CN108946167A - Automatically it more reloads and sets up standby and the frame that more reloads automatically method - Google Patents
Automatically it more reloads and sets up standby and the frame that more reloads automatically method Download PDFInfo
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- CN108946167A CN108946167A CN201810931281.0A CN201810931281A CN108946167A CN 108946167 A CN108946167 A CN 108946167A CN 201810931281 A CN201810931281 A CN 201810931281A CN 108946167 A CN108946167 A CN 108946167A
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- loading frame
- frame
- control device
- manipulator
- sliding block
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000000463 material Substances 0.000 claims abstract description 254
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000012546 transfer Methods 0.000 claims abstract description 40
- 230000007723 transport mechanism Effects 0.000 claims abstract description 25
- 238000009434 installation Methods 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims description 20
- 239000007787 solid Substances 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 239000011521 glass Substances 0.000 description 13
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005816 glass manufacturing process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
-
- 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
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
-
- 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
- B65G2203/041—Camera
-
- 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 invention belongs to technical field of automation equipment, more particularly to a kind of more reload automatically to set up standby and the frame that more reloads automatically method.This more reloads automatically sets up the standby transport mechanism including rack, for transmitting full loading frame and empty loading frame, image identification mechanism and control device for the material expired in loading frame to be replaced to the location information to the material rest area in the location information of material transfer device, the material for being used to acquire in full loading frame in empty loading frame and empty loading frame.This more reloads automatically sets up for being cooperated with each other by transport mechanism, material transfer device, image identification mechanism and control device, realize automatic replacement of the material between different material framves, the material frame of operating personnel's craft replacement placement material is replaced using automation equipment, greatly improve the replacement efficiency of material frame, the workload for reducing operating personnel saves the human cost and time cost of production.
Description
Technical field
The invention belongs to technical field of automation equipment, more particularly to a kind of more reload automatically to set up standby and more reload automatically
The method of frame.
Background technique
In production and process, often refer to need replacing the material frame for loading and placing product.Such as: in product
In 3D Improving Glass Manufacturing Processes, because the technique of glass production different station requires difference, it frequently can lead to for loading 3D glass
The material frame of glass is different, such as material, the structure snd size of material frame have differences, and when such as carrying out high-temperature process to 3D glass, need
The material frame for loading glass is that stainless steel material frame resistant to high temperature then needs aluminium alloy material when for another example carrying out spraying process to 3D glass
The material frame of matter, and the material frame for being commonly used for holding 3D glass only needs the material frame of rigid plastics.In process of production, product
Can frequently between different production processes convert processing, as a result, it is often necessary to ceaselessly replacement load glass material frame so that
Material frame can satisfy the requirement of production technology, in traditional production model, generally be replaced by the way of manual handling operation
Expect frame, but manual handling job task amount is big, carrying movement repeatability is high and handling efficiency is low, needs to expend very big manpower
Resource has carried out replacement task.
Summary of the invention
The purpose of the present invention is to provide a kind of methods more reloaded automatically and set up the standby and automatic frame that more reloads, it is intended to solve
The technical issues of prior art expends big and replacement low efficiency using the frame manpower that manually more reloads.
To achieve the above object, the technical solution adopted by the present invention is that: it is a kind of more reload automatically set up it is standby, comprising:
Rack, rack are equipped with mounting platform；
Transport mechanism is installed on mounting platform and for transmitting full loading frame and empty loading frame；
Material transfer device is installed on mounting platform and for the material expired in loading frame replacement to be transferred to unloaded material
In frame；
Image identification mechanism, be installed on mounting platform and the location information for acquiring the material in full loading frame and
Acquire the location information of the material rest area in empty loading frame；
Control device in rack and is electrically connected at transport mechanism, material transfer device and image identification mechanism
Electrical components.
Further, transport mechanism includes the first feeding mold group and the second feeding mold group, and the first feeding mold group and second is sent
Expect that mould group is electrically connected with control device；
First feeding mold group is horizontal to be installed on mounting platform, and full loading frame is fixed on the output of the first feeding mold group
It is on end and mobile by the length direction of drives edge the first feeding mold group of the first feeding mold group；
Second feeding mold group is horizontal to be installed on mounting platform, and empty loading frame is fixed on the output of the second feeding mold group
It is on end and mobile by the length direction of drives edge the second feeding mold group of the second feeding mold group.
Further, the first feeding mold group and the second feeding mold group include the first driving motor, the first transmission component,
One firm banking, the first guide rail and the first sliding block；
First firm banking is fixed on mounting platform, and the first guide rail is fixed on the first firm banking away from mounting platform
Upper surface, the first sliding block are installed on the first guide rail away from the upper surface of mounting platform and can move relative to the first guide rail；
Full loading frame and sky loading frame are fixedly connected with corresponding first sliding block and opposite with corresponding first sliding block respectively
Corresponding first guide rail is mobile；
First transmission component is fixed on the first firm banking and is connect with the first sliding block to drive the first sliding block along first
Guide rail is mobile, the power output axis connection of the first transmission component and the first driving motor, and it is solid that the first driving motor is fixed on first
Determine to be electrically connected on pedestal and with control device.
Further, the first feeding mold group and the second feeding mold group are arranged in parallel on mounting platform, and the first feeding mold
The passage gap current for full loading frame and empty loading frame relative movement is reserved between group and the second feeding mold group.
