CN106514675A - Full-automatic plastic tray transferring machine - Google Patents
Full-automatic plastic tray transferring machine Download PDFInfo
- Publication number
- CN106514675A CN106514675A CN201611264374.XA CN201611264374A CN106514675A CN 106514675 A CN106514675 A CN 106514675A CN 201611264374 A CN201611264374 A CN 201611264374A CN 106514675 A CN106514675 A CN 106514675A
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- China
- Prior art keywords
- actuator
- feeding
- mechanical arm
- charging tray
- full
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
Abstract
The invention provides a full-automatic plastic tray transferring machine. The machine comprises a mechanical arm, the mechanical arm is provided with a detection camera assembly and a mechanical arm suction cup assembly, the mechanical arm establishes a standard zero point, the detection camera assembly locates and records positions of a cleaning frame and work-pieces to be cleaned, and the mechanical arm drives the mechanical arm suction cup assembly to convey the work-pieces to be cleaned to the cleaning frame. According to the machine, automation and image contrast recognition are combined, pre-locating of the multiple work-pieces and automatic lifting of material plates are realized, the material plates are automatically transferred through an automatic material plate carrying device, and the work-pieces to be cleaned can be fast and automatically sorted through the automatic mechanical arm. The machine has the advantages that locating is fast and accurate, the production efficiency is high, the safety and the reliability are high, the practicality is high and the automation degree is high.
Description
Technical field
The present invention relates to automated arm, and in particular to full-automatic plastic uptake conveyance.
Background technology
With the progress of science and technology, in manufacturing industry, the requirement of automatization is more and more, a large amount of especially for consumption is needed
Manpower and the operation of time.For the sorting cleaning operation of plastic sucking disc, at present mainly by manual sorting and cleaning, this sorting
Cleaning mode will not only consume substantial amounts of manpower and time, while artificial treatment plastic-absorbing component power differs, cause the yields cannot
Control, and man efficiency is low, does not meet automated production trend.
The content of the invention
It is an object of the invention to overcome the problem above that prior art is present, there is provided a kind of full-automatic plastic uptake conveyance.
To realize above-mentioned technical purpose, above-mentioned technique effect is reached, the present invention is achieved through the following technical solutions：
Full-automatic plastic uptake conveyance, including mechanical arm；Described mechanical arm is provided with detection photomoduel, mechanical arm sucker
Component；Described mechanical arm sets up benchmark zero point, described detection photomoduel positioning record cleaning frame and workpiece position to be cleaned
Put；The workpiece to be cleaned that described mechanical arm drives described mechanical arm Suction cup assembly transport described is to described cleaning frame.
Further, described detection photomoduel includes camera support, detection camera, detection light source, mechanical arm connection
Part, rotary drive；Described mechanical arm Suction cup assembly includes rotating suction disc, rotating structural elements；Described mechanical arm connector
It is fixedly connected with described mechanical arm；Described camera support is fixedly connected on described mechanical arm connector with rotary drive
On；Described rotary drive drives described rotating structural elements；Described rotating suction disc is installed on described rotating structural elements
On.
Further, described full-automatic plastic uptake conveyance also includes charging tray transferring platform；Described charging tray transferring platform
Including material stock platform, transhipment guide rail, transhipment actuator, transhipment lifter plate；Charging tray is positioned on described transhipment lifter plate；It is described
Transhipment guide rail one end described in transhipment lifter plate be fixedly connected, the other end is connected by slide block with material stock platform；Described turns
Fortune actuator is connected with described transhipment lifter plate, and described transhipment actuator drives described transhipment lifter plate lifting.
Further, described charging tray transferring platform also includes damping mechanism；Described damping mechanism includes movable fixation
Plate, friction roller, brake pad, scraping blade；Described damping mechanism is fixed on described charging tray column by activity fixed plate；Institute
The described charging tray side of the friction roller stated, brake pad, scraping blade contact.
Further, described full-automatic plastic uptake conveyance also includes charging tray automatic conveying device, and described charging tray is automatic
Handling device includes the first track of carrying, carries the first actuator, carry connecting substrate, carry the second track, carry the second drive
Moving part, carrying sucker fixed plate, carrying sucker；Described the first actuator of carrying is matched somebody with somebody with described the first slide of carrying
Close；Described carrying connecting substrate is fixedly connected with described the first actuator of carrying；Described the second track of carrying, carry the
Two actuators are fixedly connected in described carrying connecting substrate；Described carrying sucker fixed plate side and described carrying
Two slide coordinate, and side is fixedly connected with the second actuator is carried；Described carrying sucker is fixed on described carrying inhales
In disk fixed plate；Described carrying sucker absorption charging tray；Described charging tray automatic conveying device also includes buffer；Described is slow
Rush device to be fixed in described carrying connecting substrate.
Further, described full-automatic plastic uptake conveyance also includes pre-determined bit pay-off；Described pre-determined bit feeding
Device include the first track of feeding, the first actuator of feeding, feeding connecting substrate, the second track of feeding, the second actuator of feeding,
Feeding Suction cup assembly fixed plate, feeding Suction cup assembly；Described the first actuator of feeding drives feeding slide block；Described feeding connects
Connect substrate to be slidably connected by feeding slide block with described the first track of feeding；Described the second track of feeding, feeding second are driven
Moving part is fixedly connected in described feeding connecting substrate；Described feeding Suction cup assembly fixed plate side and described feeding
Two slide coordinate, and side is fixedly connected with the second actuator of feeding；Described feeding Suction cup assembly is fixed on described sending
In material Suction cup assembly fixed plate；Described feeding Suction cup assembly adsorbs workpiece to be cleaned；Described pre-determined bit pay-off is also wrapped
Include feed buffer；Described feed buffer is fixed in described feeding connecting substrate.
Further, described full-automatic plastic uptake conveyance also includes fixing device, and described fixing device is included at least
One clamp system, auxiliary support mechanism, base frame, cleaning frame are positioned on the base frame；Described base frame is hollow frame structure；
Described clamp system clamps described cleaning frame on base frame；Described cleaning frame is fixed with least two tooth bars；Described two
Profile of tooth on tooth bar coordinates；Workpiece to be cleaned is inserted between two described tooth bars；Described auxiliary support mechanism supports described
Workpiece to be cleaned.
Further, described full-automatic plastic uptake conveyance also includes hood, mechanical arm controller, main controller；Described
Hood includes callosity, movable pulley, column, capping plate, air exhausting device, state warning lamp；Described mechanical arm controller control institute
The mechanical arm stated；The described detection photomoduel of described main controller control, charging tray transferring platform, charging tray automatic conveying device,
Pre-determined bit pay-off, fixing device.
