CN109019019B - Feeding and discharging mechanism for camera focusing equipment - Google Patents

Feeding and discharging mechanism for camera focusing equipment Download PDF

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Publication number
CN109019019B
CN109019019B CN201810975744.3A CN201810975744A CN109019019B CN 109019019 B CN109019019 B CN 109019019B CN 201810975744 A CN201810975744 A CN 201810975744A CN 109019019 B CN109019019 B CN 109019019B
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CN
China
Prior art keywords
module
disc
carrier
tray
carrying
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CN201810975744.3A
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Chinese (zh)
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CN109019019A (en
Inventor
李安琼
张发证
侯峰
汤广成
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Intelligent Automation Equipment Zhuhai Co Ltd
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Intelligent Automation Equipment Zhuhai Co Ltd
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Priority to CN201810975744.3A priority Critical patent/CN109019019B/en
Publication of CN109019019A publication Critical patent/CN109019019A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements

Abstract

The invention discloses and provides a feeding and discharging mechanism for camera focusing equipment, which has the advantages of simple structure, high automation degree and high manual-free efficiency. The technical scheme adopted by the invention is as follows: the invention comprises a mechanism main body, a left focusing platform, a right focusing platform, a material taking manipulator module, a transversely arranged carrier conveying track module, a carrier conveying track module and a material taking manipulator module, wherein the carrier conveying track module is used for conveying a carrier of materials, a gripper module and a material changing module are arranged on the left side and the right side of the mechanism main body, the gripper module comprises a grabbing manipulator matched with the carrier on the carrier conveying track module, the material changing module comprises a linear module arranged longitudinally and a carrier transferring sliding table matched with the linear module, and the carrier transferring sliding table is used for conveying the carrier between the grabbing manipulator and the material taking manipulator module. The invention can be used in the technical field of camera material feeding and discharging mechanisms.

Description

Feeding and discharging mechanism for camera focusing equipment
Technical Field
The invention relates to the field of automatic focusing assembly of cameras, in particular to a feeding and discharging mechanism for camera focusing equipment.
Background
In recent years, the application of camera modules is becoming more and more widespread, and particularly, the application of camera modules to consumer electronics products, such as mobile phones, tablet computers, and tablet computers, is rapidly developing. With the development of these products, the rapid development of the camera module manufacturing industry is also promoted. The mobile phone configuration is changed from single shot to double shot and from double shot to triple shot, and people can see that higher and higher requirements are put on the quality of image vision.
The traditional manual focusing mode can not meet the focusing requirements of the cameras, the manual focusing has high labor intensity and low efficiency, and the technical development and the yield requirements of the cameras are greatly restricted. The full-automatic focusing equipment not only can liberate labor force, but also can improve focusing quality and effect, thereby improving the quality and productivity of the camera. How automatic unloading of going up of camera is the key that focusing equipment realized automaticly, and traditional camera goes up unloading mechanism is manual with material lens and sensor and places the carrier disc, and the rethread manipulator is put the lens of camera and sensor and is focused on focusing platform, and this does not liberate the manpower completely, also can't guarantee the stability of unloading.
Disclosure of Invention
The invention aims to solve the technical problem of providing the feeding and discharging mechanism for the camera focusing equipment, which has the advantages of simple structure, high automation degree and high manual-free efficiency.
The technical scheme adopted by the invention is as follows: the invention comprises a mechanism main body, a left focusing platform, a right focusing platform, a material taking manipulator module, a transversely arranged carrier conveying track module, a carrier conveying track module and a material taking manipulator module, wherein the carrier conveying track module is used for conveying a carrier of materials, a gripper module and a material changing module are arranged on the left side and the right side of the mechanism main body, the gripper module comprises a grabbing manipulator matched with the carrier on the carrier conveying track module, the material changing module comprises a linear module arranged longitudinally and a carrier transferring sliding table matched with the linear module, and the carrier transferring sliding table is used for conveying the carrier between the grabbing manipulator and the material taking manipulator module.