Further, material transfer device include for picking and placing the manipulator of material, it is mobile for driving manipulator and with
The manipulator movement mould group that control device is electrically connected and the installation branch for installing solid mechanical hand and the mobile mould group of manipulator
Support seat；Installation support base is fixed on mounting platform, and the mobile mould group of manipulator is installed on installation support base, and manipulator is fixed on
The output end of the mobile mould group of manipulator is simultaneously moved by the length direction of the mobile mould group of drives edge manipulator of the mobile mould group of manipulator
It moves for taking out and being moved into sky loading frame by the material expired in loading frame.
Further, the mobile mould group of manipulator includes the second driving motor, the second transmission component, the second firm banking, the
Two guide rails and the second sliding block；
Second firm banking is fixed on installation support base, and the second guide rail is fixed on the second firm banking right angle setting platform
Side surface, the second sliding block is installed on the second guide rail perpendicular to the side surface of mounting platform and can be mobile relative to the second guide rail；
Manipulator is fixedly connected and with the second sliding block relative to the movement of the second guide rail with the second sliding block, and the second transmission component is fixed
In connecting on the second firm banking and with the second sliding block to drive the second sliding block to move along the second guide rail, the second transmission component and
The power output axis connection of two driving motors, the second driving motor are fixed on the second firm banking and electrically connect with control device
It connects.
Further, manipulator includes the pick-and-place head for grabbing material, and picking and placing head includes for clamping material at least
Two clamping limbs, and the surface that clamping limb is in contact with material is provided with flexo cushion.
Further, image identification mechanism includes for incuding the placement information and zero load that position the material in full loading frame
Expect the infrared light supply of the location information of the material rest area in frame, for acquiring the object in the full loading frame through infrared light supply positioning
The smart camera of the image of material and the image of the material rest area in empty loading frame and for installing fixed smart camera and infrared
The mounting seat of light source；
Infrared light supply and control device are electrically connected and are used to that the placement of the material in the full loading frame navigated to will to be incuded
The location information of information and the material rest area in empty loading frame feeds back to control device；
The camera lens of smart camera is arranged towards transmission device, and smart camera is electrically connected and will collect with control device
Full loading frame in the image of material and the image of the material rest area in empty loading frame pass to control device；
Mounting seat is fixedly connected and with the second sliding block relative to the movement of the second guide rail with the second sliding block.
Further, rack further include support base and be set at the corner location in support base back end portion for making
The lock universal wheel of rack sliding, mounting platform are fixed in support base, and the periphery of support base, which encloses, sets shell
Cover, control device are set in jacket.
Beneficial effects of the present invention: it is of the invention more reload automatically set up it is standby, when replacing the material frame where material using it,
When such as the material in full loading frame being replaced to another empty loading frame, it is only necessary to install full loading frame and empty loading frame respectively
It is fixed in transport mechanism；When realizing material frame replacement, full loading frame and empty loading frame are first respectively moved to image by transport mechanism
Within the scope of the information collection of identification mechanism, image identification mechanism first acquires the location information of the material in full loading frame, and will adopt
The location information of the material collected feeds back to control device, and control device just controls material transfer after receiving the location information of material
Mechanism takes out the material in full loading frame；Then, image identification mechanism acquires the position of the material rest area in empty loading frame
Information, and the location information of collected material rest area is fed back into control device, control device receives material rest area
Just it controls material transfer device after location information the material taken out out of full loading frame is put into sky loading frame.In this way, using
Of the invention more reload automatically sets up standby, passes through transport mechanism, material transfer device, image identification mechanism and control device four
Person cooperates with each other, and realizes automatic replacement of the material between different material framves, replaces operating personnel using automation equipment
The material frame of material is placed in replacement by hand, is greatly improved the replacement efficiency of material frame, is reduced the workload of operating personnel, is saved
The human cost and time cost of production.
The method of frame another solution is that one kind is more reloaded automatically of the invention, comprising the following steps:
S1: provide it is above-mentioned more reload automatically set up it is standby；
S2: full loading frame and empty loading frame are mounted in transport mechanism respectively；
S3: starting transport mechanism drives full loading frame and empty loading frame mobile, and will full loading frame and empty loading frame difference
It is moved within the scope of the information collection of image identification mechanism；
S4: starting image identification mechanism acquires the location information of the material in full loading frame；
S5: the location information of collected material is fed back to control device by image identification mechanism, and control device controls object
Expect that transfer device takes out the material in full loading frame；
S6: image identification mechanism acquires the location information of the material rest area in empty loading frame；
S7: the location information of the material rest area in collected empty loading frame is transferred to control dress by image identification mechanism
It sets, the material of taking-up is put into sky loading frame by control device control material transfer device.
The method of the frame that more reloads automatically of the invention, it is standby due to having used above-mentioned more reloading automatically to set up, and by upper
The step of stating specifically to execute replacement material material frame, realizes automatic replacement of the material between different material framves, improves material frame
Replacement efficiency, reduce the workload of operating personnel, save the human cost and time cost of production.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is that provided in an embodiment of the present invention more reload automatically sets up standby front view；
Fig. 2 is that provided in an embodiment of the present invention more reload automatically sets up standby structural schematic diagram；
Fig. 3 is that provided in an embodiment of the present invention more reload automatically sets up the first standby feeding mold group (the second feeding mold group)
Structural schematic diagram；
Fig. 4 is that provided in an embodiment of the present invention more reload automatically sets up the structural schematic diagram of standby material transfer device；
Fig. 5 is that provided in an embodiment of the present invention more reload automatically sets up the structural schematic diagram of standby image identification mechanism；
Fig. 6 is using the starting provided in an embodiment of the present invention more reloaded when setting up the standby material frame replacement for carrying out material automatically
State；
Fig. 7 is using the end provided in an embodiment of the present invention more reloaded when setting up the standby material frame replacement for carrying out material automatically
State.
