CN110304443B - Automatic guide rail conveying device and method - Google Patents

Automatic guide rail conveying device and method Download PDF

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Publication number
CN110304443B
CN110304443B CN201910605134.9A CN201910605134A CN110304443B CN 110304443 B CN110304443 B CN 110304443B CN 201910605134 A CN201910605134 A CN 201910605134A CN 110304443 B CN110304443 B CN 110304443B
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CN
China
Prior art keywords
guide rail
trough
material pushing
clamping
driving device
Prior art date
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Active
Application number
CN201910605134.9A
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Chinese (zh)
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CN110304443A (en
Inventor
申红
左海旋
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.)
WEIDEMILER ELECTRIC CONNECTION (SHANGHAI) CO., LTD.
Original Assignee
Beijing Jycontrol Automation Technology Co ltd
Weidmueller Interface Shanghai Co Ltd
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Application filed by Beijing Jycontrol Automation Technology Co ltd, Weidmueller Interface Shanghai Co Ltd filed Critical Beijing Jycontrol Automation Technology Co ltd
Priority to CN201910605134.9A priority Critical patent/CN110304443B/en
Publication of CN110304443A publication Critical patent/CN110304443A/en
Application granted granted Critical
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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
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/12Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B65G1/127Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a vertical plane
    • 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
    • B65G17/00Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/12Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
    • 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
    • B65G17/00Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
    • B65G17/30Details; Auxiliary devices
    • B65G17/32Individual load-carriers
    • B65G17/36Individual load-carriers having concave surfaces, e.g. buckets
    • 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
    • B65G23/00Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/02Belt- or chain-engaging elements
    • B65G23/04Drums, rollers, or wheels
    • B65G23/06Drums, rollers, or wheels with projections engaging abutments on belts or chains, e.g. sprocket wheels
    • 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
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • 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
    • B65G43/00Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G47/82Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
    • 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
    • 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
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02Control or detection
    • B65G2203/0208Control or detection relating to the transported articles
    • B65G2203/0241Quantity of articles
    • 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
    • B65G2203/00Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04Detection means
    • B65G2203/042Sensors

Abstract

The invention discloses a guide rail automatic transmission device and a method thereof, which are applied to a terminal clamping machine, and the device comprises: the guide rail bin is internally provided with a plurality of material grooves used for placing guide rails at equal intervals, the plurality of material grooves are arranged in a closed ring shape and are all connected with the first driving device and are driven by the first driving device to do closed-loop motion, wherein one position on the closed-loop motion trail of the plurality of material grooves is selected as a material pushing station; the first material pushing device is arranged corresponding to the material pushing station and used for pushing the guide rail in the material groove at the material pushing station; and the control module is connected with the first driving device and the first material pushing device and used for controlling the material groove corresponding to the required guide rail to move to a material pushing station and controlling the first material pushing device to push the guide rail in the material groove positioned on the material pushing station to a clamping platform adjacent to the guide rail bin. The device and the method can automatically screen the guide rails according to the requirement of a work order and push the screened guide rails to the clamping table for clamping the terminals.

Description

Automatic guide rail conveying device and method
Technical Field
The invention relates to the field of terminal clamping machines. More particularly, the present invention relates to an automatic transfer device for a guide rail applied to a terminal clamping machine and a method thereof.
Background
At present, the problem of guide rail automatic feeding cannot be properly solved by the existing guide rail automatic installation equipment. For example, patent publication No. WO2010057768 discloses an apparatus for automatically mounting a guide rail using a robot arm, in which a turntable is used for feeding the guide rail, a processing portion is provided on one side of the turntable, and a loading/unloading portion is provided on the other side of the turntable, and the processing portion and the loading/unloading portion can be switched in position by rotating the turntable 180 °. The loading and unloading process of the turntable actually needs to be operated continuously by manpower or by using auxiliary loading and unloading equipment. In the prior art, the auxiliary loading and unloading equipment is a mechanical arm, so that the structure is complex, the price is high, and the space structure is huge.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
It is still another object of the present invention to provide an automatic guide rail transfer apparatus capable of automatically sorting guide rails according to a work order request and pushing the sorted guide rails to a clamping station to clamp a terminal.
It is still another object of the present invention to provide an automatic rail conveying method capable of automatically conveying rails according to a work order request and improving conveying efficiency.
To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, there is provided an automatic transfer device for a rail, applied to a terminal mounter, comprising:
the guide rail storage bin is internally provided with a plurality of material grooves used for placing guide rails at equal intervals, the plurality of material grooves are arranged in a closed ring shape and are all connected with a first driving device and are driven by the first driving device to do closed-loop motion, wherein one position on the track of the closed-loop motion of the plurality of material grooves is selected as a material pushing station;
the first material pushing device is arranged corresponding to the material pushing station and used for pushing the guide rail in the material groove moving to the material pushing station;
and the control module is connected with the first driving device and the first material pushing device and used for controlling the material groove corresponding to the required guide rail to move to the material pushing station and controlling the first material pushing device to push the guide rail in the material groove on the material pushing station to the clamping platform adjacent to the guide rail bin.
