CN109531615A - Robot grading machine - Google Patents
Robot grading machine Download PDFInfo
- Publication number
- CN109531615A CN109531615A CN201811569582.XA CN201811569582A CN109531615A CN 109531615 A CN109531615 A CN 109531615A CN 201811569582 A CN201811569582 A CN 201811569582A CN 109531615 A CN109531615 A CN 109531615A
- Authority
- CN
- China
- Prior art keywords
- robot
- regulatory
- pallet
- plate
- frame
- 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.)
- Granted
Links
- 239000011521 glass Substances 0.000 claims abstract description 39
- 230000008844 regulatory mechanism Effects 0.000 claims abstract description 36
- 238000000429 assembly Methods 0.000 claims abstract description 35
- 230000000712 assembly Effects 0.000 claims abstract description 35
- 230000001105 regulatory effect Effects 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 230000005622 photoelectricity Effects 0.000 claims description 9
- 238000002407 reforming Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000000047 product Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L31/00—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
- H01L31/18—Processes or apparatus specially adapted for the manufacture or treatment of these devices or of parts thereof
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Electromagnetism (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
- De-Stacking Of Articles (AREA)
Abstract
The invention discloses a kind of robot grading machines, the robot grading machine includes robot transplanting mechanism, lateral regulatory mechanism, the regulatory mechanism of pallet, vision system and the PLC power control cabinet below guardrail, the regulatory mechanism of pallet for the regulatory mechanism of transverse direction of regulatory product and for regulatory pallet is equipped on front side of robot transplanting mechanism, vision system for vision guide correction is installed, robot transplanting mechanism, laterally regulatory mechanism, the regulatory mechanism of pallet and vision system are electrically connected with PLC power control cabinet at the top of guardrail.Through the above way, the present invention can carry out longitudinal sequence inserted sheet or back-to-back rotary clip to solar double-glass assemblies, vision system can accurately find inserted sheet position and carry out vision guide correction to robot transplanting mechanism, can be avoided product breakage phenomenon caused by solar double-glass assemblies both sides are toppled under vertical state.
Description
Technical field
The present invention relates to solar cell module production technical fields, more particularly to a kind of robot grading machine.
Background technique
Manipulator can imitate certain movements of manpower and arm, and manipulator usually presses fixed routine and completes crawl and carry object
The movement such as part, manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can replace people to carry out
Heavy labor can replace manually operating under harmful environment to realize the mechanization and automation of production, thus answer extensively
For industries such as machine-building, metallurgy, electronics, light industry and atomic energy, in solar cell module production process, conventional point
Shelves packaging needs to expend biggish manpower and material resources, commonly uses stepping robot and replaces manual operation, existing stepping robot is only
Lateral stack can be done, is had a single function and low efficiency, is taken up a large area, machinery positioning precision is low.
In addition, common stepping robot motion is single, each double glass pallets can have scale error in practice, if merely
Specified path is walked by robot, is unable to complete longitudinal inserted sheet, the face of solar double-glass assemblies has terminal box, to avoid product from damaging
Bad, client often requires that in one case product that first and last a piece of terminal box direction all cannot outwardly, existing stepping robot
It acts single, it is difficult to accomplish requirements above, be based on disadvantages described above and deficiency, it is necessary to be improved existing technology.
Summary of the invention
It is compact-sized the invention mainly solves the technical problem of providing a kind of robot grading machine, it runs smoothly, automatically
Change degree is high, and can solar double-glass assemblies be carried out with longitudinal sequence inserted sheet or back-to-back rotary clip, vision system accurately to find
Inserted sheet position simultaneously carries out vision guide correction to robot transplanting mechanism, can be avoided solar double-glass assemblies both sides under vertical state and topples over
Caused by product breakage phenomenon.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of robot grading machine is provided, it should
Robot grading machine includes robot transplanting mechanism below the guardrail, laterally regulatory mechanism, the regulatory mechanism of pallet, vision system
System and PLC power control cabinet, robot transplanting mechanism front side are equipped with the regulatory mechanism of transverse direction for regulatory product and are used for regulatory pallet
The regulatory mechanism of pallet, the vision system for vision guide correction, robot transplanting mechanism, laterally rule are installed at the top of guardrail
Positive mechanism, the regulatory mechanism of pallet and vision system are electrically connected with PLC power control cabinet.