Wherein, each appended drawing reference in figure:
10-rack 11-mounting platform, 12-support bases
13-20-transport mechanism of jacket the 21-the first feeding mold groups
22-the second feeding mold group 30-material, 31-manipulator of transfer device
Mobile 33-installation of mould group, 40-image of the support base identification mechanism of 32-manipulators
41-the 43-the first vernier knobs of 42-mounting seat of smart camera
44-the second vernier knob 50-control device 100- material
121-lock universal wheels 200-expire the 211-the first firm banking of loading frame
212-the first guide rail the 214-the first driving motor of the 213-the first sliding block
214-current gaps 300-empty loading frame 311-pick and place head
312-third driving motor the 321-the second firm banking the second guide rails of 322-
323-the second the 324-the second driving motor 331-the first of sliding block installs support arm
332-the second installation 421-cantilever end of support arm, 3111-clamping limb.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment that Fig. 1~7 is described is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Fig. 1~7, the embodiment of the invention provides a kind of more reload automatically to set up standby, and it is suitable for replacements to be used for
The material frame of material 100 is installed, for example material 100 is replaced from full loading frame 200 into empty loading frame 300, the present embodiment is to incite somebody to action
3D glass sets up of the invention more reloading automatically for replacing from full loading frame 200 into empty loading frame 300 for being illustrated,
Specifically, this more reloads automatically sets up for including:
Rack 10, rack 10 are equipped with mounting platform 11；
Transport mechanism 20 is installed on mounting platform 11 and for transmitting full loading frame 200 and empty loading frame 300；
Material transfer device 30 is installed on mounting platform 11 and turns for that will expire the replacement of the material 100 in loading frame 200
It moves in sky loading frame 300；
Image identification mechanism 40 is installed on the position on mounting platform 11 and for acquiring the material 100 in full loading frame 200
Confidence breath and the location information for acquiring the material rest area in empty loading frame 300；
Control device 50 in rack 10 and is electrically connected at transport mechanism 20, material transfer device 30 and image knowledge
The electrical components of other mechanism 40.
More specifically, setting up standby replacement using more reloading automatically for the embodiment of the present invention as shown in Fig. 2, Fig. 6 and Fig. 7
When material frame where material 100 (such as 3D glass), it will such as expire the replacement of material 100 in loading frame 200 to another empty loading frame 300
When interior, the full loading frame 200 for installing material 100 and empty loading frame 300 to be replaced are first mounted on transport mechanism respectively
On 20；Expect in frame replacement process, full loading frame 200 and empty loading frame 300 are first respectively moved to image identification by transport mechanism 20
Within the scope of the information collection of mechanism 40, image identification mechanism 40 first acquires the location information of the material 100 in full loading frame 200,
And the location information of collected material 100 is fed back into control device 50, control device 50 receives the location information of material 100
Just control material transfer device 30 takes out the material 100 in full loading frame 200 afterwards；Then, image identification mechanism 40 acquires sky
The location information of material rest area in loading frame 300, and the location information of collected material rest area is fed back into control
Device 50, control device 50 receive just control material transfer device 30 after the location information of material rest area will be from full loading frame
The material 100 taken out in 200 is put into sky loading frame 300.In this way, more moving automatically for 100 material frame of a material can be completed
Make.As shown in Figure 6 and Figure 7, it illustrates replace from full loading frame 200 to sky from 10 left end of rack progress feeding, and by material
The whole story state of blanking is carried out after loading frame 300 in 10 right end of rack.
More specifically, above-mentioned replacement movement need to only execute one when one material 100 of corresponding only placement in a material frame
It is secondary；And as shown in Fig. 2, when placing multiple materials 100 simultaneously in a material frame, that is to say, that need to use this implementation
More reloading automatically for example sets up for by the multiple materials 100 expired in loading frame 200, all correspondence is transferred to sky loading frame 300
It is interior, at this time, it is only necessary to repeat above-mentioned replacement movement.After the material frame replacement movement for completing a material 100, shadow
The location information for expiring next material 100 in loading frame 200 is identified as identification mechanism 40 just starts automatically, control device 50
Material 100 to be replaced, then, image identification mechanism are taken out according to the location information control material transfer device 30 of the material 100
40 continue to acquire the location information of the material rest area in empty loading frame 300, and control device 50 receives the position of material rest area again
It controls material transfer device 30 again after confidence breath the material 100 taken out out of full loading frame 200 is put into sky loading frame 300
Corresponding position.The position letter of material 100 to be replaced in full loading frame 200 is successively acquired by using image identification mechanism 40
The location information of breath and the 100 position area of corresponding material in empty loading frame 300, then material transfer device is controlled by control device 50
30 complete the crawl of material 100 and placement movement, in this way, just can be realized the material frame replacement movement of multiple materials 100.
More specifically, the information collection range of above-mentioned image identification mechanism 40 and material transfer device 30 execute pick-and-place movement
Range it is identical, i.e., within the scope of full loading frame 200 or empty loading frame 300 enter the information collection of image identification mechanism 40
Afterwards, the material 100 in full loading frame 200 just can be taken out and be put it into sky loading frame 300 by feeding fetching device.This hair
Bright embodiment automatically more reload set up it is standby, pass through transport mechanism 20, material transfer device 30, image identification mechanism 40 and control
Device 50 4 cooperates with each other, and can be realized automatic replacement of the material 100 between different material framves, using automation equipment
It replaces the material frame for placing material 100 by hand instead of operating personnel, greatly improves the replacement efficiency of material frame, reduce operation people
The workload of member, saves the human cost and time cost of production.
