CN108002007B - A kind of robot upper extension system automatically - Google Patents
A kind of robot upper extension system automatically Download PDFInfo
- Publication number
- CN108002007B CN108002007B CN201711236279.3A CN201711236279A CN108002007B CN 108002007 B CN108002007 B CN 108002007B CN 201711236279 A CN201711236279 A CN 201711236279A CN 108002007 B CN108002007 B CN 108002007B
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- Prior art keywords
- pendant
- upper extension
- hanging
- hanging plate
- station
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Classifications
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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
- B65G47/52—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
-
- 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 robots to go up extension system automatically, it includes pendant automatic supply device, it includes the transhipment unit and upper extension station for being fed station, supply unit, pendant being transported to supply unit from feeding station, and wherein pendant is delivered to upper extension station by supply unit；Robot is taken out pendant to hanging plate movement from upper extension station from upper extension jig；Automatic correction device comprising the correction mechanism in the hanging buckle hole of the buckle hanging unit face hanging plate of pendant can be adjusted；Control device, it includes the processor being connected with device ontology and the monitoring unit for monitoring hanging plate shift position, wherein from monitoring unit to processor feedback information, which assigns the instruction of operation, waiting, upper extension or reset according to information to robot.The present invention can supply pendant automatically and adjust position and the angle of pendant, then extract pendant by robot, and under the movement synchronous with hanging plate, hanging buckle docking be realized, to greatly improve the stability and accuracy of extension.
Description
Technical field
A kind of apparatus field that the invention belongs to hang on pendant, and in particular to robot upper extension system automatically.
Background technique
It is well known that the upper extension of pendant refers to: pendant is hung from buckle hanging unit to the hanging buckle hole of hanging plate.And hanging plate is flowing
When ability of swimming operation is mobile, according to artificial upper extension, have the following deficiencies:
1) it, is unable to complete accurate upper extension, and in hanging plate moving process, be easy to cause the movement or deflection of pendant, into
And cause tripping phenomenon；
2), once pendant volume it is larger or self weight it is heavier when, pendant can not lifted manually in this way, and can hang up
Hanging plate.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide, a kind of robot is automatically upper to hang system
System can supply pendant automatically and adjust position and the angle of pendant, then extract pendant by robot, and with hanging plate
Under synchronous movement, hanging buckle docking is realized, to greatly improve the stability and accuracy of extension.
In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:
A kind of robot upper extension system automatically comprising
Pendant automatic supply device comprising pendant is transported to conveying list from feed station by feed station, supply unit
The transhipment unit and upper extension station of member, wherein pendant is delivered to upper extension station by supply unit；
Robot comprising device ontology and the upper extension jig being arranged on the arm of device ontology, wherein it is upper hang jig with
Pendant matches, and when upper extension, arm is mobile, and is taken out pendant to hanging plate movement from upper extension station from upper extension jig；
Automatic correction device is located at the upper side for hanging station, and the buckle hanging unit face hanging plate including that can adjust pendant
Hanging buckle hole correction mechanism；
Control device comprising the processor being connected with device ontology and the monitoring for monitoring hanging plate shift position
Unit, wherein from monitoring unit to processor feedback information, the processor according to information to robot assign operation, waiting, on
The instruction hung or resetted.
Preferably, feed station includes expecting frame, for driving the pendant being located on material frame to horizontally enter into entering for supply unit
Expect mould group.
A specific implementation according to the present invention and preferred aspect, pan feeding mould group include module base, are located at module base
On mould group ontology, along the movable pan feeding component being arranged on mould group ontology of horizontal direction and be equipped in pan feeding component
Take-off assembly that is upper and can matching with pendant, wherein by the matching of take-off assembly and pendant, and in the case where pan feeding component is mobile,
Pendant is moved to 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
When corresponding cartridge type Telescopic-cylinder, two feeding hooked hands are relatively close or separate, to realize the clamping or absent-mindedness of pendant.
Pan feeding component includes the sliding block being slidably connected with mould group ontology, one end setting on sliding block and along mould group ontology
The other end of pan feeding rod piece is arranged in the pan feeding rod piece that length direction extends, take-off assembly.
Specifically, being equipped with synchronous pulley driving mechanism in mould group ontology, 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 length direction.
