CN109319477A - A kind of lift-on/lift-off type high speed picks and places material platform and working method - Google Patents

A kind of lift-on/lift-off type high speed picks and places material platform and working method Download PDF

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Publication number
CN109319477A
CN109319477A CN201811200430.2A CN201811200430A CN109319477A CN 109319477 A CN109319477 A CN 109319477A CN 201811200430 A CN201811200430 A CN 201811200430A CN 109319477 A CN109319477 A CN 109319477A
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CN
China
Prior art keywords
lift
charging tray
platform
measured
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811200430.2A
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Chinese (zh)
Inventor
李�瑞
刘响求
黄立宏
张建新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZHUHAI CITY GUANGHAOJIE PRECISION MACHINERY CO Ltd
Original Assignee
ZHUHAI CITY GUANGHAOJIE PRECISION MACHINERY CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZHUHAI CITY GUANGHAOJIE PRECISION MACHINERY CO Ltd filed Critical ZHUHAI CITY GUANGHAOJIE PRECISION MACHINERY CO Ltd
Priority to CN201811200430.2A priority Critical patent/CN109319477A/en
Publication of CN109319477A publication Critical patent/CN109319477A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only

Abstract

The invention discloses a kind of lift-on/lift-off type high speeds to pick and place material platform, including assembly line, the hoisting platform being arranged in above assembly line, the hoisting platform is equipped with can pick and place module along the material of assembly line transverse shifting, be disposed with blowing stacking module, material charging tray station to be measured, substandard products material charging tray station, rewinding stacking module on the assembly line.The present invention provides a kind of lift-on/lift-off type high speed and picks and places material platform and working method, and X-axis motion module is lifted below hoisting platform, then Y-axis motion module is fixed below X-axis motion module, and influence of the Y-axis self weight to precision is picked and placed is reduced by way of lifting.Structure innovation also is carried out to Y-axis motion module simultaneously, simplifies structure, reduce component and reduces weight, takes dispensing speed and precision to effectively improve, substantially increases the stability and actual production efficiency of board, saves human cost, improves enterprise competitiveness.