Further, described full-automatic plastic uptake conveyance also includes single detent mechanism；Described single detent mechanism includes
Single location-plate, localization handspike, positioning movable plate, the first pushing block, the second pushing block, movable plate actuator, push rod actuator, positioning base
Platform；Described single location-plate, push rod actuator, movable plate actuator are fixed on described positioning base station；Described first pushes away
Block is fixed on described localization handspike；The second described pushing block is fixed on described positioning movable plate；Described push rod drives
Moving part drives described localization handspike motion, the first described pushing block to contradict workpiece to be cleaned two respectively with described single location-plate
Side；Described movable plate actuator drives described positioning movable plate motion, the second described pushing block and described single location-plate
The another both sides of workpiece to be cleaned are contradicted respectively.
Further, described full-automatic plastic uptake conveyance also includes many detent mechanisms；Described many detent mechanisms include
Many location-plates, localization handspike, positioning movable plate, the first pushing block, the second pushing block, movable plate actuator, push rod actuator, positioning base
Platform；Described many location-plates are provided with some positioning grooves with positioning side；Described many location-plates, push rod actuator, movable plate
Actuator is fixed on described positioning base station；The first described pushing block is fixed on described localization handspike；Described second
Pushing block is fixed on described positioning movable plate；Described push rod actuator drives described localization handspike motion, and described the
One pushing block contradicts workpiece both sides to be cleaned respectively with described many location-plates；Described movable plate actuator drives described positioning
Movable plate is moved, and described the second pushing block is moved in described positioning groove, the second described pushing block and described positioning side
The another both sides of workpiece to be cleaned are contradicted respectively.
The invention has the beneficial effects as follows:The present invention provides a kind of full-automatic plastic uptake conveyance, including mechanical arm；Described machine
Tool arm is provided with detection photomoduel, mechanical arm Suction cup assembly；Described mechanical arm sets up benchmark zero point, described detection camera
Component positioning record cleaning frame and the location of workpiece to be cleaned；Described mechanical arm drives described mechanical arm Suction cup assembly to transport institute
The workpiece to be cleaned stated is to described cleaning frame.The present invention is combined automatization and is recognized with image comparison, realizes that multi-work piece makes a reservation for
Position and the automatic lifting of charging tray, coordinate charging tray automatic conveying device to realize the automated handling of charging tray；Coordinate automatic manipulator
The rapid automatized sorting of workpiece to be cleaned is realized, present invention positioning fast accurate, production efficiency are high, safe and reliable, practicality
By force, high degree of automation.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The specific embodiment of the present invention is shown in detail in by following examples and its accompanying drawing.
Description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this
Bright schematic description and description does not constitute inappropriate limitation of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is full-automatic plastic uptake conveyance integral outer structural representation Fig. 1 of the present invention；
Fig. 2 is full-automatic plastic uptake conveyance integral outer structural representation Fig. 2 of the present invention；
Fig. 3 is full-automatic plastic uptake conveyance whole interior structural representation Fig. 1 of the present invention；
Fig. 4 is full-automatic plastic uptake conveyance whole interior structural representation Fig. 2 of the present invention；
Fig. 5 is the full-automatic plastic uptake conveyance partial structural diagram 1 of the present invention；
Fig. 6 is charging tray transferring platform structural representation Fig. 1 of the present invention；
Fig. 7 is charging tray transferring platform structural representation Fig. 2 of the present invention；
Fig. 8 is the charging tray transferring platform partial structural diagram of the present invention；
Fig. 9 is charging tray automatic conveying device structural representation Fig. 1 of the present invention；
Figure 10 is charging tray automatic conveying device structural representation Fig. 2 of the present invention；
Figure 11 is the full-automatic plastic uptake conveyance partial structural diagram 2 of the present invention；
Figure 12 is the full-automatic plastic uptake conveyance partial structural diagram 3 of the present invention；
Figure 13 is that the pre-determined bit feeder structure of the present invention illustrates Fig. 1；
Figure 14 is that the pre-determined bit feeder structure of the present invention illustrates Fig. 2；
Figure 15 is the pre-determined bit pay-off partial structural diagram 1 of the present invention；
Figure 16 is the pre-determined bit pay-off partial structural diagram 2 of the present invention；
Figure 17 is the full-automatic plastic uptake conveyance partial structural diagram 4 of the present invention；
Figure 18 is many detent mechanism structural representation Fig. 1 of the present invention；
Figure 19 is many detent mechanism structural representation Fig. 2 of the present invention；
Figure 20 is single detent mechanism structural representation of the present invention；
Figure 21 is that single detent mechanism use state of the present invention illustrates Fig. 1；
Figure 22 is that single detent mechanism use state of the present invention illustrates Fig. 2；
Figure 23 is the Working piece positioning device polycrystalline substance schematic diagram of the present invention；
Figure 24 is the full-automatic plastic uptake conveyance partial structural diagram 5 of the present invention；
Figure 25 is the mechanical arm structural representation of the present invention；
Figure 26 is the detection photomoduel structural representation of the present invention；
Figure 27 is the detection photomoduel and mechanical arm Suction cup assembly structural representation of the present invention；
Figure 28 is the cleaning frame fixing device overall structure diagram of the present invention；
Figure 29 is the cleaning frame fixing device use state structural representation of the present invention；
Figure 30 is the cleaning frame fixture structure schematic diagram of the present invention；
Figure 31 is the cleaning frame fixing device polycrystalline substance schematic diagram of the present invention；
Label declaration in figure：It is hood 1, charging tray transferring platform 2, charging tray automatic conveying device 3, pre-determined bit pay-off 4, many
Detent mechanism 5, single detent mechanism 6, mechanical arm 7, fixing device 8, workpiece to be cleaned 9, callosity 11, movable pulley 12, column 13, envelope
Cover plate 14, air exhausting device 16, mechanical arm controller 17, main controller 18, state warning lamp 19, charging tray 20, material stock platform 21, charging tray
Column 22, adjustable plate 23, damping mechanism 24, activity fixed plate 241, friction roller 242, brake pad 243, scraping blade 244, control cover
25th, leading screw 26, transhipment guide rail 27, transhipment actuator 28, transhipment lifter plate 29, Handling device connecting plate 31, the first track of carrying
32nd, the first actuator 33, carrying connecting substrate 34, the second track 35 of carrying, the second actuator 36, carrying sucker of carrying are carried solid
Fixed board 37, carrying sucker 38, buffer 39, upper touch panel 391, lower touch panel 392, the first track of feeding 41, the first actuator of feeding
42nd, feeding connecting substrate 43, feeding Suction cup assembly fixed plate 44, the second actuator of feeding 45, feeding the second track 46, feeding delay
Rush device 47, buffer board 471, feeding Suction cup assembly 48, feeding sucker connecting plate 481, feeding sucker 482, feeding inductive switch
483rd, photoelectric sensor switch 491, catch 494, movable plate actuator 50, many location-plates 51, localization handspike 52, push rod actuator
53rd, fixed plate 54, the second pushing block 55, the first pushing block 56, positioning movable plate 57, positioning base station 58, locating piece 59, single positioning are positioned
Plate 61, robotic connector 71, six axis robot 72, detection photomoduel 73, mechanical arm Suction cup assembly 74, camera support 731,
Detection camera 732, detection light source 733, mechanical arm connector 734, rotary drive 735, rotating suction disc 741, rotating structural elements
742nd, base station 80, capping 81, clamp system 82, cleaning frame 83, tooth bar 84, support tooth bar 85, lifter plate 86, lifting executive component
87th, the first frame 88, the second frame 89.
Specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
Shown in reference picture 1-31, full-automatic plastic uptake conveyance, including mechanical arm 7；As shown in figure 25, described mechanical arm 7
It is provided with detection photomoduel 73, mechanical arm Suction cup assembly 74；Described mechanical arm 7 sets up benchmark zero point, described detection phase
The positioning record cleaning frame 83 of thermomechanical components 73 and 9 position of workpiece to be cleaned；Described mechanical arm 7 drives described mechanical arm sucker group
Part 74 transports described workpiece to be cleaned 9 to described cleaning frame 83.As shown in Figure 3, Figure 4, a whole set of full-automatic plastic uptake transhipment
Machine can also include that how fixed charging tray transferring platform 2, charging tray automatic conveying device 3, pre-determined bit pay-off 4, Working piece positioning device be (
Position mechanism 5, single detent mechanism 6), cleaning frame fixing device (fixing device 8).
Preferably, as shown in Figure 26, Figure 27, described detection photomoduel 73 includes camera support 731, detection camera
732nd, light source 733, mechanical arm connector 734, rotary drive 735 are detected；Described mechanical arm Suction cup assembly 74 includes rotation
Sucker 741, rotating structural elements 742；Described mechanical arm connector 734 is fixedly connected with described mechanical arm 7；Described camera
Support 731 is fixedly connected on described mechanical arm connector 734 with rotary drive 735；Described rotary drive 735 drives
Move described rotating structural elements 742；Described rotating suction disc 741 is installed on described rotating structural elements 742.
As shown in Figure 24, Figure 25, mechanical arm 7 also includes robotic connector 71, six axis robot 72, robotic connector
71 are fixed on whole mechanical arm 7 on base station 80.Mechanical arm 7 is controlled by mechanical arm controller 17, realizes the base to mechanical arm 7
It is accurate to set up, the work such as calibration.By detecting that photomoduel 73 records the position of 7 desirable movement of mechanical arm, and pass through mechanical arm control
Device processed 17 records or solves 7 motion path of mechanical arm, and mechanical arm Suction cup assembly 74 picks up workpiece to be cleaned 9, moves to record position
Postpone and quickly workpiece to be cleaned 9 is placed on cleaning frame 83 by contrast images.
Charging tray transferring platform：
Preferably, as shown in Figure 5-Figure 8, described full-automatic plastic uptake conveyance also includes charging tray transferring platform 2；Described
Charging tray transferring platform 2 includes material stock platform 21, transhipment guide rail 27, transhipment actuator 28, transhipment lifter plate 29；Charging tray 20 is positioned over
On described transhipment lifter plate 29；Transhipment lifter plate 29 described in 27 one end of described transhipment guide rail is fixedly connected, the other end with
Material stock platform 21 is connected by slide block；Described transhipment actuator 28 is connected with described transhipment lifter plate 29, described transhipment
Actuator 28 drives described transhipment lifter plate 29 to lift.Preferably, as shown in Figure 1 and Figure 2, described charging tray transferring platform is also
Including charging tray column 22；Described charging tray column 22 is located at 20 surrounding of charging tray.Preferably, described charging tray transferring platform also includes
Adjustable plate 23, described adjustable plate 23 contradict described charging tray 20；Described adjustable plate 23 is provided with regulating tank 231；Described tune
Section plate 23 is fixed on described charging tray column 22 by described regulating tank 231.By adjusting regulating tank 231 and charging tray column
22 fixed position, coordinates various sizes of charging tray 20.
Preferably, as shown in Figure 6, Figure 7, described charging tray transferring platform also includes damping mechanism 24；Described damping machine
Structure 24 includes activity fixed plate 241, friction roller 242；Described damping mechanism 24 is fixed on described by activity fixed plate 241
Charging tray column 22 on；Described friction roller 242 contacts described 20 side of charging tray.Preferably, described damping mechanism 24
Also include brake pad 243；Described brake pad 243 contacts described 20 side of charging tray.Preferably, described damping mechanism 24 is also
Including scraping blade 244；Described scraping blade 244 contacts described 20 side of charging tray.
Preferably, as shown in figure 8, described transhipment actuator 28 includes servomotor 281, belt pulley 282, leading screw 26；
Described 282 one end of belt pulley is connected with described servomotor 281, and the other end is connected with described leading screw 26.Preferably, institute
The charging tray column 22 stated is provided with inductive switch 222；Described inductive switch 222 controls described transhipment actuator 28.
As shown in figure 5, pre-determined bit pay-off 4 is moved to the position of the charging tray 20 for being placed with workpiece to be cleaned 9, will treat clear
Wash workpiece 9 to pick up, be transported on Working piece positioning device.As shown in figure 5, charging tray column 22, charging tray are fixed with material stock platform 21
Adjustable plate 23, damping mechanism 24,23 adjustable length of adjustable plate, for being adapted to the charging tray of different length size are fixed with column 22
20, workpiece to be cleaned 9 is placed on the charging tray 20 of left side, left side to be placed with the charging tray 20 of workpiece to be cleaned 9, the empty charging tray in right side
20；After workpiece to be cleaned 9 is shifted, in the handling process of charging tray automatic conveying device 3, as carrying sucker suction is big, it is
Prevent from picking up charging tray 20 and be mutually clamped, i.e., plural empty charging tray 20 is picked up in a handling process, damping mechanism is set
24, damping mechanism 24 provides certain frictional force during empty charging tray 20 is picked up, and separates the charging tray 20 of engaging；For different chis
Very little charging tray 20 is respectively adopted friction roller 242, brake pad 243,244 structure of scraping blade and frictional force is provided to charging tray 20, actual to answer
One of which or several combinations can be adopted with.As shown in figure 4, while charging tray automatic conveying device 3 picks up charging tray 20, it is right
The transhipment actuator 28 of side charging tray transferring platform works, and drives charging tray heap to rise, and inductive switch 222 is arranged at discharge position, when
When charging tray heap rises to discharge position, the triggering control transhipment actuator 28 of inductive switch 222 quits work；Charging tray automatic transporting is filled
Put 3 will pick up charging tray 20 be transported to left side charging tray transferring platform on when, inductive switch 222 be arranged at charging tray stacking extreme higher position,
When charging tray 20 is stacked to extreme higher position, inductive switch 222 is triggered, stop charging tray automatic conveying device 3 and work, represent left side material
Pan Dui is full.It should be appreciated that different 222 positions of inductive switch are arranged according to 20 specification of charging tray, correspond to charging tray respectively and pile with shape
State and charging tray dummy status.As Figure 1 and Figure 4, control charging tray automatic conveying device 3, pre-determined bit feeding is provided with control cover 25
The button and emergency button of device 4.
