CN108313732A - A kind of automatic conveyer - Google Patents
A kind of automatic conveyer Download PDFInfo
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- CN108313732A CN108313732A CN201810306521.8A CN201810306521A CN108313732A CN 108313732 A CN108313732 A CN 108313732A CN 201810306521 A CN201810306521 A CN 201810306521A CN 108313732 A CN108313732 A CN 108313732A
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- mobile unit
- swivel plate
- supporting rack
- catching
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- 238000003780 insertion Methods 0.000 claims description 2
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- 239000007787 solid Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000003463 adsorbent Substances 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to merchant wire technical fields, disclose a kind of automatic conveyer.The automatic conveyer, including automated guided vehicle；Supply unit is set on the automated guided vehicle, and workpiece setting to be transported is in the supply unit；Y-direction mobile unit is set on the automated guided vehicle, and can be moved back and forth along Y-direction relative to the automated guided vehicle；X is set to mobile unit in the Y-direction mobile unit, X to refer to the automated guided vehicle to move forward and backward direction identical；Z-direction mobile unit is set in the Y-direction mobile unit, and Z-direction refers to direction perpendicular to the ground；Catching unit, is connected to the Z-direction mobile unit, and the catching unit is set to the X to mobile unit lower section, and above the workpiece.The present invention solves worker's heavy workload in the prior art, and production cost is high, ineffective problem.
Description
Technical field
The present invention relates to merchant wire technical field more particularly to a kind of automatic conveyers.
Background technology
In the workshop of merchant wire, noise is big, copper powder dirt is will produce in production process, and I-beam wheel is being rolled up steel wire
Overall weight can be to 60 kilograms, in the prior art after cord, and the blank panel I-beam wheel of non-coil silk cord is overlayed pre- by layering
On fixed pallet, then pallet and I-beam wheel are transported to the precalculated position in workshop using running tool.
I-beam wheel either blank panel or dishful state, generally by the mode for manually carrying I-beam wheel, by I-shaped
Wheel layering overlays on pallet, realizes the loading and unloading of I-beam wheel.The labor intensity of such working method worker is big, and workers with long time
It is big in noise, there is work in the workshop condition of copper powder dirt, harmful effect can be generated to health.In addition, the weight of I-beam wheel
Greatly, when to pallet loading and unloading, worker easily occurs injuring accident by a crashing object.
Meanwhile because the material in workshop circulates distance, I-beam wheel wastes a large amount of time and artificial in the handling process,
Working efficiency is low, and production cost is high.
Invention content
The purpose of the present invention is to provide a kind of automatic conveyers, are being carried for solving I-beam wheel in the prior art
Cheng Zhong, worker's heavy workload, production cost is high, ineffective problem.
For this purpose, the present invention uses following technical scheme：
A kind of automatic conveyer is provided, including：
Automated guided vehicle；
Supply unit is set on the automated guided vehicle, and workpiece setting to be transported is in the supply unit；
Y-direction mobile unit is set on the automated guided vehicle, and can be relative to the automated guided vehicle
It is moved back and forth along Y-direction；
X is set to mobile unit in the Y-direction mobile unit, front and back fortune of the X to finger and the automated guided vehicle
Dynamic direction is identical；
Z-direction mobile unit is set in the Y-direction mobile unit, and Z-direction refers to direction perpendicular to the ground；
Catching unit, is connected to the Z-direction mobile unit, and the catching unit is set to the X to below mobile unit,
And above the workpiece.
Preferably, further include Y1 to mobile unit, be connected to the Z-direction mobile unit and the catching unit, Y1 to
Parallel with the direction of motion of Y-direction mobile unit, the Y1 includes to mobile unit：
Y1 is connected to the Z-direction mobile unit and the catching unit to supporting rack；
Y1 is set to the Y1 on supporting rack to servo motor, and its output end is connected with Y1 to leading screw, the gripping
Unit is connected to the Y1 to leading screw.
Preferably, the catching unit includes：
Fixed frame unit is set to the Y1 on supporting rack, and the fixed frame unit includes the first swivel plate, the second rotation
Flap and the support column being set between first swivel plate and second swivel plate；
First driving unit is set on second swivel plate；
Absorbing unit is set on second swivel plate, for adsorbing workpiece；
Clamping unit is set on the fixed frame unit, and the clamping unit is connected to first driving unit, institute
It states the first driving unit and drives workpiece described in the clamping unit clamp or release.
