CN113415610B

CN113415610B - A equipment that is used for transfer upset to lean on in production line of panel TV

Info

Publication number: CN113415610B
Application number: CN202110735326.9A
Authority: CN
Inventors: 梁显规; 孙红根
Original assignee: Guangzhou Hd Electronics Technology Co ltd
Current assignee: Guangzhou Hd Electronics Technology Co ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-09-02
Anticipated expiration: 2041-06-30
Also published as: CN113415610A

Abstract

The invention relates to the field of overturning or overturning objects, in particular to equipment for transferring, overturning and leaning a flat-panel television in a production line. The bearing plate comprises a first bottom plate, a first vertical plate and a second vertical plate, wherein the first bottom plate is rectangular, the first vertical plate vertically extends upwards from one long side of the first bottom plate, and the second vertical plate vertically extends upwards from two short sides of the first bottom plate; the television box also comprises an exchange plate, the exchange plate and the bearing plate have the same structure, the bearing plate and the exchange plate are spliced to form a box body, and the box body is provided with a rectangular cavity capable of accommodating a television; industrial robot, first manipulator, second manipulator. According to the television turnover box, the box body and the carrying device are used for achieving non-contact carrying and turnover of a television, meanwhile, the non-contact transposition of the television is achieved through the transposition device, the non-contact leaning of the television is achieved through the leaning support, and the possibility that the television is damaged due to movement is effectively reduced.

Description

A equipment that is used for transfer upset to lean on in production line of panel TV

Technical Field

The invention relates to the field of overturning or overturning objects, in particular to equipment for transferring, overturning and leaning a flat-panel television in a production line.

Background

In the assembly step of the television, the bottom surface of a panel module of the television is required to be upward and is transferred to different assembly stations, and a circuit board and a locking screw are installed by a worker or an industrial robot; in the television inspection step, the front face of a panel module of the television needs to be inclined upwards and lean against a tool, and then a screen is inspected after a worker inserts a wire; the television set needs to be horizontally turned 180 degrees when moving from the assembly line to the inspection line in order for the worker to lean it sideways.

Therefore, the tv sets are usually required to be turned, turned and leaned in the production line, and since the individuals have different physical qualities and experiences, the tv sets are easy to be damaged when being carried by the cooperation of a plurality of ordinary workers.

At present, some devices for turning over a television are disclosed in the prior art, but most of such devices use a manipulator to directly clamp two sides of the television and then horizontally turn over the television, for example, a television turning machine disclosed in patent No. 201710367238.1 and a television turning machine disclosed in patent No. 202021117251.5 are more stable and are not easy to cause the television to slide down or collide with compared with manual television carrying, but scratches easily appear at the contact part of the manipulator and the television, and consumers regard the scratches as flaws.

Therefore, in order to transport the television set without damage as much as possible, it is necessary to avoid the number of times of contact between the hand or the robot and the television set body as much as possible.

Disclosure of Invention

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

an apparatus for transferring, overturning and leaning a flat panel television in a production line comprises,

the bearing plate comprises a first bottom plate, a first vertical plate and a second vertical plate, wherein the first bottom plate is rectangular, the first vertical plate vertically extends upwards from one long side of the first bottom plate, and the second vertical plate vertically extends upwards from two short sides of the first bottom plate;

also comprises the following steps of (1) preparing,

the structure of the exchange plate is the same as that of the bearing plate, the bearing plate and the exchange plate are spliced to form a box body, and the box body is provided with a rectangular cavity capable of accommodating a television;

an industrial robot;

the first manipulator is arranged at the output end of the industrial robot and is used for grabbing the bearing plate or the exchange plate;

and the second mechanical arm is arranged at the output end of the industrial robot and is used for grabbing the box body.

Preferably, the apparatus further comprises indexing means for translating the carrier plate, the indexing means comprising,

the bearing plate is horizontally arranged on the transmission surface of the transmission machine;

the two limiting modules are arranged on two sides of the conveyor respectively and abut against the first vertical plate and one side, far away from the first vertical plate, of the supporting plate;

the second lifting device is arranged below the transmission surface of the conveyor, and the output end of the second lifting device is vertically arranged upwards;

and the third manipulator is arranged at the output end of the second lifting device and is used for grabbing the bearing plate.

Preferably, the apparatus further comprises a reclining bracket for reclining against the support plate, the reclining bracket comprising,

a fixed mount;

one end of the rocker arm is connected with the fixed frame through a rotating pair;

the driver is arranged on the fixed frame, the output end of the driver is connected with the rocker arm, and the driver is used for driving the rocker arm to rotate;

and the fourth mechanical arm is arranged on the rocker arm and is used for grabbing the bearing plate or the exchange plate.

the second lifting device is arranged below the transmission surface of the transmitter, and the output end of the second lifting device is vertically arranged upwards;

Preferably, the inclined support further comprises a third lifting device, the output end of the third lifting device is vertically arranged upwards, the fourth manipulator is located right below the transmission surface of the transmitter, and the fixing frame is fixedly installed at the output end of the third lifting device.