Preferably, in the automatic conveying device for the guide rail, the guide rail is groove-shaped, and the ends of the two vertical side edges are both outwards flanged horizontally; the guide rail storage bin is characterized in that the trough inside the guide rail storage bin is a C-shaped trough, and a limiting strip is arranged in the middle of the bottom of the trough so as to ensure that the guide rail storage bin is in a stable state in the closed-loop movement process when guide rails of different types are placed in the trough.
Preferably, wherein, the automatic guide rail conveying device, the control module specifically includes:
the material groove numbering module is used for numbering a plurality of material grooves in the guide rail material bin in sequence;
the feeding matching module is connected with the trough numbering module, so that the information of the guide rail placed in each trough corresponds to the trough number;
the trough screening module is connected with the trough numbering module and automatically screens out the trough number of the required guide rail according to the work order requirement and the guide rail information;
the material groove position control module is connected with the material groove screening module and the first driving device, and enables the material groove where the required guide rail is located to move to the material pushing station according to the number of the material groove where the screened required guide rail is located;
and the first material pushing device control module is connected with the trough screening module and the first material pushing device, and pushes the guide rail in the trough into the guide rail groove on the clamping table when the trough where the required guide rail is located moves to the material pushing station.
Preferably, wherein, the automatic guide rail conveying device, the trough position control module comprises: the position sensor is arranged on the material pushing station, and generates a trigger signal when a material groove moves to the position sensor;
the counter is connected with the position sensor and used for counting the number of times of the trigger signals;
and the calculating module is used for calculating the digital difference between the material groove number corresponding to the required guide rail and the material groove number on the material pushing station, wherein the counter is reset, the material groove moves, and when the number of the counter is the obtained digital difference, the material groove corresponding to the required guide rail moves to the material pushing station.
Preferably, the guide rail automatic conveying apparatus, the first driving device specifically includes:
a power component, comprising: a drive sprocket and a driven sprocket;
the transmission part is a long circular closed-loop chain and is provided with two long circular closed-loop chains, the two long circular closed-loop chains are respectively arranged at two ends of the troughs and fixedly connected with the end of each trough, the driving sprocket is located at one end of the transmission part, the driven sprocket is located at the other end of the transmission part, and the transmission part moves under the driving of the driving sprocket and the driven sprocket.
Preferably, wherein, the guide rail automatic conveying device, the first pushing device comprises: the second driving device is connected with the first material pushing device control module and is controlled by the first material pushing device control module.
Preferably, the automatic guide rail conveying device further includes:
the clamping device is arranged at one end, close to the guide rail bin, of the clamping table and used for clamping the guide rail in the guide rail groove of the clamping table and enabling the guide rail to move forwards in the process of clamping the terminal;
the clamping device specifically comprises:
the clamping part comprises a first L-shaped part and a second L-shaped part which are matched with each other to form a clamping jaw, a third driving device for driving the clamping jaw to ascend or descend and a fourth driving device for driving the clamping jaw to be combined one by one, wherein the clamping jaw is used for clamping a horizontal flanging of the guide rail;
the fifth driving device is connected with the material clamping component and drives the material clamping component to move so as to enable the guide rail to move forwards;
the third driving device, the fourth driving device and the fifth driving device are all connected with the control module and controlled by the control module.
Preferably, the automatic guide rail conveying device further comprises a material pushing claw device, the material pushing claw device comprises a material pushing claw and a sixth driving device connected with the material pushing claw, the sixth driving device is connected with the control module and controlled by the control module, the material pushing claw device is arranged at one end, far away from the guide rail bin, of the clamping table, and when the terminal is clamped, the terminal strip is pushed to the material discharging table.
Preferably, the guide rail automatic conveying device, the pushing claw specifically includes:
the body is connected with the sixth driving device;
an elastic member provided inside the body;
the claw part is arranged above the elastic part and extends upwards or retracts downwards under the action of the elastic part, the section of the claw part is in a right-angle trapezoidal shape, the top of the claw part protrudes outwards along the horizontal direction at one side with a right angle, and the claw part is aligned to the tail end of the terminal strip and just clamps the guide rail so as to push the terminal strip to move;
one end of the rotating rod is rotatably arranged on the body, the other end of the rotating rod is fixedly connected with the claw part, an arc-shaped long hole is formed in the rotating rod, a limiting column is fixed on the body, and the limiting column is slidably arranged in the arc-shaped long hole to guide and limit the rotating rod.
Preferably, in the automatic guide rail conveying device, the trough is fixed on the transmission component through an L-shaped connecting piece.
In a second aspect, the present invention provides an automatic guide rail conveying method, which is applied to an automatic guide rail conveying device, and the method includes:
step one, a plurality of material troughs do closed-loop movement, so that the material trough corresponding to a required guide rail moves to a material pushing station;
and step two, pushing the guide rail in the trough moving to the pushing station and pushing the guide rail to a clamping table adjacent to the guide rail bin.