The robot transplanting mechanism include rack, linear guide, push plate, motor, gear, rack gear, six axis robot and
Suction cup assembly, frame upper end are provided with two linear guides mutually to balance each other, are fixed with push plate, push plate on the sliding block of linear guide
On motor is installed, the motor shaft of motor is equipped with gear by retarder, be fixed in rack with gear cooperation rack gear, electricity
Machine driving drives push plate to move along linear guide direction, and six axis robot, the clamping jaw portion of six axis robot are also equipped in push plate
Suction cup assembly is installed.
Preferably, the Suction cup assembly includes level board, vertical plate, sucker fixed plate, sucker and vacuum generator, institute
The clamping jaw portion that level board is fixed on six axis robot is stated, level board lower end is equipped with vertical plate, and level board and vertical plate pass through muscle
Plate is fixedly connected, and four sucker fixed plates is equipped on vertical plate, there are three sucker, level boards for setting in every sucker fixed plate
Top is also equipped with vacuum generator, and vacuum generator is connect by tracheae with sucker.
Preferably, the regulatory mechanism of the transverse direction includes regulatory frame, synchronous belt, block piece, centering component, lifting platform, branch
Axis and to photoelectricity is penetrated is supportted, the synchronous belt for placing solar double-glass assemblies is installed on the regulatory frame, on the regulatory frame in synchronous belt side
Equipped with adjustable block piece, block piece is set on the sliding rail on regulatory frame, and the regulatory framves of barrier assembly two sides is equipped with pair
Middle component, the centering component include centering cylinder, connecting plate and centering wheel composition, and connection is housed on the piston rod of centering cylinder
Plate, inserting is also equipped with lifting platform on regulatory frame, is provided on the hoistable platform of lifting platform in battle array there are two centering on connecting plate
The support shaft of column distribution, support shaft are equipped with to photoelectricity is penetrated, use photoelectricity is penetrated for withstanding solar double-glass assemblies, the extension end of regulatory frame
In detection solar double-glass assemblies situation in place.
Preferably, the regulatory mechanism of the pallet includes bottom plate, pallet, supporting square tube, baffle tray, side by frame, cylinder
Bracket, reform cylinder, push plate of reforming, guide rod, guide sleeve, photoelectric sensor and travel switch, bottom plate are used for placement tray, bottom plate
One end is equipped with supporting square tube, and tray support is heeling condition by supporting square tube, guarantees that solar double-glass assemblies tilt in one direction, bottom
The side of plate is equipped with baffle tray and side by frame, and the side of bottom plate is equipped with air cylinder support, is equipped with and reforms on air cylinder support
The piston rod of cylinder, reform cylinder is equipped with push plate of reforming, and is equipped with two guide rods in push plate of reforming, air cylinder support be equipped with
Cooperation guide sleeve, opposite photoelectric sensor is installed on baffle tray and air cylinder support, base plate rear end is also equipped with stroke
Switch, photoelectric sensor is for detecting whether have pallet on bottom plate, and travel switch is for detecting pallet situation in place.
Preferably, the pallet inner wall is provided with the inner lining clamping for placing solar double-glass assemblies.
Preferably, the vision system includes industrial camera and light source, is installed on the guardrail above the regulatory mechanism of pallet
There is row's industrial camera, light source is installed on the guardrail of industrial camera two sides.
Compared with prior art, the beneficial effects of the present invention are:
Robot transplanting mechanism can carry out longitudinal inserted sheet packaging to solar double-glass assemblies, and estimation is needed, carried out to solar double-glass assemblies
Longitudinal sequence inserted sheet or back-to-back rotary clip；
Vision system can accurately find inserted sheet position and carry out vision guide correction to robot transplanting mechanism；
Suction cup assembly is small to the damage of solar cell module to grab solar double-glass assemblies；
Tray support is heeling condition by supporting square tube, is guaranteed that solar double-glass assemblies tilt in one direction, is avoided vertical state
Product breakage phenomenon caused by lower solar double-glass assemblies both sides are toppled over.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot grading machine.
Fig. 2 is the robot transplanting mechanism partial structure diagram of robot grading machine.
Fig. 3 is the regulatory mechanism structure schematic diagram of transverse direction of robot grading machine.
Fig. 4 is the side view of the regulatory mechanism of transverse direction of robot grading machine.
Fig. 5 is the regulatory mechanism structure schematic diagram of pallet of robot grading machine.
Fig. 6 is the regulatory mechanism section structural schematic diagram of pallet of robot grading machine.