Description

A kind of lift-on/lift-off type high speed picks and places material platform and working method
Technical field
The present invention relates to automatic clamping and placing material apparatus field, especially a kind of lift-on/lift-off type high speed picks and places material platform and work side Method.
Background technique
With the development of industrial automation, more stringent requirements are proposed for the degree of automation of people to equipment.Currently, in state A large amount of manipulators using automatic clamping and placing material are had begun on the automatic production line of interior many factories and replace manual operation, are mitigated Human labour intensity.But, it is limited by the limitation of traditional technology, in the producing line for needing high precision, existing pick-and-place material Equipment presence speed if pursuing precision is unhappy, influences production efficiency;Accuracy decline can not accurately if accelerating speed Material is picked and placed, producing line failure rate is led to problems such as to rise.
Automatic clamping and placing material system is to be moved by XY axis motion module in X and Y-direction, while driving ZU axis motion module in Z It is moved with the direction U, the feeding and blowing action of designated position is completed according to the position that vision system obtains, to complete machine replacement Artificial pick-and-place material function.In the conventional technology, first X-axis motion module is mounted on a platform, then Y axis is moved into mould Block is fixed on X-axis, so X-axis movement needs that Y-axis overall structure is driven to move to specified placement after suction nozzle absorbing material The accurate region of material, at this time Y-axis due to because overall structure weight it is big, if move it is too fast if big, the essence that will lead to board vibration Degree is deteriorated.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of lift-on/lift-off type high speeds to pick and place material platform and work side Method, to improve production efficiency.
The technical solution adopted by the present invention to solve the technical problems is: a kind of lift-on/lift-off type high speed pick-and-place material platform, including Assembly line, the hoisting platform being arranged in above assembly line, the hoisting platform is equipped with can be along the material of assembly line transverse shifting Module is picked and placed, is disposed with blowing stacking module, material charging tray station to be measured, substandard products material charging tray work on the assembly line Position, rewinding stacking module, material pick and place module and include vision system, the electronic screw rod of X-axis, the electronic screw rod of double Y axis, are connected to double Y Feeding head on the electronic screw rod of axis, the vision system is for the material to be measured on precise positioning assembly line, and feeding head is for taking Put material.
Preferably, it further includes organic frame that the material, which picks and places module, and rack is mounted on hoisting platform bottom, and rack passes through X The electronic screw rod of axis is mounted on the rack along assembly line transverse shifting, double electronic screw rods of Y-axis, and double electronic screw rods of Y-axis are equipped with Movable axie slide, the feeding head are mounted on the electronic screw rod of double Y-axis by axis slide.
Preferably, parallel arrangement has three groups of feeding heads on the axis slide.
Preferably, the blowing stacking module includes that vertical rib item at corner location, arranged at the bottom is arranged in Blowing area jacking cylinder, the blowing area detent cylinder and blowing area detent block for being distributed in both ends are located at blowing stacking module side Two vertical baffle items be equipped with feeding Pan Men.
Preferably, the material charging tray station to be measured includes detent cylinder in area's to be measured that left and right ends are arranged in and area to be measured Detent block, area's jacking cylinder to be measured arranged at the bottom.
Preferably, the rewinding stacking module includes that vertical baffle item at corner location, arranged at the bottom is arranged in Receiving section jacking cylinder, two spring charging tray detent blocks being distributed on assembly line.
Preferably, the vision system includes that the top vision system being arranged on the electronic screw rod of double Y-axis and being fixed on is hung Bottom visual system below assembling platform.
Preferably, the feeding head includes the driving cylinder that top is arranged in, the guide rod being arranged on cylinder, is fixed in and leads The suction nozzle of bar bottom.
A kind of lift-on/lift-off type high speed picks and places the working method of material platform, has follow steps:
Charging tray in blowing stacking module is moved to material charging tray station to be measured and clamped by step a, assembly line;
Step b, material pick and place module and are moved to above charging tray, pick and place the top vision system in module to material positioned at material Material to be measured in disk is taken pictures and calculates determinand discharge position;