In the present embodiment, above-mentioned control device 50 is the device for being integrated with control chip and capableing of load software, example
It such as can be PCL controller or computer, each execution unit in coordinated control whole equipment/electronic may be implemented
The movement of component, it is ensured that whole equipment can be realized automatically working.
In the present embodiment, as shown in Figures 2 and 3, above-mentioned transport mechanism 20 includes the first feeding mold group 21 and second
Feeding mold group 22, the first feeding mold group 21 and the second feeding mold group 22 are electrically connected with control device 50；First feeding mold group
21 it is horizontal be installed on mounting platform 11, full loading frame 200 is fixed on the output end of the first feeding mold group 21 and passes through
The length direction of the first feeding mold of drives edge group 21 of first feeding mold group 21 is mobile；The horizontal installation of second feeding mold group 22
In on mounting platform 11, empty loading frame 300 is fixed on the output end of the second feeding mold group 22 and by the second feeding mold group 22
The second feeding mold of drives edge group 22 length direction it is mobile.
Specifically, as shown in figure 3, the first feeding mold group 21 and the second feeding mold group 22 include the first driving motor 214,
First transmission component (not shown), the first firm banking 211, the first guide rail 212 and the first sliding block 213；First firm banking 211
It being fixed on mounting platform 11, the first guide rail 212 is fixed on the upper surface that the first firm banking 211 deviates from mounting platform 11, the
One sliding block 213 is installed on the first guide rail 212 away from the upper surface of mounting platform 11 and can move relative to the first guide rail 212；It is full
Loading frame 200 and empty loading frame 300 are fixedly connected respectively and with corresponding first sliding block, 213 phase with corresponding first sliding block 213
It is mobile to corresponding first guide rail 212；First transmission component is fixed on the first firm banking 211 and connects with the first sliding block 213
It connects to drive the first sliding block 213 to move along the first guide rail 212, the power output of the first transmission component and the first driving motor 214
Axis connection, the first driving motor 214 are fixed on the first firm banking 211 and are electrically connected with control device 50.
As shown in Figure 2, Figure 6 and Figure 7, when the present embodiment more reload automatically set up standby work when, first will full loading frame 200
Be separately fixed on corresponding first sliding block 213 with empty loading frame 300, specifically, first sliding block 213 can with it is fully loaded
Material frame 200 (empty loading frame 300) is attached fixation using the connection type of clamping, bonding and magnetic-adsorption connection etc..It is full
After loading frame 200 and empty loading frame 300 place, corresponding first driving motor 214, motor rotation the first sliding block of driving are opened
213 on the first guide rail 212 sliding, so that full loading frame 200 or empty loading frame 300 relatively corresponding first be driven to lead
Rail 212 is mobile.When full loading frame 200 or empty loading frame 300 are moved within the scope of the information collection of image identification mechanism 40,
Accordingly the first driving motor 214 just stops working, specifically, in the present embodiment, when full loading frame 200, empty loading frame 300
When being moved to the lower section of material transfer device 30, the first driving motor 214 just stops working, so that image identification mechanism 40 can
It accurately acquires the location information of the material 100 in full loading frame 200 and accurately acquires the material rest area in empty loading frame 300
Location information；Information collection completion and material transfer device 30, which are completed from full loading frame 200 to replace material 100 to zero load, expects
After the replacement movement of frame 300, restarts accordingly the first driving motor 214 and be moved to full loading frame 200 and empty loading frame 300
Corresponding discharging area, and by material 100 remove after full loading frame 200 and material 100 move into after empty loading frame 300 from
It is removed on first sliding block 213, in this way, completing transfer of the material 100 between full loading frame 200 and empty loading frame 300, i.e.,
Realize the material frame replacement of material 100.
Specifically, the composed structure and feeding working principle phase of above-mentioned first feeding mold group 21 and the second feeding mold group 22
Together, still, both can be different to the amount of movement of the transfer of full loading frame 200 and empty loading frame 300, i.e. the first driving motor
214 the first sliding blocks 213 of driving drive the completely amount of movement of loading frame 200 and the first sliding block 213 of driving to drive the shifting of empty loading frame 300
Momentum can be different, and specific amount of movement can be big according to the structure type and size of full loading frame 200 and empty loading frame 300
Small difference is adjusted, so that full loading frame 200 and empty loading frame 300 can accurately be moved to information collection position and take
Material access position and realize material 100 it is accurate pick and place subject to.
Preferably, the first above-mentioned transmission component includes being set in the first guide rail 212 and along first linear module or second
The rotatable screw rod of the length direction setting of linear mould group and the travelling nut for being threadedly connected to screw rod, travelling nut and first
Sliding block 213 is fixedly connected, and the power output end of the first driving motor 214 and one end of screw rod are drivingly connected.In this way, starting first
Driving motor 214 rotates, and is just able to drive screw rod rotation, screw rod rotation then drive travelling nut along first linear module or
The length direction of second linear mould group is mobile, and travelling nut drives opposite first guide rail 212 of the first sliding block 213 connected therewith again
It is mobile, to make the full loading frame 200 for the output end for being fixed on first linear module 21 or be fixed on the second linear mould group 22
The empty loading frame 300 of output end is moved along the length direction of the linear mould group 22 of first linear module 21 or the second.Certainly, screw rod with
The cooperation of travelling nut can also be replaced by belt and belt pulley, herein without repeating.