Preferably, the absorbing unit includes connector, and one end of the connector is connected to second swivel plate,
The other end is provided with magnet.
Preferably, the connector includes cylindrical bar and the round platform that is connect with the cylindrical bar, one end of the cylindrical bar
It is connected to second swivel plate, spring is provided between the round platform and second swivel plate, the spring is arranged in institute
It states on cylindrical bar, the groove for making the magnet insertion is provided on the round platform.
Preferably, the clamping unit includes：
At least two shafts, the shaft are circumferentially equal with the center of second swivel plate on second swivel plate
Cloth, the shaft are arranged in second swivel plate, the shaft be located at first swivel plate and second swivel plate it
Between one end be connected to first driving unit, the shaft can be relative to second swivel plate around center axis
Rotation；
Gripping block is set to the other end of the shaft.
Preferably, further include laser ranging unit and camera unit, the laser ranging unit is set to the fixed frame
On unit, the laser ranging unit is for measuring the gripping block to the distance of the workpiece；
The camera unit is set to the fixed frame unit, the position for positioning the workpiece to be placed.
Preferably, first driving unit includes：
The output end of first motor, the first motor is provided with driving wheel, is located at described first in each shaft
One end between swivel plate and second swivel plate is both provided with driven wheel, and the driving wheel and the driven wheel pass through belt
Transmission；And
At least one contact roller is set on the outside of the belt, for compressing the belt.
Preferably, the catching unit further includes the second driving unit, and second driving unit is located at described first and revolves
The top of flap, second driving unit includes fixed plate, and the second motor being fixed in the fixed plate, and described second
Motor is connected to first swivel plate by belt pulley assemblies, and second driving unit drives the fixed frame unit phase
The fixed plate is rotated.
Preferably, braced frame is provided on the automated guided vehicle, the support is arranged in the Y-direction mobile unit
Frame, the Y-direction mobile unit include：
First rack is set to the braced frame along Y-direction；
Y-direction motor fixing plate is connected to the X to mobile unit；And
Y-direction servo motor is fixed on the Y-direction motor fixing plate, and its output end is provided with and is nibbled with first rack
The first gear of conjunction；
The X includes to mobile unit：
X is set to the braced frame to supporting rack, and is connected to the Y-direction motor fixing plate, and the X is to supporting rack
It can be moved along Y-direction relative to the braced frame；And
X is set to the X to supporting rack to servo motor, and its output end is connected with X to leading screw, and the X is to leading screw edge
X is connected to the X to leading screw to setting, the Z-direction mobile unit；
The Z-direction mobile unit includes：
Z-direction supporting rack is set to the X on supporting rack；
Z-direction servo motor is set to the Z-direction supporting rack, and its output end is connected with second gear；And
Second rack is connected to the catching unit, the second gear and second rack engagement.
Beneficial effects of the present invention：
Catching unit can be driven along three to mobile unit, Y-direction mobile unit and Z-direction mobile unit by X in the present invention
A direction moves back and forth, then the workpiece for coordinating catching unit that can grip different location, and it is single that the workpiece of gripping is placed on conveying
In member, workpiece can be imported on automated guided vehicle by supply unit, and can be transported to by automated guided vehicle
Arbitrary precalculated position.After reaching precalculated position, workpiece can be exported by automated guided vehicle by supply unit.
By above-mentioned automatic conveyer, workpiece can be transported to each scheduled position, in workshop, realize station
The automatic flow of the workpiece of part reduces labor workload in such a way that above-mentioned apparatus is instead of artificial loading and unloading, reduces
The labor intensity of worker, greatly increases production efficiency, avoids artificial waste, reduces production cost, meanwhile, it also allows for
Realize intelligent management in workshop.
