CN108002007A - Extension system goes up automatically in a kind of robot - Google Patents
Extension system goes up automatically in a kind of robot Download PDFInfo
- Publication number
- CN108002007A CN108002007A CN201711236279.3A CN201711236279A CN108002007A CN 108002007 A CN108002007 A CN 108002007A CN 201711236279 A CN201711236279 A CN 201711236279A CN 108002007 A CN108002007 A CN 108002007A
- Authority
- CN
- China
- Prior art keywords
- suspension member
- robot
- hanging plate
- station
- extension
- Prior art date
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/60—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from conveyors of the suspended, e.g. trolley, type
- B65G47/61—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from conveyors of the suspended, e.g. trolley, type for articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Abstract
The present invention relates to robot to go up extension system automatically, it includes suspension member automatic supply device, it includes being fed station, supply unit, suspension member is transported to the transhipment unit of supply unit and upper extension station from feeding station, and suspension member is delivered to upper extension station by wherein supply unit；Robot, suspension member is taken out to hanging plate and moved by it from upper extension gauge from upper extension station；Automatic correction device, it includes the correction mechanism for buckling hole for the buckle hanging unit face hanging plate that can adjust suspension member；Control device, it includes the processor being connected with device body and the monitoring unit for monitoring hanging plate shift position, wherein from monitoring unit to processor feedback information, which assigns the instruction of operation, wait, upper extension or reset according to information to robot.The present invention can supply suspension member and the position for adjusting suspension member and angle automatically, then extract suspension member by robot, and under the movement synchronous with hanging plate, realization buckles docking, so as to greatly improve stability and the accuracy of extension.
Description
Technical field
The apparatus field that the invention belongs to be hung on suspension member, and in particular to extension system goes up automatically in a kind of robot.
Background technology
It is well known that the upper extension of suspension member refers to：Suspension member is hung into buckling in hole to hanging plate from buckle hanging unit.And hanging plate is flowing
When ability of swimming operation is moved, hung according to manually upper, there are following defect for it：
1）, can not complete it is accurately upper hang, and in hanging plate moving process, be easy to cause the movement or deflection of suspension member, Jin Erzao
Into dropout phenomenon；
2）, once suspension member volume it is larger or dead weight it is heavier when, suspension member can not lifted manually so, and extension can be hung up
Plate.
The content of the invention
The technical problems to be solved by the invention are to overcome the deficiencies of the prior art and provide a kind of upper extension system automatically of robot
System, it can supply suspension member and the position for adjusting suspension member and angle automatically, then extract suspension member by robot, and with hanging plate
Under synchronous movement, realization buckles docking, so as to greatly improve stability and the accuracy of extension.
In order to solve the above technical problems, the technical solution that the present invention takes is as follows：
Extension system goes up automatically in a kind of robot, it includes
Suspension member automatic supply device, it includes being fed station, supply unit, suspension member is transported to supply unit from feeding station
Suspension member is delivered to upper extension station by transhipment unit and upper extension station, wherein supply unit；
Robot, its upper extension gauge for including device body and being arranged on the arm of device body, wherein upper hang gauge and suspension member
Match, when upper extension, arm movement, and suspension member is taken out to hanging plate from upper extension station from upper extension gauge and is moved；
Automatic correction device, it is located at the side of upper extension station, and the extension of the buckle hanging unit face hanging plate including that can adjust suspension member
The correction mechanism of button hole；
Control device, it includes the processor being connected with device body and the monitoring unit for monitoring hanging plate shift position,
Operation, wait, upper extension or multiple are wherein assigned to robot according to information from monitoring unit to processor feedback information, the processor
The instruction of position.
Preferably, being fed station includes rack, for driving the upper suspension member positioned at rack to horizontally enter into supply unit
Pan feeding module.
A specific implementation according to the present invention and preferred aspect, pan feeding module include module base, positioned at module base
On module body, along the pan feeding component being arranged on module body of horizontal direction activity and equipped with pan feeding component
Take-off assembly that is upper and can matching with suspension member, wherein by the matching of take-off assembly and suspension member, and under the movement of pan feeding component,
Suspension member is moved into supply unit.
Preferably, take-off assembly includes feeding hooked hand, the straight barrel type cylinder for driving feeding hooked hand's relative motion, works as phase
During corresponding cartridge type Telescopic-cylinder, two feeding hooked hands are relatively close or remote, so as to fulfill the gripping or absent-mindedness of suspension member.