Preferably, as shown in Fig. 2, in the present embodiment, the first feeding mold group 21 and the second feeding mold group 22 are arranged in parallel
Full loading frame 200 and zero load are supplied in being reserved on mounting platform 11, and between the first feeding mold group 21 and the second feeding mold group 21
Material frame 300 relatively moves current passage gap 214, in order to avoid full loading frame 200 and the empty phase in moving process of loading frame 300
It hits.First feeding mold group 21 and the second feeding mold group 22 are arranged in parallel on mounting platform 11, i.e., completely loading frame 200 and zero load is expected
Both framves 300 move in parallel on mounting platform 11, with shorten that material transfer device 30 carries that material 100 runs as far as possible away from
From, the time of saving material frame replacement, raising working efficiency.
In the present embodiment, as shown in Figure 2 and Figure 4, material transfer device 30 include for pick and place the manipulator 31 of material,
For the movement of driving manipulator 31 and the mobile mould group 32 of manipulator being electrically connected with control device 50 and for installing fixed machine
The installation support base 33 of tool hand 31 and the mobile mould group 32 of manipulator；Installation support base 33 is fixed on mounting platform 11, manipulator
Mobile mould group 31 is installed on installation support base 33, and manipulator 31 is fixed on the output end of the mobile mould group 32 of manipulator and passes through machine
The length direction of the mobile mould group 32 of drives edge manipulator of the mobile mould group 32 of tool hand is mobile for that will expire the object in loading frame 200
Material 100 takes out and moves into sky loading frame 300.
Specifically, as shown in Fig. 2, above-mentioned installation support base 33 includes the first installation support arm 331 and the second installation branch
Brace 332, wherein the first installation support arm 331 is set to the side portion of the first feeding mold group 21, the second installation support arm 332
It is set to the side portion of the second feeding mold group 22, when the first feeding mold group 21 and the second feeding mold group 22 are arranged in parallel in installation and put down
When on platform 11, the straight line where the first installation support arm 331 and the second installation support arm 332 is perpendicular to 21 institute of the first feeding mold group
Straight line (the second feeding mold group 22 where straight line)；The mobile mould group 32 of manipulator is installed on 331 He of the first installation support arm
Between second installation support arm 332, and manipulator 31 is enable to move the length direction of mould group 32 in the first feeding along manipulator
The crawl and placement for realizing material 100 are moved back and forth between mould group 21 and the second feeding mold group 22.Certainly, installation support herein
Seat 33 is not limited only to a kind of this above-mentioned structure and design method, such as can also only installed using other structures designs
One installation support arm is set on platform 11, the mobile mould group 32 of manipulator is fixed on installation support arm in the form of beam type
On, it equally also can be realized the supporting role to manipulator 31.The present embodiment to be arranged the first installation 331 He of support arm simultaneously
Subsequent explanation is carried out for second installation support arm 332.
More specifically, as shown in Figure 2 and Figure 4, the mobile mould group 32 of manipulator is driven including the second driving motor 324, second
Component (not shown), the second firm banking 321, the second guide rail 322 and the second sliding block 323；
Second firm banking 321 is fixed on installation support base 33, and the second guide rail 322 is fixed on the second firm banking 321
The side surface of right angle setting platform 11, the second sliding block 323 be installed on the second guide rail 322 perpendicular to mounting platform 11 side surface simultaneously
It can be mobile relative to the second guide rail 322；Manipulator 31 is fixedly connected with the second sliding block 323 and with the second sliding block 323 opposite second
Guide rail 322 is mobile, and the second transmission component is fixed on the second firm banking 321 and connect with the second sliding block 323 to drive second
Sliding block 323 is moved along the second guide rail 322, the power output axis connection of the second transmission component and the second driving motor 324, and second drives
Dynamic motor 324 is fixed on the second firm banking 321 and is electrically connected with control device 50.In this way, when control device 50 starts
When controlling the pick-and-place movement of the execution material 100 of material transfer device 30, control starting the second driving motor 324 fortune of control device 50
Turn, the second driving motor 324 drives the second sliding block 323 mobile relative to the second guide rail 322, drives manipulator 31 with respect to the second guide rail
322 is mobile, to realize reciprocating movement of the manipulator 31 between the first feeding mold group 21 and the second feeding mold group 22, i.e. realization machine
Movement of the tool hand 31 between full loading frame 200 and empty loading frame 300.
More specifically, as shown in figure 4, manipulator 31 includes for grabbing material 100 and vertically mounting platform 11 is set
The pick-and-place head 311 set, picking and placing head 311 includes at least two clamping limbs 3111 for clamping material 100, and at least there are two folders
Gripping arm 3111 is oppositely arranged, inverted V shaped formula, grab material 100 when, two clamping limbs 3111 being oppositely arranged respectively with material
100 appearance face contact and the clamping for realizing material 100；Also, the surface that clamping limb 3111 is in contact with material 100 is provided with
Flexo cushion (not shown) reduces material in such manner, it is possible to reduce the outer surface that clamping limb 3111 scratches or abrades material 100
100 abrasion during more reloading frame, it is ensured that the quality of material 100 is without damage.
More specifically, manipulator 31 can also be moved up and down with respect to the second sliding block 323, so that manipulator 31 is separate or close
The material rest area in material 100 or empty loading frame 300 in full loading frame 200.In the present embodiment, manipulator 31 is separate takes
The one end for putting first 311 is provided with third driving motor 312, and the power output end and pick-and-place head 311 of third driving motor 312 drive
Connection is to drive pick-and-place head 311 to move up and down with respect to the second sliding block 323.In this way, picking and placing head by the driving of third driving motor 312
311 opposite materials 100 or material rest area move up and down, and just can freely adjust control and pick and place head 311 and material 100 or object
Expect the distance between rest area, keeps the pick-and-place movement for picking and placing head 311 more flexible.