Fig. 7 is the partial enlarged view A. of robot grading machine
Specific embodiment
Present pre-ferred embodiments are described in detail with reference to the accompanying drawing, so as to can be easier to the advantages of invention with feature
In being readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Fig. 1 to Fig. 7 is please referred to, the embodiment of the present invention includes:
A kind of robot grading machine, the robot grading machine include robot transplanting mechanism 2, the cross positioned at 1 lower section of guardrail
To regulatory mechanism 3, the regulatory mechanism 4 of pallet, vision system 5 and PLC power control cabinet 6, it is equipped on front side of robot transplanting mechanism 2 for advising
The regulatory mechanism 3 of transverse direction of positive product and pallet regulatory mechanism 4 for regulatory pallet are equipped at the top of guardrail 1 and draw for vision
Lead the vision system 5 of correction, robot transplanting mechanism 2, laterally regulatory mechanism 3, the regulatory mechanism 4 of pallet and vision system 5 with
The electrical connection of PLC power control cabinet.
The robot transplanting mechanism 2 include rack 21, linear guide 22, push plate 23, motor 24, gear 25, rack gear 26,
Six axis robot 27 and Suction cup assembly 28,21 upper end of rack are provided with two linear guides mutually to balance each other 22, linear guide 22
Sliding block on be fixed with push plate 23, motor 24 is installed, the motor shaft of motor 24 is equipped with gear by retarder in push plate 23
25, the rack gear 26 cooperated with gear 25 is fixed in rack 21, the driving of motor 24 drives push plate 23 to move along 22 direction of linear guide
It is dynamic, six axis robot 27 is also equipped in push plate 23, the clamping jaw portion of six axis robot 27 is equipped with Suction cup assembly 28.
The Suction cup assembly 28 includes that level board 281, vertical plate 282, sucker fixed plate 283, sucker 284 and vacuum occur
Device 285, the level board 281 are fixed on the clamping jaw portion of six axis robot 27, and 281 lower end of level board is equipped with vertical plate 282, water
Plate 281 is fixedly connected with vertical plate 282 by gusset, and four sucker fixed plates 283, every suction are equipped on vertical plate 282
There are three suckers 284 for setting in disk fixed plate 283, and 281 top of level board is also equipped with vacuum generator 285, vacuum generator
285 are connect by tracheae with sucker 284.
The regulatory mechanism 3 of transverse direction include regulatory frame 31, synchronous belt 32, block piece 33, centering component 34, lifting platform 35,
Support shaft 36 and to photoelectricity 37 is penetrated, is equipped with the synchronous belt 32 for placing solar double-glass assemblies, synchronous belt 32 on the regulatory frame 31
Adjustable block piece 33 is housed, block piece 33 is set on the sliding rail on regulatory frame 31, barrier assembly on the regulatory frame 31 in side
The regulatory frame 31 of 33 two sides is equipped with centering component 34, and the centering component 34 includes centering cylinder 341, connecting plate 342 and right
Middle wheel 343 forms, and connecting plate 342 is housed, there are two centering wheels for inserting on connecting plate 342 on the piston rod of centering cylinder 341
343, lifting platform 35 is also equipped on regulatory frame 31, and the support shaft in array distribution is provided on the hoistable platform of lifting platform 35
36, support shaft 36 is equipped with to photoelectricity 37 is penetrated for withstanding solar double-glass assemblies, the extension end of regulatory frame 31, is used to examine to photoelectricity 37 is penetrated
Survey solar double-glass assemblies situation in place.
The regulatory mechanism 4 of pallet includes bottom plate 41, pallet 42, supporting square tube 43, baffle tray 44, side by frame 45, gas
Jar support 46, reform cylinder 47, push plate 48 of reforming, guide rod 49, guide sleeve 410, photoelectric sensor 411 and travel switch 412, bottom plate
41 are used for placement tray 42, and one end of bottom plate 41 is equipped with supporting square tube 43, and it is skewed that supporting square tube 43, which supports pallet 42,
State guarantees that solar double-glass assemblies tilt in one direction, and the side of bottom plate 41 is equipped with baffle tray 44 and frame 45 is leaned in side, bottom plate 41
Side is equipped with air cylinder support 46, and reform cylinder 47 is equipped on air cylinder support 46, and the piston rod of reform cylinder 47, which is equipped with, returns
Positive push plate 48 is equipped with two guide rods 49 in push plate 48 of reforming, and air cylinder support 46 is equipped with matched guide sleeve 410, pallet
Opposite photoelectric sensor 411 is installed on baffle 44 and air cylinder support 46,41 rear end of bottom plate is also equipped with travel switch 412,
Photoelectric sensor 411 is for detecting whether have pallet 42 on bottom plate 41, and travel switch 412 is for detecting the situation in place of pallet 42.