Description of the drawings
Fig. 1 is the structural schematic diagram of the automatic conveyer of the present invention；
Fig. 2 is the structural schematic diagram (not including part enclosure) of the automatic conveyer of the present invention；
Fig. 3 is the part-structure schematic diagram of an angle of the automatic conveyer of the present invention；
Fig. 4 is the part-structure schematic diagram of another angle of the automatic conveyer of the present invention；
Fig. 5 be the present invention X to mobile unit, Y-direction mobile unit and Z-direction mobile unit an angle structural representation
Figure；
Fig. 6 be the present invention catching unit, I-beam wheel, camera unit and laser ranging unit structural schematic diagram；
Fig. 7 is the structural representation of the catching unit, one I-beam wheel, camera unit and laser ranging unit angle of the present invention
Figure (not including the second driving unit and the first swivel plate)；
Fig. 8 be the catching unit of the present invention, camera unit and laser ranging unit an angle structural schematic diagram (no
Including the second driving unit and the first swivel plate)；
Fig. 9 be the catching unit of the present invention, camera unit and laser ranging unit another angle structural schematic diagram
(not including the second driving unit and the first swivel plate)；
Figure 10 be the catching unit of the present invention, camera unit and laser ranging unit an angle structural schematic diagram
(not including the second driving unit, the first swivel plate and spring).
In figure：
1, automated guided vehicle；11, braced frame；
2, supply unit；
3, workpiece；
4, Y-direction mobile unit；41, the first rack；42, Y-direction motor fixing plate；43, Y-direction servo motor；44, the first tooth
Wheel；
5, X is to mobile unit；51, X is to supporting rack；52, X is to servo motor；53, X is to leading screw；
6, Z-direction mobile unit；61, Z-direction supporting rack；62, Z-direction servo motor；63, second gear；64, the second rack；
7, catching unit；
71, fixed frame unit；711, the first swivel plate；712, the second swivel plate；713；Support column；
72, the first driving unit；721, first motor；722, driving wheel；723, driven wheel；724, belt；725, it compresses
Wheel；
73, absorbing unit；731, connector；7311, cylindrical bar；7312, round platform；732, magnet；733, spring；
74, clamping unit；741, shaft；742, gripping block；
75, the second driving unit；751, fixed plate；752, the second motor；
76, guide post；
8, Y1 is to mobile unit；81, Y1 is to supporting rack；82, Y1 is to servo motor；83, Y1 is to leading screw；
9, laser ranging unit；
10, camera unit.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
As Figure 1-Figure 2, a kind of automatic conveyer is provided in the present embodiment, including automated guided vehicle 1, defeated
Send unit 2, Y-direction mobile unit 4, X to mobile unit 5, Z-direction mobile unit 6 and catching unit 7.Wherein, automated guided vehicle
1 (AGV, i.e. Automated Guided Vehicle) refers to magnetically or optically waiting homing guidances device equipped with electricity, it being capable of edge
Defined guide path traveling, the transfer cart with safeguard protection and various transfer functions.Itself band of automated guided vehicle 1
There is control system, the control system to other units in the present embodiment is integrated into the control system of automated guided vehicle 1
In.The workpiece 3 that automatic conveyer transports in the present embodiment is I-beam wheel.
Supply unit 2 and Y-direction mobile unit 4 may be contained on automated guided vehicle 1, and I-beam wheel to be transported is set to
Supply unit 2.Wherein supply unit 2 includes conveying mounting bracket, multiple roll shafts, motor and chain, wherein roll shaft is sequentially arranged at
It conveys on mounting bracket, and can be relative to conveying mounting bracket rotation, one end of the centerline axis parallel of roll shaft, each roll shaft is pacified
Equipped with accessary sprocket wheel, the output end of motor is provided with head sprocket, head sprocket and accessary sprocket wheel and connects transmission by chain.Motor can band
Action roller shaft is rotated forward or is rotated backward.
Y-direction mobile unit 4 can be moved back and forth relative to automated guided vehicle 1 along Y-direction.X is set to mobile unit 5
In Y-direction mobile unit 4, X to refer to automated guided vehicle 1 to move forward and backward direction identical.Z-direction mobile unit 6 is set to Y-direction
In mobile unit 4, Z-direction refers to direction perpendicular to the ground.Catching unit 7 is connected to Z-direction mobile unit 6, and catching unit is set to X
To 5 lower section of mobile unit, and above I-beam wheel.