Preferably, the guide rail automatic conveying method specifically includes:
numbering a plurality of material tanks which do closed-loop motion in a guide rail material bin in sequence;
the information of the guide rail placed in each trough corresponds to the trough number;
automatically screening the number of the trough where the required guide rail is located according to the work order requirement and the guide rail information;
and moving the material groove according to the number of the material groove where the screened required guide rail is located, so that the material groove where the required guide rail is located moves to the material pushing station.
Preferably, the guide rail automatic conveying method, where the chute moving according to the number of the screened chute in which the required guide rail is located, moves the chute in which the required guide rail is located to the material pushing station, specifically includes:
calculating the number difference between the material groove number corresponding to the guide rail to be required and the material groove number on the material pushing station at present;
the material groove moves, and when the material groove moves to the material pushing station, a trigger signal is generated;
counting the times of the trigger signals;
and judging whether the counted times of the trigger signals are equal to the calculated number difference, if so, moving the material groove corresponding to the required guide rail to the material pushing station, and if not, moving the material groove corresponding to the required guide rail to the material pushing station and continuing moving the material groove.
The invention at least comprises the following beneficial effects: because a plurality of material troughs used for placing the guide rail are arranged in the guide rail bin at equal intervals, the plurality of material troughs are arranged in a closed ring shape and are all connected with a first driving device and do closed-loop motion under the driving of the first driving device, one position is selected on the motion tracks of the plurality of material troughs as a material pushing station, the advantage of the arrangement is that the material troughs do closed-loop motion, the material troughs where the guide rail needed on a work order is located can be conveniently moved to the material pushing station, the automatic material selection of the guide rail is realized, and the material troughs are all C-shaped troughs, so that the material can not fall off during the turnover; the arranged material pushing block can move under the driving of a second driving device, and pushes a guide rail in a material groove moving to the material pushing station to push the material pushing block to the clamping table; and the control module can control the first driving device and the second driving device, is used for moving the trough corresponding to the required guide rail to the material pushing station according to the work order requirement, automatically selects the material of the guide rail, and controls the material pushing block to move to push the guide rail in the trough on the material pushing station to be positioned on the clamping platform adjacent to the guide rail bin, so as to finish the automatic feeding and material transporting of the guide rail. In addition, at the in-process that clamps the bench card terminal, in order to avoid pusher and cylinder clamp plate to take place to interfere, the material device that presss from both sides that sets up can avoid this interference well, because press from both sides the material device only need the centre gripping the horizontal turn-ups of guide rail can, and press from both sides the material device and can grasp the guide rail and move forward.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of a rail magazine according to an embodiment of the present invention;
FIG. 2 is a schematic view of a first pushing device according to another embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a guide rail according to another embodiment of the present invention;
FIG. 4 is a schematic view of the structure of a guide rail according to another embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a trough in another embodiment of the invention;
FIG. 6 is a schematic diagram of a card loading station according to another embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a material clamping device according to another embodiment of the present invention;
FIG. 8 is a schematic view of the structure of the pusher jaw assembly in another embodiment of the present invention;
FIG. 9 is a schematic view of the structure of the pushing jaw in another embodiment of the present invention;
FIG. 10 is a flow chart of a control module according to another embodiment of the present invention;
fig. 11 is a schematic flow chart of automatic rail transfer according to another embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Fig. 1 and fig. 2 show an implementation form of the present invention, and an automatic rail transfer device provided in an embodiment of the present invention is applied to a terminal mounter, and includes: the guide rail storage bin 1 is internally provided with a plurality of material troughs 2 for placing guide rails at equal intervals, the plurality of material troughs are arranged in a closed ring shape and are all connected with a first driving device 3 and do closed-loop motion under the driving of the first driving device, wherein one position is selected from the closed-loop motion tracks of the plurality of material troughs as a material pushing station; the first material pushing device 5 is arranged corresponding to the material pushing station and used for pushing a guide rail in a material groove moving to the material pushing station; and the control module is connected with the first driving device 3 and the first material pushing device 5 and used for controlling the material groove corresponding to the required guide rail to move to the material pushing station and controlling the first material pushing device to push the guide rail in the material groove on the material pushing station to be positioned on the clamping table 4 adjacent to the guide rail bin.
It should be noted that the number of the material troughs is not specifically limited in this embodiment, and the material troughs are preferably 20 and uniformly arranged along the transmission component in this embodiment. Correspondingly, after one-time full-load feeding is completed, automatic assembly of at most 20 guide rails can be continuously completed. If the number of the material grooves is more, the automatic assembly of more guide rails can be continuously completed. The first pushing device can push the guide rail in the material groove into the guide rail groove on the clamping table just well.
The guide rail storage bin is internally provided with a plurality of material troughs for placing the guide rails at equal intervals, the material troughs are arranged in a closed ring shape and are all connected with a first driving device and are driven by the first driving device to do closed-loop motion, one position is selected on the track of the closed-loop motion of the material troughs to serve as a material pushing station, and the arrangement has the advantages that the material troughs do closed-loop motion, so that the material troughs where the guide rails needed on a work order are located can be conveniently moved to the material pushing station, and the automatic screening of the guide rails is realized; the control module who sets up can control move the silo that the required guide rail corresponds extremely push away the material station, and control first blevile of push removes and will be located push away the guide rail propulsion in the silo on the material station with the adjacent bench that clamps of guide rail feed bin, accomplish the automatic feeding and the fortune material of guide rail.
