CN110395574A - A kind of sweeping robot bottom cover feeding device - Google Patents
A kind of sweeping robot bottom cover feeding device Download PDFInfo
- Publication number
- CN110395574A CN110395574A CN201910650618.5A CN201910650618A CN110395574A CN 110395574 A CN110395574 A CN 110395574A CN 201910650618 A CN201910650618 A CN 201910650618A CN 110395574 A CN110395574 A CN 110395574A
- Authority
- CN
- China
- Prior art keywords
- bottom cover
- charging tray
- conveyer belt
- feeding
- feed collet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/80—Turntables carrying articles or materials to be transferred, e.g. combined with ploughs or scrapers
-
- 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
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
Abstract
The present invention provides a kind of sweeping robot bottom cover feeding devices, conveyer belt including workbench and in workbench side, the charging tray for containing at least one bottom cover is laid on workbench, it is equipped with bottom cover position in charging tray for identification above charging tray and clamps the feeding mechanical arm that bottom cover in charging tray is moved on conveyer belt, the discharge end of conveyer belt is equipped with for clamping bottom cover on conveyer belt and overturning the feed collet that goes out of 180 degree, and the side of conveyer belt is additionally provided with the upper feed collet for turning over the bottom cover transfer feeding of turnback for clamping out feed collet.Compared with prior art, feeding mechanical arm utilizes the angle of bottom cover on CCD camera automatic identification charging tray and adjusts the clamping angle of extracting jaw to clamp the bottom cover on charging tray in the device, adjust automatically angle makes bottom cover installation predetermined angle be seated on conveyer belt and be transmitted after clamping bottom cover, and in transmit process using go out feed collet overturning 180 degree after again by upper feed collet carry out feeding, bottom cover is subjected to feeding automatically in this way, is convenient for subsequent assembling.
Description
Technical field
The present invention relates to sweeping robots to fabricate field, especially a kind of sweeping robot bottom cover feeding device.
Background technique
Sweeping robot is when being assembled, and is mostly to use manually to be transmitted due to the irregular shape of bottom cover, this
Transmission efficiency is low, and inconsistent it is easy to appear angle is transmitted, and leads to occur error in assembling process, becomes waste product.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of sweeping robot bottom cover feeding devices, bottom cover is carried out automatically
Material, and guarantee that transmission angle is consistent, it is convenient for subsequent assembling.
The technical solution adopted by the present invention are as follows:
A kind of sweeping robot bottom cover feeding device, which is characterized in that the transmission including workbench and in workbench side
Band lays the charging tray for containing at least one bottom cover on workbench, is equipped with bottom cover position in charging tray for identification above charging tray
The feeding mechanical arm that bottom cover in charging tray is moved on conveyer belt is set and clamps, the discharge end of conveyer belt is equipped with for clamping conveyer belt
Upper bottom cover and the feed collet that goes out for overturning 180 degree, the side of conveyer belt are additionally provided with the bottom cover shifting that turnback is turned over for clamping out feed collet
Serve the upper feed collet of material, the feeding mechanical arm include arm body, for the rotation of actuating arm body arm body driver and with arm body
The mechanical arm controller of driver connection, the top end part of arm body is equipped with to be identified bottom cover position in charging tray and sends out image for taking pictures
Give the CCD camera of mechanical arm controller, the lower section of arm body is equipped with the extracting jaw for clamping bottom cover, the top of arm body be equipped with
Extracting jaw connection is for receiving the extracting jaw driver of the mechanical driving of arm controller signal extracting jaw lifting and clamping.
Preferably, the CCD camera is mounted on the top end part of arm body by bracket, and mounting plate is additionally provided on bracket, installation
Plate is equipped with photograph hole, and the bottom of mounting plate is additionally provided with the light compensating lamp for light filling.
Preferably, feeding area and feeding area are divided on the workbench, the activity for carrying charging tray is equipped in feeding area
Supporting plate and for drive activity pallet move along a straight line supporting plate driving assembly.
Preferably, the sweeping robot bottom cover feeding device further includes the turntable in upper feed collet side, is set on turntable
There are several for receiving the placement station for the bottom cover that feed collet clamps.
Preferably, the conveyer belt is equipped with the flanging for being pressed on bottom cover side.
Compared with prior art, the beneficial effects of the present invention are: the present invention provides a kind of sweeping robot bottom cover feeding
Feeding mechanical arm utilizes the angle of bottom cover on CCD camera automatic identification charging tray and adjusts the clamping angle of extracting jaw to press from both sides in device
Bottom cover on feeding disk, adjust automatically angle makes bottom cover installation predetermined angle be seated on conveyer belt and passed after clamping bottom cover
It send, and is so automatically carried out bottom cover using feeding is carried out by upper feed collet again after going out feed collet overturning 180 degree in transmit process
Material, and guarantee that transmission angle is consistent, it is convenient for subsequent assembling.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram one of sweeping robot bottom cover feeding device provided by the invention；
Fig. 2 is a kind of schematic diagram two of sweeping robot bottom cover feeding device provided by the invention；
Fig. 3 is a kind of explosive view of sweeping robot bottom cover feeding device provided by the invention；
Fig. 4 is the schematic diagram of feeding mechanical arm in a kind of sweeping robot bottom cover feeding device provided by the invention；
Fig. 5 is the schematic diagram of workbench in a kind of sweeping robot bottom cover feeding device provided by the invention；
Fig. 6 is the explosive view of workbench in a kind of sweeping robot bottom cover feeding device provided by the invention；
Fig. 7 is the schematic diagram of conveyer belt in a kind of sweeping robot bottom cover feeding device provided by the invention；
Fig. 8 is the schematic diagram for going out feed collet in a kind of sweeping robot bottom cover feeding device provided by the invention；
Fig. 9 is the schematic diagram of upper feed collet in a kind of sweeping robot bottom cover feeding device provided by the invention.