As shown in Figure 3-Figure 5, braced frame 11 is provided on automated guided vehicle 1, Y-direction mobile unit 4 is set to branch
Support frame frame 11, Y-direction mobile unit 4 include the first rack 41, Y-direction motor fixing plate 42, Y-direction servo motor 43.Wherein, the first tooth
Item 41 is fixed on along Y-direction in braced frame 11, and Y-direction motor fixing plate 42 is connected to X to mobile unit 5, and Y-direction servo motor 43 is solid
Due to Y-direction motor fixing plate 42,43 output end of Y-direction servo motor is provided with the first gear 44 engaged with the first rack 41.It is logical
Crossing Y-direction servo motor 43 drives first gear 44 to rotate, because the first rack 41 is fixed on support frame, therefore, Y-direction servo motor
43, first gear 44 and Y-direction motor fixing plate 42 are moved back and forth along Y-direction together, by Y-direction motor fixing plate 42 to drive X
It is moved back and forth together along Y-direction to mobile unit 5 and Z-direction mobile unit 6.
X to mobile unit 5 include X to supporting rack 51 and X to servo motor 52.X is set to braced frame to supporting rack 51
11, X are set to X to supporting rack 51 to servo motor 52, and Y-direction motor fixing plate 42 is fixedly connected on X on supporting rack 51, X to
The output end of servo motor 52 is connected with X to leading screw 53.X to leading screw 53 along X to setting, Z-direction mobile unit 6 is connected to X to silk
Thick stick 53.By X to servo motor 52 drive X to leading screw 53 along X to moving, to drive Z-direction movement single to supporting rack 51 by X
Member 6 is together along X to moving.
Wherein, two the first parallel sliding rails are additionally provided in 11 upper edge Y-direction of braced frame, between above-mentioned two the first sliding rails
Every pre-determined distance.X is equipped with the first sliding block to the lower section of supporting rack 51, and the first sliding block is slided in the first sliding rail upper edge Y-direction, and X
It is connected to Y-direction motor fixing plate 42 to supporting rack 51, X can be moved relative to braced frame 11 along Y-direction to supporting rack 51, and first
Sliding rail moves along Y-direction to mobile unit 5 for X and provides guiding.
Similarly, in X to 51 upper edge X of supporting rack to being provided with two the second parallel sliding rails, below Z-direction supporting rack 61
Second sliding block is installed, the second sliding block is moved along the second sliding rail along Y-direction, and the second sliding rail is that Z-direction mobile unit 6 is carried along X to moving
For being oriented to.
Z-direction mobile unit 6 includes Z-direction supporting rack 61, Z-direction servo motor 62 and the second rack 64.Wherein, Z-direction supporting rack
61 are set to X to supporting rack 51, and Z-direction servo motor 62 is set to Z-direction supporting rack 61, and the output end of Z-direction servo motor 62 connects
It is connected to second gear 63, the lower end of the second rack 64 is connected to catching unit 7, second gear 63 and the engagement of the second rack 64.In Z
Third sliding block and third sliding rail are additionally provided on supporting rack 61, third sliding rail is arranged along Z-direction, and is fixed on catching unit 7.
When work, third sliding block is fixed, and third sliding rail, Z-direction supporting rack 61 and the second rack 64 are moved along Z-direction together, to band
Dynamic catching unit 7 is moved along Z-direction.
Further include Y1 in the present embodiment to mobile unit 8, be connected to Z-direction mobile unit 6 and catching unit 7, Y1 to Y
The direction of motion to mobile unit 4 is parallel, Y1 to mobile unit 8 include Y1 to supporting rack 81 and Y-direction servo motor 43.Wherein,
Y1 is connected to Z-direction mobile unit 6 and catching unit 7 to supporting rack 81.Y1 is set to Y1 on supporting rack 81 to servo motor 82,
And the output end of Y-direction servo motor 43 is connected with Y1 to leading screw 83, catching unit 7 with the matched linear bearing of Y1 leading screws by connecting
Y1 is connected to leading screw 83.Specifically, the lower end of above-mentioned second rack 64 and the lower end of third sliding rail are all connected to Y1 to supporting rack
81, drive Y1 to be rotated to leading screw 83 by Y-direction servo motor 43, and then the linear bearing by being connect to leading screw 83 with Y1 drives
Y1 to supporting rack 81 along Y1 to moving, and then catching unit 7 is driven along Y1, to moving, catching unit 7 can be increased and moved along Y-direction
Stroke, but integrated model can also be kept compact, floor space is small.Above-mentioned Z-direction mobile unit 6 can drive Y1 to mobile list
Member 8 and catching unit 7 are moved back and forth along Z-direction together.