Because the length direction of guide rail is the horizontal direction in the silo, do closed loop rotary motion when the silo, the guide rail can be along with the silo motion round will take place 360 degrees rotations. As shown in fig. 1 and 2, the trough and the guide rail on the left side face upward, the trough and the guide rail on the right side face downward, the trough turns over, and in order to effectively prevent the guide rail from falling out of the trough during turning over, as shown in fig. 3, 4 and 5, in one embodiment, the guide rail 6 is groove-shaped, and the ends of the two vertical side edges are both outward horizontally flanged 61; the inside silo 2 of guide rail feed bin 1 is C type groove the bottom intermediate position of silo 2 is provided with spacing 7 to when putting the guide rail of different models in the silo, be in stable state at rotatory in-process. The purpose of setting up spacing, when placing the guide rail of different models in the silo, like high guide rail and short guide rail, short guide rail takes place the slope easily and can not be in the horizontality on pushing away the material station in the upset in-process, and like this, first blevile of push just can not normally push away the material, and consequently, the setting up of spacing enables short guide rail and is in stable state.
In order to better realize the control of the control module on the trough and the first material pushing device, as shown in fig. 10, in one specific embodiment, the control module specifically includes:
and the trough numbering module is used for numbering a plurality of troughs in the guide rail bin in sequence. When numbering, zero is defined and the bin numbers are established sequentially. For example, if there are n material tanks, n material tank numbers of a1 and a2 … … an are needed, the material tank located at the material pushing station after initialization is defined as a1, and the material tank numbers are established in a clockwise sequence from a 1. In practical application, a label such as a two-dimensional code or a bar code is attached to the end of the trough. The number of the material groove is corresponding to the label on the material groove by scanning the code scanning gun, and subsequent inquiry is facilitated.
And the feeding matching module is connected with the trough numbering module, so that the guide rail information of each trough is put in corresponding to the trough number. The guide rail information comprises the material number of the guide rail, and/or the model TS35/15 or TS35/7.5, the length and the like. For example, the information on the guide rail in the trough number a1 is b1, the information on the guide rail in the trough number a2 is b2, and the information on the guide rail in the trough number an … … is bn. In practical application, the information is also embodied by adopting labels such as two-dimensional codes or bar codes and the like on the common guide rail, and the information can be recorded by scanning through a code scanning gun.
And the material groove screening module is connected with the material groove numbering module and automatically screens out the material groove number of the required guide rail according to the work order requirement and the guide rail information.
And the trough position control module is connected with the trough screening module and the first driving device, and moves the trough where the required guide rail is located to the material pushing station according to the number of the trough where the screened required guide rail is located. The specific implementation mode can be as follows: the silo position control module includes:
a position sensor, which may preferably be a photoelectric sensor, is provided at the material-pushing station, which generates a trigger signal, for example a rising/falling edge, when a chute moves to the position sensor, and a reverse trigger signal, for example a falling/rising edge, when a chute leaves the position sensor.
And the counter is connected with the position sensor and is used for counting the number of times of the trigger signals, wherein the reverse trigger signals are not counted.
And the calculating module is used for calculating the number difference between the material groove number corresponding to the required guide rail and the material groove number on the material pushing station at present, wherein the counter is reset, the material groove rotates, and when the number of the counter is the obtained number difference, the material groove number corresponding to the required guide rail rotates to the material pushing station. The specific process is as follows: calculating the number difference between the material groove number corresponding to the guide rail to be required and the current finished material groove number, and resetting the counter; rotating the transmission part, triggering the position sensor when each trough moves to the position sensor, and adding 1 to the numerical value of the counter; and when the numerical value obtained by the counter is equal to the numerical difference, the material groove corresponding to the required guide rail rotates to the material pushing station, and the transmission part is stopped. For example, the material pushing station has finished the material slot number a1, the required guide rail has the corresponding material slot number a3, the number difference is 3-1-2, and when the value obtained by the counter is 2, the result indicates that the material slot number a3 has moved to the material pushing station.
It should be noted that in some applications, the distance calculation may be used to ensure that the correct trough is obtained. After the trough is mounted to the transmission member, the distance between two adjacent troughs is determined, for example, the distance between each trough is 100mm, and the distance between the a3 trough number and the a1 trough number is 200 mm. And setting a target distance interval between the number of the material groove to be processed and the number of the finished material groove according to the error condition of the equipment, for example, setting the target distance interval as [180mm,220mm ], determining that the required material groove reaches the material pushing station only when the real-time calculated value of the movement distance of the transmission part 32 is positioned in the target distance interval and the counter is triggered for a preset number of times, and giving an alarm if the target distance interval cannot be met.
The control module further comprises a first material pushing device control module which is connected with the trough screening module and the first material pushing device, and when the trough where the required guide rail is located moves to the material pushing station, the guide rail in the trough is pushed to the clamping table.