Pan feeding component includes the sliding block, the one end that are slidably connected with module body and is arranged on sliding block and along module body
The pan feeding rod piece of length direction extension, take-off assembly are arranged on the other end of pan feeding rod piece.
Specifically, being equipped with synchronous pulley driving mechanism in module body, wherein sliding block is docked with synchronous belt, passes through synchronization
The forward and reverse of band rotates, and realizes pan feeding or reset that pan feeding rod piece moves back and forth along its length direction.
Further, the conveying roller for being used for that suspension member to be sent to supply unit is equipped with rack, when suspension member moves, is hung
The top of part is matched with take-off assembly, bottom can be slidably arranged on conveying roller.
A specific implementation according to the present invention and preferred aspect, the first photoelectric sensor is equipped with upper extension gauge, when
When upper extension gauge is matched with suspension member, the work of the first photoelectric sensor, it is with first state and the second state, when in the first shape
During state, information is fed back to processor by suspension member without departing from upper extension gauge, the first photoelectric sensor, from processor to robot under
Up to remote hanging plate direction movement and wait next hanging plate to enter the monitored space of the monitoring unit, then hung again in preparation；
When in the second state, suspension member has been detached from extension gauge, and suspension member has been completed to hang, and the first photoelectric sensor is anti-by information
Processor is fed to, processor assigns the instruction of reset to robot.In other words, the first photoelectric sensor is mainly used for sensing extension
Whether part is on the upper extension gauge in robot.
Another specific implementation and preferred aspect according to the present invention, correction mechanism include locating rack, are arranged on locating rack
Above and it can sense whether suspension member arrives at the second photoelectric sensor for hanging station, the rectification plate being arranged in parallel with hanging plate, is used for
The actuator for driving rectification plate to be translated to the suspension member in upper extension station, wherein under the quantitative driving of actuator, rectification plate
Contact suspension member causes the position of suspension member and angle suitably to adjust, in order to which the matching with upper extension gauge is docked.
Preferably, actuator includes cylinder, ball slider and guide rail, and wherein cylinder is located at rectification plate phase respectively with guide rail
To both sides, and both are synchronized with the movement and realize the translation of rectification plate.
Another specific implementation and preferred aspect, monitoring unit include the intelligent phase formed with monitored space according to the present invention
Machine and the 3rd photoelectric sensor, when hanging plate enters monitored space, information is fed back to smart camera by the 3rd photoelectric sensor, the intelligence
Camera starts and takes pictures to monitor hanging plate mobile message, while can also determine and whether meet hanging strip part, when the information expires
On foot during hanging strip part, robot is synchronized with the movement with hanging plate, and will be hung on suspension member to hanging plate.
In addition, supply unit includes being used to carry suspension member and being formed for the roller-way of suspension member translation and positioned at roller-way
Top and along suspension member moving direction set guiding mechanism.
Preferably, guiding mechanism includes stent, on stent and parallel with hanging plate moving direction two guide rails, wherein
The passage passed through for suspension member upper level is formed between two guide rails.Under the cooperation of roller-way and passage so that suspension member is in upper
Position when the very close feeding state in position of station is hung, so that it is guaranteed that the stability after upper extension.
Due to the implementation of above technical scheme, the present invention has the following advantages that compared with prior art：
The present invention can supply suspension member and the position for adjusting suspension member and angle automatically, then extract suspension member by robot, and
Under the movement synchronous with hanging plate, realization buckles docking, so as to greatly improve stability and the accuracy of extension.