In the scheme, a carrying disc for loading materials is conveyed on a carrying disc conveying track module, a grabbing manipulator on a gripper module positioned on the right side of a mechanism main body catches the carrying disc and transfers the carrying disc to an adjacent carrying disc transfer sliding table, the carrying disc transfer sliding table is moved to drive the carrying disc to come to a material taking manipulator module, the material taking manipulator module sequentially places the materials on the carrying disc on a left focusing platform and a right focusing platform, and then performs focusing work of other cameras and sensors; on the other hand, regarding the unloading face, get the carrier plate of material and snatch the slip table again from the carrier plate transfer slip table of right side and snatch the carrier plate delivery track module, carrier plate delivery track module moves to the left side with empty carrier plate, and by the grabbing manipulator that is located on the left tongs module of mechanism main part, catch and get the carrier plate and transfer to the slip table in the adjacent carrier plate, carrier plate transfer slip table longitudinal displacement drives empty carrier plate and comes to get material manipulator module department, material taking manipulator module takes off left focusing platform and right focusing platform camera that finishes and places on the carrier plate, carrier plate is full back to carrier plate delivery track module with the opposite flow carrier plate, and utilize carrier plate delivery track module to carry the unloading of full carrier plate right direction, the whole process mechanized operation of unloading on this scheme, liberate the manpower, greatly improve efficiency, simultaneously, because design change the carrier plate module carries out well transfer carrier plate, make the module that is located the mechanism main part right side can directly carry out the last material loading step of next carrier plate after the unloading stage, this scheme can stagger greatly and carry out unloading together.
Further, the right side butt joint of year dish delivery track module is provided with year dish box, and a plurality of year dish stacks and places in the year dish box, the outside cooperation of year dish box is provided with first year dish ejecting mechanism, first year dish ejecting mechanism includes first ejecting motor and first ejector pad, first ejector pad with the year dish that is located the bottommost in year dish box cooperatees, the bottom of year dish box is provided with two-way opening, two-way opening one side just right the year dish delivery track module another side just right first ejector pad.
In this scheme, design year dish box is used for making things convenient for operating personnel to load and unload the dish in batches, and first ejector pad is used for pushing the year dish to the year dish delivery track module on, removes the manual work and directly loads and unloads the year dish on year dish delivery track module from.
Further, the tray conveying track module comprises a second tray pushing mechanism, the second tray pushing mechanism comprises a second pushing motor and a second pushing block, and the second pushing block pushes the tray on the tray conveying track module into the tray box.
In this scheme, design second year dish ejecting mechanism can be convenient automatic go out the unloading of carrying the dish from carrying the dish delivery track module, realizes retrieving, raises the efficiency, exempts from the manual work.
Further, the tray conveying track module comprises a track main body and a transport vehicle, wherein the track main body is transversely arranged, the transport vehicle is arranged on the track main body, a loading station matched with the tray is arranged on the transport vehicle, blocking mechanisms are arranged on the left side and the right side of the loading station, limit guide plates are arranged on the front side and the rear side of the loading station, and a jacking mechanism is further arranged at the bottom of the loading station.
In this scheme, the transport vechicle carries out the work of transportation year dish, and the transport vechicle is through the corresponding spacing fixed establishment of four sides design to loading station and make the year dish stability promote in transportation in a large number, has also guaranteed the alignment precision of later stage and each manipulator simultaneously.
Further, the transport vehicle is provided with a ball bearing at the loading station, the ball bearing is connected with the limit guide plate through a connecting rod, and the ball bearing is matched with a carrying disc arranged on the loading station.
Further, the tongs module includes the mount, snatch the manipulator and install on the mount, snatch the manipulator and be located carry a set delivery track module directly over, snatch the manipulator and include elevating unit and set up tongs unit on the elevating unit, tongs unit includes the tongs mounting panel and is located four corners of tongs mounting panel department tongs, the bottom of tongs mounting panel vertically be provided with four with the sharp slip table module of tongs one-to-one, the tongs is installed on the sharp slip table module.
In this scheme, tongs module fixed position, the tongs module is used for realizing carrying the transfer of carrying the dish between dish delivery track module and the retooling module, and the tongs module realizes opening and shutting of tongs through sharp slip table module to realize the function of snatching and releasing to carrying the dish, flexible operation, simple structure.
Further, the carrying disc transfer slip table is including being located the top and the place platform that the level set up, place platform's high position is located carrying disc delivery track module with between the tongs module, be provided with on place platform's the up end with carrying disc looks adaptation carrying disc standing groove, place platform's middle part is provided with the logical groove of stepping down.