Specific control module control examples will be given below:
example 1:
the control process is the first operation after the power of the guide rail installation equipment is lost, and three work orders are used in total.
S1, defining zero points for a plurality of material tanks and establishing material tank numbers in sequence
Because it is when the first time operation after the power failure of guide rail erection equipment, need define zero point: the transmission part drives the trough to rotate, the photoelectric sensor stops when being triggered, and the trough located at the material pushing station at the moment is defined as a 1.
In the device, the number of the material grooves is 20, the material grooves are uniformly arranged along the transmission part, and therefore, the material groove numbering module needs a1 and a2 … … a20, and the total number of the material grooves is 20. Wherein a1 is positioned at the material pushing station, and a1 to a20 are sequenced in a clockwise manner. The labels (two-dimensional codes in the embodiment) on the troughs are scanned one by the scanning gun, so that the labels corresponding to a1 to a20 one by one are completed.
The number of the material groove is stored in the memory module, and the material groove can be directly read without redefining under the condition of power supply.
S2, feeding and matching guide rail information and trough number
Workers load the trough, and need to load two types of guide rails, namely TS35/15 and TS 35/7.5. TS35/15 is placed in troughs from a1 to a10, and the total number is 10; and a trough from a11 to a20 is provided with TS35/7.5, and 10 in total. Every last guide rail of workman needs with sweep yard rifle scan the two-dimensional code on the guide rail (obtain the information of guide rail) and the two-dimensional code on the silo (obtain the silo number), makes the information b1, b2 … … b20 of guide rail correspond with silo number a1, a2 … … a 20. And finishing feeding.
S3, carrying out silo screening, silo position control and first blevile of push control according to the work order in proper order:
s31, the first work order requires a guide rail of a TS35/15 model, and the trough screening module selects the guide rail in a 1; the trough position control module calculates that the numerical difference between the number a1 of the trough to be processed and the number a1 of the finished trough is 0, and a transmission part does not need to be rotated; the first material pushing device controls the module to push materials. And entering the next work order after completion.
S32, the second worksheet requires a guide rail of the TS35/15 model, and the trough screening module selects the guide rail in a 2; the trough position control module calculates that the number difference between the trough number a2 to be processed and the finished trough number a1 is 1, the transmission component rotates anticlockwise, and when the counter obtains 1, the transmission component stops, and the situation that a2 enters a material pushing station is shown; the first material pushing device controls the module to push materials. And entering the next work order after completion.
S33, the third work order requires a guide rail of the TS35/7.5 model, and the trough screening module selects the guide rail in a 11; the trough position control module calculates that the number difference between the trough number a11 to be processed and the finished trough number a2 is 9, the transmission part is rotated anticlockwise, and when the counter obtains 9, the transmission part is stopped, which indicates that a11 enters a material pushing station; and the material pushing claw control module pushes the material card terminal. When the processing is finished, the a11 stays at the material pushing station, and the memory stores the information of the finished material groove number a11 as the reference of the next work order.
Example 2:
the control process is to continue processing on the basis of the last control process, and the control process are shared by a work order.
S1, defining zero points for a plurality of material tanks and establishing material tank numbers in sequence
The trough number is established and stored before, and the trough number can be directly read.
S2, feeding and matching guide rail information and trough number
Only one work order is required at this time, a guide rail of a TS35/15 model is required, and feeding can be omitted.
S3, carrying out silo screening, silo position control and first blevile of push control according to the work order in proper order:
the trough screening module selects a guide rail in a 3; the trough position control module calculates that the difference between the number a3 of the trough to be processed and the number a11 of the finished trough is-8 and less than 0, the transmission part is not allowed to turn backwards, then 20 is added, the corrected number difference is 12, the transmission part is rotated anticlockwise, and when the counter obtains 12, the transmission part is stopped, and a3 is shown to enter a material pushing station; the first material pushing device controls the module to push materials. When the processing is finished, the a3 stays at the material pushing station to be used as the reference of the next work order.
In order to better realize the function of the first pushing device and facilitate the pushing of the guide rail, in one embodiment, as shown in fig. 2, the first pushing device 5 includes: the pushing device comprises a pushing block 51 and a second driving device 52 connected with the pushing block 51, wherein the pushing block 51 is arranged right below the pushing station and driven by the second driving device 52 to push a guide rail in a trough at the pushing station, and the second driving device 52 is connected with and controlled by the first pushing device control module.
It should be noted that, during material screening, the trough moves, the material pushing block is located at the end of the trough, and during material pushing, the material pushing block is located right below the material pushing station.
Because first blevile of push 5 with the guide rail propelling movement to clamp the bench back, need carry out card terminal, clamp and adorn platform 4 and include: and the cylinder pressing plate 9 and the clamping device 10 are both arranged at one end close to the guide rail bin. In the process of clamping the terminal, in the first step, the guide rail is required to be pressed by the downward movement of the air cylinder pressing plate 9; secondly, clamping the terminals; thirdly, the air cylinder pressing plate 9 moves upwards to loosen the guide rail; in the fourth step, the clamping device 10 advances the guide rail according to the thickness requirement of the terminal, and then returns to the first step.
