows back to turn in the sylphon and is symmetrically arranged at least two lifting cylinders on carrying mechanism, the lifting cylinder cylinder body is fixed on The sylphon reflux turns on carrying mechanism, and the lifting cylinder movable end is fixed with the substrate, the lifting cylinder activity Direction is consistent with the guiding axis;
The sylphon reflux turns to carrying mechanism and includes symmetrically arranged transmission track, the transmission track is driven to operate First driving mechanism, first driving mechanism include driving motor and the reversing speed reducer that matches with the driving motor, The reversing speed reducer is connect by drive shaft with the driving wheel being arranged on the transmission track.
Preferably, the screen assembly transverse refluxing elevator includes the support plate being vertically arranged, is installed in the support plate On roller rack, the second driving mechanism, guiding mechanism, second driving mechanism is described for driving the guiding mechanism Guiding mechanism includes the ball for being arranged in parallel in the line slide rail of the support plate side and being arranged in the support plate axis Screw rod, the roller rack are fixed on the guiding mechanism, and the roller rack is done directly in the vertical direction along line slide rail Line movement, the ball screw end are provided with belt pulley, second driving mechanism be fixed in the support plate with it is described The opposite other side of roller frame, second driving mechanism are connected with the belt pulley by belt.
Preferably, second driving mechanism is servo motor.
It preferably, further include a kind of carrying control method using above-mentioned unmanned charging haulage equipment, wherein the side Method includes the following steps:
1) carrier equipped with screen assembly flows into equipment from feeding inlet, working region A is moved on roller track, box is fixed Position mechanism action, positions and lock box is to crawl position;
2) screen assembly box carrying mechanism moves to dust-free paper is spaced in the sylphon for being previously positioned at region B, then screen Screen assembly in box is grabbed and is rotated by 90 ° by component feeding carrying mechanism, is then placed on screen assembly transmission track;
3) step 2 is repeated, until the screen assembly crawl in box finishes;
4) screen assembly transverse refluxing elevator declines, and by the box of region B together with the dust-free paper in box, drops to corresponding positions It sets, the transport unit on roller and sylphon reflux steering carrying mechanism starts running, and sylphon is transferred to transmission track, to corresponding positions It sets after inductor senses box, roller and transport unit shut down;
5) lifting unit declines, and sylphon is transferred to roller rack, flows out track outflow by box;
6) elevator jacks, and the sylphon of position A is clamped and is transferred to position B by screen assembly box carrying mechanism;
7) new box repeats step 1) after the inflow of pan feeding track.
Compared with prior art, the beneficial effects of the present invention are:
1. due to using movable roller frame cooperation elevator and rotary conveying mechanism, achievable vertically and horizontally two sides It completes to move to carrier, inside the equipment in small space, the flexible carrying for completing box and mobile working.
2. can be made by simply adjusting due to using adjustable pick-up component and independent in grabbing assembly Pick-up component meets the crawl demand of various products, and fixed grabbing assembly grabs case, entire mechanism coordinative operation, effect Rate is high, and agency cost is low.
3. screen assembly box carrying mechanism is provided simultaneously with the function of drawing dust-free paper and clamp sylphon, structure is enormously simplified Design and plant maintenance efficiency.
4. screen assembly feeding carrying mechanism is provided simultaneously with crawl and angle adjustment to screen assembly, same simplification finishes Structure design, improves equipment operation stability.
Detailed description of the invention
It in order to more clearly illustrate the technical solutions in the embodiments of the present invention, below will be in embodiment technical description Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings Obtain other attached drawings.