In this scheme, carry a set transfer slip table and follow longitudinal movement on sharp module, carry a set transfer slip table and be used for butt joint tongs module and getting manipulator. The giving way through groove is arranged for giving way for the gripper of the gripper module, so that the gripper can quickly catch and take the carrier plate.
Further, the material taking manipulator module comprises a linear motor, a support frame matched with a rotor of the linear motor and a material taking manipulator arranged at the top of the support frame, wherein the material taking manipulator comprises a mounting seat, a nodding camera arranged at the middle part of the mounting seat, a plurality of groups of Z-axis motors arranged at two sides of the mounting seat, a Z-axis rotating motor matched with the output end of the Z-axis motor and a sucker arranged at the output end of the Z-axis rotating motor, the sucker is used for sucking materials, the linear motor is transversely arranged in front of the left focusing platform and the right focusing platform, and the material taking manipulator further comprises a longitudinal sliding table motor matched with the mounting seat.
In this scheme, the manipulator of getting material passes through linear motor drive, realizes X direction motion, and every sucking disc on the manipulator of getting material is all controlled by a Z axle motor and Z axle rotating electrical machines, improves the product and gets and put the precision. The mounting seat is arranged on the motor of the longitudinal sliding table, so that the displacement of the manipulator in the Y direction can be flexibly adjusted, and the compatibility is improved. A nodding camera is arranged in the middle of the material taking manipulator, and the position of each taking and placing is judged through vision, so that the accuracy of taking and placing is improved. In order to match the double-station requirement of the machine, the UPH output per hour of the machine is improved, and the material taking manipulator can be provided with a plurality of suckers. The material taking mechanical arm improves the stability and the precision of the feeding and discharging of the camera.
Further, a laser range finder is arranged on one side of the outer portion of the mounting seat.
In the scheme, the height difference of the material from the sucker can be obtained through the laser range finder, so that the sucker is prevented from crushing products when the material is sucked, and the picking and placing precision is further improved.
Further, the Z-axis rotating motor is a hollow motor.
In the scheme, the hollow motor is adopted as the Z-axis rotating motor, and the sucker can be connected to an external vacuum generator through the hollow shaft and an air pipe connector connected to the Z-axis rotating motor, so that the air pipe is prevented from rotating along with the sucker, the air pipe is protected, and air leakage is prevented.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of another angle of the overall structure of the present invention;
FIG. 3 is a schematic view of a structure of a pallet transport track module;
FIG. 4 is a schematic structural view of a transport vehicle;
FIG. 5 is a schematic view of a gripper module;
FIG. 6 is a schematic diagram of a disc changer module;
FIG. 7 is a schematic view of a structure of the pick-up robot module;
fig. 8 is a schematic structural view of the reclaiming robot.
Detailed Description
As shown in fig. 1 to 8, the specific embodiments of the present invention are: the invention comprises a mechanism main body 1, a left focusing platform 2, a right focusing platform 3 and a material taking manipulator module 4, and also comprises a carrier plate conveying track module 5 which is transversely arranged, wherein the carrier plate conveying track module 5 is used for conveying a carrier plate 6 of a material, a gripper module 7 and a disc changing module 8 are arranged on the left side and the right side of the mechanism main body 1, the gripper module 7 comprises a grabbing manipulator 71 matched with the carrier plate 6 on the carrier plate conveying track module 5, the disc changing module 8 comprises a linear module 81 which is longitudinally arranged and a carrier plate transfer sliding table 82 matched with the linear module 81, and the carrier plate transfer sliding table 82 is used for conveying the carrier plate 6 between the grabbing manipulator 71 and the material taking manipulator module 4. In the scheme, a carrying disc 6 for loading materials is conveyed on a carrying disc conveying track module 5, a grabbing manipulator 71 on a gripper module 7 positioned on the right side of a mechanism main body 1 catches the carrying disc 6 and transfers the carrying disc 6 to an adjacent carrying disc transfer sliding table 82, the carrying disc transfer sliding table 82 moves to drive the carrying disc 6 to come to a material taking manipulator module 4, the material taking manipulator module 4 sequentially places the materials on the carrying disc 6 on a left focusing platform 2 and a right focusing platform 3, and then focuses on lens and sensor of other cameras, so that double-platform feeding is realized, and efficiency is improved; on the other hand, regarding the unloading aspect, the carrying tray 6 of getting the material is snatched back to carrying tray conveying track module 5 from carrying tray transfer slip table 82 again by right side snatch manipulator 71, carrying tray conveying track module 5 takes empty carrying tray 6 to the left side, and by the snatch manipulator 71 on the tongs module 7 that is located the left side of mechanism main part 1 catch carrying tray 6 and shift to adjacent carrying tray transfer slip table 82, carrying tray transfer slip table 82 longitudinal displacement drives empty carrying tray 6 and comes to get material manipulator module 4 department, material taking manipulator module 4 gets back to carrying tray conveying track module 5 with reverse flow carrying tray 6 after full carrying tray 6, and utilize carrying tray conveying track module 5 to directly carry out the unloading with full carrying tray 6 to the right side, the whole process mechanized operation of unloading in this scheme, the very high efficiency of releasing manpower, simultaneously, because design change tray module 8 carries out transfer tray 6, make the carrying tray 6 that is located the mechanism main part 1 right side can be in order to carry out the scheme that can carry out the big step together on the unloading module is more in order to carry out the unloading step directly.