Further, the conveying roller for pendant to be sent to supply unit is equipped on material frame to hang when pendant is mobile
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, are equipped with the first photoelectric sensor on upper extension jig, when
When upper extension jig is matched with pendant, the first photoelectric sensor work, with first state and the second state, when in the first shape
When state, pendant is not detached from extension jig, and information is fed back to processor by the first photoelectric sensor, from processor to robot under
Up to separate hanging plate direction movement and next hanging plate is waited to enter the monitored space of the monitoring unit, is then hung in preparation again
Instruction；When in the second state, pendant has been detached from extension jig, and pendant has been completed to hang, and the first photoelectric sensor will
Information feeds back to processor, and processor assigns the instruction of reset to robot.In other words, the first photoelectric sensor is mainly used for
Whether induction pendant is on the upper extension jig of robot.
Another specific implementation according to the present invention and preferred aspect, correction mechanism include locating rack, are arranged in locating rack
It is upper and can incude pendant whether arrive at hang station the second photoelectric sensor, with hanging plate rectification plate disposed in parallel, be used for
The actuator for driving rectification plate to translate to the pendant being located in upper extension station, wherein under the quantitative driving of actuator, rectification plate
Contact pendant makes position and the angle appropriate adjustment of pendant, in order to dock with the upper matching for hanging jig.
Preferably, actuator includes cylinder, ball slider and guide rail, and wherein cylinder is located at rectification plate phase with guide rail
To two sides, and the two moves synchronously the translation for realizing rectification plate.
Another specific implementation according to the present invention and preferred aspect, monitoring unit include the intelligent phase for being formed with monitored space
Machine and third photoelectric sensor, when hanging plate enters monitored space, information is fed back to smart camera by third 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 is full
On foot when hanging strip part, robot is moved synchronously with hanging plate, and will be hung on pendant to hanging plate.
In addition, supply unit includes for carrying pendant and being capable of forming for the roller-way of pendant translation and positioned at roller-way
Top and along pendant moving direction be arranged guiding mechanism.
Preferably, guiding mechanism includes bracket, on bracket and two guide rails parallel with hanging plate moving direction, wherein
The channel passed through for pendant upper level is formed between two guide rails.Under the cooperation in roller-way and channel, so that pendant is in upper
Position of the position of station very close to feeding state when is hung, so that it is guaranteed that the stability after upper extension.
Due to the implementation of above technical scheme, the invention has the following advantages over the prior art:
The present invention can supply pendant automatically and adjust position and the angle of pendant, then extract pendant by robot, and
And under the movement synchronous with hanging plate, hanging buckle docking is realized, to greatly improve the stability and accuracy of extension.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatic upper extension system of the invention；
Fig. 2 is the structural schematic diagram of pan feeding mould group 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:
1, pendant automatic supply device；10, it is fed station；100, expect frame；101, pan feeding mould group；A, module base；B, mould
Group ontology；C, pan feeding component；C1, sliding block；C10, sliding part；C11, connector；C2, pan feeding rod piece；D, take-off assembly；D1, it takes
Material hooked hand；D2, straight barrel type cylinder；D3, guide rail；E, synchronous pulley driving mechanism；E1, synchronous belt；E2, driving wheel；E3, from
Driving wheel；E4, motor；E5, retarder；F, type groove photoelectricity；F1, transmitter；F2, receiver；102, conveying roller；11, supply unit；
110, roller-way；111, guiding mechanism；1a, bracket；1b, guide rail；1c, channel；12, transfer unit；120, transfer passage；121, delay
Deposit rollgang；122, discharging mode group；13, upper extension station；130, positioning module；
2, robot；20, device ontology；21, upper extension jig；G1, the first photoelectric sensor；
3, automatic correction device；30, correction mechanism；300, locating rack；301, rectification plate；302, actuator；302a, gas
Cylinder；302b, ball slider；302c, guide rail；G2, the second photoelectric sensor；G4, the 4th photoelectric sensor；
4, control device；40, processor；41, monitoring unit；410, smart camera；G3, third photoelectric sensor；
5, pendant；50, case is hung；51, hanger；52, hanging rod；53, hangers；530, preposition hangers；531 postposition hangers；
6, hanging plate；60, hanging buckle hole；
7, continuous-flow type hangs road.
Specific embodiment
The present invention will be further described in detail with specific embodiment with reference to the accompanying drawing.
Referring to shown in Fig. 1 to Fig. 6, extension system goes up automatically in robot provided in this embodiment comprising pendant is supplied automatically
Device 1, robot 2, automatic correction device 3 and control device 4, wherein control device 4 includes the processing being connected with robot 2
Device 40 and monitoring unit 41 for monitoring hanging plate shift position, wherein from monitoring unit 41 to 40 feedback information of processor,
The processor 40 assigns the instruction of operation, waiting, upper extension or reset according to information to robot 2.