Specific embodiment
Preferred embodiment provided by the invention is illustrated with reference to the accompanying drawings.
Fig. 1 to Fig. 9 is a kind of preferred embodiment of sweeping robot bottom cover feeding device provided by the invention.Such as Fig. 1
To shown in Fig. 9, which includes workbench 10 and the conveyer belt 20 in workbench side, work
Make to lay the charging tray 11 for containing at least one bottom cover 100 on platform 10, bottom cover in charging tray for identification is equipped with above charging tray
Position simultaneously clamps the feeding mechanical arm 30 that bottom cover in charging tray is moved on conveyer belt, and the discharge end of conveyer belt 20 is equipped with for clamping
On conveyer belt bottom cover and overturn 180 degree go out feed collet 40, the side of conveyer belt 20 be additionally provided with for clamp out feed collet turn over turn 180
The upper feed collet 50 of the bottom cover transfer feeding of degree, angle and clamping using bottom cover 100 on feeding mechanical arm automatic identification charging tray 11
It is transplanted on conveyer belt 20, when bottom cover 100 is sent to conveyer belt discharge end by conveyer belt 20, feed collet 40 clamps bottom cover 100 and turns over out
Turnback, the bottom cover 100 that upper feed collet 50 clamps after overturning again carry out transfer feeding again, bottom cover are carried out feeding automatically in this way, and
And guarantee that transmission angle is consistent, it is convenient for subsequent assembling.The conveyer belt 20 is equipped with the flanging 21 for being pressed on bottom cover side,
It prevents bottom cover 100 from beating in transmit process in this way, and guarantees that bottom cover 100 keeps angle identical in transmit process.
As shown in figure 4, the feeding mechanical arm 30 include arm body 31, for actuating arm body rotation arm body driver 32 with
And the mechanical arm controller being connect with arm body driver, the top end part of arm body, which is equipped with, identifies bottom cover position in charging tray 11 for taking pictures
And the CCD camera 33 of mechanical arm controller is sent an image to, the lower section of arm body is equipped with the extracting jaw 34 for clamping bottom cover, arm
The top of body is equipped with the extracting jaw being connect with extracting jaw for receiving the mechanical driving of arm controller signal extracting jaw lifting and clamping
Driver 35,32 actuating arm body 31 of arm body driver send rotation, and CCD camera 33, which is taken pictures, on arm body 31 identifies bottom cover in charging tray 11
Behind position, mechanical arm controller is sent a signal to, mechanical arm controller passes through the rotation of 32 control arm body 31 of arm body driver,
And extracting jaw driver 35 is sent a signal to, is driven in the lifting of extracting jaw 34 and clamping charging tray 11 by extracting jaw driver 35
Bottom cover is transferred on conveyer belt 20.The CCD camera 33 is mounted on the top end part of arm body 31 by bracket 311, on bracket 311
It is additionally provided with mounting plate 312, mounting plate 312 is equipped with photograph hole 3121, and the bottom of mounting plate 312 is additionally provided with the light filling for light filling
Lamp 36, for CCD camera 33 when being taken pictures, light compensating lamp 36 is to take pictures to carry out light filling.
As shown in Figure 5 and Figure 6, it is divided into feeding area 101 and feeding area 102 on the workbench 10, is equipped in feeding area 102
Supporting plate driving assembly 13 for carrying the activity pallet 12 of charging tray and for driving activity pallet 12 to move along a straight line, is being taken
During material, supporting plate driving assembly 13 can drive supporting plate 12 mobile so that the bottom cover 100 in charging tray 11 all in extracting jaw 34 just
In the position of clamping, reduce the rotational angle of arm body 31, and also guarantee continuous feed, improves working efficiency.In feeding area 101
It also is provided with fixed pallet, also all lays charging tray in each fixed pallet, convenient for the replacement of charging tray in subsequent feeding area 102.It is described
Supporting plate driving assembly includes that the bottom surface of supporting plate 12 is arranged in be equipped with bracket and the bracket driver for driving bracket mobile, is led to
The driving bracket sliding of bracket driver is crossed, activity pallet 12 is driven to slide.
The sweeping robot bottom cover feeding device further includes the turntable 60 in upper feed collet side, if turntable 60 is equipped with
The placement station 61 of the dry bottom cover for receiving feed collet clamping, the bottom cover 100 after the overturning of upper feed collet 50 clamping move
It send to a placement station 61 on turntable 60, carries out subsequent assembling.