As illustrated in figures 6-10, above-mentioned catching unit 7 includes fixed frame unit 71, the first driving unit 72, absorbing unit 73
With clamping unit 74.Above-mentioned fixed frame unit 71 is set to Y1 on supporting rack 81, and fixed frame unit 71 includes the first swivel plate
711, the second swivel plate 712 and the support column 713 being set between the first swivel plate 711 and the second swivel plate 712.First driving
Unit 72 is set on the second swivel plate 712.Absorbing unit 73 is set on fixed frame unit 71, for adsorbing I-beam wheel.Folder
Tight unit 74 is set on fixed frame unit 71, and clamping unit 74 is connected to the first driving unit 72, and the first driving unit 72 drives
74 clamp or release I-beam wheel of dynamic clamping unit.It is known that the first above-mentioned driving unit 72 and absorbing unit 73 are all connected with
In the control system of automated guided vehicle 1.
Specifically, 711 and second swivel plate 712 of above-mentioned first swivel plate is circle, can also be according to actual needs
Other shapes.
Absorbing unit 73 includes connector 731, and one end of connector 731 is connected to the second swivel plate 712, and the other end is set
It is equipped with magnet 732.
Connector 731 includes cylindrical bar 7311 and the round platform 7312 being connect with cylindrical bar 7311, one end of cylindrical bar 7311
It is connected to the second swivel plate 712, spring 733 is provided between round platform 7312 and the second swivel plate 712, spring 733 is arranged in circle
On mast 7311, the groove for making magnet 732 be embedded in is provided on round platform 7312.Above-mentioned magnet 732 is provided on round platform 7312
Four, and it is circumferentially uniformly distributed centered on the central axis of round platform 7312.
The side opposite with cylindrical bar 7311 of above-mentioned round platform 7312 is provided with guide post 76, and guide post 76 can extend into I-shaped
In the centre bore of wheel.
I-beam wheel is positioned by guide post 76, because of the lower surface of I-beam wheel and magnet 732, the following table of round platform 7312
There may be the uneven situation of contact, above-mentioned absorbing units 73 can be adjusted by the way that spring 733 is arranged on connector 731 in face
Magnet 732 completely attaches to as possible with I-shaped wheel surface, realizes the flexible connection to I-beam wheel, improves the stabilization of above-mentioned fixture
Property, reduce manual intervention, the grasp speed of I-beam wheel is improved, meanwhile, improve production efficiency.
When mounted, the center of connector 731 overlaps above-mentioned connector 731 with the center of the second swivel plate 712, can also
It is adjusted according to actual needs, above-mentioned connector 731 at least two, it is circumferentially uniformly distributed with the center of the second swivel plate 712, pass through
The collective effect of multiple clamping structures is got up I-beam wheel absorption using magnet 732, in this way, can make to act on I-beam wheel end
Evenly, absorption is more stable for adsorption capacity on face.
As shown in Figure 6 and Figure 8, above-mentioned clamping unit 74 includes at least two shafts 741 and gripping block 742.Wherein, shaft
741 is circumferentially uniformly distributed with the center of the second swivel plate 712 on the second swivel plate 712.Shaft 741 is arranged in the second swivel plate 712,
The one end of shaft 741 between the first swivel plate 711 and the second swivel plate 712 is all connected to the first driving unit 72, shaft
741 can rotate relative to the second swivel plate 712 around center axis, and gripping block 742 is set to the other end of shaft 741.
Preferably, above-mentioned gripping block 742 is cam.It is rotated with moving cam by shaft 741, thus by the side of I-beam wheel
It clamps.Above-mentioned gripping block 742 can also be to drive gripping block 742 to rotate by shaft 741, to make gripping block 742 rotate to
It is contacted with the lower surface of the upper circular plane of I-beam wheel, so as to make gripping block 742 carry the weight of I-beam wheel.