Specifically, pendant 5 includes positioned at the extension case 50 of lower part, the hanger 51 being arranged on extension case 50, setting in hanger 51
The hanging rod 52 at middle part and the hangers 53 at the top of hanging rod 52, wherein hangers 53 has preposition hangers 530 and postposition hangers 531
Two compositions.
Hanging plate 6 its can hang that road 7 is mobile to be arranged on hanger 8 with continuous-flow type.The present embodiment is exactly to pass through machine
People takes out pendant 5 from postposition hangers 531, and with the moving synchronously of hanging plate 6, pendant 5 is linked into hanging plate from preposition hangers 530
In 6 hanging buckle hole 60.
Realize that the automatic upper structure hung is specific as follows:
Pendant automatic supply device 1 comprising feed station 10, supply unit 11 transport pendant from feed station 10
To the transhipment unit 12 and upper extension station 13 of supply unit 11, wherein pendant 5 is delivered to upper extension station 13 by supply unit 11.
Specifically, feed station 10 include material frame 100, for drive be located at expect frame 100 upper pendant 5 horizontally enter into it is defeated
Send the pan feeding mould group 101 of unit 11.
Pan feeding mould group 101 includes module base a, the mould group ontology b on module base a, along horizontal direction activity
The pan feeding component c being arranged on mould group ontology b and equipped on pan feeding component c and the feeding that can match with pendant 5
Component d, wherein by the matching of take-off assembly d and pendant 5, and in the case where pan feeding component c is mobile, pendant 5 is moved to supply unit
11。
Take-off assembly d include feeding hooked hand d1, for drive feeding hooked hand d1 relative motion straight barrel type cylinder d2 and
Guide rail d3, when corresponding cartridge type cylinder d2 is flexible, two feedings hooked hand d1 along guide rail d3 it is relatively close or
It is separate, to realize the clamping or absent-mindedness of pendant 5.
Pan feeding component c includes the sliding block c1 being slidably connected with mould group ontology b, one end setting on sliding block c1 and along mould
The other end of pan feeding rod piece c2 is arranged in pan feeding the rod piece c2, take-off assembly d that group ontology b length direction extends.
Specifically, being equipped with synchronous pulley driving mechanism e in mould group ontology b, wherein sliding block c1 is docked with synchronous belt, is 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 length direction,
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.
Mould group ontology b is equipped with the sliding rail b1 extended along mould group ontology b length direction, is used to support pan feeding rod piece c2's
Supporting element b2, wherein supporting element b2 has position-limiting action to pan feeding rod piece c2, so that pan feeding rod piece c2's moves horizontally
It is more stable.
As for the setting of sliding rail b1, it is primarily to facilitate the sliding of sliding block c1, while frictional force also very little, when reducing pan feeding
Noise.
Specifically, on sliding block c1 be equipped with can match with sliding rail b1 sliding part c10, for by sliding part c10 with
The connector c11 of synchronous pulley driving mechanism e docking.
In this example, sliding rail b1 has two and is located at two sides, and connector c11 passes the sliding part c10 of two sides and synchronous pulley
The synchronous belt e1 of motivation structure e is connected.
The conveying roller 102 for pendant 5 to be sent to supply unit 11 is equipped on material frame 100, when pendant 5 is mobile,
The top of pendant 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 mould group ontology b, it is used to monitor the mobile row of sliding block c1
Journey to accurately control the moving range of pan feeding rod piece c2, and then ensures the upper discharge position of pendant 5.
Specifically, type groove photoelectricity f includes the transmitter f1 for being located at the close end driving wheel e2, is located on sliding block c1 and face
The receiver f2 of transmitter f1 setting.It is mainly receiver f2 moving distance by setting to control feeding.
In this example, be fed at least two groups of station 10, and pan feeding mould group have two groups and can simultaneously by expect frame 100 on two
A pendant 5 pulls in supply unit 11, to reach the demand of quick feed supplement.
Supply unit 11 includes for carrying pendant and being capable of forming for the roller-way 110 of pendant translation and positioned at roller-way
110 top and the guiding mechanism 111 being arranged along 5 moving direction of pendant.
Guiding mechanism 111 includes bracket 1a, on bracket 1a and the two guide rail 1bs parallel with 6 moving direction of hanging plate,
The channel 1c passed through for 5 upper level of pendant is formed between two of them guide rail 1b.Under the cooperation of roller-way 110 and channel 1c,
So that pendant 5 is in position of the upper position for hanging station 13 very close to feeding state when, so that it is guaranteed that the stabilization after upper extension
Property.
Transhipment unit 12 include with channel 1c to the transfer passage 120 docked, below transfer passage with roller-way pair
It the caching rollgang 121 that connects and is used to push to pendant 5 on roller-way 110 positioned at the end of caching rollgang 121
Discharging mode group 122.