In this embodiment, the right side of the tray conveying track module 5 is butt-jointed to be provided with a tray box 9, a plurality of trays 6 are stacked and placed in the tray box 9, a first tray pushing mechanism is arranged outside the tray box 9 in a matched manner, the first tray pushing mechanism comprises a first pushing motor 101 and a first pushing block 102, the first pushing block 102 is matched with the tray 6 positioned at the bottommost part in the tray box 9, a bidirectional opening is arranged at the bottom of the tray box 9, one surface of the bidirectional opening is opposite to the other surface of the tray conveying track module 5, and the other surface of the bidirectional opening is opposite to the first pushing block 102. In this scheme, design year dish box 9 is used for making things convenient for operating personnel to load and unload dish 6 in batches, and first ejector pad 102 is used for pushing year dish 6 to year dish delivery track module 5, removes the manual work and directly loads and unloads year dish 6 on year dish delivery track module 5.
The tray box 9 is provided with an interception clamping mechanism between the tray 6 at the bottommost part and other trays 6, the interception clamping mechanism comprises a jacking module arranged at the bottom of the tray box 9 and a pressing fixing module arranged inside the tray box 9, the jacking module is matched with the tray 6 at the bottom in the tray box 9, and the pressing fixing module relatively presses the tray 6 at the second layer at the bottom through a pressing block so that the tray 6 at the second layer at the bottom in the tray box 9 is fixed, thereby enabling the tray 6 at the bottommost part to be pushed out.
In this embodiment, the tray conveying track module 5 includes a second tray pushing mechanism, where the second tray pushing mechanism includes a second pushing motor 511 and a second pushing block 512, and the second pushing block 512 pushes the tray 6 on the tray conveying track module 5 into the tray box 9. In this scheme, design second year dish release mechanism can be convenient automatic go out carrying dish 6 from carrying the unloading of dish delivery track module 5, realizes retrieving, raises the efficiency, exempts from the manual work.
In this specific embodiment, the tray conveying rail module 5 includes a rail main body 52 that is transversely disposed and a transport vehicle 53 that is disposed on the rail main body 52, a loading station 531 that is adapted to the tray 6 is disposed on the transport vehicle 53, the transport vehicle 53 is disposed on both sides of the loading station 531, a blocking mechanism 532 is disposed on both sides of the loading station 531, a limit guide plate 533 is disposed on both sides of the loading station 531, and a lifting mechanism 534 is disposed at the bottom of the loading station. In this scheme, the transport vechicle 53 carries out the work of transportation year dish 6, and the transport vechicle 53 makes year dish 6 stability promote in the transportation in a large number through the corresponding spacing fixed establishment of four sides design to loading station 531, has also guaranteed the counterpoint precision of later stage and each manipulator simultaneously.
In this embodiment, the carriage 53 is provided with ball bearings 535 at the loading station 531, the ball bearings 535 are connected to the limit guide plate 533 through connecting rods 536, and the ball bearings 535 are matched with the loading tray 6 placed on the loading station 531.