Preferably, the fixed frame comprises a second bottom plate, two upright columns and two support columns, the second bottom plate is horizontally arranged, the two upright columns and the two support columns are symmetrically arranged on two sides of the second bottom plate, one end of the rocker arm is hinged with the upright columns, and when the rocker arm is in a horizontal posture, the other end of the rocker arm is abutted to the support columns;

the driver comprises a motor, a first connecting rod and a second connecting rod, the motor is fixedly connected with the second bottom plate, one end of the first connecting rod is fixedly connected with an output shaft of the motor, the other end of the first connecting rod is connected with one end of the second connecting rod through a revolute pair, and the other end of the second connecting rod is connected with the rocker arm through a revolute pair.

Preferably, the handling device comprises, in combination,

a frame;

the translation device is horizontally movably arranged on the rack;

the first lifting device is arranged at the output end of the translation device, and the output end of the first lifting device is vertically arranged downwards;

the bracket is fixedly arranged at the output end of the first lifting device;

the rotating frame is connected with the bracket through a revolute pair, and the rotation axis of the rotating frame is horizontally arranged;

the rotary driver is arranged on the bracket and is used for driving the rotating frame to rotate;

the sliding rail is arranged on the rotating frame;

the two sliding rods are arranged side by side and can be arranged on the sliding rails in a sliding manner, and the first mechanical arm and the second mechanical arm are arranged on the sliding rods;

and the linear driver is arranged on the rotating frame and is used for driving the two sliding rods to slide along the sliding rail.

Preferably, the four corners of the supporting plate are provided with hanging lugs, the four first manipulators are respectively arranged on the two sliding rods, the hanging lugs correspond to the first manipulators one to one, and the first manipulators are provided with clamping ends matched with the hanging lugs.

Preferably, the first mechanical arm has at least four and is respectively arranged on the two slide bars, and the second mechanical arm is clamped on the upper and lower surfaces of the two long edges of the box body.

Preferably, the box body further comprises a slide bar, and the cross section of the slide bar is in an I-shaped shape; be provided with on the second riser with draw runner sliding fit's spout, the cross section of spout is T word shape, the length of draw runner is less than the length of spout, the both ends of spout are seted up vertical running through the bearing board and are extended to the inside counter bore of spout, install the pin in the inside slidable of counter bore, the one end that the pin was kept away from to the counter bore is provided with the sealing member.

According to the television turnover box, the box body and the carrying device are used for achieving non-contact carrying and turnover of a television, meanwhile, the non-contact transposition of the television is achieved through the transposition device, the non-contact leaning of the television is achieved through the leaning support, and the possibility that the television is damaged due to movement is effectively reduced.

Drawings

FIG. 1 is a perspective view of an implementation of the present invention;

fig. 2 to 5 are perspective views of different working postures of a carrying device for realizing the invention in the process of turning over a box body;

fig. 6 to 8 are perspective views of a carrying device embodying the present invention in different working postures during turning of a cassette to a reclining support;

FIG. 9 is a perspective view of an indexing device embodying the present invention in use with a reclining rest;

FIG. 10 is a side view of an indexing device embodying the present invention in use with a reclining mount;

FIG. 11 is a top view of a cassette embodying the present invention;

FIG. 12 is a perspective sectional view at section A-A of FIG. 11;

fig. 13 is a partial enlarged view of fig. 12 at B;

FIG. 14 is an exploded perspective view of a cassette embodying the present invention;

FIG. 15 is an enlarged view of a portion of FIG. 14 at C;

the reference numbers in the figures are:

1-box body; 1 a-a support plate; 1a 1-first baseplate; 1a2 — first riser; 1a 3-second riser; 1a 4-hangers; 1a 5-chute; 1a 6-counterbore; 1 b-an interchangeable plate; 1 c-a slider; 1 d-pin; 1 e-a seal;

2-a handling device; 2 a-an industrial robot; 2a 1-gantry; 2a 2-translation means; 2a 3-first lifting device; 2a 4-scaffold; 2a 5-turret; 2a 6-rotary drive; 2a 7-slide; 2a 8-sliding bar; 2a 9-linear drive; 2 b-a first manipulator; 2 c-a second manipulator;

3-a transposition device; 3 a-a conveyor; 3 b-a limiting module; 3 c-a second lifting device; 3 d-a third manipulator; 3 e-a first lever cylinder;