Specifically, the structure of discharging mode group 122 is identical with the structure of pan feeding mould group 101.
Caching rollgang 121 is vertically arranged with roller-way 110；Transfer passage 120 and channel 1c vertical connection.
Upper extension station 13 is located at the end of roller-way 110, and has positioning module 130, when the extension case 50 of pendant 5 is mobile
When to the region, right side is resisted against positioning module 130, to limit the transverse shifting of pendant 5.
Robot 2, the direct outsourcing of applicant, structure and principle are in conventional means.But in this application, it wraps
The upper extension jig 21 for including device ontology 20 and being arranged on the arm of device ontology 20, wherein upper hang jig 21 and 5 phase of pendant
Match, when upper extension, arm is mobile, and is taken out pendant 5 to the movement of hanging plate 6 from upper extension station 13 from upper extension jig 21.
Specifically, upper jig 21 of hanging is exactly the hook matched with postposition hangers 531.
Meanwhile in this example, the first photoelectric sensor g1 being equipped on hook, when upper extension jig 21 is matched with pendant 5,
First photoelectric sensor g1 work, with first state and the second state, when in the first state, pendant 5 is not detached from
Information is fed back to processor 40 by upper extension jig 21, the first photoelectric sensor g1, is assigned from processor 40 to robot 2 far from extension
6 direction of plate is mobile and waits next hanging plate 6 into the monitored space of monitoring unit 41, the instruction then hung in preparation again；When
When in the second state, pendant 5, which has been detached from, hangs jig 21, and pendant 5 has been completed to hang, and the first photoelectric sensor g1 will believe
Breath feeds back to processor 40, and processor 40 assigns the instruction of reset to robot 2.
In other words, the first photoelectric sensor g1 is mainly used for incuding the upper extension jig 21 whether pendant 5 is in robot 2
On.
Automatic correction device 3 is located at the upper side for hanging station 13, and the buckle hanging unit face including that can adjust pendant 5
The correction mechanism 30 in the hanging buckle hole of hanging plate 6.
Correction mechanism 30 includes locating rack 300, is arranged on locating rack 300 and can incude whether pendant 5 arrives at upper extension
Second photoelectric sensor g2 of station 13, with the rectification plate 301 disposed in parallel of hanging plate 6, for drive rectification plate 301 to be located at
The actuator 302 that the pendant 5 in station 13 translates is hung, wherein the contact of rectification plate 301 is hung under the quantitative driving of actuator 302
Part 5 makes position and the angle appropriate adjustment of pendant 5, in order to dock with the upper matching for hanging jig 21.
Actuator 302 includes cylinder 302a, ball slider 302b and guide rail 302c, and wherein cylinder 302a and guide rail 302c divides
Not Wei Yu 301 opposite sides of rectification plate, and the two move synchronously realize rectification plate 301 translation.
Above-mentioned monitoring unit 41 includes the smart camera 410 and third photoelectric sensor g3 for being formed with monitored space, hanging plate 6
When into monitored space, information is fed back to smart camera 410 by third photoelectric sensor g3, which, which starts, simultaneously takes 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 moves synchronously with hanging plate 6, and will hang on pendant 5 to hanging plate 6.
Specifically, smart camera is used to detect hanging plate posture after hanging plate enters monitored space.
When third 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 sending allow upper extension signal and put down
Shifting is measured to robot, do not signal in allowed band → robot connects allows upper extension signal to do to hang the synchronous permission in road with continuous-flow type
And upper extension acts → goes up robot after the completion of extension movement and be moved to designated position → above and hangs optoelectronic switch detection pendant on jig
Whether gone up and hung into robot in extension → detection into next circulation, hung in detection unsuccessful robot be moved to it is specified
Position etc. is to be processed.
In addition, the 4th photoelectric sensor g4 is additionally provided on locating rack 300 in this example, as shown in fig. 6, cylinder 302a can
Push rectification plate 301 to pendant 5, hangs appearance (mobile and deflection angle fine tuning in the front-back direction), the second photoelectricity for correcting pendant 5
Sensor g2 is arranged on rectification plate 301, is used to detect the material that arrives of pendant 5, and the 4th photoelectric sensor g4 is used to detect pendant 5
Whether hang-up is more than specified altitude, meanwhile, entire mechanism is single axial movement, and kinematic pair group becomes 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 that can understand this
The content of invention is simultaneously implemented, 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 be covered by the scope of protection of the present invention.