It is worth noting that, the feed collet 40 out controls out the clamping of feed collet by going out feed collet driving assembly and overturning is moved
Make, the upper feed collet 50 is controlled the translation and clamping movement of upper feed collet by upper feed collet driving assembly.
The process of sweeping robot bottom cover feeding are as follows: contain multiple bottom covers with charging tray 11, charging tray 11 is placed in workbench
In 10 feeding area 102,32 actuating arm body 31 of arm body driver is mobile, and the CCD camera 33 on arm body 31, which is taken pictures, identifies charging tray
In 11 behind bottom cover position, mechanical arm controller is sent a signal to, mechanical arm controller passes through 32 control arm body of arm body driver
31 rotation, and extracting jaw driver 35 is sent a signal to, the lifting of extracting jaw 34 and folder are driven by extracting jaw driver 35
Bottom cover in feeding disk 11 is transferred on conveyer belt 20；In the transmit process of conveyer belt 20, the flanging 21 on conveyer belt 20 is pressed in
The side of bottom cover 100 prevents bottom cover 100 from beating in transmit process；Bottom cover 100 is sent to transmission and taken out of by conveyer belt 20
When expecting end, feed collet 40 clamps bottom cover 100 and overturns 180 degree out, and the bottom cover 100 that upper feed collet 50 clamps after overturning again is transferred again
Material, carries out feeding for bottom cover automatically in this way, and guarantees that transmission angle is consistent, is convenient for subsequent assembling.
In conclusion technical solution of the present invention can sufficiently effective realization foregoing invention purpose, and knot of the invention
Structure and the principle of work and power have all adequately been verified in embodiment, can reach expected effect and purpose, without departing substantially from this
Under the premise of the principle and essence of invention, various changes or modifications can be made to the embodiment of invention.Therefore, the present invention includes
All are previously mentioned all replacement contents in range in patent claim, any to be made in scope of the present invention patent
Equivalence changes, all category this case application the scope of the patents within.
Claims (5)
1. a kind of sweeping robot bottom cover feeding device, which is characterized in that the biography including workbench and in workbench side
Band is sent, the charging tray for containing at least one bottom cover is laid on workbench, is equipped with bottom cover in charging tray for identification above charging tray
Position simultaneously clamps the feeding mechanical arm that bottom cover in charging tray is moved on conveyer belt, and the discharge end of conveyer belt is equipped with for clamping transmission
It takes bottom cover and overturns the feed collet out of 180 degree, the side of conveyer belt is additionally provided with the bottom cover for turning over turnback for clamping out feed collet
The upper feed collet of feeding is transferred, the feeding mechanical arm includes arm body, for the arm body driver and and arm of the rotation of actuating arm body
The mechanical arm controller of body driver connection, the top end part of arm body, which is equipped with, identifies in charging tray bottom cover position and by image for taking pictures
It is sent to the CCD camera of mechanical arm controller, the lower section of arm body is equipped with the extracting jaw for clamping bottom cover, and the top of arm body is equipped with
The extracting jaw driver for receiving the mechanical driving of arm controller signal extracting jaw lifting and clamping is connect with extracting jaw.
2. sweeping robot bottom cover feeding device according to claim 1, it is characterised in that: the CCD camera passes through branch
Frame is mounted on the top end part of arm body, and mounting plate is additionally provided on bracket, and mounting plate is equipped with photograph hole, and the bottom of mounting plate is additionally provided with
Light compensating lamp for light filling.
3. sweeping robot bottom cover feeding device according to claim 1, it is characterised in that: be divided on the workbench
Expect area and feeding area, the activity pallet for carrying charging tray and the support for driving activity pallet to move along a straight line to be equipped in feeding area
Plate driving assembly.
4. sweeping robot bottom cover feeding device according to claim 1, it is characterised in that: the sweeping robot bottom cover
Feeding device further includes the turntable in upper feed collet side, and turntable is equipped with the bottom cover that several are used to receive feed collet clamping
Place station.
5. sweeping robot bottom cover feeding device according to claim 1, it is characterised in that: the conveyer belt, which is equipped with, to be used
In the flanging being pressed on bottom cover side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910650618.5A CN110395574A (en) | 2019-07-18 | 2019-07-18 | A kind of sweeping robot bottom cover feeding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910650618.5A CN110395574A (en) | 2019-07-18 | 2019-07-18 | A kind of sweeping robot bottom cover feeding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110395574A true CN110395574A (en) | 2019-11-01 |
Family
ID=68324677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910650618.5A Pending CN110395574A (en) | 2019-07-18 | 2019-07-18 | A kind of sweeping robot bottom cover feeding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110395574A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891745A (en) * | 2020-08-10 | 2020-11-06 | 珠海格力智能装备有限公司 | Processing method and device for loading and unloading and loading and unloading system |
-
2019
- 2019-07-18 CN CN201910650618.5A patent/CN110395574A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111891745A (en) * | 2020-08-10 | 2020-11-06 | 珠海格力智能装备有限公司 | Processing method and device for loading and unloading and loading and unloading system |
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