Brief description of the drawings
Fig. 1 is the structure diagram of the automatic upper extension system of the present invention；
Fig. 2 is the structure diagram of pan feeding module in Fig. 1；
Fig. 3 is to look up enlarged diagram at A in Fig. 2；
Fig. 4 is the partial structural diagram of upper extension system in Fig. 1；
Fig. 5 is the structure enlargement diagram of correction mechanism and monitoring unit in Fig. 4；
Fig. 6 is the structure enlargement diagram of correction mechanism in Fig. 5；
Wherein：
1st, suspension member automatic supply device；10th, it is fed station；100th, rack；101st, pan feeding module；A, module base；B, module sheet
Body；C, pan feeding component；C1, sliding block；C10, sliding part；C11, connector；C2, pan feeding rod piece；D, take-off assembly；D1, feeding hook
Hand；D2, straight barrel type cylinder；D3, guide rail；E, synchronous pulley driving mechanism；E1, synchronous belt；E2, driving wheel；It is e3, driven
Wheel；E4, motor；E5, retarder；F, type groove photoelectricity；F1, transmitter；F2, receiver；102nd, conveying roller；11st, supply unit；
110th, roller-way；111st, guiding mechanism；1a, stent；1b, guide rail；1c, passage；12nd, transfer unit；120th, transfer passage；121st, delay
Deposit rollgang；122nd, discharge module；13rd, upper extension station；130th, positioning module；
2nd, robot；20th, device body；21st, upper extension gauge；G1, the first photoelectric sensor；
3rd, automatic correction device；30th, correction mechanism；300th, locating rack；301st, rectification plate；302nd, actuator；302a, cylinder；
302b, ball slider；302c, guide rail；G2, the second photoelectric sensor；G4, the 4th photoelectric sensor；
4th, control device；40th, processor；41st, monitoring unit；410th, smart camera；G3, the 3rd photoelectric sensor；
5th, suspension member；50th, case is hung；51st, hanger；52nd, hanging rod；53rd, hangers；530th, preposition hangers；531 postposition hangers；
6th, hanging plate；60th, hole is buckled；
7th, continuous-flow type hangs road.
Embodiment
The present invention will be further described in detail with specific embodiment below in conjunction with the accompanying drawings.
Referring to shown in Fig. 1 to Fig. 6, extension system goes up automatically in robot provided in this embodiment, it includes suspension member and supplies automatically
Device 1, robot 2, automatic correction device 3 and control device 4, wherein control device 4 include the place being connected with robot 2
Device 40 and the monitoring unit 41 for monitoring hanging plate shift position are managed, wherein from monitoring unit 41 to 40 feedback letter of processor
Breath, the processor 40 assign the instruction of operation, wait, upper extension or reset according to information to robot 2.
Specifically, suspension member 5 includes the extension case 50 positioned at lower part, is arranged on the hanger 51 hung on case 50, is arranged on hanger 51
The hanging rod 52 at middle part and the hangers 53 positioned at the top of hanging rod 52, wherein hangers 53 have preposition hangers 530 and postposition hangers
531 two compositions.
Hanging plate 6 its can with continuous-flow type hang road 7 move being arranged on hanger 8.The present embodiment is exactly to pass through machine
People takes out suspension member 5 from postposition hangers 531, and with being synchronized with the movement of hanging plate 6, suspension member 5 is linked into hanging plate from preposition hangers 530
6 buckle in hole 60.
Realize that the structure of automatic upper extension is specific as follows：
Suspension member automatic supply device 1, it includes being fed station 10, supply unit 11, it is defeated to be transported to suspension member from feeding station 10
The transhipment unit 12 of unit 11 and upper extension station 13 are sent, suspension member 5 is delivered to upper extension station 13 by wherein supply unit 11.
Specifically, feed station 10 include rack 100, for drive positioned at rack 100 upper suspension member 5 horizontally enter into it is defeated
Send the pan feeding module 101 of unit 11.
Pan feeding module 101 includes module base a, the module body b on module base a, along horizontal direction activity
The pan feeding component c being arranged on module body b and equipped with pan feeding component c and the feeding that can match with suspension member 5
Component d, wherein by the matching of take-off assembly d and suspension member 5, and under pan feeding component c movements, suspension member 5 is moved into supply unit
11。
Take-off assembly d include feeding hooked hand d1, for drive feeding hooked hand d1 relative motions straight barrel type cylinder d2 and
Guide rail d3, when corresponding cartridge type cylinder d2 is flexible, two feedings hook hand d1 along guide rail d3 it is relatively close or
It is remote, so as to fulfill the gripping or absent-mindedness of suspension member 5.
Pan feeding component c includes being arranged on sliding block c1 with module body b sliding block c1, the one ends being slidably connected and along mould
Pan feeding the rod piece c2, take-off assembly d of group body b length direction extensions are arranged on the other end of pan feeding rod piece c2.
Specifically, being equipped with synchronous pulley driving mechanism e in module body b, wherein sliding block c1 is docked with synchronous belt, passed through
The forward and reverse of synchronous belt rotates, and realizes pan feeding or reset that pan feeding rod piece c2 moves back and forth along its length direction, its
Middle synchronous pulley driving mechanism e includes synchronous belt e1, driving wheel e2, driven wheel e3, the motor for driving driving wheel e2 to rotate
The e4 and retarder e5 being arranged between motor e4 and driving wheel e2.