In this specific embodiment, the gripper module 7 includes a fixing frame 72, the gripper robot 71 is installed on the fixing frame 72, the gripper robot 71 is located right above the tray conveying track module 5, the gripper robot 71 includes a lifting unit 73 and a gripper unit 74 disposed on the lifting unit 73, the gripper unit 74 includes a gripper mounting plate 75 and grippers 76 disposed at four corners of the gripper mounting plate 75, four linear sliding table modules 77 corresponding to the grippers 76 one to one are longitudinally disposed at the bottom of the gripper mounting plate 75, and the grippers 76 are installed on the linear sliding table modules 77. In this scheme, the handle module 7 fixed in position, the handle module 7 is used for realizing carrying the transfer of carrying the dish 6 between dish delivery track module 5 and the retooling module 8, and the handle module 7 realizes opening and shutting of handle 76 through sharp slip table module 77 to realize the function of snatching and releasing to carrying the dish 6, the flexible operation, simple structure.
In this embodiment, the tray transfer sliding table 82 includes a placement platform 83 that is located at the top and horizontally disposed, a height position of the placement platform 83 is located between the tray conveying rail module 5 and the gripper module 7, a tray placement groove 84 adapted to the tray 6 is disposed on an upper end surface of the placement platform 83, and a yielding through groove 85 is disposed in a middle of the placement platform 83. In this scheme, the transfer sliding table 82 in the carrier tray moves longitudinally on the linear module 81, and the transfer sliding table 82 in the carrier tray is used for docking the gripper module 7 and the material taking manipulator 44. The yielding through groove 85 is arranged for yielding the gripper 76 of the gripper module 7, so that the gripper 76 can quickly catch the carrier plate 6.
In this specific embodiment, the material taking manipulator module 4 includes a linear motor 41, a support frame 43 matched with a rotor 42 of the linear motor 41, and a material taking manipulator 44 disposed at the top of the support frame 43, where the material taking manipulator 44 includes a mounting seat 45, a nodding camera 46 disposed in the middle of the mounting seat 45, a plurality of groups of Z-axis motors 47 disposed on both sides of the mounting seat 45, a Z-axis rotating motor 48 matched with an output end of the Z-axis motor 47, and a suction cup 49 disposed on an output end of the Z-axis rotating motor 48, the suction cup 49 is used for sucking materials, the linear motor 41 is transversely disposed in front between the left focusing platform 2 and the right focusing platform 3, and the material taking manipulator 44 further includes a longitudinal sliding table motor 40 matched with the mounting seat 45. In the scheme, the material taking manipulator 44 is driven by the linear motor 41 to realize X-direction movement, and each sucker 49 on the material taking manipulator 44 is controlled by a Z-axis motor and a Z-axis rotating motor 48, so that the product taking and placing precision is improved. The mounting seat 45 is arranged on the longitudinal sliding table motor 40, so that the displacement of the manipulator in the Y direction can be flexibly adjusted, and the compatibility is improved. A take-down camera 46 is disposed in the middle of the pick-up robot 44, and the pick-up and-place accuracy is improved by visually determining the position of each pick-up and place. To match the dual station requirements of the machine and increase the throughput UPH per hour of the machine, the reclaiming robot 44 may be configured with a plurality of suction cups 49, in this embodiment, a total of 4 suction cups 49. The material taking manipulator 44 improves the stability and precision of feeding and discharging of the camera.
The middle part of the mounting seat 45 is also provided with a Z-axis camera motor 461 matched with the nodding camera 46, and the Z-axis camera motor 461 drives the nodding camera 46 to move up and down.
In this embodiment, a laser range finder 451 is disposed on one side of the outer portion of the mounting base 45. In the above-described scheme, the difference in height of the material from the suction cup 49 can be obtained by the laser range finder 451, thereby preventing the suction cup 49 from crushing the product when sucking the material, and further improving the pick-and-place accuracy.
In this embodiment, the Z-axis rotary motor 48 is a hollow motor. In the above-described scheme, the suction cup 49 is connected to the external vacuum generator through the hollow shaft and the gas pipe joint 481 connected to the Z-axis rotating motor 48 by using the hollow motor as the Z-axis rotating motor 48, thereby preventing the gas pipe from rotating with the suction cup 49, protecting the gas pipe from gas leakage.