As shown in fig. 6 and 7, the clamping device 10 is used for clamping the guide rail in the guide rail groove of the clamping table 4 and moving the guide rail forward in the process of clamping the terminal; the material clamping device 10 specifically comprises: the clamping part comprises a first L-shaped part and a second L-shaped part which are matched with each other to form a clamping jaw 11, a third driving device 12 for driving the clamping jaw to ascend or descend and a fourth driving device 15 for driving the clamping jaw 11 to close one another, wherein the clamping jaw 11 is used for clamping a horizontal flanging 61 of the guide rail 6; a fifth driving device 13 which is connected with the material clamping component and drives the material clamping component to move so as to enable the guide rail to move forwards;
wherein the third driving device 12, the fourth driving device 15 and the fifth driving device 13 are all connected with and controlled by the control module.
The second driving device 52, the third driving device 12, the fourth driving device 15, and the fifth driving device 13 are not particularly limited in the present invention, and may be any devices as long as they can function as driving devices.
The card mounting table is provided with a sensor for detecting the guide rail, and when the guide rail moves to a predetermined position on the card mounting table, the terminal is started to be mounted. Therefore, when the sensor detects the guide rail 6, the detected signal is transmitted to the control module, the control module stops the first material pushing device 5, the material clamping device 10 starts to work, the control module controls the third driving device 12 to work, the height of the clamping jaw 11 is adjusted, then the fourth driving device 15 works to clamp the guide rail, and the fifth driving device 13 works, so that the guide rail moves forwards. But when the terminal is clamped, the guide rail stops moving forwards, and after the clamping of the terminal is completed, the terminal continues to move forwards.
After the terminal is clamped, the clamping device cannot clamp the terminal strip all the time and push the terminal strip to the discharging table, so as shown in fig. 6 and 8, in one specific embodiment, the guide rail automatic conveying device further includes a material pushing claw device 14, which includes a material pushing claw 141 and a sixth driving device 142 connected to the material pushing claw, the sixth driving device 142 is connected to and controlled by the control module, the sixth driving device 142 is not specifically limited in this embodiment, and may be preferably an air cylinder, the material pushing claw device 14 is disposed at one end of the clamping table 4, which is far away from the guide rail bin 1, and when the terminal is clamped, the terminal strip, that is, the guide rail with the terminal, is pushed to the discharging table.
In order to enable the material pushing claw to push the terminal strip, the material pushing claw needs to hook the opening on the guide rail, so that the height of the material pushing claw needs to be higher than the bottom of the groove of the guide rail, and the terminal of the terminal strip is interfered with the material pushing claw when moving to the position of the material pushing claw due to the requirement. In order to prevent the terminal strip from interfering with the pushing claw, in one embodiment, as shown in fig. 9, the pushing claw 141 includes: a body 1411 connected to the sixth driving means 142; an elastic member 1412 disposed inside the body; the claw 1413 is arranged above the elastic part 1412 and extends upwards or retracts downwards under the action of the elastic part 1412, the cross section of the claw 1413 is in a right-angle ladder shape, the top of the claw protrudes outwards along the horizontal direction at one side at a right angle, the claw is aligned with the tail end of the terminal strip, and the protrusion is just clamped on the guide rail so as to push the terminal strip. The advantage of this arrangement is that when one end of the terminal strip moves to touch the claw 1413, the terminal strip continues to move to press the bevel edge of the claw to retract the claw downwards under the action of the resilient member 1412, and then the claw is pressed fully downwards, but when the opening of the guide rail moves to the position of the claw 1413 and there is no pressure on the claw, the claw 1413 will extend upwards to hook the opening, and at this time the pushing claw 141 can push the terminal strip.
In order to limit the range of the up-and-down movement of the claw portion, please refer to fig. 9, in an embodiment of the automatic feeding device with guide rail, the pushing claw 141 further includes: a rotating rod 1414, one end of which is rotatably arranged on the body and the other end of which is fixedly connected with the claw part, wherein the rotating rod can be integrally formed with the claw part. An arc-shaped long hole 1415 is formed in the rotating rod, a limiting column 1416 is fixed to the body, and the limiting column is arranged in the arc-shaped long hole in a sliding mode and used for guiding and limiting the rotating rod. With this arrangement, the range in which the claw portion moves up and down can be well defined. For example, the pawl has a first extended length relative to the body when in the extended state and a second extended length relative to the body when in the retracted state, the first extended length being greater than the second extended length.
The guide rail is divided into a non-porous guide rail and a porous guide rail according to whether the bottom of the guide rail is provided with a hole or not, and two ends of the non-porous guide rail are provided with mounting long holes to fix the guide rail on the device. Therefore, for a guide rail without holes, the claw portion is aligned with the mounting long hole at the end of the guide rail, and for a guide rail with holes, the claw portion is aligned with the holes.