Charging tray automatic conveying device：
Preferably, as shown in Figure 9, Figure 10, described full-automatic plastic uptake conveyance also includes charging tray automatic conveying device 3,
Described charging tray automatic conveying device 3 includes carrying the first track 32, carries the first actuator 33, carry connecting substrate 34, remove
Transport the second track 35, carry the second actuator 36, carrying sucker fixed plate 37, carrying sucker 38；Described carrying first drives
Part 33 is slidably matched with described the first track of carrying 32；Described carrying connecting substrate 34 and described the first actuator of carrying
33 are fixedly connected；Described the second track of carrying 35, carry the second actuator 36 and be fixedly connected on described carrying connecting substrate
On 34；Described 37 side of carrying sucker fixed plate is slidably matched with described the second track of carrying 35, side with carry second
Actuator 36 is fixedly connected；Described carrying sucker 38 is fixed in described carrying sucker fixed plate 37；Described carrying is inhaled
Disk 38 adsorbs charging tray 20；Described charging tray automatic conveying device also includes buffer 39；Described buffer 39 is fixed on described
Carrying connecting substrate 34 on.
Preferably, as shown in figure 9, the quantity of described buffer 39 is two；Described 35 two ends of the second track of carrying
It is respectively equipped with touch panel 391, lower touch panel 392；Buffer 39 described in one of them is contradicted with described upper touch panel 391, another
Individual described buffer 39 is contradicted with described lower touch panel 392.Preferably, the quantity of described carrying sucker 38 is 4.It is preferred that
Ground, described the first actuator of carrying 33 are Timing Belt Linear Driving.Preferably, described the second actuator of carrying 36 is gas
Cylinder.Preferably, described the first track of carrying 32 is additionally provided with journey controller；The described carrying of described journey controller control
First actuator 33 is moved.Preferably, described journey controller is photoelectric sensor switch.
As shown in figure 5, charging tray column 22 is fixed with material stock platform 21, adjustable plate 23, resistance on charging tray column 22, are fixed with
Buddhist nun mechanism 24,23 adjustable length of adjustable plate, for being adapted to the charging tray 20 of different length size, workpiece to be cleaned 9 is placed on left side
On charging tray 20, left side to be placed with the charging tray 20 of workpiece to be cleaned 9, right side sky charging tray 20；After workpiece to be cleaned 9 is shifted,
First actuator of carrying 33 of charging tray automatic conveying device works, and drives carrying connecting substrate 34 to be moved to left side charging tray 20 and just goes up
Side, stroke are controlled by photoelectric sensor switch, in place after, carry the second actuator 36 and work, cylinder elongation, up to carrying sucker
38 laminatings left side charging tray 20 exhaust hood contraction, as cylinder operation is quick, arranges two buffers 39, prevent cylinder from running
Degree, plays positioning action while protection device is safe；As 38 suction of carrying sucker is big, mutually block to prevent from picking up charging tray 20
Close, i.e., plural empty charging tray 20 is picked up in a handling process, damping mechanism 24 is set, damping mechanism 24 is in empty charging tray
20 pick up during certain frictional force is provided, separate the charging tray 20 of engaging；After picking up sky charging tray 20, charging tray automatic conveying device
The first actuator of carrying 33 work, drive and carry connecting substrate 34 and be moved to directly over the charging tray 20 of right side, in place after, carry the
Two actuators 36 work, cylinder elongation, until empty 20 heap of charging tray is put well, after the release of 38 suction of carrying sucker, exhaust hood shrinks, single
Secondary handling process is completed.
Pre-determined bit pay-off：
Preferably, as illustrated in figures 11-16, described full-automatic plastic uptake conveyance also includes pre-determined bit pay-off 4；It is described
Pre-determined bit pay-off 4 include the first track of feeding 41, the first actuator of feeding 42, feeding connecting substrate 43, feeding second
Track 46, the second actuator of feeding 45, feeding Suction cup assembly fixed plate 44, feeding Suction cup assembly 48；Described feeding first is driven
Moving part 42 drives feeding slide block 431；Described feeding connecting substrate 43 passes through feeding slide block with described the first track of feeding 41
431 are slidably connected；Described the second track of feeding 46, the second actuator of feeding 45 are fixedly connected on described feeding connecting substrate
On 43；Described 44 side of feeding Suction cup assembly fixed plate is slidably matched with described the second track of feeding 46, side and feeding
Second actuator 45 is fixedly connected；Described feeding Suction cup assembly 48 is fixed in described feeding Suction cup assembly fixed plate 44；
Described feeding Suction cup assembly 48 adsorbs workpiece to be cleaned 9；Described pre-determined bit pay-off 4 also includes feed buffer 47；
Described feed buffer 47 is fixed in described feeding connecting substrate 43.
Preferably, as shown in figure 13, the quantity of described feed buffer 47 is two；Described the second track of feeding 46
On be slidably fitted with buffer board 471；Feed buffer 47 described in two contradicts described buffer board respectively, and about 471 both sides；
Described 45 movable end of the second actuator of feeding is fixedly connected described buffer board 471.
Preferably, as shown in figure 15, described feeding Suction cup assembly 48 includes feeding sucker connecting plate 481, feeding sucker
482；Described feeding sucker 482 is fixed on described feeding sucker connecting plate 481；The described absorption of feeding sucker 482 is treated
Cleaning workpiece 9.Preferably, the quantity of described feeding Suction cup assembly 48 is 4；Described 482 quantity of feeding sucker is two.
Preferably, described feeding Suction cup assembly 48 also includes feeding inductive switch 483；Described feeding inductive switch 483 is installed on
On described feeding sucker connecting plate 481；Described feeding inductive switch 483 detect described feeding sucker connecting plate 481 with
Distance between described workpiece to be cleaned 9.
Preferably, as shown in figure 16, pre-determined bit pay-off also includes feeding journey controller 49；Described feeding stroke
Controller 49 includes photoelectric sensor switch 491, catch 494；Described photoelectric sensor switch 491 is installed on described feeding first
On track 41；Described catch 494 is installed on described feeding slide block 431；Described catch 494 and described optoelectronic induction
Switch 491 coordinates.