Claims (9)
1. extension system goes up automatically in a kind of robot, it is characterised in that: it includes
Pendant automatic supply device comprising feed station, supply unit, pendant is transported to from the feed station it is described defeated
The transhipment unit and upper extension station of unit are sent, wherein pendant is delivered to the upper extension station by the supply unit；
Robot comprising device ontology and the upper extension jig being arranged on the arm of the device ontology, wherein the upper extension is controlled
Tool matches with the pendant, and when upper extension, arm is moved, and by the upper extension jig by the pendant from the upper extension station
It takes out mobile to hanging plate；
Automatic correction device is located at the upper side for hanging station, and the buckle hanging unit face including that can adjust the pendant
The correction mechanism in the hanging buckle hole of the hanging plate；
Control device comprising the processor that is connected with the device ontology 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, waiting, upper extension or reset is assigned by robot；
The first photoelectric sensor, when the upper extension jig is matched with the pendant, institute are equipped on the upper extension jig
The work of the first photoelectric sensor is stated, with first state and the second state, when in the first state, the pendant does not take off
From the upper extension jig, information is fed back to the processor by the first photoelectric sensor, from the processor to the machine
People assigns monitored space that is mobile far from the hanging plate direction and waiting next hanging plate to enter the monitoring unit, then again
The instruction hung in secondary preparation；When in the second state, the pendant has been detached from the upper extension jig, and pendant has been completed
It hangs, information is fed back to the processor by the first photoelectric sensor, and the processor assigns the finger of reset to the robot
It enables.
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 pendant being located on the material frame to horizontally enter into the pan feeding mould group of the supply unit.
3. extension system goes up automatically in robot according to claim 2, it is characterised in that: the pan feeding mould group includes mould group
Pedestal, the mould group ontology in the module base movable along horizontal direction are arranged on the mould group ontology
Pan feeding component and equipped on the pan feeding component and the take-off assembly that can match with the pendant, wherein due to
The pendant is moved to described by the matching of take-off assembly Yu the pendant, and in the case where the pan feeding component is mobile
Supply unit.
4. robot according to claim 3 upper extension system automatically, it is characterised in that: be equipped on the material frame for will
The pendant is sent to the conveying roller of the supply unit, when the pendant is mobile, the top of the pendant 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: the correction mechanism includes positioning
Frame, be arranged on the locating rack and can incude the pendant whether arrive at it is described it is upper hang station the second photoelectric sensor,
With hanging plate rectification plate disposed in parallel, for driving the rectification plate flat to the upper pendant hung in station is located at
The actuator of shifting, wherein the rectification plate contacts the pendant and makes the pendant under the quantitative driving of the actuator
Position and angle appropriate adjustment, in order to it is described it is upper hang jig matching dock.
6. robot according to claim 5 upper extension system automatically, it is characterised in that: the actuator include cylinder,
Ball slider and guide rail, wherein the cylinder and the guide rail are located at the rectification plate opposite sides, and the synchronous fortune of the two
The dynamic translation for realizing the rectification plate.
7. 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 third photoelectric sensor of monitored space, when the hanging plate enters the monitored space, the third 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 simultaneously, when the information meets upper hanging strip part, robot is synchronous with the hanging plate
Movement, and will hang on pendant to the hanging plate.
8. extension system goes up automatically in robot according to claim 1, it is characterised in that: the supply unit includes for holding
Carry pendant and be capable of forming for the pendant translation roller-way and positioned at the roller-way top and along pendant moving direction
The guiding mechanism of setting.
9. extension system goes up automatically in robot according to claim 8, it is characterised in that: the guiding mechanism includes branch
Frame, on the bracket and two guide rails parallel with the hanging plate moving direction, formed between two of them guide rail for institute
State the channel that pendant upper level passes through.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711236279.3A CN108002007B (en) | 2017-11-30 | 2017-11-30 | A kind of robot upper extension system automatically |
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|---|---|---|---|
| CN201711236279.3A CN108002007B (en) | 2017-11-30 | 2017-11-30 | A kind of robot upper extension system automatically |
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| CN108002007A CN108002007A (en) | 2018-05-08 |
| CN108002007B true CN108002007B (en) | 2019-07-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109051832B (en) * | 2018-08-22 | 2023-09-12 | 仪通微感（北京）科技有限公司 | Automatic stacking and loading equipment |
| CN113879665B (en) * | 2021-09-26 | 2023-02-21 | 西华大学 | Shock absorber storage device |
| 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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| CN106276227A (en) * | 2016-08-29 | 2017-01-04 | 滨州盟威戴卡轮毂有限公司 | A kind of automatic hanging device of automotive hub spraying coating line |
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| CN108002007A (en) | 2018-05-08 |
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