Module body b is equipped with the slide b1 along the extension of module body b length directions, is used to support pan feeding rod piece c2's
Supporting item b2, wherein supporting item b2 have position-limiting action to pan feeding rod piece c2, so that pan feeding rod piece c2's moves horizontally
More stablize.
As for the setting of slide b1, the slip of sliding block c1 is primarily to facilitate, while frictional force also very little, when reducing pan feeding
Noise.
Specifically, on sliding block c1 be equipped with can match with slide b1 sliding part c10, for by sliding part c10 with
The connector c11 of synchronous pulley driving mechanism e docking.
In this example, slide b1 has two and is located at both sides, and connector c11 passes the sliding part c10 of both sides and synchronous pulley
The synchronous belt e1 of motivation structure e is connected.
The conveying roller 102 for being used for that suspension member 5 to be sent to supply unit 11 is equipped with rack 100, when suspension member 5 moves,
The top of suspension member 5 is matched with take-off assembly d, bottom can be slidably arranged on conveying roller 102.
Meanwhile in this application, by being equipped with type groove photoelectricity f in module body b, it is used for the mobile row for monitoring sliding block c1
Journey, so as to accurately control the moving range of pan feeding rod piece c2, and then ensures the upper discharge position of suspension member 5.
Specifically, type groove photoelectricity f includes being located at the transmitter f1 close to driving wheel e2 ends, on sliding block c1 and face
The receiver f2 that transmitter f1 is set.It mainly controls feeding by the receiver f2 displacement distances of setting.
In this example, at least two groups of station 10 is fed, and pan feeding module there are two groups and can be at the same time by two on rack 100
A suspension member 5 pulls in supply unit 11, to reach the demand of quick feed supplement.
Supply unit 11 includes being used to carry suspension member and being formed for the roller-way 110 of suspension member translation and positioned at roller-way
110 top and the guiding mechanism 111 set along 5 moving direction of suspension member.
Guiding mechanism 111 includes stent 1a, on stent 1a and the two guide rail 1bs parallel with 6 moving direction of hanging plate,
The passage 1c passed through for 5 upper level of suspension member is formed between two of which guide rail 1b.Under the cooperation of roller-way 110 and passage 1c,
So that position when suspension member 5 is in the very close feeding state in position of upper extension station 13, so that it is guaranteed that the stabilization after upper extension
Property.
Transport unit 12 include with passage 1c to the transfer passage 120 docked, below transfer passage with roller-way pair
The caching rollgang 121 that connects and it is used to push to suspension member 5 on roller-way 110 positioned at the end of caching rollgang 121
Discharge module 122.
Specifically, the structure of discharging module 122 is identical with the structure of pan feeding module 101.
Caching rollgang 121 is vertically arranged with roller-way 110；Transfer passage 120 and passage 1c vertical connections.
Upper extension station 13, it is located at the end of roller-way 110, and has positioning module 130, when the extension case 50 of suspension member 5 moves
During to the region, its right side is resisted against positioning module 130, to limit the transverse shifting of suspension member 5.
Robot 2, the direct outsourcing of applicant, its structure and principle are in conventional means.But in this application, it is wrapped
The upper extension gauge 21 for including device body 20 and being arranged on the arm of device body 20, wherein upper hang gauge 21 and 5 phase of suspension member
Match somebody with somebody, when upper extension, arm movement, and suspension member 5 is taken out to hanging plate 6 from upper extension station 13 from upper extension gauge 21 and is moved.
Specifically, upper extension gauge 21 is exactly and 531 matched hook of postposition hangers.
Meanwhile in this example, the first photoelectric sensor g1 for being equipped with hook, when upper extension gauge 21 is matched with suspension member 5,
First photoelectric sensor g1 works, it is with first state and the second state, when in the first state, suspension member 5 without departing from
Information is fed back to processor 40, is assigned from processor 40 to robot 2 away from extension by upper extension gauge 21, the first photoelectric sensor g1
6 direction of plate is mobile and waits next hanging plate 6 to enter the monitored space of monitoring unit 41, is then hung again in preparation；When in
During two-state, suspension member 5 has been detached from hanging gauge 21, and suspension member 5 has been completed to hang, and the first photoelectric sensor g1 feeds back information
To processor 40, processor 40 assigns the instruction of reset to robot 2.
In other words, the first photoelectric sensor g1 is mainly used for sensing the upper extension gauge 21 whether suspension member 5 is in robot 2
On.