As shown in Figure 11, Figure 12, pre-determined bit pay-off 4 is moved to the position of the charging tray 20 for being placed with workpiece to be cleaned 9,
Workpiece to be cleaned 9 is picked up, is transported on Working piece positioning device.As shown in figure 5, charging tray column is fixed with material stock platform 21
22, adjustable plate, damping mechanism, adjustable plate adjustable length, for being adapted to the material of different length size are fixed with charging tray column 22
Disk 20, workpiece to be cleaned 9 are placed on the charging tray 20 of left side, and to be placed with the charging tray 20 of workpiece to be cleaned 9, right side is empty to expect in left side
Disk 20；The button and emergency button of control pre-determined bit pay-off 4 are provided with control cover 25.Using when, servo slide motor
Drive slide block 431 to drive feeding connecting substrate 43 to move, feeding Suction cup assembly 48 is moved to directly over workpiece to be cleaned 9, it is sliding
The triggering photoelectric sensor switch 491 of catch 494 on block 431, servo slide motor quit work, and now cylinder action, drive are sent
Material Suction cup assembly 48 is moved to 9 position of workpiece to be cleaned, and during this, feed buffer 47 is acted on, and prevents cylinder moving excessively,
Protection whole equipment and workpiece；It is to be cleaned with described that feeding inductive switch 483 detects described feeding sucker connecting plate 481
When between workpiece 9, distance reaches sucker operating distance, feeding sucker 482 works and picks up workpiece to be cleaned 9, and cylinder is recycled to another
When feed buffer 47 is contradicted, the work of servo slide motor drives feeding Suction cup assembly 48 to be moved to above Working piece positioning device,
Catch 494 on slide block 431 triggers photoelectric sensor switch 491 in the same manner, and servo slide motor quits work, now cylinder action,
Feeding Suction cup assembly 48 is driven to be moved to the discharge position of workpiece to be cleaned 9, feed buffer 47 is acted on during this, feeding sense
Inductive switch 483 detects distance between described feeding sucker connecting plate 481 and described workpiece to be cleaned 9 and reaches sucker stopping work
With apart from when, 482 suction of feeding sucker disappears, and workpiece to be cleaned 9 is positioned on Working piece positioning device, and cylinder is reclaimed, and is entirely sent
Material process is completed.
Cleaning frame fixing device：
Preferably, as shown in Figure 28-31, described full-automatic plastic uptake conveyance also includes fixing device 8, described fixation
Device 8 includes at least a clamp system 82, auxiliary support mechanism, base frame, and cleaning frame 83 is positioned on the base frame；Described base
Frame is hollow frame structure；Described clamp system 82 clamps described cleaning frame 83 on base frame；Described cleaning frame 83 is solid
Surely there are at least two tooth bars 84；Profile of tooth on two described tooth bars 84 coordinates；Workpiece to be cleaned 9 is inserted in two described tooth bars 84
Between；Described auxiliary support mechanism supports described workpiece to be cleaned 9.
Preferably, as shown in figure 30, described base frame includes two first frames 88 and two second frames 89；Described first
Frame 88 is adjacent to be fixedly connected the first described frame 88 and the second described frame 89；The first described frame 88 is higher than described
The second frame 89.
Preferably, described clamp system 82 is fixed on described base frame.As shown in figure 29, it is preferable that described clamping
Mechanism 82 is compression cylinder；The quantity of described compression cylinder is 4；Described compression cylinder is individually fixed in described two the
Two frames, 89 both sides；Described compression cylinder is pressed in described cleaning frame 83 on the first described frame 88.
Preferably, as shown in figure 31, described auxiliary support mechanism includes that an elevating mechanism, at least one support tooth bar 85；
Described support tooth bar 85 supports workpiece to be cleaned 9；The described tooth bar 85 that supports is fixedly connected on described elevating mechanism；Institute
The elevating mechanism stated drives described support tooth bar 85 to move up and down along vertical level direction.Preferably, described elevator
Structure includes lifter plate 86, lifting executive component 87；The described tooth bar 85 that supports is fixed on described lifter plate 86；Described liter
Drop executive component 87 is fixedly connected under described lifter plate 86.
Preferably, as shown in figure 28, described cleaning frame automatic fixer also includes a base station 80；Described base frame is solid
Due to described 80 upper surface of base station；Described lifting executive component 87 is cylinder；Described base station 80 is fixed in cylinder one end
Lower surface.Preferably, described cleaning frame automatic fixer is also including a capping 81；Described clamp system 82, base station 80
Covered by described capping 81.Dust-proof and security protection is played a part of in capping 81.
As shown in figure 24, mechanical arm 7 is installed on base station 80；Mechanical arm 7 is sixdegree-of-freedom simulation；Mechanical arm 7 is provided with
Detection photomoduel 73, mechanical arm Suction cup assembly 74；Detection photomoduel 73 is used for auxiliary positioning, and detection photomoduel 73 is recorded
Position images, control machinery arm 7 move to recorded position images；Clamp system 82 compresses cleaning frame 83, makes support tooth bar
Profile of tooth on 85 is coordinated with the profile of tooth of tooth bar 84；The elevating mechanism of auxiliary support mechanism rises；Mechanical arm sucker on mechanical arm 7
Component 74 picks up workpiece to be cleaned 9, moves to cleaning frame 83 position, and mechanical arm Suction cup assembly 74 rotates, by workpiece to be cleaned 9 from
Horizontal level is rotated to upright position；On the tooth bar 84 of insertion cleaning frame 83, after workpiece to be cleaned 9 sticks with cleaning frame 83, auxiliary
The elevating mechanism of supporting mechanism declines, and supports tooth bar 85 to separate with workpiece to be cleaned 9, the transhipment of convenient cleaning frame 83.
Workpiece locating mechanism：
In a kind of preferred embodiment, as illustrated in figs 20-22, the workpiece locating mechanism of described full-automatic plastic uptake conveyance is
Single detent mechanism 6；Described single detent mechanism 6 includes single location-plate 61, localization handspike 52, positioning movable plate 57, the first pushing block
56th, the second pushing block 55, movable plate actuator 50, push rod actuator 53, positioning base station 58；Described single location-plate 61, push rod drives
Moving part 53, movable plate actuator 50 are fixed on described positioning base station 58；The first described pushing block 56 is fixed on described to be determined
On the push rod 52 of position；The second described pushing block 55 is fixed on described positioning movable plate 57；Described push rod actuator 53 drives
Described localization handspike 52 is moved, and the first described pushing block 56 contradicts 9 liang of workpiece to be cleaned respectively with described single location-plate 61
Side；Described movable plate actuator 50 drives described positioning movable plate 57 to move, the second described pushing block 55 and described list
Location-plate 61 contradicts 9 another both sides of workpiece to be cleaned respectively.
Preferably, as shown in Figure 20, Figure 21, described positioning base station 58 is provided with locating piece 59；Described single location-plate
61 contradict described locating piece 59.Preferably, the quantity of described locating piece 59 is four, and four described locating pieces 59 are distinguished
Two adjacent edge edges of described positioning base station 58 are arranged at two-by-two.Two common shapes of positioning plane not on the locating piece 59 of coplanar
Position into two sides, position single location-plate 61 more accurate.
Preferably, as shown in Figure 21, Figure 22, the quantity of the first described pushing block 56 is four, the first described pushing block 56
Uniformly it is fixed on described localization handspike 52.Preferably, the quantity of the second described pushing block 55 is two or more.Figure 20-22
Shown in, the first pushing block 56 is 4, and the second pushing block 55 is 2, is the workpiece to be cleaned 9 for adapting to different length and width.