It can be prevented by clamping unit 74 when above-mentioned I-beam wheel automatic fixture powers off suddenly, magnet 732 no longer adsorbs
I-beam wheel, I-beam wheel are fallen, and generate peril.Meanwhile it can ensure I-beam wheel during gripping by mechanical structure
More held stationary.
Above-mentioned first driving unit 72 includes first motor 721, driving wheel 722, driven wheel 723, belt 724 and at least one
A contact roller 725.Wherein, first motor 721 is fixed on by motor mounting plate on the second swivel plate 712, first motor 721
Output end is installed upward.Driving wheel 722 is mounted on the output end of first motor 721, is located at the first swivel plate in each shaft 741
711 and second one end between swivel plate 712 be both provided with driven wheel 723, driving wheel 722 and driven wheel 723 pass through belt 724
Transmission.Contact roller 725 in the present embodiment is two, and contact roller 725 is mounted on above-mentioned motor mounting plate, and contact roller 725 is set
It is placed in 724 outside of belt, for compressing belt 724.
Above-mentioned catching unit 7 further includes the second driving unit 75 in the present embodiment, and the second driving unit 75 is located at the first rotation
The top of flap 711, the second driving unit 75 include fixed plate 751, and the second motor 752 being fixed in fixed plate 751, the
Two motors 752 are connected to the first swivel plate 711 by belt pulley assemblies, and the second driving unit 75 drives 71 phase of fixed frame unit
Fixed plate 751 is rotated.Above-mentioned belt pulley assemblies belong to the prior art, and details are not described herein.As shown in fig. 6, the second electricity
The output end of machine 752 is installed downward, and driving pulley is equipped on output end, is also equipped in the top of the first swivel plate 711
Driven pulley, driving pulley and driven pulley are also to pass through belt transmission.
As shown in Fig. 6-Figure 10, I-beam wheel automatic fixture in the present embodiment further includes laser ranging unit 9 and camera
Unit 10, above-mentioned laser ranging unit 9 and camera unit 10 are all connected to the control system of automated guided vehicle 1.Laser Measuring
It is set to the second swivel plate 712 away from unit 9, laser ranging unit 9 is laser range sensor, and laser ranging unit 9 is for surveying
It measures above-mentioned laser range sensor and sends out signal to the distance of the upper surface of top layer's I-beam wheel, after being calculated by control system,
The distance between the upper surface that cam lower surface and top layer's I-beam wheel is calculated can be converted, is obtained currently to measure
The coordinate of I-beam wheel to be gripped, and send control system to.Above-mentioned camera unit 10 is set to fixed frame unit 71, for fixed
The position of position I-beam wheel.
The I-beam wheel on workbench in the present embodiment is by stacking together from level to level, above and below the centre bore of I-beam wheel
Alignment, is placed in the pallet (not shown) of workbench, positioning pin (not shown) is provided on pallet, in lowest level
I-beam wheel positioned by positioning pin.The coordinate between cam and I-beam wheel to be gripped is measured by laser ranging unit 9
Position, to which control system controls above-mentioned Y-direction mobile unit 4, X to mobile unit 5, Z-direction mobile unit 6, Y1 to mobile unit 8
Drive catching unit 7 that above-mentioned I-beam wheel automatic fixture is moved to the position of I-beam wheel to be gripped, to grip I-beam wheel.Control
The coordinate position that I-beam wheel should place is set in system processed, therefore, above-mentioned each mobile unit can drive catching unit 7
It moves near the position that I-beam wheel should place.
After the I-beam wheel of control system control gripping moves near predeterminated position, then is shot and determined by camera unit 10
The position of position pin is accurately positioned, and the centre bore of I-beam wheel is placed on to the position overlapped with the center of positioning pin.Pass through
Two driving units 75 drive the first driving unit 72, absorbing unit 73 and clamping unit 74 to be rotated integrally, and prevent currently just
Collision is generated in the I-beam wheel of placement and adjacent I-beam wheel.