Fig. 1 is schematic structural view of the invention;
Fig. 2 is screen assembly transverse refluxing elevator structure schematic diagram;
Fig. 3 is screen assembly box carrying mechanism schematic diagram;
Fig. 4 is screen assembly feeding carrying mechanism structural schematic diagram;
Fig. 5 is that sylphon reflux turns to carrying mechanism schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Embodiment
As shown in Figure 1, present embodiment discloses a kind of unmanned charging haulage equipment, including shell 7, including roller rack 4, screen assembly feeding carrying mechanism 1, sylphon reflux turn to carrying mechanism 3, screen assembly box carrying mechanism 2, screen assembly cross To reflux elevator, screen assembly transmission track 5, screen assembly cleaning equipment 6;Roller rack 4 includes roller setting up and down Track, wherein top roller track is pan feeding track, lower section roller track is that box flows out track;Screen assembly feeding carrying mechanism 1 is arranged in pan feeding track extension line side, matches with screen assembly transmission track, is arranged on screen assembly feeding carrying mechanism There is the first grabbing assembly for capture screen component, the first grabbing assembly from screen assembly box for grabbing screen assembly It turns to and is placed on screen assembly transmission track 5;
Sylphon reflux turns to carrying mechanism 3 and matches with screen assembly transverse refluxing elevator, and sylphon reflux, which turns to, carries Mechanism 3 include lifting unit and transport unit, lifting unit drive transport unit elevating movement, lifting unit under jacking state, transport unit with Screen assembly transverse refluxing elevator upper limit position is concordant, and screen assembly transverse refluxing elevator lower limit position and box flow out Track is concordant;
Screen assembly cleaning equipment 6 is arranged right above screen assembly transmission track, and close to screen assembly transmission track 5.It further include box positioning mechanism at the A of position, box positioning mechanism is arranged on pan feeding track extension line, and is close to pan feeding track, Box positioning mechanism is concordant with pan feeding track.
As shown in figure 3, screen assembly feeding carrying mechanism includes X-axis 31 and Z axis 37, X-axis 31 is vertically arranged with Z axis 37, X It axis 31 and is driven with Z axis 37 by servo motor or stepper motor.Grasping mechanism is provided on Z axis 37;
Grasping mechanism includes rack 35, and 35 one end of rack is connect with Z axis 37, and 35 other end of rack is provided with clamping jaw cylinder 34, the setting of clamping jaw cylinder 34 is symmetrical arranged in 35 end of rack, 34 pars contractilis stationary jaw component 33 of clamping jaw cylinder, point pawls component In 35 two sides of rack, clamping jaw cylinder 34 cooperates clip claw assembly screen assembly box can be clamped transfer, is provided in 35 end of rack Suction cup carrier is symmetrically arranged with several Suction cup assemblies in suction cup carrier, and in the same plane, Suction cup assembly connects for Suction cup assembly lower end surface Connect angrily pressure pipe.Suction cup carrier includes main reinforcement 39 and adjustable movable muscle 38, and movable 38 one end of muscle is connect with main reinforcement 39, the other end It is connect with Suction cup assembly.The absorption that different sized products can be flexibly met in movable main reinforcement 39 and adjustable movable muscle 38 needs It asks.Vacuum generator 36 is provided in rack 35, vacuum generator 36 is connect with Suction cup assembly, for providing to Suction cup assembly Vacuum pressure, the use of independent vacuum generator 36 can significantly improve plant maintenance efficiency, improve the stability of whole equipment. Pressure gauge 32 is additionally provided in rack 35, pressure gauge 32 is arranged between vacuum generator 36 and Suction cup assembly, for detecting With the atmospheric pressure value in real-time display tracheae.Pressure gauge monitors the vacuum values in suction process in real time, if vacuum values go beyond the scope, Stop clamping movement, placing screen assembly and falling causes screen assembly to damage.It is additionally provided with detection device in suction cup carrier, detects Device includes bracket, and axle sleeve is fixed on bracket, and the freedom along the vertical direction matched with axle sleeve is internally provided in axle sleeve Movable pin, is provided with photoelectric sensor above pin, is fixed with cushion in pin lower end, detection device can drawn During, monitor in screen assembly box whether there are also screen assemblies to be captured.Suction cup assembly lower end is lower than clip claw assembly 33 lower ends are independent of each other in crawl hole box and interval dust-free paper movement, improve equipment operating efficiency.
As shown in figure 4, present embodiment discloses a kind of feeding carrying mechanism, including third axis 41 and the 4th axis 42, third Axis 41 is vertically arranged with the 4th axis 42, is provided with attachment base on third axis 41, is provided with the second gripper on the 4th axis 42 Structure;Third axis 41 and the 4th axis 42 carry out motion control, grasping mechanism pair to grasping mechanism from left and right and upper and lower both direction The screen assembly 44 of lower section carries out crawl operation, third axis 41 and is driven with the 4th axis 42 by servo motor or stepper motor It is dynamic.