4-leaning against the support; 4 a-a fixing frame; 4a 1-second baseplate; 4a 2-upright; 4a 3-support column; 4 b-a rocker arm; 4 c-a driver; 4c 1-motor; 4c2 — first link; 4c 3-second link; 4 d-a fourth manipulator; 4 e-a third lifting device; 4 f-second lever cylinder.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

In order to solve the technical problem of how to flip the television without contact, as shown in fig. 1, the following preferred technical solutions are provided:

an apparatus for transferring, turning and leaning a flat panel television in a production line comprises,

a support plate 1a, the support plate 1a including a first bottom plate 1a1, a first riser 1a2, and a second riser 1a3, the first bottom plate 1a1 being rectangular in shape, the first riser 1a2 extending vertically upward from one long side of the first bottom plate 1a1, the second riser 1a3 extending vertically upward from both short sides of the first bottom plate 1a 1;

also comprises a step of adding a new type of additive,

the structure of the exchange plate 1b is the same as that of the bearing plate 1a, the bearing plate 1a and the exchange plate 1b are spliced to form a box body 1, and the box body 1 is provided with a rectangular cavity capable of accommodating a television;

an industrial robot 2 a;

a first manipulator 2b arranged at an output end of the industrial robot 2a, the first manipulator 2b being configured to grasp the support plate 1a or the interchangeable plate 1 b;

and a second manipulator 2c provided at an output end of the industrial robot 2a, the second manipulator 2c being for grasping the cartridge 1.

Specifically, the inner walls of the supporting plate 1a and the interchanging plate 1b are pasted with buffer materials which are used for abutting against the television, so that the television is not easy to damage in the moving process.

Preferably, there is only one industrial robot 2a, and the first manipulator 2b and the second manipulator 2c are mounted at the output of one industrial robot 2 a. Alternatively, the industrial robot 2a has two, and the first manipulator 2b and the second manipulator 2c are respectively mounted at the output ends of the two industrial robots 2 a. The industrial robot 2a, the first robot 2b and the second robot 2c constitute a handling device 2 for indexing, turning and leaning against a television.

Fig. 2-5 show the whole process of turning over the tv set by the carrying device 2 through the supporting plate 1a and the exchanging plate 1b, and the specific steps are as follows:

s1a, placing the television on the supporting plate 1a with the bottom surface upward, wherein the bottom surface is generally upward in the early-stage assembly process of the television, so that workers can conveniently install a circuit board and a rear cover;

s2b, the industrial robot 2a grabs the exchange plate 1b through the first manipulator 2b and moves the exchange plate, and then the exchange plate 1b is spliced with the bearing plate 1a, at the moment, the bearing plate 1a and the exchange plate 1b form a three-dimensional rectangular box body 1, and the television is located in a rectangular cavity inside the box body 1;

s3a, the industrial robot 2a drives the second manipulator 2c to grab the box body 1 and move the box body 1, so that the box body 1 returns to the original position after being turned over by 180 degrees, and at the moment, the television turns over by 180 degrees along with the box body 1;

s4a, the second manipulator 2c releases the grabbing of the box body 1, then the industrial robot 2a grabs the bearing plate 1a through the first manipulator 2b and moves the bearing plate 1a, the bearing plate 1a is further separated from the interchanging plate 1b, and the television faces upwards and is placed on the interchanging plate 1b, so that the detection of workers is facilitated.

In the process, the first mechanical arm 2b and the second mechanical arm 2c are not in contact with the television in the whole process, and the television can be turned over stably and safely only by arranging the buffer material on the inner wall of the box body 1, so that the possibility that the television is damaged by hands or mechanical arms is avoided.

In order to solve the technical problem of how to index the television without contact, as shown in fig. 1 to 5, the following preferred technical solutions are provided:

the apparatus further comprises indexing means 3 for translating the support plate 1a, the indexing means 3 comprising,

the bearing plate 1a is horizontally arranged on the transmission surface of the conveyor 3 a;

the two limiting modules 3b are arranged on two sides of the conveyor 3a respectively, and the limiting modules 3b are abutted against the first vertical plate 1a2 and one side of the bearing plate 1a far away from the first vertical plate 1a 2;

the second lifting device 3c is arranged below the transmission surface of the transmitter 3a, and the output end of the second lifting device 3c is vertically upwards arranged;

and a third manipulator 3d provided at an output end of the second lifting device 3c, the third manipulator 3d being configured to grab the support plate 1 a.

Specifically, the conveyor 3a is a roller conveyor, and the conveyor 3a may be a belt conveyor having two parallel belts, as long as the conveying surface does not interfere with the second lifting device 3c to drive the supporting plate 1a to lift.