Step c, material, which picks and places module and draws the material to be measured in charging tray by feeding head and move to material to be measured, to be located at Above bottom visual system below hoisting platform, bottom visual system take pictures to material to be measured and calculating position, feeding Head rotates material angle to be measured and adapts to feeding place holder angle requirement;
Step d, positioning vision system take pictures to upper material position and calculating position, if feeding is no material, by feeding Material to be measured on head is directly placed in material position, if upper material position, which has, has been surveyed material, has surveyed object by the absorption of another feeding head Material, material to be measured is placed in upper material position and is detected;
Step c, according to test result, underproof material of having surveyed is put into substandard products material charging tray station by feeding head, will The qualified material of survey is put back in raw material disk;
Step d, after the material in charging tray is all completed, assembly line drives charging tray into rewinding stacking.
Preferably, when the charging tray is recycled in rewinding stacking, receiving section jacking cylinder jacks up the charging tray in feed bin, charging tray Spring detent block holds bottom charging tray, and recycling charging tray moves to bottom tray bottom, completes the stacking of charging tray.
The beneficial effects of the present invention are:
1) present invention provides a kind of lift-on/lift-off type high speed pick-and-place material platform, and X-axis motion module is lifted below hoisting platform, Y-axis motion module is fixed below X-axis motion module again, Y-axis self weight is reduced by way of lifting to the shadow for picking and placing precision It rings.Structure innovation also is carried out to Y-axis motion module simultaneously, simplifies structure, reduce component and reduces weight, to effectively mention Height takes dispensing speed and precision, substantially increases the stability and actual production efficiency of board, saves human cost, improves enterprise Competitiveness;
2) present invention realizes the assembly line hauling operation of charging tray by jacking cylinder, quickly and accurately realizes stacking material The continuous productive process for expecting charging tray, substantially increases production efficiency, reduces production cost.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples:
Fig. 1 is a kind of overall structure view of preferred embodiment of the invention;
Fig. 2 is a kind of hoisting platform main view of preferred embodiment of the invention;
Fig. 3 is a kind of hoisting platform bottom view of preferred embodiment of the invention;
Fig. 4 is a kind of main view of the assembly line of preferred embodiment of the invention;
Fig. 5 is a kind of axonometric drawing of the assembly line of preferred embodiment of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing The technical effect of design of the invention, specific structure and generation is clearly and completely described, to be completely understood by the present invention Purpose, feature and effect.Obviously, described embodiment is a part of the embodiments of the present invention, rather than is all implemented Example, those skilled in the art's other embodiments obtained without creative efforts, belongs to the present invention The range of protection.
Together referring to figs. 1 to Fig. 5, for a kind of preferably embodiment, a kind of lift-on/lift-off type high speed pick-and-place material platform, including work Make platform 3, the assembly line being arranged on workbench 32, blowing stacking module, material charging tray work to be measured are successively arranged on assembly line 2 Position, substandard products material charging tray station, rewinding stacking module.Hoisting platform 1 is equipped with above assembly line 2, hoisting platform 1 is fixedly mounted on On workbench 3, hoisting platform 1 is equipped with the material that can translate above assembly line 2 and picks and places module, assembly line 2 for transport to Charging tray is surveyed, material picks and places module and is used to pick and place the material on assembly line 2.Assembly line 2 can be driven by belt, belt sheave structure Charging tray is mobile.
With further reference to Fig. 1 to Fig. 3, it includes the electronic screw rod of X-axis for being fixed in 1 bottom of hoisting platform that material, which picks and places module, 17, the electronic screw rod 14 of double Y-axis, the feeding head 15 being connected on double electronic screw rods 14 of Y-axis, being equipped on the electronic screw rod 17 of X-axis can Along the rack 11 of 2 transverse shifting of assembly line, double electronic screw rods 14 of Y-axis include two ball screws, are separately mounted to 11 liang of rack Side, 11 side of rack are equipped with the movable plate that can move on hoisting platform 1, and rack 11 is by the electronic screw rod of pair Y-axis 14 in movement Moved on plate along Y-axis, 11 other side of rack be equipped with can along the axis slide 12 that rack 11 moves, axis slide 12 be equipped with can on move down Dynamic feeding head 15.Feeding head 15 includes cylinder, the suction nozzle being mounted on axis slide 12, and cylinder drives suction nozzle or more by guide rod Mobile, suction nozzle is used for absorbing material.In this preferred embodiment, the electronic screw rod 17 of X-axis is ball screw, the electronic screw rod 17 of X-axis Pass through motor driven with the electronic screw rod 14 of double Y-axis.Feeding head 15 is real by the electronic screw rod 17 of X-axis and the electronic screw rod 14 of double Y-axis Existing twin shaft is mobile.