In order to meet the appearance characteristics of screen assembly, grasping mechanism includes bracket, and bracket one end is connect with the 4th axis 42, 47 other end of bracket is provided with rotary cylinder 45, and rotary cylinder 45 is vertically arranged in bracket end, and rotary cylinder 45 can make to shield Curtain component 44 completes spinning movement after crawl, and rotation angle selects suitable MAXIMUM SELECTION angle cylinder according to actual needs, This programme is selected as to be rotated by 90 ° counterclockwise, while also adjustable limit block, the rotation of set angle is completed, in rotary cylinder 35 lower ends are provided with suction cup carrier, suction cup carrier be it is horizontally disposed, several Suction cup assemblies 46, sucker are symmetrically arranged in suction cup carrier In the same plane, Suction cup assembly 46 connects pressure pipe of doing something in a fit of pique to 46 lower end surface of component, is completed by uniform Suction cup assembly 46 to screen The grasping movement of curtain component 44.Suction cup carrier equally includes main reinforcement and adjustable movable muscle, and movable muscle one end is connect with main reinforcement, separately One end is connect with Suction cup assembly 46, and movable muscle is the strip structure of intermediate hollow out, is fixed in main reinforcement by nut, is passed through adjusting The angle and extension elongation of movable muscle adjusts various crawl positions.Vacuum generator is provided on bracket 47, vacuum occurs Device is connect with Suction cup assembly 46, for providing vacuum pressure to Suction cup assembly 46.Vacuum generator generates negative pressure, passes through tracheae It is connected to Suction cup assembly 46, central gas supply design is compared, avoids tracheae many and diverse in equipment, improve assembly efficiency, reduce event Hinder incidence, while safeguarding more convenient.So that the grasping mechanism only needs electric power that can run, adaptability is improved.Due to screen The translucency of curtain component, conventional photoelectric sensor can be applied to below detection grasping mechanism whether have screen assembly, for reality When monitoring crawl whether succeed, detection device 48 is additionally provided in suction cup carrier.
As shown in Fig. 2, including the support plate 24 being vertically arranged, the roller rack being installed in the support plate 24, the second drive Motivation structure, guiding mechanism, for the second driving mechanism for driving guiding mechanism, guiding mechanism includes being arranged in parallel in 24 side of support plate The line slide rail on side and the ball screw 25 being arranged on 24 axis of support plate, roller rack are fixed on guiding mechanism, roller Rack moves in a straight line in the vertical direction along line slide rail, and 25 end of ball screw is provided with belt pulley 28, the second driving machine Structure 27 is fixed on the other side opposite with roller rack in support plate 24, the second driving mechanism 27 and belt pulley 28 and passes through guiding skin Band 26 connects.Second driving mechanism 27 is stepper motor or servo motor, the preferably stepper motor of price advantageously.Roller Rack includes bracket 23 and at least two rollers 22 arranged side by side, and bracket 23 is fixedly connected with guiding mechanism movable part, in roller It is arranged fluted on cylinder 22, feed belt 21 is provided in groove.
As shown in figure 5, including substrate 55,55 side of substrate is provided with the consistent guiding axis 53 of four direction, is being oriented to Through there is sylphon reflux to turn to carrying mechanism on axis 53,53 position of guiding axis and sylphon reflux turn to the position of carrying mechanism quadrangle Corresponding, sylphon reflux turns to and is fixed with the linear bearing 54 matched with guiding axis 53 on carrying mechanism, and sylphon reflux, which turns to, removes Fortune mechanism is moved in a straight line along guiding axis 53, and flowing back in sylphon, there are two liftings for the setting of steering two symmetrical sides position of carrying mechanism Cylinder 58,58 cylinder body of lifting cylinder are fixed on sylphon reflux and turn on carrying mechanism, and 58 movable end of lifting cylinder is returned across sylphon Stream turns to the hole reserved on carrying mechanism and substrate 55 is fixed, and 58 activity direction of lifting cylinder and guiding axis 53 are consistent;Sylphon returns Stream turns to the first driving mechanism that carrying mechanism includes symmetrically arranged transmission track, driving transmission track operating, the first driving Mechanism includes driving motor 511 and the reversing speed reducer matched with driving motor 511 57, and reversing speed reducer 57 is double output shaft Reversing speed reducer 57.Reversing speed reducer 57 is connect by drive shaft 59 with the driving wheel 510 being arranged on transmission track, dual output Reversing speed reducer 57 can guarantee that 51 speed of feed belt of the right and left is consistent, avoid carrier from occurring in transmit process partially It moves, card machine is caused to turn over or other problems, improve equipment operation stability.Feed belt 51 is provided on transmission track, Feed belt 51 is nested in the directive wheel 52 and driving wheel 510 at transmission track both ends, while by setting transmission track Tensioning wheel 56.Tensioning wheel 56 is fixed on U-type groove hole, and 52 position of tensioning guide wheel can be adjusted along U-type groove hole.Adjustable tensioning Wheel 56 can adjust belt tension according to the aging deformation extent of feed belt 51, improve transmission stability.Entire sylphon reflux It turns to carrying mechanism and lifting and transmission is completed to carrier using the elevating mechanism cooperation transmission track of cylinder driving, structure is simply closed Reason, it is high-efficient.