Specifically, the limiting module 3b adopts a baffle plate, and the limiting module 3b can also be a plurality of rollers arranged side by side as long as the limiting module can play a role in limiting the bearing plate 1a to move along a straight line.

Specifically, the second lifting device 3c employs a cylinder slide table.

In order to facilitate the handling device 2 to assemble the exchange plate 1b on the supporting plate 1a to form the box body 1, and simultaneously in order to facilitate the handling device 2 to grab the box body 1, therefore, the supporting plate 1a needs to be lifted and the two sides of the supporting plate 1a are not contacted with the limiting modules 3b, and the method comprises the following specific steps:

s1b, placing the television on the bearing plate 1a with the bottom surface facing upwards, and conveying the bearing plate 1a by the conveyor 3a to pass through each assembly station;

s2b, when the bearing plate 1a is transferred to the working area of the third manipulator 3d, the third manipulator 3d grabs the bearing plate 1a, specifically, the photoelectric switch can be used to cooperate with the first lever cylinder 3e, so that the bearing plate 1a precisely stays in the working area of the third manipulator 3d, the first lever cylinder 3e is arranged at the output end of the second lifting device 3c, and the first lever cylinder 3e resets while the third manipulator 3d grabs the bearing plate 1a, that is, the first lever cylinder 3e releases the abutting of the bearing plate 1 a;

s3b, the second lifting device 3c drives the third manipulator 3d to lift, and the third manipulator 3d drives the bearing plate 1a to lift to stay right above the transmission surface of the transmitter 3 a;

s4b, the industrial robot 2a grabs the exchange plate 1b through the first manipulator 2b and moves the exchange plate, and then the exchange plate 1b is spliced with the bearing plate 1a, at the moment, the bearing plate 1a and the exchange plate 1b form a three-dimensional rectangular box body 1, and the television is located in a rectangular cavity inside the box body 1;

s5b, the third manipulator 3d releases the grabbing of the bearing plate 1a, the industrial robot 2a drives the second manipulator 2c to grab the box body 1 and move the box body 1, the box body 1 is turned over by 180 degrees after rising and then descends to the working interval of the third manipulator 3d, and at the moment, the television is turned over by 180 degrees along with the box body 1;

s6b, the third manipulator 3d grabs the exchange plate 1b, then the industrial robot 2a grabs the bearing plate 1a through the first manipulator 2b and moves the bearing plate, further the bearing plate 1a is separated from the exchange plate 1b, and at the moment, the television faces upwards and is placed on the exchange plate 1 b;

s7b, the second lifting device 3c drives the third manipulator 3d to descend, the third manipulator 3d drives the interchange board 1b to descend to abut against the transmission surface of the transmitter 3a, the third manipulator 3d releases the grabbing of the interchange board 1b, and the transmitter 3a transmits the interchange board 1b to drive the television to continue to advance to the inspection station.

In order to solve the technical problem of how to lean the television without contact, as shown in fig. 6-8, the following preferred technical solutions are provided:

the apparatus further comprises a reclining bracket 4 for reclining against the support plate 1a, the reclining bracket 4 comprising,

a fixed frame 4 a;

one end of the rocker arm 4b is connected with the fixed frame 4a through a revolute pair;

the driver 4c is arranged on the fixed frame 4a, the output end of the driver 4c is connected with the rocker arm 4b, and the driver 4c is used for driving the rocker arm 4b to rotate;

and a fourth robot 4d provided on the swing arm 4b, the fourth robot 4d being configured to grasp the support plate 1a or the exchange plate 1 b.

Fig. 6-8 show the whole process of the carrying device 2 and the reclining bracket 4 for reclining the tv through the supporting plate 1a and the exchanging plate 1b, which comprises the following specific steps:

s1c, placing the television on the supporting plate 1a with the bottom surface facing upwards;

s2c, the industrial robot 2a grabs the exchange plate 1b through the first manipulator 2b and moves the exchange plate, so that the exchange plate 1b is spliced with the bearing plate 1a, the bearing plate 1a and the exchange plate 1b form a three-dimensional rectangular box body 1, and the television is positioned in a rectangular cavity in the box body 1;

s3c, the industrial robot 2a drives the second manipulator 2c to grab the box body 1 and move the box body 1, so that the box body 1 is turned over by 180 degrees and then moves to the working area of the fourth manipulator 4d, the fourth manipulator 4d grabs the exchange plate 1b and cannot move, and at the moment, the television is turned over by 180 degrees along with the box body 1;

s4c, the second manipulator 2c releases the grabbing of the box body 1, the industrial robot 2a grabs the bearing plate 1a through the first manipulator 2b and moves the bearing plate 1a, the bearing plate 1a is further separated from the exchange plate 1b, and the television is arranged on the exchange plate 1b with the right side facing upwards;

s5c, the driver 4c drives the rocker arm 4b to rotate, so that the rocker arm 4b drives the exchange plate 1b to overturn and keep an inclined posture through the fourth manipulator 4d, the television leans against the exchange plate 1b obliquely at the moment, the wire plugging inspection of workers is facilitated, and the bearing plate 1a and the exchange plate 1b are provided with grooves for exposing the television wire plugging port.