In this embodiment, the track main body 52 and the tray carrier 9 are horizontally aligned and located at a position near the front, the tray changing module 8 is located at the rear of the left side and the right side of the track main body 52 and at a height position higher than that of the track main body 52, the left focusing platform 2 and the right focusing platform 3 are level and the height positions of the even tray transfer sliding tables 82 are substantially level, and the heights of the grabbing manipulator 71 and the material taking manipulator 44 are substantially level and at a height position higher than that of the tray transfer sliding tables 82.
The beneficial effects of this implementation are:
1. the degree of automation is high;
2. the feeding and discharging stability and precision of the camera are improved;
3. the structure is compact, the universality is realized, and the transmission of carrier discs with different sizes can be satisfied;
4. the linear transmission module is used for replacing belt line transmission, so that the cleanliness of the module is improved, and the dustproof grade requirement of hundred-grade dust free is met;
5. the module flexibility is high, can compatible different size specification's material product.
The operation process of the invention is as follows: placing the carrier plate 6 filled with materials into the carrier plate box 9, and pushing out the carrier plate 6 positioned at the working position, namely at the bottommost part, of the carrier plate box 9 onto the transport vehicle 53 of the carrier plate conveying track module 5 by the first carrier plate pushing-out mechanism; when the carrier plate 6 comes into the loading station 531 along the ball bearings 535, the blocking mechanism 532 on the carriage 53 is actuated, and the carrier plate 6 is fixed on the carriage 53; when the transport vehicle 53 moves right under the grabbing manipulator 71 along with the track main body 52, the transport vehicle 53 stops moving, the jacking mechanism 534 ascends to jack the carrier plate 6, the carrier plate 6 is grabbed and lifted by the grabbing manipulator 71 through the cooperation of the lifting unit 73 and the grabbing hand unit 74, and the follow-up jacking mechanism 534 descends so as to maintain a safe position; then, the carrying disc transfer sliding table 82 moves to the position right below the grabbing mechanical arm 71 along the linear module 81, the grabbing mechanical arm 71 releases the carrying disc 6 and enables the carrying disc 6 to fall to the carrying disc transfer sliding table 82, the carrying disc transfer sliding table 82 moves to convey the carrying disc 6 to the position where the material taking mechanical arm 44 is matched, and the material taking mechanical arm 44 sequentially puts materials on the left focusing platform 2 and the right focusing platform 3 from the carrying disc 6 through the sucker 49, so that the feeding action is completed; then waiting for the follow-up lens and sensor to perform focusing, dispensing, solidifying and other procedures, reversely conveying the empty material carrying disc 6 to the transport vehicle 53 again, and then conveying the carrying disc 6 to the left by the transport vehicle 53 to the right below the left grabbing manipulator 71 so as to realize the exchange of the full material carrying disc 6 and the empty material carrying disc 6; likewise, the transport vehicle 53 stops moving, the grabbing manipulator 71 grabs the carrier disc 6 and releases the carrier disc 6 to a carrier disc transfer sliding table 82 which is arranged below the grabbing manipulator 71, the carrier disc transfer sliding table 82 moves to convey the empty carrier disc 6 to a matched position of the material taking manipulator 44, after the lens and the sensor are assembled together, the material taking manipulator 44 sucks AA materials from the left focusing platform 2 and the right focusing platform 3 through the sucker 49 and puts the AA materials on the empty carrier disc 6 until the carrier disc 6 is filled, the carrier disc 6 filled is reversely conveyed to the transport vehicle 53 again, and then the carrier vehicle 53 conveys the carrier disc 6 to the right directly to the tail end, so that the interchange of the empty carrier disc 6 and the full carrier disc 6 is realized; and then the carrier disc 6 is pushed into the carrier disc box 9 by the second carrier disc pushing mechanism to realize recovery, so that the discharging action is completed.
The invention can be used in the technical field of camera material feeding and discharging mechanisms.