In the present embodiment, the first above-mentioned driving motor 214, the second driving motor 324 and third driving motor 312 are equal
Preferably servo motor, servo motor have the advantages that position precision is high, sensitivity is good and speed controllability is high, can more into
Accuracy when improving to one step full loading frame 200, empty loading frame 300, manipulator 31 and picking and placing the movement of head 311, it is ensured that object
The accuracy that material 100 picks and places.
In the present embodiment, as shown in Figure 2 and Figure 5, above-mentioned image identification mechanism 40 includes fully loaded for incuding positioning
Expect the infrared light supply of the placement information of the material 100 in frame 200 and the location information of the material rest area in empty loading frame 300
In (not shown), the image for acquiring the material 100 in the full loading frame 200 through infrared light supply positioning and empty loading frame 300
Material rest area image smart camera 41 and mounting seat 42 for installing fixed smart camera 41 and infrared light supply；
Infrared light supply and control device 50 are electrically connected and the placement for that will incude the material in the full loading frame 200 navigated to 100
The location information of information and the material rest area in empty loading frame 300 feeds back to control device 50；The camera lens court of smart camera 41
It is arranged to transport mechanism 20, and smart camera 41 and control device 50 are electrically connected and collected will expire in loading frame 200
The image of material 100 and the image of the material rest area in empty loading frame 300 pass to control device 50；Mounting seat 42 and
Two sliding blocks 323 are fixedly connected and with the second sliding block 323 relative to the movement of the second guide rail 322.
Specifically, infrared light supply is for incuding whether full loading frame 200 or empty loading frame 300 reach image identification mechanism
Within the scope of 40 information collection, the effect of smart camera 41 is then for acquiring the full loading frame entered within the scope of information collection
The location information of material 100 in 200 and the location information of the material rest area in empty loading frame 300, the work of mounting seat 42
With being installation for infrared light supply and smart camera 41.More specifically, infrared light supply and smart camera 41 are each attached to installation bottom
On the cantilever end 421 of seat 42, and infrared light supply and smart camera 41 are in the top of transport mechanism 20, in this way, can make infrared
The camera lens of light source and smart camera 41 can accurately capture the location information of full loading frame 200 and empty loading frame 300.Tool
Body, image identification mechanism 40 can be by the boundary line of identification material 100 (such as 3D glass), in combination with material 100
Outer dimension and manipulator 31 convert with the relative positional relationship between image identification mechanism 40, and manipulator 31 is each to grab
Fetch bit is set or the data information of placement location, to realize that image identification mechanism 40 first detects the object identified in full loading frame 200
Then manipulator 31 grabs material 100, image identification mechanism 40 detects the object identified in empty loading frame 300 again for the position of material 100
Expect the position of rest area, the circulation for the movement that then manipulator 31 again puts down material 100.
More reloading automatically for the present embodiment sets up in use, and above-mentioned infrared light supply is in normally open, when
When infrared light supply is sensed within the scope of the information collection that full loading frame 200 or empty loading frame 300 are moved to, infrared light supply can be incited somebody to action
The information sensed feeds back to control device 50, and control device 50 controls smart camera 41 to the material in full loading frame 200 again
100 and empty loading frame 300 in material rest area take pictures to realize the acquisition of image, and by the image feedback of acquisition to controlling
Device 50 processed, subsequent material transfer device 30 can pick and place work to the high-precision of material 100 to realize with this image.
Wherein, the infrared light supply in the present embodiment is preferably axis light, keeps its range of exposures more uniform, while can also be kept away
Exempt from the reflective of object therefore improves the accuracy and reproducibility of information collection.High definition may be implemented in above-mentioned smart camera 41
Image Acquisition, for example, smart camera 41 can be CCD camera etc.；And the pixel of smart camera 41 is up to 5,000,000 pixels, to protect
The collected picture clarity with higher of card institute.
More specifically, as shown in Fig. 2, the mounting seat 42 of image identification mechanism 40 is equally also fixed with the second sliding block 323
Connection, and can be mobile relative to the second guide rail 322 with the second sliding block 323, that is to say, that mounting seat 42 is able to drive infrared light
Source and smart camera 41 are moved together with manipulator 31.In this way, when manipulator 31 is moved near fully loaded material 100, shadow
When as near identification mechanism 40 also synchronizing moving to fully loaded material 100, and when manipulator 31 is moved to the attached of unloaded material 100
When close, image identification mechanism 40 is also near synchronizing moving to unloaded material 100, to enable image identification mechanism 40 more
Accurately realize the acquisition of information.
More specifically, above-mentioned image identification mechanism 40 further includes being finely adjusted for the position to image recognition system 40
The first vernier knob 43 and the second vernier knob 44, when needing to grab various sizes of 100 (such as various sizes of 3D glass of material
Glass) when, can be adjusted by the first vernier knob 43 and the second vernier knob 44 image recognition system 40 focusing height and
The visual field position of boundary profile, to further guarantee the accuracy of the information collection of image recognition system 40.
In the present embodiment, as depicted in figs. 1 and 2, rack 10 further includes support base 12 and is set to support base 12
The lock universal wheel 121 for being used to make 10 sliding of rack at the corner location in back end portion, mounting platform 11 are fixed on
In support base 12, the periphery of support base 12, which encloses, sets jacket 13, and control device 50 is set in jacket 13.