Preferably, as shown in figure 20, described single detent mechanism 6 also includes column, determining described in described upright supports
Position base station 58.Preferably, described single detent mechanism 6 also includes positioning fixed plate 54；Described positioning fixed plate 54 is fixed on
On column, described positioning fixed plate 54 is located at below described positioning base station 58.Preferably, set on described positioning base station 58
There is groove；Described movable plate actuator 50 is fixed in described positioning fixed plate 54.
Preferably, described movable plate actuator 50 is slider cylinder.
Preferably, described push rod actuator 53 is slider cylinder.
As shown in Figure 11, Figure 12, pre-determined bit pay-off 4 is moved to the position of the charging tray 20 for being placed with workpiece to be cleaned 9,
Workpiece to be cleaned 9 is picked up, is transported on single detent mechanism 6.As shown in figure 5, charging tray column 22 on material stock platform 21, is fixed with,
Adjustable plate, damping mechanism, adjustable plate adjustable length, for being adapted to the charging tray of different length size are fixed with charging tray column 22
20, workpiece to be cleaned 9 is placed on the charging tray 20 of left side, left side to be placed with the charging tray 20 of workpiece to be cleaned 9, the empty charging tray in right side
20；The button and emergency button of control pre-determined bit pay-off 4 are provided with control cover 25.Using when, the first actuator of feeding
Drive feeding connecting substrate 43 of 42 driving slide blocks sliding on the first track of feeding 41 is moved, and is moved to feeding Suction cup assembly 48
Directly over workpiece to be cleaned 9, the first actuator of feeding 42 quits work, 45 action of the second actuator of now feeding, drives feeding
Suction cup assembly fixed plate 44 makes feeding Suction cup assembly 48 be moved to 9 position of workpiece to be cleaned, and the work of feeding Suction cup assembly 48 will be treated
Cleaning workpiece 9 is picked up, and the first actuator of feeding 42 works, and is driven feeding Suction cup assembly 48 to be moved to above single detent mechanism 6, is sent
Expect that the first actuator 42 quits work, 45 action of the second actuator of now feeding drives feeding Suction cup assembly fixed plate 44 to make to send
Material Suction cup assembly 48 is moved to the discharge position of workpiece to be cleaned 9, and workpiece to be cleaned 9 is positioned on single detent mechanism 6 feeding the
Two actuators 45 are reclaimed, and whole feeding process is completed.As shown in Fig. 2 as 9 placement location of workpiece to be cleaned has randomness,
Single detent mechanism 6 need to be treated cleaning workpiece 9 and be positioned, and described push rod actuator 53 drives described localization handspike 52 to transport
Dynamic, the first described pushing block 56 contradicts 9 both sides of workpiece to be cleaned respectively with described single location-plate 61, makes workpiece to be cleaned 9 one
Length sides are withstood on the inside of single location-plate 61, and the first pushing block 56 is withstood in another side；Described movable plate actuator 50 drives described
Positioning movable plate 57 is moved, and the second described pushing block 55 contradicts 9 another both sides of workpiece to be cleaned respectively with described single location-plate 61,
9 one width edge of workpiece to be cleaned is made to withstand on the inside of single location-plate 61, the second pushing block 55 is withstood in another side；Using the height of locating piece 59
Precision face is quickly positioned, and the quick vanning for follow-up workpiece to be cleaned 9 provides support.As shown in fig. 7, for a kind of multi-work piece
Locating platform, principle are identical, and the workpiece to be cleaned 9 having good positioning quickly is picked up by mechanical arm 7, after a series of motion, will
Workpiece to be cleaned 9 is positioned on the cleaning frame in fixing device 8, completes a whole set of automatization's action.
In a kind of preferred embodiment, as shown in Figure 17-19, Figure 23, the workpiece of described full-automatic plastic uptake conveyance is positioned
Mechanism is many detent mechanisms 5；Described many detent mechanisms 5 include many location-plates 51, localization handspike 52, positioning movable plate 57, the
One pushing block 56, the second pushing block 55, movable plate actuator 50, push rod actuator 53, positioning base station 58；On described many location-plates 51
Some positioning grooves are provided with positioning side；Described many location-plates 51, push rod actuator 53, movable plate actuator 50 are fixed on institute
On the positioning base station 58 stated；The first described pushing block 56 is fixed on described localization handspike 52；The second described pushing block 55 is solid
On described positioning movable plate 57；Described push rod actuator 53 drives described localization handspike 52 to move, and described the
One pushing block 56 contradicts 9 both sides of workpiece to be cleaned respectively with described many location-plates 51；Described movable plate actuator 50 drives institute
The positioning movable plate 57 stated is moved, and the second described pushing block 55 is moved in described positioning groove, the second described pushing block 55
9 another both sides of workpiece to be cleaned are contradicted respectively with described positioning side.Preferably, as shown in Figure 18, Figure 19, the first described pushing block
56 quantity is four, and the first described pushing block 56 is uniformly fixed on described localization handspike 52.Preferably, described second
The quantity of pushing block 55 is four multiple.Shown in Figure 18-19, the first pushing block 56 is 4, and the second pushing block 55 for 8 (in figure is
5, it will be appreciated that be not 55 actual number of the second pushing block, but to adapt to the workpiece to be cleaned 9 of different length and width,
Expression can set up the second pushing block 55 of different groups, and here is done and illustrated), 5 other structures of many detent mechanisms are tied with reference to single detent mechanism 6
Structure, use principle are consistent, will not be described here.
Supplementary structure：
Preferably, as shown in Figure 1-2, described full-automatic plastic uptake conveyance also include hood 1, mechanical arm controller 17,
Main controller 18；Described hood 1 includes callosity 11, movable pulley 12, column 13, capping plate 14, air exhausting device 16, state warning lamp
19；Described mechanical arm controller 17 controls described mechanical arm 7；Described main controller 18 controls described detection photomoduel
73rd, charging tray transferring platform 2, charging tray automatic conveying device 3, pre-determined bit pay-off 4, fixing device 8.Callosity 11, movable pulley 12,
Column 13, capping plate 14 constitute full-automatic plastic uptake conveyance body general frame, belong to the customization design of automation equipment, row
Wind apparatus 16 provide air-cooled to integral device, and state warning lamp 19 adopts each state of trichroism warning lamp instruction work.It should be appreciated that
Full-automatic plastic uptake conveyance further relates to the pipelines such as the hydraulic pressure source of the gas in automation equipment and the layout of automatic control circuit belongs to certainly
The routine techniquess means of dynamicization equipment, will not be described here.
Described full-automatic plastic uptake conveyance completes a whole set of automatization's transport process and needs only to several seconds, replaces people completely
Work process, send again by other automation equipments of Jing for the workpiece to be cleaned 9 on cleaning frame 83 that the full-automatic plastic uptake conveyances of Jing are transported
In people's cleaning device, production and processing automatization is really realized.