Automatic correction device 3, it is located at the side of upper extension station 13, and including the buckle hanging unit face of suspension member 5 can be adjusted
The correction mechanism 30 for buckling hole of hanging plate 6.
Correction mechanism 30 includes locating rack 300, is arranged on locating rack 300 and can sense whether suspension member 5 arrives at extension
Second photoelectric sensor g2 of station 13, the rectification plate 301 being arranged in parallel with hanging plate 6, for drive rectification plate 301 to positioned at
The actuator 302 that the suspension member 5 in station 13 translates is hung, wherein under the quantitative driving of actuator 302, the contact of rectification plate 301 is hung
Part 5 is so that the position of suspension member 5 and angle suitably adjust, in order to which the matching with upper extension gauge 21 is docked.
Actuator 302 includes cylinder 302a, ball slider 302b and guide rail 302c, wherein cylinder 302a and guide rail 302c
It is located at 301 opposite sides of rectification plate respectively, and both are synchronized with the movement and realize the translation of rectification plate 301.
Above-mentioned monitoring unit 41 includes 410 and the 3rd photoelectric sensor g3 of smart camera formed with monitored space, hanging plate 6
During into monitored space, information is fed back to smart camera 410 by the 3rd photoelectric sensor g3, which starts and take pictures
To monitor hanging plate mobile message, while it can also determine and whether meet hanging strip part, when the information meets upper hanging strip part, machine
Device people 2 is synchronized with the movement with hanging plate 6, and will be hung on suspension member 5 to hanging plate 6.
Specifically, after hanging plate enters monitored space, smart camera is used for detecting hanging plate posture.
When the 3rd photoelectric sensor senses hanging plate by current location, triggering smart camera is taken pictures synchronous with robot
Tracking signal → smart camera judge hanging plate posture whether allowed band → allowed band send allow hang signal and put down
Shifting is measured to robot, do not signal in allowed band → robot connects to allow to hang signal and do and hangs the synchronous permission in road with continuous-flow type
And upper extension acts → goes up robot after the completion of extension action and be moved to designated position → above and hangs optoelectronic switch detection suspension member on gauge
Whether hang into robot in upper extension → detection and enter next circulation, hung in detection unsuccessful robot be moved to it is specified
Position etc. is pending.
In addition, in this example, the 4th photoelectric sensor g4 is additionally provided with locating rack 300, as shown in fig. 6, cylinder 302a can
Push rectification plate 301 to suspension member 5, appearance is hung for correcting suspension member 5（Movement in the front-back direction and deflection angle fine setting）, the second photoelectricity
Sensor g2 is arranged on rectification plate 301, it is used for the material that arrives for detecting suspension member 5, and the 4th photoelectric sensor g4 is used for detecting suspension member 5
Whether hang-up exceedes specified altitude, meanwhile, whole mechanism is single axial movement, and kinematic pair composition is ball slider and guide rail.
The present invention is described in detail above, its object is to allow the personage for being familiar with this field technology to understand this
The content of invention is simultaneously carried out, and it is not intended to limit the scope of the present invention, all Spirit Essence institutes according to the present invention
The equivalent change or modification of work, should all cover within the scope of the present invention.
Claims (10)
1. extension system goes up automatically in a kind of robot, it is characterised in that：It includes
Suspension member automatic supply device, it includes being fed station, supply unit, it is described defeated to be transported to suspension member from the feeding station
The transhipment unit of unit and upper extension station are sent, wherein suspension member is delivered to the upper extension station by the supply unit；
Robot, it includes device body and the upper extension gauge being arranged on the arm of the device body, wherein the upper extension is controlled
Tool matches with the suspension member, when upper extension, arm movement, and by described upper gauge is hung by the suspension member from the upper extension station
Take out to the hanging plate and move；
Automatic correction device, it is located at the upper side for hanging station, and including the buckle hanging unit face of the suspension member can be adjusted
The correction mechanism for buckling hole of the hanging plate；
Control device, it includes the processor being connected with the device body and for monitoring the hanging plate shift position
Monitoring unit, wherein from the monitoring unit to the processor feedback information, the processor is according to information to described
The instruction of operation, wait, upper extension or reset is assigned by robot.
2. extension system goes up automatically in robot according to claim 1, it is characterised in that：The feed station includes material
Frame, for driving the upper suspension member positioned at the rack to horizontally enter into the pan feeding module of the supply unit.