The course of work of the present invention includes the following steps:
1) carrier equipped with screen assembly flows into equipment from feeding inlet, working region A is moved on roller track, box is fixed Position mechanism action, positions and lock box is to crawl position;
2) screen assembly box carrying mechanism moves to dust-free paper is spaced in the sylphon for being previously positioned at region B, then screen Screen assembly in box is grabbed and is rotated by 90 ° by component feeding carrying mechanism, is then placed on screen assembly transmission track;
3) step 2 is repeated, until the screen assembly crawl in box finishes;
4) screen assembly transverse refluxing elevator declines, and by the box of region B together with the dust-free paper in box, drops to corresponding positions It sets, the transport unit on roller and sylphon reflux steering carrying mechanism starts running, and sylphon is transferred to transmission track, to corresponding positions It sets after inductor senses box, roller and transport unit shut down;
5) lifting unit declines, and sylphon is transferred to roller rack, flows out track outflow by box;
6) elevator jacks, and the sylphon of position A is clamped and is transferred to position B by screen assembly box carrying mechanism;
7) new box repeats step 1) after the inflow of pan feeding track.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to 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, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims (8)

1. a kind of unmanned charging haulage equipment, including shell, it is characterised in that: removed including roller rack, screen assembly feeding Transport mechanism, sylphon reflux turns to carrying mechanism, screen assembly box carrying mechanism, screen assembly transverse refluxing elevator, group of screens Part transmission track, screen assembly cleaning equipment;The roller rack includes roller track setting up and down, wherein top roller rail Road is pan feeding track, and lower section roller track is that box flows out track;The screen assembly feeding carrying mechanism is arranged in the pan feeding Track extension line side is matched with the screen assembly transmission track, is provided on the screen assembly feeding carrying mechanism For the first grabbing assembly of capture screen component, first grabbing assembly from screen assembly box for grabbing screen assembly It takes and turns to and be placed on the screen assembly transmission track;
The sylphon reflux turns to carrying mechanism and matches with the screen assembly transverse refluxing elevator, and the sylphon reflux turns It include lifting unit and transport unit to carrying mechanism, the lifting unit drives the transport unit elevating movement, and the lifting unit is pushing up Under the state of liter, the transport unit is concordant with the screen assembly transverse refluxing elevator upper limit position, and the screen assembly is horizontal It is concordant with box outflow track to reflux elevator lower limit position;
The screen assembly cleaning equipment is arranged right above the screen assembly transmission track, and passes close to the screen assembly Send belt.
2. a kind of unmanned charging haulage equipment according to claim 1, it is characterised in that: it further include box positioning mechanism, The box positioning mechanism is arranged on the pan feeding track extension line, and is close to the pan feeding track, the box positioning mechanism with The pan feeding track is concordant.
3. a kind of unmanned charging haulage equipment according to claim 1, it is characterised in that: the screen assembly feeding Carrying mechanism includes first axle and the second axis, and the first axle is vertically arranged with second axis, is arranged on second axis There is the first grasping mechanism;
First grasping mechanism one end and second axis connection, are provided with rotary cylinder on first grasping mechanism, The rotary cylinder is vertically arranged on first grasping mechanism, and the rotary cylinder lower end is provided with the first sucker group Part, in the same plane, first Suction cup assembly connects pressure pipe of doing something in a fit of pique for first Suction cup assembly lower end surface.