When placing second layer I-beam wheel, the position of the centre bore of the I-beam wheel of first layer is shot by camera unit 10, it will
The position of the centre bore of the I-beam wheel for the first layer that the centre bore and camera unit 10 of the I-beam wheel of gripping are taken pictures, which overlaps, places, i.e.,
The placement of the I-beam wheel of the second layer is completed, and so on, third layer and the 4th layer of I-beam wheel are placed on pallet.Above-mentioned I-shaped
Taking turns automatic fixture has integrally rotated function, can any angle crawl I-beam wheel.
The I-beam wheel that completion is stacked on supply unit 2 is moved by motor band action roller shaft, thus by pallet and I-beam wheel
It transfers out, or I-beam wheel importing by pallet and thereon.
After the completion of the I-beam wheel in pallet stacks, it is transported to automatically according to track by automated guided vehicle 1 predetermined
Position transferred out together by the I-beam wheel of supply unit 2 by pallet and thereon behind in-position.
By above-mentioned automatic conveyer, I-beam wheel can be inhaled by adsorbent equipment with the position of automatic identification I-beam wheel
It rises, then is clamped I-beam wheel by catching unit 7, after the completion of I-beam wheel to be loaded to placement on pallet, by guiding automatically
I-beam wheel is transported to each precalculated position of I-beam wheel by transport vehicle 1, and the automatic flow between station may be implemented.Pass through above-mentioned dress
The mode for substituting artificial loading and unloading is set, labor workload is reduced, reduces the labor intensity of worker, greatly increases production
Efficiency.Meanwhile it also allowing for workshop and realizing intelligent management.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and it is pair to be not
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement etc., should be included in the claims in the present invention made by within the spirit and principle of invention
Protection domain within.
Claims (10)
1. a kind of automatic conveyer, which is characterized in that including：
Automated guided vehicle (1)；
Supply unit (2) is set on the automated guided vehicle (1), and it is single that workpiece to be transported (3) is set to the conveying
The workpiece (3) can be imported or exported by first (2), the supply unit (2)；
Y-direction mobile unit (4) is set on the automated guided vehicle (1), and can be transported relative to the automatic guiding
Vehicle (1) is moved back and forth along Y-direction；
X is set to mobile unit (5) on the Y-direction mobile unit (4), and X is to referring to the automated guided vehicle (1)
It is identical to move forward and backward direction；
Z-direction mobile unit (6) is set on the Y-direction mobile unit (4), and Z-direction refers to direction perpendicular to the ground；
Catching unit (7), is connected to the Z-direction mobile unit (6), and the catching unit (7) is set to the X to mobile unit
(5) lower section, and above the workpiece (3).
2. automatic conveyer according to claim 1, which is characterized in that further include Y1 to mobile unit (8), connection
In the Z-direction mobile unit (6) and the catching unit (7), Y1 to parallel with the direction of motion of Y-direction mobile unit (4),
The Y1 includes to mobile unit (8)：
Y1 is connected to the Z-direction mobile unit (6) and the catching unit (7) to supporting rack (81)；
Y1 is set to the Y1 on supporting rack (81) to servo motor (82), and its output end is connected with Y1 to leading screw (83),
The catching unit (7) is connected to the Y1 to leading screw (83).
3. automatic conveyer according to claim 2, which is characterized in that the catching unit (7) includes：
Fixed frame unit (71) is set to the Y1 on supporting rack (81), and the fixed frame unit (71) includes the first rotation
It plate (711), the second swivel plate (712) and is set between first swivel plate (711) and second swivel plate (712)
Support column (713)；
First driving unit (72) is set on second swivel plate (712)；
Absorbing unit (73) is set on second swivel plate (712), for adsorbing workpiece (3)；
Clamping unit (74) is set on the fixed frame unit (71), and the clamping unit (74) is connected to described first and drives
Moving cell (72), first driving unit (72) drive workpiece (3) described in clamping unit (74) clamp or release.
4. automatic conveyer according to claim 3, which is characterized in that the absorbing unit (73) includes connector
(731), one end of the connector (731) is connected to second swivel plate (712), and the other end is provided with magnet (732).