Specifically, 12 back end portion of support base quadrangle position bottom end setting lock universal wheel 121, when needing to move
When more the reloading automatically of dynamic the present embodiment sets up standby, it need to only push rack 10 mobile, the transfer of equipment is very convenient, and
Due to using the lock universal wheel 121 of belt lock catch, therefore lock need to only be lockked after equipment is transferred and settles out, i.e.,
It can guarantee that rack 10 will not move again, to guarantee the material frame replacement under stable environment to material 100 is realized.
The embodiment of the invention also provides a kind of methods of frame that more reloads automatically, comprising the following steps:
S1: provide it is above-mentioned more reload automatically set up it is standby, as shown in Fig. 1~7；
S2: full loading frame 200 and empty loading frame 300 are mounted on respectively in transport mechanism 20；Specifically, respectively will
Full loading frame 200 and empty loading frame 300 are fixedly connected with corresponding first sliding block 213.
S3: starting transport mechanism 20 drives full loading frame 200 and empty loading frame 300 mobile, and will full loading frame 200 and sky
Loading frame 300 is respectively moved within the scope of the information collection of image identification mechanism 40；Specifically, it is respectively started and accordingly first drives
It is mobile relative to corresponding first guide rail 212 that dynamic motor 214 drives corresponding first sliding block 213, to make full loading frame 200 and sky
Loading frame 300 is mobile.
S4: starting image identification mechanism 40 acquires the location information of the material 100 in full loading frame 200；Specifically, hot
After outer light source senses that full loading frame 200 enters information collection range, which is fed back into control device 50, control device 50
The control unlatching of smart camera 41 takes pictures to realize the acquisition of image to the material 100 in full loading frame 200.
S5: the location information of collected material 100 is fed back to control device 50, control device by image identification mechanism 40
50 control material transfer devices 30 take out the material 100 in full loading frame 200；Specifically, smart camera 41 will be collected
The image feedback of material 100 in full loading frame 200 to control device 50, control device 50 controls 30 basis of material transfer device
This image takes out material 100 out of full loading frame 200.
S6: image identification mechanism 40 acquires the location information of the material rest area in empty loading frame 300；Specifically, hot
After outer light source senses that sky loading frame 300 enters information collection range, which is fed back into control device 50, control device 50
The control unlatching of smart camera 41 takes pictures to realize the acquisition of image to the material rest area in empty loading frame 300.
S7: the location information of the material rest area in collected empty loading frame 300 is transferred to by image identification mechanism 40
Control device 50, control device 50 control material transfer device 30 and the material 100 of taking-up are put into sky loading frame 300；Specifically
Ground, for image identification mechanism 40 before acquiring information, control device 50 first controls the mobile mould group 32 of starting manipulator for manipulator
31 and 40 synchronizing moving of image identification mechanism to the top position of empty loading frame 300 at, then, starting smart camera 41 acquire
Image, and by the image feedback of the material rest area in collected empty loading frame 300 to control device 50, control device 50 is controlled
The material 100 that manipulator 31 grabs is put into the corresponding material of sky loading frame 300 according to this image by material transfer device 30 processed
In rest area.
In the present embodiment, complete in step S7 when being placed with multiple materials 100 for needing to shift in full loading frame 200
At later, smart camera 41 continues to execute the figure acquisition to material 100 in full loading frame 200, and image information is fed back to
Control device 50, continuously movement takes the material 100 in full loading frame 200 to 50 continuous control material transfer device 30 of control device
Out；Then repeating in the corresponding material rest area that material 100 is put into sky loading frame 300 by step S7.
The method of the frame that more reloads automatically of the embodiment of the present invention, it is standby due to having used above-mentioned more reloading automatically to set up, and
Come specifically to execute replacement 100 material frame of material through the above steps, process is simple and convenient, realizes material 100 in different material framves
Between automatic replacement, improve material frame replacement efficiency, reduce the workload of operating personnel, save the people of production
Power cost and time cost.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. it is a kind of more reload automatically set up it is standby characterized by comprising
Rack, the rack are equipped with mounting platform；
Transport mechanism is installed on the mounting platform and for transmitting full loading frame and empty loading frame；
Material transfer device is installed on the mounting platform and for the material replacement in the full loading frame to be transferred to institute
It states in sky loading frame；
Image identification mechanism is installed on the location information on the mounting platform and for acquiring the material in the full loading frame
And the location information of the material rest area in the acquisition empty loading frame；
Control device in the rack and is electrically connected at the transport mechanism, the material transfer device and the shadow
As the electrical components of identification mechanism.
2. it is according to claim 1 automatically more reload set up it is standby, it is characterised in that:
The transport mechanism includes the first feeding mold group and the second feeding mold group, the first feeding mold group and second feeding
Mould group is electrically connected with the control device；
The first feeding mold group is horizontal to be installed on the mounting platform, and the full loading frame is fixed on described first and send
Expect on the output end of mould group and mobile by the length direction of the first feeding mold group described in the drives edge of the first feeding mold group；
The second feeding mold group is horizontal to be installed on the mounting platform, and the sky loading frame is fixed on described second and send
Expect on the output end of mould group and mobile by the length direction of the second feeding mold group described in the drives edge of the second feeding mold group.
3. it is according to claim 2 automatically more reload set up it is standby, it is characterised in that:
The first feeding mold group and the second feeding mold group include the first driving motor, the first transmission component, first solid
Determine pedestal, the first guide rail and the first sliding block；
First firm banking is fixed on the mounting platform, and first guide rail is fixed on the first firm banking back
Upper surface from the mounting platform, first sliding block are installed on the upper surface that first guide rail deviates from the mounting platform
And it can be mobile relative to first guide rail；
The full loading frame and the empty loading frame are fixedly connected and with corresponding first sliding block with corresponding described respectively
First sliding block is mobile relative to corresponding first guide rail；
First transmission component is fixed on first firm banking and is connect with first sliding block to drive described
One sliding block is moved along first guide rail, the power output axis connection of first transmission component and first driving motor,
First driving motor is fixed on first firm banking and is electrically connected with the control device.