4. a kind of unmanned charging haulage equipment according to claim 3, it is characterised in that: the screen assembly box is removed Transporting mechanism includes third axis and the 4th axis, and the third axis is vertically arranged with the 4th axis, is provided on the 4th axis Second grasping mechanism;
Second grasping mechanism one end and second axis connection, are provided with clamping jaw cylinder on second grasping mechanism, The clamping jaw cylinder is vertically arranged on second grasping mechanism, and clamping jaw cylinder lower end is provided with the second sucker group Part, in the same plane, second Suction cup assembly connects pressure pipe of doing something in a fit of pique, the clamping jaw gas for second Suction cup assembly lower end surface Cylinder matches with screen assembly box.
5. a kind of unmanned charging haulage equipment according to claim 1, it is characterised in that: the lifting unit includes base Plate is provided with the consistent guiding axis at least four directions in the substrate side, and running through on the guiding axis has sylphon reflux Carrying mechanism is turned to, the sylphon reflux, which turns to, is fixed with the linear bearing matched with the guiding axis, institute on carrying mechanism It states sylphon reflux steering carrying mechanism to move in a straight line along the guiding axis, flows back and turned on carrying mechanism symmetrically in the sylphon At least two lifting cylinders are provided with, the lifting cylinder cylinder body is fixed on the sylphon reflux and turns on carrying mechanism, described Lifting cylinder movable end is fixed with the substrate, and the lifting cylinder activity direction is consistent with the guiding axis;
The sylphon reflux turns to carrying mechanism and includes symmetrically arranged transmission track, drives the first of the transmission track operating Driving mechanism, first driving mechanism includes driving motor and the reversing speed reducer that matches with the driving motor, described Reversing speed reducer is connect by drive shaft with the driving wheel being arranged on the transmission track.
6. a kind of unmanned charging haulage equipment according to claim 1, it is characterised in that: the screen assembly laterally returns Flowing elevator includes the support plate being vertically arranged, the roller rack being installed in the support plate, the second driving mechanism, Guiding machine Structure, for second driving mechanism for driving the guiding mechanism, the guiding mechanism includes being arranged in parallel in the support plate The line slide rail of side and the ball screw being arranged in the support plate axis, the roller rack are fixed on the Guiding machine On structure, the roller rack moves in a straight line in the vertical direction along line slide rail, and the ball screw end is provided with belt Wheel, second driving mechanism are fixed on the other side opposite with the roller frame in the support plate, second driving machine Structure is connected with the belt pulley by belt.
7. a kind of unmanned charging haulage equipment according to claim 6, it is characterised in that: second driving mechanism is Servo motor.
8. a kind of unmanned charging haulage equipment carrying control method, using claim 1-7 it is described in any item it is unmanned into Expect haulage equipment, it is characterised in that: described method includes following steps:
1) carrier equipped with screen assembly flows into equipment from feeding inlet, and working region A, box localization machine are moved on roller track Structure movement, positions and lock box is to crawl position;
2) screen assembly box carrying mechanism moves to dust-free paper is spaced in the sylphon for being previously positioned at region B, then screen assembly Screen assembly in box is grabbed and is rotated by 90 ° by feeding carrying mechanism, is then placed on screen assembly transmission track;
3) step 2 is repeated, until the screen assembly crawl in box finishes;
4) screen assembly transverse refluxing elevator declines, and by the box of region B together with the dust-free paper in box, drops to corresponding position, The transport unit that roller and sylphon reflux turn on carrying mechanism starts running, and sylphon is transferred to transmission track, to corresponding position After inductor senses box, roller and transport unit shut down;
5) lifting unit declines, and sylphon is transferred to roller rack, flows out track outflow by box;
6) elevator jacks, and the sylphon of position A is clamped and is transferred to position B by screen assembly box carrying mechanism;
7) new box repeats step 1) after the inflow of pan feeding track.
CN201610780466.7A 2016-08-31 2016-08-31 A kind of unmanned charging haulage equipment Active CN106219236B (en)

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CN106219236B true CN106219236B (en) 2019-01-04

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JP2771984B2 (en) * 1988-03-29 1998-07-02 株式会社東芝 Article processing equipment
CN102819342A (en) * 2011-06-10 2012-12-12 深圳富泰宏精密工业有限公司 Installation mechanism of touch panel
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CN206126299U (en) * 2016-08-31 2017-04-26 苏州朗坤自动化设备有限公司 NOTE does not have humanization feeding equipment

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