the bearing plate 1a is horizontally placed on the conveying surface of the conveyor 3 a;

the two limiting modules 3b are respectively arranged at two sides of the conveyor 3a, and the limiting modules 3b are abutted against the first vertical plate 1a2 and one side, far away from the first vertical plate 1a2, of the bearing plate 1 a;

and a third manipulator 3d arranged at the output end of the second lifting device 3c, wherein the third manipulator 3d is used for grabbing the bearing plate 1 a.

Specifically, when the indexing device 3 and the leaning bracket 4 coexist, the leaning bracket 4 can be arranged beside the indexing device 3, and the leaning bracket 4 can also be arranged inside the indexing device 3, so that the workers can conveniently load and unload materials.

In order to solve the technical problem of how to enable a worker to smoothly place or take out a television on or from the support plate 1a, as shown in fig. 9 and 10, the following preferred technical solutions are provided:

the inclined support 4 further comprises a third lifting device 4e, the output end of the third lifting device 4e is vertically arranged upwards, the fourth manipulator 4d is located right below the transmission surface of the transmitter 3a, and the fixing frame 4a is fixedly installed at the output end of the third lifting device 4 e.

Specifically, the third lifting device 4e adopts a cylinder sliding table, and the working steps of the transposition device 3 and the inclined leaning support 4 are as follows:

s1d, the supporting plate 1a moves to a working area of the fourth manipulator 4d through the conveyor 3a, the fourth manipulator 4d grabs the supporting plate 1a, specifically, the photoelectric switch can be used to cooperate with the second lever cylinder 4f, so that the supporting plate 1a precisely stays in the working area of the fourth manipulator 4d, the second lever cylinder 4f is disposed on the rocker arm 4b, and the second lever cylinder 4f resets while the fourth manipulator 4d grabs the supporting plate 1a, that is, the second lever cylinder 4f releases the abutting of the supporting plate 1 a;

s2d, the third lifting device 4e drives the fixing frame 4a to rise, so that the fourth manipulator 4d drives the bearing plate 1a to be separated from the limiting module 3 b;

s3d, the driver 4c drives the rocker arm 4b to rotate, so that the rocker arm 4b drives the supporting plate 1a to overturn and keep an inclined posture through the fourth manipulator 4 d;

s4d, a worker places the television on the bearing plate 1a or takes the television out of the bearing plate 1a, and the inclined bearing plate 1a is convenient for the worker to place the television gently;

s5d, steps S3d, S2d and S1d are performed in reverse so that the carrier plate 1a is returned to the conveying surface of the conveyor 3 a.

Further, as shown in fig. 6 to 10, a preferred solution of the reclining bracket 4 is provided:

the fixed frame 4a comprises a second bottom plate 4a1, a stand column 4a2 and a support column 4a3, the second bottom plate 4a1 is horizontally arranged, the stand column 4a2 and the support column 4a3 are provided with two and symmetrically arranged on two sides of the second bottom plate 4a1, one end of the rocker arm 4b is hinged with the stand column 4a2, and when the rocker arm 4b is in a horizontal posture, the other end of the rocker arm 4b abuts against the support column 4a 3;

the driver 4c comprises a motor 4c1, a first link 4c2 and a second link 4c3, the motor 4c1 is fixedly connected with the second bottom plate 4a1, one end of the first link 4c2 is fixedly connected with an output shaft of the motor 4c1, the other end of the first link 4c2 is connected with one end of the second link 4c3 through a revolute pair, and the other end of the second link 4c3 is connected with the rocker arm 4b through a revolute pair.

Specifically, the top of the supporting column 4a3 is provided with a buffer rubber block or an oil pressure buffer, the motor 4c1 drives the first connecting rod 4c2 to rotate, the first connecting rod 4c2 drives one end of the second connecting rod 4c3 to do circular motion, and the other end of the second connecting rod 4c3 drives the rocker arm 4b to rotate around the hinged position of the rocker arm 4b and the upright post 4a2, so that the rocker arm 4b can be switched to a horizontal posture and an inclined posture.