Claims (9)

1. A go up unloading mechanism for camera focusing equipment, it includes mechanism main part (1), left focusing platform (2), right focusing platform (3) and gets material manipulator module (4), its characterized in that: the automatic material feeding mechanism is characterized by further comprising a tray conveying track module (5) which is transversely arranged, wherein the tray conveying track module (5) is used for conveying trays (6) of materials, a gripper module (7) and a tray changing module (8) are arranged on the left side and the right side of the mechanism main body (1), the gripper module (7) comprises a grabbing manipulator (71) which is matched with the trays (6) on the tray conveying track module (5), the tray changing module (8) comprises a linear module (81) which is longitudinally arranged and tray transferring sliding tables (82) which are matched with the linear module (81), and the tray transferring sliding tables (82) are used for conveying the trays (6) between the grabbing manipulator (71) and the material taking manipulator module (4);
a tray carrying box (9) is arranged on the right side of the tray carrying conveying track module (5) in a butt joint mode, a plurality of trays (6) are stacked and placed in the tray carrying box (9), and a first tray pushing mechanism is arranged outside the tray carrying box (9) in a matched mode;
the disc changing module (8) is used for transferring the carrying disc (6), so that the carrying disc conveying track module (5) and the carrying disc box (9) are matched to carry out the feeding step of the next carrying disc after the discharging stage, and the feeding and the discharging can be carried out together in a staggered manner;
the carrier plate conveying track module (5) comprises a track main body (52) which is transversely arranged and a transport vehicle (53) which is arranged on the track main body (52), a loading station (531) which is matched with the carrier plate (6) is arranged on the transport vehicle (53), blocking mechanisms (532) are arranged on the left side and the right side of the loading station (531) by the transport vehicle (53), limit guide plates (533) are arranged on the front side and the rear side of the loading station (531), and a jacking mechanism (534) is further arranged at the bottom of the loading station;
the material taking manipulator module (4) comprises a linear motor (41), a supporting frame (43) matched with a rotor (42) of the linear motor (41) and a material taking manipulator (44) arranged at the top of the supporting frame (43), wherein the material taking manipulator (44) comprises a mounting seat (45), a pitching camera (46) arranged in the middle of the mounting seat (45), a plurality of groups of Z-axis motors (47) arranged on two sides of the mounting seat (45), a Z-axis rotating motor (48) matched with the output end of the Z-axis motor (47) and a sucker (49) arranged on the output end of the Z-axis rotating motor (48), the sucker (49) is used for sucking materials, the material taking manipulator (44) is driven by the linear motor (41) to realize X-direction movement, and each sucker (49) on the material taking manipulator (44) is controlled by one Z-axis motor (47) and the Z-axis rotating motor (48);
wherein the feeding and discharging steps comprise the following steps:
firstly, placing a carrying disc (6) filled with materials into a carrying disc box (9), and pushing out the carrying disc (6) positioned at the bottom of a working position of the carrying disc box (9) onto a transport vehicle (53) of a carrying disc conveying track module (5) by the first carrying disc pushing-out mechanism; when the carrier plate (6) comes into the loading station (531), the blocking mechanism (532) on the transport vehicle (53) acts, and the carrier plate (6) is fixed on the transport vehicle (53); when the transport vehicle (53) moves to the right side along with the track main body (52) and is right below the grabbing mechanical arm (71), the transport vehicle (53) stops moving, the jacking mechanism (534) ascends to jack the carrying disc (6), the carrying disc (6) is grabbed and lifted by the grabbing mechanical arm (71), and the follow-up jacking mechanism (534) descends so as to maintain a safe position; then, the carrying disc transfer sliding table (82) moves to the position right below the grabbing mechanical arm (71) along the linear module (81), the grabbing mechanical arm (71) releases the carrying disc (6) and enables the carrying disc (6) to fall to the carrying disc transfer sliding table (82), the carrying disc transfer sliding table (82) moves to convey the carrying disc (6) to a position matched with the material taking mechanical arm (44), and the material taking mechanical arm (44) sequentially places materials on the left focusing platform (2) and the right focusing platform (3) from the carrying disc (6) through the sucking disc (49), so that the feeding action is completed; then waiting for the follow-up lens and sensor to carry out working procedures such as focusing, dispensing, solidifying and the like, and reversely conveying the empty material carrying disc (6) to the transport vehicle (53) again during the working procedures; the carrier vehicle (53) conveys the carrying disc (6) to the left below the grabbing manipulator (71) at the left side, so that the carrying disc (6) with full materials and the carrying disc (6) with empty materials are exchanged; likewise, the carrier vehicle (53) stops moving, the grabbing mechanical arm (71) grabs the carrier disc (6) and releases the carrier disc (6) to the carrier disc transfer sliding table (82) below the grabbing mechanical arm (71), the carrier disc transfer sliding table (82) moves to convey the empty carrier disc (6) to the matched position of the material taking mechanical arm (44), after the lens and the sensor are assembled together, the material taking mechanical arm (44) sucks the assembled material from the left focusing platform (2) and the right focusing platform (3) through the sucker (49) and places the assembled material on the empty carrier disc (6) until the carrier disc (6) is filled up, the full carrier disc (6) is reversely conveyed onto the carrier vehicle (53) again, and then the carrier vehicle (53) conveys the empty carrier disc (6) to the tail end directly, and the right-hand exchanging of the empty carrier disc (6) and the full carrier disc (6) is achieved.