42 inner wall of pallet is provided with the liner card slot for placing solar double-glass assemblies.
The vision system 5 includes industrial camera 51 and light source 52, is equipped on the guardrail 1 of regulatory 4 top of mechanism of pallet
One row's industrial camera 51 is equipped with light source 52 on the guardrail 1 of 51 two sides of industrial camera.
When robot grading machine of the present invention works, solar double-glass assemblies are delivered on the laterally synchronous belt 32 of regulatory mechanism 3,
Under the control action of PLC power control cabinet, block piece 33 and the work of centering component 34 carry out regulatory positioning to solar double-glass assemblies, and positioning is completed
Afterwards, the work of lifting platform 35 drives support shaft 36 to jack up solar double-glass assemblies, detects solar double-glass assemblies to penetrating photoelectricity 37 at this time, robot moves
Suction cup assembly 28 is gone to horizontality by the six axis robot 27 for planting mechanism 2, and the work of vacuum generator 285 drives sucker 284 to inhale
Suction cup assembly 28 is gone to vertical state by firmly solar double-glass assemblies, six axis robot 27, and at the same time, manual operation fork truck is through guardrail 1
Go out feeding inlet pallet 42 is sent to bottom plate 41, the side of pallet 42 is located on supporting square tube 43, pallet 42 support for tilt
State guarantees that solar double-glass assemblies tilt in one direction, and photoelectric sensor 411 detects on bottom plate 41 whether have pallet 42, and stroke is opened
Close 412 detection pallets 42 situations in place, when pallet 42 in place after, fork truck is retracted, and reform cylinder 47 passes through the promotion of push plate 48 of reforming
Pallet 42 is close to baffle tray 44 and is clamped, and the movement that pallet 42 is reformed automatically just completes, and industrial camera 51 is to pallet 42
Liner card slot is taken pictures, and PLC power control cabinet analyzes solar double-glass assemblies and the error being inserted between groove position on Suction cup assembly 28,
This error is fed back into six axis robot 27, solar double-glass assemblies are successively inserted into specified card by 27 rectification error of six axis robot
Slot, the movement so to move in circles, when inserting last a piece of solar double-glass assemblies, to guarantee the terminal box court in solar double-glass assemblies
In, six axis robot 27 rotates 180 degree and solar double-glass assemblies is inserted into groove position, double since the support of pallet 42 is heeling condition
Glass component tilts in one direction, avoids product breakage phenomenon caused by solar double-glass assemblies both sides are toppled under vertical state.
Robot grading machine of the present invention, it is compact-sized, it runs smoothly, high degree of automation can carry out solar double-glass assemblies
Longitudinal sequence inserted sheet or back-to-back rotary clip, vision system can accurately find inserted sheet position and to robot transplanting mechanism into
The correction of row vision guide, can be avoided product breakage phenomenon caused by solar double-glass assemblies both sides are toppled under vertical state.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of robot grading machine, it is characterised in that: the robot grading machine includes the robot transplanting below guardrail
Mechanism, laterally regulatory mechanism, the regulatory mechanism of pallet, vision system and PLC power control cabinet, robot transplanting mechanism front side, which is equipped with, to be used for
The regulatory mechanism of the transverse direction of regulatory product and pallet regulatory mechanism for regulatory pallet are equipped with for vision guide at the top of guardrail
The vision system of correction, robot transplanting mechanism, laterally regulatory mechanism, the regulatory mechanism of pallet and vision system are automatically controlled with PLC
Cabinet electrical connection.
2. robot grading machine according to claim 1, it is characterised in that: the robot transplanting mechanism include rack,
Linear guide, push plate, motor, gear, rack gear, six axis robot and Suction cup assembly, frame upper end are provided with two and mutually balance each other
Linear guide, be fixed with push plate on the sliding block of linear guide, motor be installed, the motor shaft of motor passes through retarder in push plate
Gear is installed, the rack gear with gear cooperation is fixed in rack, motor driven drives push plate to move along linear guide direction, pushes away
Six axis robot is also equipped on plate, the clamping jaw portion of six axis robot is equipped with Suction cup assembly.