Referring further to Figure 2, material picks and places module and is equipped with vision system, and vision system includes setting in material pick-and-place mould Top vision system 13 at the top of block and the bottom visual system 16 that material picks and places module bottom is set, in this preferred embodiment In, top vision system 13 and bottom visual system 16 are positioning camera, further include having setting in lift-on/lift-off type high speed in the present invention Control system inside or outside feeding, control system can be computer, analyze top view by the control software on computer The data of taking pictures that feel system 13 and top vision system 13 transmit carry out precise positioning to material.
With further reference to Fig. 4 and Fig. 5, material charging tray station to be measured includes the area's detent to be measured for being distributed in 2 two sides of assembly line Cylinder 30 and area's detent block 29 to be measured, area's jacking cylinder 26 to be measured positioned at 2 lower end of assembly line.Area's jacking cylinder 26 to be measured will stream Charging tray to be measured jacks up upwards on waterline 2, and area's detent cylinder 30 to be measured drives area's detent block 29 to be measured to block charging tray to be measured, thus will Charging tray to be measured is fixed on material charging tray station to be measured.
With further reference to Fig. 4 and Fig. 5, blowing stacking module include be arranged in vertical rib item 21 at corner location, by Discharge bin that vertical rib item 21 surrounds, the four blowing area detent blocks 25 and blowing area detent cylinder for being distributed in discharge bin two sides 24, positioned at the blowing area jacking cylinder 23 of receiving warehouse lower end, the vertical rib item 21 of blowing stacking module side is equipped with removable The discharge plate door 28 unloaded, discharge plate door 28 is for being put into charging tray to be measured.
With further reference to Fig. 4 and Fig. 5, rewinding stacking module include be arranged in vertical rib item 21 at corner location, by Receiving warehouse that vertical rib item 21 surrounds, the spring charging tray detent block 22 for being distributed in discharge bin two sides, positioned at discharge bin lower end The vertical rib item 21 of receiving section jacking cylinder 27, blowing stacking module side is equipped with dismountable rewinding disk door 31, rewinding Disk door 31 has surveyed charging tray for taking out.
In specific implementation process, the specific work steps that lift-on/lift-off type picks and places material platform is as follows:
1) charging tray to be measured in blowing stacking module is transported in material charging tray station to be measured by assembly line 2, area to be measured Jacking cylinder 26 jacks up charging tray to be measured, and area's detent cylinder 30 to be measured drives detent block to block charging tray to be measured, thus by material to be measured Disk is fixed on material charging tray station to be measured;
2) it picks and places material module to move to above charging tray to be measured, be treated positioned at the top vision system 13 picked and placed in material module The material to be measured surveyed on charging tray takes pictures and records determinand discharge position;
3) material pick-and-place module passes through the material to be measured in the absorption charging tray of feeding head 15 and moves to be located at by material to be measured and hangs 16 top of bottom visual system of 1 lower section of assembling platform, bottom visual system 16 take pictures to material to be measured and calculating position, takes Material head 15 rotates material angle to be measured and adapts to feeding place holder angle requirement;
4) positioning vision system take pictures and calculating position to upper material position, if feeding is no material, by feeding head 15 On material to be measured be directly placed in material position, if upper material position, which has, has been surveyed material, by another feeding head 15 absorption surveyed object Material, material to be measured is placed in upper material position and is detected;
5) according to test result, underproof material of having surveyed is put into substandard products material charging tray station by feeding head 15, The qualified material of survey is put back in raw material disk;
6) after the material in charging tray is all completed, assembly line 2 drives charging tray into rewinding stacking, receiving section jacking Cylinder 27 jacks up the charging tray in rewinding stacking, and the charging tray surveyed on assembly line 2 is put into bottom stacking, completes to receive Charging tray in material heap pile stacks.
The above, only better embodiment of the invention, but the present invention is not limited to above-described embodiments, as long as The technical effect of the present invention is achieved by any identical or similar means for it, all should belong to protection scope of the present invention.