In order to solve the technical problems of how to enable the industrial robot 2a to drive the first manipulator 2b to complete the steps of grabbing and translating, and how to enable the industrial robot 2a to drive the second manipulator 2c to complete the grabbing and turning, as shown in fig. 1-5, the following preferred technical solutions are provided:

the handling device 2 is provided with,

the rack 2a 1;

a translation device 2a2 mounted horizontally movable on the frame 2a 1;

the first lifting device 2a3 is installed at the output end of the translation device 2a2, and the output end of the first lifting device 2a3 is vertically arranged downwards;

a bracket 2a4, which is fixedly arranged at the output end of the first lifting device 2a 3;

a rotating frame 2a5 connected with the bracket 2a4 through a revolute pair, wherein the rotating axis of the rotating frame 2a5 is horizontally arranged;

a rotary driver 2a6, which is arranged on the bracket 2a4, the rotary driver 2a6 is used for driving the rotating frame 2a5 to rotate;

a slide rail 2a7 provided on the turret 2a 5;

a slide bar 2a8 having two slide bars 2a8 arranged side by side and each slidably arranged on the slide bar 2a7, a first manipulator 2b and a second manipulator 2c each arranged on the slide bar 2a 8;

and the linear driver 2a9 is arranged on the rotating frame 2a5, and the linear driver 2a9 is used for driving the two sliding rods 2a8 to slide along the sliding rails 2a 7.

Specifically, the rack 2a1 is a portal frame with a horizontal track, the translation device 2a2 is a cross beam with a rail car, the first lifting device 2a3 is an electric push rod with a guide mechanism, the bracket 2a4 is a bracket for mounting a shaft, a bearing and a rotary driver 2a6, the rotating bracket 2a5 is a rectangular frame, the rotating bracket 2a5 is rotatably connected with the bracket 2a4 through the shaft and the bearing, the rotary driver 2a6 is a motor, the rotary driver 2a6 is in transmission connection with the rotating bracket 2a5 through a flange, the sliding rails 2a7 are sliding columns arranged side by side, the sliding bar 2a8 is a straight bar with a linear bearing, and the linear driver 2a9 is a synchronous belt sliding table.

The frame 2a1, the translation device 2a2, the first lifting device 2a3, the support 2a4, the rotating frame 2a5 and the rotary actuator 2a6 form a three-axis industrial robot having two translation axes and one rotation axis, which may have more axes according to actual production requirements, and the linear actuator 2a9 is used to adjust the distance between the two slide bars 2a8, and further adjust the positions of the first manipulator 2b and the second manipulator 2c, so that the first manipulator 2b and the second manipulator 2c may work alternately.

In order to solve the technical problem of how the first manipulator 2b grasps the support plate 1a, as shown in fig. 2, 11 and 15, the following preferred technical solutions are provided:

the four corners of the supporting plate 1a are provided with hanging lugs 1a4, the first manipulator 2b is provided with four hanging

lugs

1a and 4 and is respectively arranged on the two slide bars 2a8, the hanging lugs 1a4 correspond to the first manipulator 2b in a one-to-one mode, and the first manipulator 2b is provided with a clamping end matched with the hanging lugs 1a 4.

Specifically, the suspension loop 1a4 is in a cylindrical shape with an anti-drop baffle, the first manipulator 2b is composed of a finger cylinder and a clamping jaw capable of clamping the cylinder, and the first manipulator 2b, the third manipulator 3d and the fourth manipulator 4d are identical in structure.

In order to solve the technical problem of how the second manipulator 2c grasps the box 1, as shown in fig. 3 and 4, the following preferred technical solutions are provided:

the first robot 2b has at least four and is disposed on the two slide bars 2a8, respectively, and the second robot 2c is clamped on both upper and lower surfaces of both long sides of the cassette body 1.

Specifically, the case 1 is a rectangular case, and its upper and lower surfaces are two planes parallel to each other, so that the second manipulator 2c is constituted by using a thin finger cylinder and a gripper having two gripping surfaces parallel to each other.

In order to solve the technical problem of how to splice a supporting plate 1a and an interchanging plate 1b with the same structure to form a box body 1, as shown in fig. 11-15, the following preferred technical solutions are provided:

the box body 1 also comprises a slide bar 1c, and the cross section of the slide bar 1c is in an I shape; the second vertical plate 1a3 is provided with a sliding groove 1a5 in sliding fit with the sliding strip 1c, the cross section of the sliding groove 1a5 is in a T shape, the length of the sliding strip 1c is smaller than that of the sliding groove 1a5, two ends of the sliding groove 1a5 are provided with counter bores 1a6 vertically penetrating through the bearing plate 1a and extending to the inside of the sliding groove 1a5, a pin 1d is slidably mounted inside the counter bore 1a6, and one end, away from the pin 1d, of the counter bore 1a6 is provided with a sealing element 1 e.