In order to enable the first driving device to drive the trough to make a closed-loop movement conveniently and to be controlled conveniently, in one embodiment of the invention, the first driving device 3 specifically comprises:
a power unit 31, comprising: a drive sprocket and a driven sprocket;
drive disk assembly 32, it is long circular closed loop chain, is provided with two, set up respectively at the both ends of silo and with the end fixed connection of every silo in order to guarantee driven stability, drive sprocket is located drive disk assembly's one end, driven sprocket is located drive disk assembly's the other end, drive disk assembly is in drive sprocket with driven sprocket's common drive is rotatory down.
It should be noted that the drive member is preferably oblong, and the drive member may be in the form of other closed loops, such as circular loops, where only a drive sprocket and no driven sprocket are required, or triangular shapes, where a drive sprocket and two driven sprockets are required.
In order to facilitate the fixing of the magazine to the transmission member, in one embodiment the guideway automatic conveyor is arranged such that the magazine 2 is fixed to the transmission member by means of an L-shaped web 8. The trough can be fixed by other structures, and the trough is not limited to the L-shaped connecting piece of the embodiment as long as the trough can be fixed on the transmission component.
As described above, according to the present invention, the device can automatically screen the guide rails according to the work order requirements, and push the screened guide rails into the clamping table to clamp the terminals, thereby completing the loading, transporting and clamping of the guide rails.
The terminal clamping table comprises a guide rail bin, a clamping table, a terminal bin, a three-axis mechanical arm, a terminal clamping jaw, a discharging table, a human-computer interface and the like. About the terminal feed bin, input the storage signal through scanning terminal model two-dimensional code and support position number two-dimensional code, according to the work order requirement, snatch required terminal automatically.
Another embodiment of the present invention provides an automatic guide rail conveying method, which is applied to an automatic guide rail conveying apparatus, as shown in fig. 11, and includes:
s10, numbering a plurality of material tanks which do closed-loop motion in the guide rail material bin in sequence;
s20, enabling the information of the guide rail placed in each trough to correspond to the trough number;
s30, automatically screening the number of the trough where the required guide rail is located according to the work order requirement and the guide rail information;
s40, calculating the number difference between the material groove number corresponding to the required guide rail and the material groove number on the current material pushing station;
s50, moving a trough, and generating a trigger signal when the trough moves to the material pushing station;
s60, counting the times of the trigger signals;
s70, judging whether the counted times of the trigger signals are equal to the calculated digital difference, if so, moving the trough corresponding to the required guide rail to the material pushing station, and executing S80; if not, go to S50.
And S80, pushing the guide rail in the trough at the pushing station and pushing the guide rail onto a clamping table adjacent to the guide rail bin.
Therefore, the guide rail automatic conveying method can automatically convey the guide rail according to the requirement of the work order and improve the conveying efficiency.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.

Claims (11)

1. The utility model provides an automatic conveyer of guide rail, is applied to terminal installation, its characterized in that includes:
the guide rail storage bin is internally provided with a plurality of material grooves used for placing guide rails at equal intervals, the plurality of material grooves are arranged in a closed ring shape and are all connected with a first driving device and are driven by the first driving device to do closed-loop motion, wherein one position on the track of the closed-loop motion of the plurality of material grooves is selected as a material pushing station;
the first material pushing device is arranged corresponding to the material pushing station and used for pushing the guide rail in the material groove moving to the material pushing station;
the control module is connected with the first driving device and the first material pushing device and used for controlling the material groove corresponding to the required guide rail to move to the material pushing station and controlling the first material pushing device to push the guide rail in the material groove positioned on the material pushing station to the clamping table adjacent to the guide rail bin; the control module specifically comprises: the material groove numbering module is used for numbering a plurality of material grooves in the guide rail material bin in sequence; the feeding matching module is connected with the trough numbering module, so that the information of the guide rail placed in each trough corresponds to the trough number; the trough screening module is connected with the trough numbering module and automatically screens out the trough number of the required guide rail according to the work order requirement and the guide rail information; the material groove position control module is connected with the material groove screening module and the first driving device, and enables the material groove where the required guide rail is located to move to the material pushing station according to the number of the material groove where the screened required guide rail is located; and the first material pushing device control module is connected with the trough screening module and the first material pushing device, and pushes the guide rail in the trough into the guide rail groove on the clamping table when the trough where the required guide rail is located moves to the material pushing station.
2. The automatic conveying device for the guide rail as claimed in claim 1, wherein the guide rail is groove-shaped, and the ends of the two vertical side edges are horizontally flanged outwards; the guide rail storage bin is characterized in that the trough inside the guide rail storage bin is a C-shaped trough, and a limiting strip is arranged in the middle of the bottom of the trough so as to ensure that the guide rail storage bin is in a stable state in the closed-loop movement process when guide rails of different types are placed in the trough.
3. The automated guided rail transport apparatus of claim 2, wherein the magazine position control module comprises: the position sensor is arranged on the material pushing station, and generates a trigger signal when a material groove moves to the position sensor;
the counter is connected with the position sensor and used for counting the number of times of the trigger signals;
and the calculating module is used for calculating the digital difference between the material groove number corresponding to the required guide rail and the material groove number on the material pushing station, wherein the counter is reset, the material groove moves, and when the number of the counter is the obtained digital difference, the material groove corresponding to the required guide rail moves to the material pushing station.