3. robot grading machine according to claim 1, it is characterised in that: the Suction cup assembly includes level board, vertical
Plate, sucker fixed plate, sucker and vacuum generator, the level board are fixed on the clamping jaw portion of six axis robot, level board lower end
Vertical plate is installed, level board is fixedly connected with vertical plate by gusset, four sucker fixed plates are installed on vertical plate, every
Setting is there are three sucker in sucker fixed plate, and level board top is also equipped with vacuum generator, vacuum generator by tracheae with
Sucker connection.
4. robot grading machine according to claim 1, it is characterised in that: the regulatory mechanism of transverse direction include regulatory frame,
Synchronous belt, block piece, centering component, lifting platform, support shaft and to photoelectricity is penetrated are equipped with for placing double glass on the regulatory frame
The synchronous belt of component, adjustable block piece is equipped on the regulatory frame in synchronous belt side, and block piece is set to the sliding rail on regulatory frame
On, the regulatory frame of barrier assembly two sides is equipped with centering component, and the centering component includes centering cylinder, connecting plate and centering wheel
Composition is equipped with connecting plate on the piston rod of centering cylinder, and inserting is also equipped with lifting on regulatory frame there are two centering on connecting plate
Platform is provided with the support shaft in array distribution on the hoistable platform of lifting platform, support shaft for withstanding solar double-glass assemblies, regulatory frame
Extension end is equipped with to penetrating photoelectricity.
5. robot grading machine according to claim 1, it is characterised in that: the regulatory mechanism of pallet includes bottom plate, support
Disk, supporting square tube, baffle tray, side by frame, air cylinder support, reform cylinder, push plate of reforming, guide rod, guide sleeve, photoelectric sensor and
Travel switch, bottom plate are used for placement tray, and one end of bottom plate is equipped with supporting square tube, and tray support is skewed by supporting square tube
State, the side of bottom plate are equipped with baffle tray and side by frame, and the side of bottom plate is equipped with air cylinder support, is equipped on air cylinder support
The piston rod of reform cylinder, reform cylinder is equipped with push plate of reforming, and two guide rods are equipped in push plate of reforming, are set on air cylinder support
There is matched guide sleeve, photoelectric sensor opposite and for detecting pallet be installed on baffle tray and air cylinder support,
Base plate rear end is also equipped with for detecting pallet situation travel switch in place.
6. robot grading machine according to claim 5, it is characterised in that: the pallet inner wall is provided with double for placing
The liner card slot of glass component.
7. robot grading machine according to claim 1, it is characterised in that: the vision system includes industrial camera and light
Source is equipped with row's industrial camera on the guardrail above the regulatory mechanism of pallet, is equipped with light source on the guardrail of industrial camera two sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811569582.XA CN109531615B (en) | 2018-12-21 | 2018-12-21 | Robot gear-shifting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811569582.XA CN109531615B (en) | 2018-12-21 | 2018-12-21 | Robot gear-shifting machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109531615A true CN109531615A (en) | 2019-03-29 |
| CN109531615B CN109531615B (en) | 2024-03-08 |
Family
ID=65856317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811569582.XA Active CN109531615B (en) | 2018-12-21 | 2018-12-21 | Robot gear-shifting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531615B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110828614A (en) * | 2019-11-22 | 2020-02-21 | 苏州晟成光伏设备有限公司 | Tile-stacked battery piece correcting mechanism and working method thereof |
| CN113104582A (en) * | 2021-05-07 | 2021-07-13 | 成都储翰科技股份有限公司 | Optical device dial grading equipment |
| CN113415634A (en) * | 2021-07-16 | 2021-09-21 | 广州旭璟自动化控制设备有限公司 | Glass transfer machine and working method thereof |
| CN114604628A (en) * | 2022-03-04 | 2022-06-10 | 深圳市智信精密仪器股份有限公司 | Equipment for placing glass by using mechanical arm to correct deviation in real time through vision system |