4. it is according to claim 2 more reload automatically set up it is standby, it is characterised in that: the first feeding mold group and described the
Two feeding mold groups are arranged in parallel on the mounting platform, and pre- between the first feeding mold group and the second feeding mold group
There are the passage gaps current for the full loading frame and the empty loading frame relative movement.
5. it is according to any one of claims 1 to 4 automatically more reload set up it is standby, it is characterised in that:
The material transfer device include for pick and place the manipulator of material, for drive the manipulator mobile and with the control
The manipulator that device processed is electrically connected moves mould group and moves mould group for installing the fixed manipulator and the manipulator
Support base is installed；The installation support base is fixed on the mounting platform, and the mobile mould group of the manipulator is installed on the peace
It fills on support base, the manipulator is fixed on the output end of the mobile mould group of the manipulator and by the mobile mould group of the manipulator
Drives edge described in the mobile mould group of manipulator length direction it is mobile for taking out and moving the material in the full loading frame
Enter to the empty loading frame.
6. it is according to claim 5 automatically more reload set up it is standby, it is characterised in that:
The mobile mould group of the manipulator includes the second driving motor, the second transmission component, the second firm banking, the second guide rail and the
Two sliding blocks；
Second firm banking is fixed on the installation support base, and second guide rail is fixed on second firm banking
The side surface of the vertical mounting platform, second sliding block are installed on second guide rail perpendicular to the side of the mounting platform
It surface simultaneously can be mobile relative to second guide rail；
The manipulator is fixedly connected and with second sliding block relative to second guide rail movement with second sliding block, described
Second transmission component is fixed on second firm banking and is connect with second sliding block to drive second sliding block edge
Second guide rail is mobile, the power output axis connection of second transmission component and second driving motor, and described second
Driving motor is fixed on second firm banking and is electrically connected with the control device.
7. it is according to claim 5 automatically more reload set up it is standby, it is characterised in that: the manipulator includes for grabbing object
The pick-and-place head of material, the head that picks and places includes at least two clamping limbs for clamping material, and the clamping limb is in contact with material
Surface be provided with flexo cushion.
8. it is according to claim 6 automatically more reload set up it is standby, it is characterised in that:
The image identification mechanism includes for incuding the placement information and the zero load that position the material in the full loading frame
Expect the infrared light supply of the location information of the material rest area in frame, for acquiring the fully loaded material positioned through the infrared light supply
The smart camera of the image of material in frame and the image of the material rest area in the empty loading frame and for installing fixed institute
State the mounting seat of smart camera and the infrared light supply；
The infrared light supply and the control device are electrically connected and are used to incude the object in the full loading frame navigated to
The location information of the placement information of material and the material rest area in the empty loading frame feeds back to the control device；
The camera lens of the smart camera is arranged towards the transmission device, and the smart camera electrically connects with the control device
It connects and passes the image of the material rest area in the image and the empty loading frame of the material in the collected full loading frame
Pass the control device；
The mounting seat is fixedly connected with second sliding block and moves with second sliding block along second guide rail.
9. it is according to any one of claims 1 to 4 more reload automatically set up it is standby, it is characterised in that: the rack further includes
Support base and the lock for being used to make the rack sliding being set at the corner location in support base back end portion
Universal wheel, the mounting platform are fixed in the support base, and the periphery of the support base, which encloses, sets jacket, described
Control device is set in the jacket.
10. a kind of method for the frame that more reloads automatically, which comprises the following steps:
S1: provide it is according to any one of claims 1 to 9 automatically more reload set up it is standby；
S2: the full loading frame and the empty loading frame are respectively placed in the transport mechanism；
S3: starting the transport mechanism and drive the full loading frame and the empty loading frame mobile, and will the full loading frame with
The sky loading frame is respectively moved within the scope of the information collection of the image identification mechanism；
S4: start the location information for the material that the image identification mechanism acquires in the full loading frame；
S5: the location information of the material in the collected full loading frame is transferred to the control by the image identification mechanism
Device, the control device control the material transfer device and take out the material in the full loading frame；
S6: the image identification mechanism acquires the location information of the material rest area in the empty loading frame；
S7: the location information of the material rest area in the collected empty loading frame is transferred to institute by the image identification mechanism
Control device is stated, the control device controls the material transfer device and the material of taking-up is put into the empty loading frame.
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|---|---|---|---|
| CN201810931281.0A CN108946167A (en) | 2018-08-15 | 2018-08-15 | Automatically it more reloads and sets up standby and the frame that more reloads automatically method |
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| CN201810931281.0A CN108946167A (en) | 2018-08-15 | 2018-08-15 | Automatically it more reloads and sets up standby and the frame that more reloads automatically method |
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Cited By (1)
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| CN110615247A (en) * | 2019-10-23 | 2019-12-27 | 珠海市协正智能装备有限公司 | Integrated automatic material taking and placing mechanism |
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| CN108327815A (en) * | 2018-02-08 | 2018-07-27 | 广西大学 | The unmanned haul carrier of factory of view-based access control model control |
| CN208882958U (en) * | 2018-08-15 | 2019-05-21 | 深圳市圆梦精密技术研究院 | Automatically more reloading, it is standby to set up |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110615247A (en) * | 2019-10-23 | 2019-12-27 | 珠海市协正智能装备有限公司 | Integrated automatic material taking and placing mechanism |
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