Specifically, the pin 1d has a thinner shaft portion and a thicker head portion, the seal 1e is a jackscrew, the seal 1e is connected with the counter bore 1a6 through threads, and the seal 1e is used for preventing the pin 1d from falling out of the counter bore 1a 6. The bearing plate 1a and the exchange plate 1b are combined and separated through the following steps:

s1e, in an initial state, a bearing plate 1a is located below an exchange plate 1b, a slide bar 1c is hung on the exchange plate 1b, and a pin 1d installed on the bearing plate 1a retracts into a counter bore 1a6 under the action of gravity;

s2e, the carrying device 2 moves the exchange plate 1b and the slide bar 1c through the first manipulator 2b, so that the bearing plate 1a and the exchange plate 1b are in sliding clamping connection through the slide bar 1c to form a box body 1;

s3e, the carrying device 2 grabs the box body 1 by the second manipulator 2c and turns the box body 180 degrees, at this time, the interchange plate 1b is positioned below the bearing plate 1a, the pin 1d installed on the interchange plate 1b retracts into the counterbore 1a6 under the action of gravity, and the pin 1d installed on the bearing plate 1a slides into the counterbore 1a6 under the action of gravity and blocks two sides of the sealing element 1 e;

s4e, the conveying device 2 moves the support plate 1a by the first robot 2b to move it away from the interchangeable plate 1b, and the slide bar 1c moves together with the support plate 1a by the pin 1d until the support plate 1a and the slide bar 1c are separated from the interchangeable plate 1 b.

The slide 1c is used to prevent the slip between the support plate 1a and the exchanging plate 1b when the carrying device 2 turns over the cassette 1.

This application has realized contactless transport, the upset of TV through box body 1 and handling device 2, has realized the contactless transposition of TV through transposition device 3 simultaneously, has still realized the contactless lean on of TV through leaning on support 4 to one side, has reduced the TV effectively because of removing the damaged possibility.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An apparatus for transferring, overturning and leaning a flat panel television in a production line is characterized by comprising,

the television set comprises a bearing plate (1a), a television bottom face faces upwards and is placed on the bearing plate (1a), the bearing plate (1a) comprises a first bottom plate (1a1), a first vertical plate (1a2) and a second vertical plate (1a3), the first bottom plate (1a1) is rectangular, the first vertical plate (1a2) vertically extends upwards from one long side of the first bottom plate (1a1), and the second vertical plate (1a3) vertically extends upwards from two short sides of the first bottom plate (1a 1);

the structure of the exchange plate (1b) is the same as that of the bearing plate (1 a);

the conveying machine (3a) is used for horizontally placing the bearing plate (1a) on the conveying surface of the conveying machine (3a), and the conveying machine (3a) is used for conveying the bearing plate (1a) to pass through each assembling station;

the first mechanical arm (2b) is used for grabbing the bearing plate (1a) or the exchange plate (1b), and can perform the action of splicing the bearing plate (1a) and the exchange plate (1b) into a three-dimensional rectangular box body (1) and the action of grabbing the bearing plate (1a) and moving the bearing plate to separate the bearing plate (1a) from the exchange plate (1 b);

the second manipulator (2c) is used for grabbing the box body (1) and can perform the action of turning the box body (1) 180 degrees and then returning to the original position;

the output end of the industrial robot (2a) is connected with the first manipulator (2b) and the second manipulator (2c), and the industrial robot (2a) is used for driving the first manipulator (2b) and the second manipulator (2c) to execute actions;

wherein,

the box body (1) also comprises a slide bar (1c), and the cross section of the slide bar (1c) is in an I shape; be provided with on second riser (1a3) with draw runner (1c) sliding fit's spout (1a5), the cross section of spout (1a5) is the T word shape, the length of draw runner (1c) is less than the length of spout (1a5), vertical run-through bearing board (1a) and extending to inside counter bore (1a6) of spout (1a5) have been seted up at the both ends of spout (1a5), pin (1d) are installed to counter bore (1a6) inside slidable, the one end that pin (1d) were kept away from in counter bore (1a6) is provided with sealing member (1 e).

2. An apparatus for indexing, overturning and reclining in a production line of flat panel televisions according to claim 1, characterized in that the apparatus further comprises indexing means (3) for translating the support plate (1a), the indexing means (3) comprising,

the two limiting modules (3b) are arranged on two sides of the conveyor (3a), and the limiting modules (3b) are abutted against the first vertical plate (1a2) and one side, far away from the first vertical plate (1a2), of the bearing plate (1 a);

the second lifting device (3c) is arranged below the transmission surface of the transmitter (3a), and the output end of the second lifting device (3c) is vertically upwards arranged;

and the third mechanical arm (3d) is arranged at the output end of the second lifting device (3c), and the third mechanical arm (3d) is used for grabbing the bearing plate (1 a).