5. automatic conveyer according to claim 4, which is characterized in that the connector (731) includes cylindrical bar
(7311) and with the cylindrical bar (7311) one end of the round platform (7312) connecting, the cylindrical bar (7311) is connected to described
Two swivel plates (712) are provided with spring (733), the spring between the round platform (7312) and second swivel plate (712)
(733) it is arranged on the cylindrical bar (7311), being provided on the round platform (7312) makes the recessed of the magnet (732) insertion
Slot.
6. automatic conveyer according to claim 5, which is characterized in that the clamping unit (74) includes：
At least two shafts (741), the shaft (741) is on second swivel plate (712) with second swivel plate
(712) center is circumferentially uniformly distributed, and the shaft (741) is arranged in second swivel plate (712), and the shaft (741) is located at
One end between first swivel plate (711) and second swivel plate (712) is connected to first driving unit (72),
The shaft (741) can rotate relative to second swivel plate (712) around center axis；
Gripping block (742), is set to the other end of the shaft (741).
7. automatic conveyer according to claim 6, which is characterized in that further include laser ranging unit (9) and camera
Unit (10), the laser ranging unit (9) are set on the fixed frame unit (71), and the laser ranging unit (9) is used
In the distance for measuring the gripping block (742) the extremely workpiece (3)；
The camera unit (10) is set to the fixed frame unit (71), the position for positioning the workpiece (3) to be placed
It sets.
8. automatic conveyer according to claim 7, which is characterized in that first driving unit (72) includes：
The output end of first motor (721), the first motor (721) is provided with driving wheel (722), each shaft
(741) one end between first swivel plate (711) and second swivel plate (712) is both provided with driven wheel
(723), the driving wheel (722) and the driven wheel (723) are driven by belt (724)；And
At least one contact roller (725) is set on the outside of the belt (724), for compressing the belt (724).
9. automatic conveyer according to claim 3, which is characterized in that the catching unit (7) further includes the second drive
Moving cell (75), second driving unit (75) are located at the top of first swivel plate (711), second driving unit
(75) include fixed plate (751), and the second motor (752) being fixed in the fixed plate (751), second motor
(752) it is connected to first swivel plate (711) by belt pulley assemblies, the second driving unit (75) driving is described solid
Determine frame unit (71) to rotate relative to the fixed plate (751).
10. automatic conveyer according to claim 1, which is characterized in that be arranged on the automated guided vehicle (1)
There are braced frame (11), the Y-direction mobile unit (4) to be set to the braced frame (11), Y-direction mobile unit (4) packet
It includes：
First rack (41) is set to the braced frame (11) along Y-direction；
Y-direction motor fixing plate (42) is connected to the X to mobile unit (5)；And
Y-direction servo motor (43) is fixed on the Y-direction motor fixing plate (42), and its output end is provided with and first tooth
The first gear (44) of item (41) engagement；
The X includes to mobile unit (5)：
X is set to the braced frame (11) to supporting rack (51), and is connected to the Y-direction motor fixing plate (42), the X
It can be moved to supporting rack (51) along Y-direction relative to the braced frame (11)；And
X is set to the X to supporting rack (51), and its output end is connected with X to leading screw (53), the X to servo motor (52)
To leading screw (53) along X to setting, the Z-direction mobile unit (6) is connected to the X to leading screw (53)；
The Z-direction mobile unit (6) includes：
Z-direction supporting rack (61) is set to the X on supporting rack (51)；
Z-direction servo motor (62) is set to the Z-direction supporting rack (61), and its output end is connected with second gear (63)；And
Second rack (64), is connected to the catching unit (7), and the second gear (63) and second rack (64) are nibbled
It closes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810306521.8A CN108313732B (en) | 2018-04-08 | 2018-04-08 | Automatic conveying device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810306521.8A CN108313732B (en) | 2018-04-08 | 2018-04-08 | Automatic conveying device |
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| Publication Number | Publication Date |
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| CN108313732A true CN108313732A (en) | 2018-07-24 |
| CN108313732B CN108313732B (en) | 2023-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810306521.8A Active CN108313732B (en) | 2018-04-08 | 2018-04-08 | Automatic conveying device |
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|---|---|
| CN108313732B (en) | 2023-12-29 |
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