2. The feeding and discharging mechanism for a camera focusing apparatus according to claim 1, wherein: the first tray pushing mechanism comprises a first pushing motor (101) and a first pushing block (102), the first pushing block (102) is matched with a tray (6) positioned at the bottommost part of the tray box (9), a bidirectional opening is formed in the bottom of the tray box (9), one surface of the bidirectional opening is opposite to the tray conveying track module (5), and the other surface of the bidirectional opening is opposite to the first pushing block (102).
3. The feeding and discharging mechanism for the camera focusing apparatus according to claim 2, wherein: the carrier disc conveying track module (5) comprises a second carrier disc pushing mechanism, the second carrier disc pushing mechanism comprises a second pushing motor (511) and a second pushing block (512), and the second pushing block (512) pushes the carrier disc (6) on the carrier disc conveying track module (5) into the carrier disc box (9).
4. The feeding and discharging mechanism for a camera focusing apparatus according to claim 1, wherein: the transport vehicle (53) is provided with a ball bearing (535) at the loading station (531), the ball bearing (535) is connected with the limit guide plate (533) through a connecting rod (536), and the ball bearing (535) is matched with a loading disc (6) arranged on the loading station (531).
5. The feeding and discharging mechanism for a camera focusing apparatus according to claim 1, wherein: the gripper module (7) comprises a fixing frame (72), the gripper manipulator (71) is installed on the fixing frame (72), the gripper manipulator (71) is located right above the carrier plate conveying track module (5), the gripper manipulator (71) comprises a lifting unit (73) and a gripper unit (74) arranged on the lifting unit (73), the gripper unit (74) comprises a gripper mounting plate (75) and grippers (76) arranged at four corners of the gripper mounting plate (75), and four linear sliding table modules (77) in one-to-one correspondence with the grippers (76) are longitudinally arranged at the bottom of the gripper mounting plate (75), and the grippers (76) are installed on the linear sliding table modules (77).
6. The feeding and discharging mechanism for a camera focusing apparatus according to claim 1, wherein: the tray transfer slip table (82) is including being located top and the place platform (83) that the level set up, the high position of place platform (83) is located carry tray delivery track module (5) with between tongs module (7), be provided with on the up end of place platform (83) with carry tray standing groove (84) of tray (6) looks adaptation, the middle part of place platform (83) is provided with logical groove (85) of stepping down.
7. The feeding and discharging mechanism for a camera focusing apparatus according to claim 1, wherein: the linear motor (41) is transversely arranged in front of the space between the left focusing platform (2) and the right focusing platform (3), and the material taking manipulator (44) further comprises a longitudinal sliding table motor (40) matched with the mounting seat (45).
8. The feeding and discharging mechanism for a camera focusing apparatus according to claim 1, wherein: a laser range finder (451) is arranged on one side of the outer portion of the mounting seat (45).
9. The feeding and discharging mechanism for a camera focusing apparatus according to claim 1, wherein: the Z-axis rotating motor (48) is a hollow motor.
CN201810975744.3A 2018-08-24 2018-08-24 Feeding and discharging mechanism for camera focusing equipment Active CN109019019B (en)

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CN110577069B (en) * 2019-09-24 2022-04-12 昆山精讯电子技术有限公司 Carrying mechanism
CN111003506A (en) * 2019-12-24 2020-04-14 佛山市旭研自动化科技有限公司 Automatic feeding and discharging mechanism for testing mobile phone camera module equipment
CN114955487B (en) * 2022-04-28 2024-01-30 东莞市运泰自动化科技有限公司 Automatic arrangement machine

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