3. An apparatus for an indexing, tipping and leaning in a flat panel television production line according to claim 1, characterized in that the apparatus further comprises a tipping support (4) for tipping the support plate (1a), the tipping support (4) comprising,

a fixed frame (4 a);

one end of the rocker arm (4b) is connected with the fixed frame (4a) through a revolute pair;

the driver (4c) is arranged on the fixed frame (4a), the output end of the driver (4c) is connected with the rocker arm (4b), and the driver (4c) is used for driving the rocker arm (4b) to rotate;

a fourth manipulator (4d) arranged on the rocker arm (4b), the fourth manipulator (4d) being used for gripping the carrier plate (1a) or the exchange plate (1 b).

4. An apparatus for indexing, overturning and reclining in a production line of flat panel televisions according to claim 3, characterized in that the apparatus further comprises indexing means (3) for translating the support plate (1a), the indexing means (3) comprising,

the bearing plate (1a) is horizontally arranged on the transmission surface of the conveyor (3 a);

5. An apparatus for an indexing, overturning and reclining in a production line of flat panel televisions according to claim 3, wherein the reclining bracket (4) further comprises a third lifting device (4e), an output end of the third lifting device (4e) is vertically upward disposed, the fourth robot (4d) is located right below a conveying surface of the conveyor (3a), and the fixing frame (4a) is fixedly installed at an output end of the third lifting device (4 e).

6. An apparatus for transfer, flip and lean in a production line of a flat panel television according to any one of claims 3 to 5, wherein the fixed frame (4a) comprises a second bottom plate (4a1), a pillar (4a2) and a supporting pillar (4a3), the second bottom plate (4a1) is horizontally arranged, the pillar (4a2) and the supporting pillar (4a3) are both provided with two and symmetrically arranged at two sides of the second bottom plate (4a1), one end of the rocker arm (4b) is hinged with the pillar (4a2), and the other end of the rocker arm (4b) abuts with the supporting pillar (4a3) when the rocker arm (4b) is in a horizontal posture;

the driver (4c) comprises a motor (4c1), a first connecting rod (4c2) and a second connecting rod (4c3), the motor (4c1) is fixedly connected with the second bottom plate (4a1), one end of the first connecting rod (4c2) is fixedly connected with an output shaft of the motor (4c1), the other end of the first connecting rod (4c2) is connected with one end of the second connecting rod (4c3) through a revolute pair, and the other end of the second connecting rod (4c3) is connected with the rocker arm (4b) through a revolute pair.

7. An apparatus for an in-line flip-flop reclining of flat panel televisions according to any of claims 1 to 5, wherein the handling device (2) comprises,

a chassis (2a 1);

a translation device (2a2) mounted on the frame (2a1) in a horizontally movable manner;

the first lifting device (2a3) is installed at the output end of the translation device (2a2), and the output end of the first lifting device (2a3) is vertically arranged downwards;

the bracket (2a4) is fixedly arranged at the output end of the first lifting device (2a 3);

the rotating frame (2a5) is connected with the bracket (2a4) through a revolute pair, and the rotating axis of the rotating frame (2a5) is horizontally arranged;

the rotary driver (2a6) is arranged on the bracket (2a4), and the rotary driver (2a6) is used for driving the rotating rack (2a5) to rotate;

a slide rail (2a7) provided on the turret (2a 5);

a slide bar (2a8) having two slide bars (2a8) arranged side by side and each slidably arranged on a slide rail (2a7), a first manipulator (2b) and a second manipulator (2c) each arranged on a slide bar (2a 8);

and the linear driver (2a9) is arranged on the rotating frame (2a5), and the linear driver (2a9) is used for driving the two sliding rods (2a8) to slide along the sliding rails (2a 7).

8. The apparatus for transferring, flipping and reclining a flat panel television in a production line according to claim 7, wherein the support plate (1a) is provided with four hooks (1a4) at four corners, the first robot (2b) has four hooks (1a4) and is respectively provided on the two slide bars (2a8), the hooks (1a4) correspond to the first robot (2b), and the first robot (2b) has a clamping end engaged with the hooks (1a 4).

9. An apparatus for an in-line indexing, inverting and reclining of flat panel televisions in accordance with claim 7, wherein the first robot (2b) has at least four and is disposed on two slide bars (2a8), respectively, and the second robot (2c) is held on both upper and lower sides of both long sides of the box body (1).