4. The automatic guide rail conveying device according to claim 1, wherein the first driving device specifically includes:
a power component, comprising: a drive sprocket and a driven sprocket;
the transmission part is a long circular closed-loop chain and is provided with two long circular closed-loop chains, the two long circular closed-loop chains are respectively arranged at two ends of the troughs and fixedly connected with the end of each trough, the driving sprocket is located at one end of the transmission part, the driven sprocket is located at the other end of the transmission part, and the transmission part moves under the driving of the driving sprocket and the driven sprocket.
5. The automated guided rail transport apparatus of claim 2, wherein the first pusher comprises: the second driving device is connected with the first material pushing device control module and is controlled by the first material pushing device control module.
6. The automatic guided rail conveying apparatus of claim 5, further comprising:
the clamping device is arranged at one end, close to the guide rail bin, of the clamping table and used for clamping the guide rail in the guide rail groove of the clamping table and enabling the guide rail to move forwards in the process of clamping the terminal;
the clamping device specifically comprises:
the clamping part comprises a first L-shaped part and a second L-shaped part which are matched with each other to form a clamping jaw, a third driving device for driving the clamping jaw to ascend or descend and a fourth driving device for driving the clamping jaw to be combined one by one, wherein the clamping jaw is used for clamping a horizontal flanging of the guide rail;
the fifth driving device is connected with the material clamping component and drives the material clamping component to move so as to enable the guide rail to move forwards;
the third driving device, the fourth driving device and the fifth driving device are all connected with the control module and controlled by the control module.
7. The automatic conveying device for the guide rails as claimed in claim 6, further comprising a material pushing claw device, which comprises a material pushing claw and a sixth driving device connected with the material pushing claw, wherein the sixth driving device is connected with and controlled by the control module, the material pushing claw device is arranged at one end of the clamping table far away from the guide rail bin, and when the terminal clamping is completed, the terminal strip is pushed to the discharging table.
8. The automatic conveyor of guide rails according to claim 7, characterized in that said pusher jaw comprises in particular:
the body is connected with the sixth driving device;
an elastic member provided inside the body;
the claw part is arranged above the elastic part and extends upwards or retracts downwards under the action of the elastic part, the section of the claw part is in a right-angle trapezoidal shape, the top of the claw part protrudes outwards along the horizontal direction at one side with a right angle, and the claw part is aligned to the tail end of the terminal strip and just clamps the guide rail so as to push the terminal strip to move;
one end of the rotating rod is rotatably arranged on the body, the other end of the rotating rod is fixedly connected with the claw part, an arc-shaped long hole is formed in the rotating rod, a limiting column is fixed on the body, and the limiting column is slidably arranged in the arc-shaped long hole to guide and limit the rotating rod.
9. The automatic guided rail transport apparatus of claim 4, wherein the trough is fixed to the driving member by an L-shaped connecting piece.
10. An automatic guide rail conveying method applied to the automatic guide rail conveying device of claims 1 to 9, characterized by comprising:
step one, a plurality of material troughs do closed-loop motion, so that the material trough corresponding to a required guide rail moves to a material pushing station, and specifically, the method comprises the steps of numbering the material troughs which do closed-loop motion in a guide rail bin in sequence; the information of the guide rail placed in each trough corresponds to the trough number; automatically screening the number of the trough where the required guide rail is located according to the work order requirement and the guide rail information; according to the number of the material groove where the screened required guide rail is located, the material groove moves, and the material groove where the required guide rail is located moves to the material pushing station;
and step two, pushing the guide rail in the trough moving to the pushing station and pushing the guide rail to a clamping table adjacent to the guide rail bin.
11. The method according to claim 10, wherein the moving the trough according to the number of the selected trough where the desired guide rail is located to the pushing station comprises:
calculating the number difference between the material groove number corresponding to the guide rail to be required and the material groove number on the material pushing station at present;
the material groove moves, and when the material groove moves to the material pushing station, a trigger signal is generated;
counting the times of the trigger signals;
and judging whether the counted times of the trigger signals are equal to the calculated number difference, if so, moving the material groove corresponding to the required guide rail to the material pushing station, and if not, moving the material groove corresponding to the required guide rail to the material pushing station and continuing moving the material groove.
CN201910605134.9A 2019-07-05 2019-07-05 Automatic guide rail conveying device and method Active CN110304443B (en)

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CN201910605134.9A CN110304443B (en) 2019-07-05 2019-07-05 Automatic guide rail conveying device and method
DE112020003247.7T DE112020003247T5 (en) 2019-07-05 2020-06-24 Device for automatically conveying guide rails and their method
PCT/CN2020/098094 WO2021004289A1 (en) 2019-07-05 2020-06-24 Guide rail automatic conveying apparatus and method thereof

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CN110304443B (en) * 2019-07-05 2021-02-09 北京金雨科创自动化技术股份有限公司 Automatic guide rail conveying device and method

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