3. extension system goes up automatically in robot according to claim 2, it is characterised in that：The pan feeding module includes module
Base, the module body in the module base, being arranged on the module body along horizontal direction activity
Pan feeding component and equipped with the pan feeding component and the take-off assembly that can match with the suspension member, wherein by institute
The take-off assembly stated and the matching of the suspension member, and under pan feeding component movement, the suspension member are moved to described defeated
Send unit.
4. extension system goes up automatically in robot according to claim 2, it is characterised in that：It is equipped with the rack and is used to incite somebody to action
The suspension member is sent to the conveying roller of the supply unit, when the suspension member moves, the top of the suspension member and the feeding
Component matching, bottom can be slidably arranged on the conveying roller.
5. extension system goes up automatically in robot according to claim 1, it is characterised in that：It is equipped with the upper extension gauge
First photoelectric sensor, when the upper extension gauge is matched with the suspension member, the first photoelectric sensor work, it has
First state and the second state, when in the first state, the suspension member is without departing from the upper extension gauge, the first photoelectric sensing
Information is fed back to the processor by device, is assigned from the processor to the robot away from hanging plate direction movement simultaneously
Wait next hanging plate to enter the monitored space of the monitoring unit, then hung again in preparation；When in the second state,
The suspension member has been detached from the upper extension gauge, and suspension member has been completed to hang, and the first photoelectric sensor feeds back to information described
Processor, the processor assign the instruction of reset to the robot.
6. extension system goes up automatically in robot according to claim 1, it is characterised in that：The correction mechanism includes positioning
Frame, be arranged on the locating rack and can sense the suspension member whether arrive at it is described it is upper hang station the second photoelectric sensor,
The rectification plate that is arranged in parallel with the hanging plate, for driving the rectification plate upper to hang the suspension member in station to positioned at described and put down
The actuator of shifting, wherein under the quantitative driving of the actuator, the rectification plate contacts the suspension member and causes the suspension member
Position and angle suitably adjust, in order to it is described it is upper hang gauge matching dock.
7. extension system goes up automatically in robot according to claim 6, it is characterised in that：The actuator include cylinder,
Ball slider and guide rail, wherein the cylinder is located at the rectification plate opposite sides, and both synchronous fortune respectively with the guide rail
The dynamic translation for realizing the rectification plate.
8. extension system goes up automatically in robot according to claim 1, it is characterised in that：The monitoring unit includes being formed
There are the smart camera and the 3rd photoelectric sensor of monitored space, when the hanging plate enters the monitored space, the 3rd photoelectricity
Information is fed back to the smart camera by sensor, which starts and take pictures to monitor the hanging plate mobile message,
Can also determine whether meet hanging strip part at the same time, when the information meets upper hanging strip part, robot is synchronous with the hanging plate
Movement, and will be hung on suspension member to the hanging plate.
9. extension system goes up automatically in robot according to claim 1, it is characterised in that：The supply unit includes being used to hold
Carry suspension member and can be formed for the roller-way of suspension member translation and positioned at the top of the roller-way and along suspension member moving direction
The guiding mechanism of setting.
10. extension system goes up automatically in robot according to claim 9, it is characterised in that：The guiding mechanism includes branch
Frame, on the stent and two guide rails parallel with the hanging plate moving direction, formed between two of which guide rail and supply institute
State the passage that suspension member upper level passes through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711236279.3A CN108002007B (en) | 2017-11-30 | 2017-11-30 | A kind of robot upper extension system automatically |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711236279.3A CN108002007B (en) | 2017-11-30 | 2017-11-30 | A kind of robot upper extension system automatically |
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| Publication Number | Publication Date |
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| CN108002007A true CN108002007A (en) | 2018-05-08 |
| CN108002007B CN108002007B (en) | 2019-07-16 |
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| CN201711236279.3A Active CN108002007B (en) | 2017-11-30 | 2017-11-30 | A kind of robot upper extension system automatically |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109051832A (en) * | 2018-08-22 | 2018-12-21 | 仪通微感（北京）科技有限公司 | Automate pile truck-loading facilities |
| CN113879665A (en) * | 2021-09-26 | 2022-01-04 | 西华大学 | Shock absorber storage device |
| CN114408484A (en) * | 2021-12-06 | 2022-04-29 | 中国电器科学研究院股份有限公司 | Robot workpiece automatic hanging system based on visual identification detection |
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| CN114408484B (en) * | 2021-12-06 | 2024-03-15 | 中国电器科学研究院股份有限公司 | Automatic robot workpiece hanging system based on visual identification and detection |
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