The present invention provides a kind of full-automatic plastic uptake conveyance, including mechanical arm；Described mechanical arm is provided with detection camera
Component, mechanical arm Suction cup assembly；Described mechanical arm sets up benchmark zero point, described detection photomoduel positioning record cleaning frame
With the location of workpiece to be cleaned；Described mechanical arm drives described mechanical arm Suction cup assembly to transport described workpiece to be cleaned to institute
On the cleaning frame stated.The present invention is combined automatization and is recognized with image comparison, realizes the automatic lifting of multi-work piece pre-determined bit and charging tray,
Charging tray automatic conveying device is coordinated to realize the automated handling of charging tray；Automatic manipulator is coordinated to realize the quick of workpiece to be cleaned
Automated sorting, present invention positioning fast accurate, production efficiency are high, safe and reliable, practical, high degree of automation.
The above, only presently preferred embodiments of the present invention not makees any pro forma restriction to the present invention；It is all
The those of ordinary skill of the industry can shown in by specification accompanying drawing and the above and swimmingly implement the present invention；But, it is all
Those skilled in the art are done using disclosed above technology contents in the range of without departing from technical solution of the present invention
A little change, modification and the equivalent variations for developing for going out, are the Equivalent embodiments of the present invention；Meanwhile, it is all according to the present invention's
Change, modification and differentiation of any equivalent variations that substantial technological is made to above example etc., still fall within the skill of the present invention
Within the protection domain of art scheme.
Claims (10)
1. full-automatic plastic uptake conveyance, including mechanical arm (7), it is characterised in that：Described mechanical arm (7) is provided with detection camera
Component (73), mechanical arm Suction cup assembly (74)；Described mechanical arm (7) sets up benchmark zero point, described detection photomoduel
(73) positioning record cleaning frame (83) and workpiece to be cleaned (9) position；Described mechanical arm (7) drives described mechanical arm sucker
Component (74) transports described workpiece to be cleaned (9) to described cleaning frame (83).
2. full-automatic plastic uptake conveyance according to claim 1, it is characterised in that：Described detection photomoduel (73) bag
Include camera support (731), detection camera (732), detection light source (733), mechanical arm connector (734), rotary drive
(735)；Described mechanical arm Suction cup assembly (74) includes rotating suction disc (741), rotating structural elements (742)；Described mechanical arm
Connector (734) is fixedly connected with described mechanical arm (7)；Described camera support (731) is fixed with rotary drive (735)
It is connected on described mechanical arm connector (734)；Described rotary drive (735) drives described rotating structural elements
(742)；Described rotating suction disc (741) is installed on described rotating structural elements (742).
3. full-automatic plastic uptake conveyance according to claim 2, it is characterised in that：Described full-automatic plastic uptake conveyance is also
Including charging tray transferring platform (2)；Described charging tray transferring platform (2) is driven including material stock platform (21), transhipment guide rail (27), transhipment
Moving part (28), transhipment lifter plate (29)；Charging tray (20) is positioned on described transhipment lifter plate (29)；Described transhipment guide rail
(27) the transhipment lifter plate (29) described in one end is fixedly connected, and the other end is connected by slide block with material stock platform (21)；Described
Transhipment actuator (28) is connected with described transhipment lifter plate (29), and described transhipment actuator (28) drives described transhipment liter
Drop plate (29) lifting.
4. full-automatic plastic uptake conveyance according to claim 3, it is characterised in that：Described charging tray transferring platform (2) is also
Including damping mechanism (24)；Described damping mechanism (24) includes activity fixed plate (241), friction roller (242), brake pad
(243), scraping blade (244)；Described damping mechanism (24) is fixed on described charging tray column (22) by activity fixed plate (241)
On；Described charging tray (20) side of described friction roller (242), brake pad (243), scraping blade (244) contact.
5. full-automatic plastic uptake conveyance according to claim 4, it is characterised in that：Described full-automatic plastic uptake conveyance is also
Including charging tray automatic conveying device (3), described charging tray automatic conveying device (3) is including carrying the first track (32), carry the
One actuator (33), carrying connecting substrate (34), the second track of carrying (35), the second actuator of carrying (36), carrying sucker are solid
Fixed board (37), carrying sucker (38)；Described the first actuator of carrying (33) is slided with described the first track of carrying (32) and is matched somebody with somebody
Close；Described carrying connecting substrate (34) is fixedly connected with described the first actuator of carrying (33)；Described the second rail of carrying
Road (35), the second actuator of carrying (36) are fixedly connected in described carrying connecting substrate (34)；Described carrying sucker is solid
Fixed board (37) side is slidably matched with described the second track of carrying (35), and side connects with carrying the second actuator (36) and fixing
Connect；Described carrying sucker (38) is fixed in described carrying sucker fixed plate (37)；Described carrying sucker (38) absorption
Charging tray (20)；Described charging tray automatic conveying device also includes buffer (39)；Described buffer (39) is fixed on described
Carry in connecting substrate (34).
6. full-automatic plastic uptake conveyance according to claim 5, it is characterised in that：Described full-automatic plastic uptake conveyance is also
Including pre-determined bit pay-off (4)；Described pre-determined bit pay-off (4) is driven including the first track of feeding (41), feeding first
Moving part (42), feeding connecting substrate (43), the second track of feeding (46), the second actuator of feeding (45), feeding Suction cup assembly are solid
Fixed board (44), feeding Suction cup assembly (48)；Described the first actuator of feeding (42) drives feeding slide block (431)；Described send
Material connecting substrate (43) is slidably connected by feeding slide block (431) with described the first track of feeding (41)；Described feeding
Two tracks (46), the second actuator of feeding (45) are fixedly connected in described feeding connecting substrate (43)；Described feeding is inhaled
Disk component fixed plate (44) side is slidably matched with described the second track of feeding (46), side and the second actuator of feeding (45)
It is fixedly connected；Described feeding Suction cup assembly (48) is fixed in described feeding Suction cup assembly fixed plate (44)；Described send
Material Suction cup assembly (48) adsorbs workpiece (9) to be cleaned；Described pre-determined bit pay-off (4) also includes feed buffer (47)；
Described feed buffer (47) is fixed in described feeding connecting substrate (43).
7. full-automatic plastic uptake conveyance according to claim 6, it is characterised in that：Described full-automatic plastic uptake conveyance is also
Including fixing device (8), described fixing device (8) includes an at least clamp system (82), auxiliary support mechanism, base frame, clearly
Wash frame (83) to be positioned on the base frame；Described base frame is hollow frame structure；Described clamp system (82) clamps described
Cleaning frame (83) on base frame；Described cleaning frame (83) is fixed with least two tooth bars (84)；On described two tooth bars (84)
Profile of tooth coordinate；Workpiece (9) to be cleaned is inserted between described two tooth bars (84)；Described auxiliary support mechanism supports described
Workpiece (9) to be cleaned.
8. full-automatic plastic uptake conveyance according to claim 7, it is characterised in that：Described full-automatic plastic uptake conveyance is also
Including hood (1), mechanical arm controller (17), main controller (18)；Described hood (1) including callosity (11), movable pulley (12),
Column (13), capping plate (14), air exhausting device (16), state warning lamp (19)；Described mechanical arm controller (17) control institute
The mechanical arm (7) stated；The described detection photomoduel (73) of described main controller (18) control, charging tray transferring platform (2), charging tray
Automatic conveying device (3), pre-determined bit pay-off (4), fixing device (8).
9. according to one of them described full-automatic plastic uptake conveyance of claim 1 to 8, it is characterised in that：Described is full-automatic
Plastic uptake conveyance also includes single detent mechanism (6)；Described single detent mechanism (6) is including single location-plate (61), localization handspike
(52) movable plate (57), the first pushing block (56), the second pushing block (55), movable plate actuator (50), push rod actuator are positioned,
(53), position base station (58)；Described single location-plate (61), push rod actuator (53), movable plate actuator (50) are fixed on institute
On the positioning base station (58) stated；Described the first pushing block (56) is fixed on described localization handspike (52)；Described second pushes away
Block (55) is fixed on described positioning movable plate (57)；Described push rod actuator (53) drives described localization handspike (52)
Motion, described the first pushing block (56) contradict workpiece to be cleaned (9) both sides respectively with described single location-plate (61)；Described shifting
Dynamic plate actuator (50) drives described positioning movable plate (57) motion, described the second pushing block (55) and described single location-plate
(61) the another both sides of workpiece to be cleaned (9) are contradicted respectively.
10. according to one of them described full-automatic plastic uptake conveyance of claim 1 to 8, it is characterised in that：Described is full-automatic
Plastic uptake conveyance also includes many detent mechanisms (5)；Described many detent mechanisms (5) are including many location-plates (51), localization handspike
(52) movable plate (57), the first pushing block (56), the second pushing block (55), movable plate actuator (50), push rod actuator are positioned,
(53), position base station (58)；Described many location-plates (51) are provided with some positioning grooves with positioning side；Described many location-plates
(51), push rod actuator (53), movable plate actuator (50) are fixed on described positioning base station (58)；The first described pushing block
(56) it is fixed on described localization handspike (52)；Described the second pushing block (55) is fixed on described positioning movable plate (57)
On；Described push rod actuator (53) drives described localization handspike (52) motion, described the first pushing block (56) with it is described
Many location-plates (51) contradict workpiece to be cleaned (9) both sides respectively；Described movable plate actuator (50) drives described positioning to move
The motion of dynamic plate (57), described the second pushing block (55) are moved in described positioning groove, described the second pushing block (55) and institute
The positioning side stated contradicts the another both sides of workpiece to be cleaned (9) respectively.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264374.XA CN106514675A (en) | 2016-12-31 | 2016-12-31 | Full-automatic plastic tray transferring machine |
| CN201710591299.6A CN107399608B (en) | 2016-12-31 | 2017-07-19 | Full-automatic plastic uptake transfer machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611264374.XA CN106514675A (en) | 2016-12-31 | 2016-12-31 | Full-automatic plastic tray transferring machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106514675A true CN106514675A (en) | 2017-03-22 |
Family
ID=58336127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611264374.XA Withdrawn CN106514675A (en) | 2016-12-31 | 2016-12-31 | Full-automatic plastic tray transferring machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106514675A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107344362A (en) * | 2017-06-05 | 2017-11-14 | 广东天机工业智能系统有限公司 | Workpiece grabbing system |
| CN107471669A (en) * | 2017-08-24 | 2017-12-15 | 嘉兴合祖机电设备有限公司 | Vacuolar membrane adding tool in camera base |
| CN107840148A (en) * | 2017-10-25 | 2018-03-27 | 昆山墨佳工业设备有限公司 | A kind of automatic charging grabbing device of curved sheets working of plastics |
| CN108792621A (en) * | 2018-06-17 | 2018-11-13 | 赤峰埃晶电子科技有限公司 | A kind of full-automatic LCD feeders |
| CN110202927A (en) * | 2019-07-10 | 2019-09-06 | 宁波飞虹文化用品有限公司 | A kind of offset press blanket automatic flushing device |
| CN111115254A (en) * | 2019-11-22 | 2020-05-08 | 大族激光科技产业集团股份有限公司 | Soft-packaged electrical core feed mechanism and soft-packaged electrical core feed robot |
| CN115488113A (en) * | 2022-09-19 | 2022-12-20 | 英诺维尔智能科技（苏州）有限公司 | High-flux automatic pre-filling needle cleaning equipment |
| CN115608679A (en) * | 2022-08-20 | 2023-01-17 | 浙江艾科半导体设备有限公司 | Manipulator for silicon wafer cleaning machine |
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2016
- 2016-12-31 CN CN201611264374.XA patent/CN106514675A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344362A (en) * | 2017-06-05 | 2017-11-14 | 广东天机工业智能系统有限公司 | Workpiece grabbing system |
| CN107471669A (en) * | 2017-08-24 | 2017-12-15 | 嘉兴合祖机电设备有限公司 | Vacuolar membrane adding tool in camera base |
| CN107471669B (en) * | 2017-08-24 | 2023-12-29 | 嘉兴合祖机电设备有限公司 | Bubble film adding tool in camera base |
| CN107840148A (en) * | 2017-10-25 | 2018-03-27 | 昆山墨佳工业设备有限公司 | A kind of automatic charging grabbing device of curved sheets working of plastics |
| CN108792621A (en) * | 2018-06-17 | 2018-11-13 | 赤峰埃晶电子科技有限公司 | A kind of full-automatic LCD feeders |
| CN110202927A (en) * | 2019-07-10 | 2019-09-06 | 宁波飞虹文化用品有限公司 | A kind of offset press blanket automatic flushing device |
| CN110202927B (en) * | 2019-07-10 | 2020-12-25 | 宁波飞虹文化用品有限公司 | Offset press blanket self-cleaning device |
| CN111115254A (en) * | 2019-11-22 | 2020-05-08 | 大族激光科技产业集团股份有限公司 | Soft-packaged electrical core feed mechanism and soft-packaged electrical core feed robot |
| CN115608679A (en) * | 2022-08-20 | 2023-01-17 | 浙江艾科半导体设备有限公司 | Manipulator for silicon wafer cleaning machine |
| CN115608679B (en) * | 2022-08-20 | 2023-08-15 | 浙江艾科半导体设备有限公司 | Manipulator for silicon wafer cleaning machine |
| CN115488113A (en) * | 2022-09-19 | 2022-12-20 | 英诺维尔智能科技（苏州）有限公司 | High-flux automatic pre-filling needle cleaning equipment |
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Application publication date: 20170322 |
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