Claims (10)

1. a kind of lift-on/lift-off type high speed picks and places material platform, which is characterized in that flat including assembly line, the lifting being arranged in above assembly line Platform, the hoisting platform is equipped with can pick and place module along the material of assembly line transverse shifting, be disposed on the assembly line Blowing stacking module, material charging tray station to be measured, substandard products material charging tray station, rewinding stacking module, material pick and place module and include The electronic screw rod of vision system, X-axis, the electronic screw rod of double Y-axis, the feeding head being connected on the electronic screw rod of double Y-axis, the vision system Material to be measured on precise positioning assembly line, feeding head is for picking and placing material.
2. a kind of lift-on/lift-off type high speed according to claim 1 picks and places material platform, which is characterized in that the material picks and places module Further include organic frame, rack is mounted on hoisting platform bottom, rack by the electronic screw rod of X-axis along assembly line transverse shifting, it is described Double electronic screw rods of Y-axis are mounted on the rack, and double electronic screw rods of Y-axis are equipped with movable axie slide, and the feeding head passes through axis Slide is mounted on the electronic screw rod of double Y-axis.
3. a kind of lift-on/lift-off type high speed according to claim 2 picks and places material platform, which is characterized in that parallel on the axis slide It is disposed with three groups of feeding heads.
4. a kind of lift-on/lift-off type high speed according to claim 1 picks and places material platform, which is characterized in that the blowing stacking module Including vertical rib item at corner location, blowing area arranged at the bottom jacking cylinder, the blowing for being distributed in both ends is arranged in Area's detent cylinder and blowing area detent block, two vertical baffle items positioned at blowing stacking module side are equipped with feeding Pan Men.
5. a kind of lift-on/lift-off type high speed according to claim 1 picks and places material platform, which is characterized in that the material charging tray to be measured Station includes detent cylinder in area's to be measured and detent block in area's to be measured, jacking gas in area's to be measured arranged at the bottom that left and right ends are arranged in Cylinder.
6. a kind of lift-on/lift-off type high speed according to claim 1 picks and places material platform, which is characterized in that the rewinding stacking module Including vertical baffle item at corner location is arranged in, receiving section jacking cylinder arranged at the bottom, is distributed in assembly line two sides Two spring charging tray detent blocks.
7. a kind of lift-on/lift-off type high speed according to claim 1 picks and places material platform, which is characterized in that the vision system includes The top vision system being arranged on the electronic screw rod of double Y-axis and the bottom visual system being fixed below hoisting platform.
8. a kind of lift-on/lift-off type high speed according to claim 1 picks and places material platform, which is characterized in that the feeding head includes setting Set top driving cylinder, be arranged on cylinder guide rod, be fixed in the suction nozzle of guide rod bottom.
9. the working method that a kind of lift-on/lift-off type high speed picks and places material platform, which is characterized in that have follow steps:
Charging tray in blowing stacking module is moved to material charging tray station to be measured and clamped by step a, assembly line;
Step b, material pick and place module and are moved to above charging tray, pick and place the top vision system in module in charging tray positioned at material Material to be measured taken pictures and calculate determinand discharge position;
Step c, material, which picks and places module and draws the material to be measured in charging tray by feeding head and move to material to be measured, is located at lifting Above bottom visual system below platform, bottom visual system take pictures to material to be measured and calculating position, the rotation of feeding head Turn material angle to be measured and adapts to feeding place holder angle requirement;
Step d, positioning vision system take pictures to upper material position and calculating position will be on feeding head if feeding is no material Material to be measured be directly placed in material position, if upper material position, which has, has been surveyed material, by another feeding head absorption surveyed material, will Material to be measured is placed in material position and is detected;
Step c, according to test result, underproof material of having surveyed is put into substandard products material charging tray station by feeding head, will be qualified The material of survey put back in raw material disk;
Step d, after the material in charging tray is all completed, assembly line drives charging tray into rewinding stacking.
10. the working method that a kind of lift-on/lift-off type high speed according to claim 9 picks and places material platform, which is characterized in that described When charging tray is recycled in rewinding stacking, receiving section jacking cylinder jacks up the charging tray in feed bin, and spring charging tray detent block holds bottom Charging tray, recycling charging tray move to bottom tray bottom, complete the stacking of charging tray.
CN201811200430.2A 2018-10-16 2018-10-16 A kind of lift-on/lift-off type high speed picks and places material platform and working method Pending CN109319477A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811200430.2A CN109319477A (en) 2018-10-16 2018-10-16 A kind of lift-on/lift-off type high speed picks and places material platform and working method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811200430.2A CN109319477A (en) 2018-10-16 2018-10-16 A kind of lift-on/lift-off type high speed picks and places material platform and working method

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CN109319477A true CN109319477A (en) 2019-02-12

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112827851A (en) * 2021-01-26 2021-05-25 东莞市磐锐机电科技有限公司 Sorting and arranging machine with automatic feeding and discharging functions

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112827851A (en) * 2021-01-26 2021-05-25 东莞市磐锐机电科技有限公司 Sorting and arranging machine with automatic feeding and discharging functions

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Address after: 519090 the second floor of the first phase factory building and administrative office building, No.8, Chuangye East Road, Shuanglin, LIANGANG Industrial Zone, Jinwan District, Zhuhai City, Guangdong Province

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Address after: 519000 No. 19, Jinkang Road, Hongqi Town, Jinwan District, Zhuhai City, Guangdong Province

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Address before: 519090 second floor of phase I plant and administrative office building, No. 8, Shuanglin Chuangye East Road, LIANGANG Industrial Zone, Jinwan District, Zhuhai City, Guangdong Province

Applicant before: Zhuhai guanghaojie Technology Co.,Ltd.