| CN117104880A (en) * | 2023-10-13 | 2023-11-24 | 深圳铭创智能装备有限公司 | Realize full-automatic inserted sheet equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08243961A (en) * | 1995-03-06 | 1996-09-24 | Toyoda Mach Works Ltd | Work taking-out device |
| CN103465247A (en) * | 2013-01-10 | 2013-12-25 | 东莞市伟创东洋自动化设备有限公司 | Air conditioner inverting and erecting manipulator |
| CN106742247A (en) * | 2016-12-19 | 2017-05-31 | 苏州达力客自动化科技有限公司 | A kind of peritoneal dialysis liquid bag packaging facilities |
| CN108818600A (en) * | 2018-06-29 | 2018-11-16 | 合肥巨智能装备有限公司 | A kind of new energy motor inserting-coil grabbing device and its robot gripping apparatus |
| CN209551761U (en) * | 2018-12-21 | 2019-10-29 | 苏州晟成光伏设备有限公司 | Robot grading machine |
-
2018
- 2018-12-21 CN CN201811569582.XA patent/CN109531615B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08243961A (en) * | 1995-03-06 | 1996-09-24 | Toyoda Mach Works Ltd | Work taking-out device |
| CN103465247A (en) * | 2013-01-10 | 2013-12-25 | 东莞市伟创东洋自动化设备有限公司 | Air conditioner inverting and erecting manipulator |
| CN106742247A (en) * | 2016-12-19 | 2017-05-31 | 苏州达力客自动化科技有限公司 | A kind of peritoneal dialysis liquid bag packaging facilities |
| CN108818600A (en) * | 2018-06-29 | 2018-11-16 | 合肥巨智能装备有限公司 | A kind of new energy motor inserting-coil grabbing device and its robot gripping apparatus |
| CN209551761U (en) * | 2018-12-21 | 2019-10-29 | 苏州晟成光伏设备有限公司 | Robot grading machine |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110828614A (en) * | 2019-11-22 | 2020-02-21 | 苏州晟成光伏设备有限公司 | Tile-stacked battery piece correcting mechanism and working method thereof |
| CN110828614B (en) * | 2019-11-22 | 2024-03-26 | 苏州晟成光伏设备有限公司 | Stacked-tile battery piece resetting mechanism and working method thereof |
| CN113104582A (en) * | 2021-05-07 | 2021-07-13 | 成都储翰科技股份有限公司 | Optical device dial grading equipment |
| CN113415634A (en) * | 2021-07-16 | 2021-09-21 | 广州旭璟自动化控制设备有限公司 | Glass transfer machine and working method thereof |
| CN114604628A (en) * | 2022-03-04 | 2022-06-10 | 深圳市智信精密仪器股份有限公司 | Equipment for placing glass by using mechanical arm to correct deviation in real time through vision system |
| CN114604628B (en) * | 2022-03-04 | 2024-02-23 | 深圳市智信精密仪器股份有限公司 | Equipment for carrying out glass arrangement by utilizing vision system to rectify in real time by mechanical arm |
| CN117104880A (en) * | 2023-10-13 | 2023-11-24 | 深圳铭创智能装备有限公司 | Realize full-automatic inserted sheet equipment |
| CN117104880B (en) * | 2023-10-13 | 2024-04-12 | 深圳铭创智能装备有限公司 | Realize full-automatic inserted sheet equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109531615B (en) | 2024-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109531615A (en) | Robot grading machine | |
| CN103831604B (en) | A kind of full-automatic shim pack installation | |
| CN104973401B (en) | Capacitor cover plate feeding device | |
| CN111947554A (en) | Flatness detection equipment for photovoltaic system installation solar panel and detection method thereof | |
| CN106144473A (en) | A kind of mechanical hand location grasping mechanism | |
| CN102424140B (en) | Automatic barrel stacking machine | |
| CN203751627U (en) | Full-automatic gasket assembly machine | |
| CN108539117A (en) | Cylindrical lithium ion battery annotates liquid and device that stews | |
| CN209551761U (en) | Robot grading machine | |
| CN108861567A (en) | A kind of multi-functional traversing pick device | |
| CN111482374A (en) | Silicon wafer detection sorting machine and sorting method thereof | |
| CN105752373B (en) | A kind of flange press fit device | |
| CN211888000U (en) | Automatic measuring equipment for camera lens | |
| CN213184371U (en) | Preparation system for electric pile | |
| CN206679858U (en) | A kind of switching mechanism | |
| CN206552854U (en) | Stacking machine | |
| CN108717966B (en) | Cap and detection device for storage battery | |
| CN102424148B (en) | Container separator | |
| CN213691982U (en) | Chip assembly feeding and discharging machine | |
| CN106271825A (en) | A kind of Tray dish feeding and cutting agency | |
| CN211519934U (en) | Intelligent paper tube bagging machine | |
| CN208531656U (en) | A kind of multi-functional traversing pick device | |
| CN116986259A (en) | Loading device and storage and transportation system for battery cells | |
| CN114313445B (en) | Carton blank feeding device for carton packaging and sealing of cigarettes | |
| CN202180960U (en) | Container separating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |