CN116062463A - Conveying equipment - Google Patents

Conveying equipment Download PDF

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Publication number
CN116062463A
CN116062463A CN202211515523.0A CN202211515523A CN116062463A CN 116062463 A CN116062463 A CN 116062463A CN 202211515523 A CN202211515523 A CN 202211515523A CN 116062463 A CN116062463 A CN 116062463A
Authority
CN
China
Prior art keywords
feeding
detected
blanking
product
discharging
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211515523.0A
Other languages
Chinese (zh)
Inventor
刘志强
孔志营
梁奥迪
张武杰
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.)
Zhongke Huiyuan Intelligent Equipment Guangdong Co ltd
Casi Vision Technology Luoyang Co Ltd
Original Assignee
Zhongke Huiyuan Intelligent Equipment Guangdong Co ltd
Casi Vision Technology Luoyang Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhongke Huiyuan Intelligent Equipment Guangdong Co ltd, Casi Vision Technology Luoyang Co Ltd filed Critical Zhongke Huiyuan Intelligent Equipment Guangdong Co ltd
Priority to CN202211515523.0A priority Critical patent/CN116062463A/en
Publication of CN116062463A publication Critical patent/CN116062463A/en
Pending legal-status Critical Current

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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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
    • 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
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • 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
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • 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
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

Abstract

The application discloses conveying equipment.A first photographing mechanism obtains the placement position of a product to be detected on a charging tray, so that a taking and placing mechanism moves to the placement position through a moving mechanism to absorb the product to be detected; the device comprises a discharging tray, a feeding mechanism, a discharging platform device, a detecting device and a detecting device, wherein the detecting device is used for detecting the detected product in the discharging tray; the second photographing mechanism obtains the angle and the position of the product to be detected or the detected product absorbed by the taking and placing mechanism in the process of transferring the product to be detected or the detected product by the taking and placing mechanism so as to determine the rotating angle of the taking and placing mechanism, and the taking and placing mechanism rotates the product to be detected or the detected product according to the rotating angle, so that the product to be detected or the detected product can be accurately absorbed and placed, and secondary positioning is not needed, thereby reducing the complexity of the control process, improving the conveying efficiency and reducing the cost.

Description

Conveying equipment
Technical Field
The application relates to the technical field of automation equipment, in particular to conveying equipment.
Background
At present, conveying equipment of products is on transporting the product from the charging tray to the loading platform device, transport the product from the loading platform device to the detection tool on, and will detect the in-process that the product was shifted to the charging tray from the unloading platform device, the specific position and the angle of placing of product are hardly confirmed, just so can't absorb or place the product accurately to influence the transportation of product, perhaps need carry out the secondary location to the product, thereby lead to control process complicacy, transport inefficiency, and the cost is greatly increased also.
Disclosure of Invention
In view of this, this application provides a conveying equipment to solve current conveying equipment and can't draw or place the product accurately, thereby influence the transportation of product, perhaps need carry out the secondary to the product and fix a position, thereby lead to control process complicacy, transport inefficiency, and the problem of cost also greatly increased.
The application provides conveying equipment, which comprises a rack, and a carrying device, a bottom surface flying device, a feeding disc, a discharging disc, a feeding carrier device and a discharging carrier device which are arranged on the rack;
the carrying device comprises a moving mechanism, a taking and placing mechanism and a first photographing mechanism, wherein the taking and placing mechanism is arranged on the moving mechanism, and the first photographing mechanism is arranged on the taking and placing mechanism; the bottom surface flying device comprises a second photographing mechanism;
the first photographing mechanism is used for acquiring the placement position of a product to be detected on the feeding disc, so that the taking and placing mechanism moves to the placement position through the moving mechanism, and the product to be detected is sucked; the device comprises a loading platform device, a moving mechanism, a loading mechanism, a detecting mechanism and a positioning mechanism, wherein the loading platform device is used for loading the detected products on the loading platform device;
The second photographing mechanism is used for acquiring the angle of the product to be detected or the detected product sucked by the taking and placing mechanism and the relative position of the product to be detected or the detected product and the taking and placing mechanism in the transverse direction and the longitudinal direction in the process that the taking and placing mechanism transfers the product to be detected or the detected product, so as to determine the rotation angle of the taking and placing mechanism to rotate the product to be detected or the detected product, and enabling the taking and placing mechanism to rotate the product to be detected or the detected product according to the rotation angle;
the loading carrier device is used for carrying and transporting the products to be detected sucked from the loading tray by the taking and placing mechanism;
the blanking carrier device is used for carrying and transporting the detected products sucked by the picking and placing mechanism from the detecting mechanism.
Optionally, the second photographing mechanism is specifically configured to obtain, during a process that the material taking and placing mechanism moves from the loading platform device to the detecting mechanism, an angle of a product to be detected and a relative position of the product to be detected and the material taking and placing mechanism in a transverse direction and a longitudinal direction, where the angle of rotation of the product to be detected by the material taking and placing mechanism is determined, and the material taking and placing mechanism rotates the product to be detected according to the angle of rotation;
And in the process that the picking and placing mechanism moves from the blanking carrying platform device to the blanking disc, acquiring the angle of the detected product sucked by the picking and placing mechanism from the blanking carrying platform device and the relative positions of the detected product and the picking and placing mechanism in the transverse direction and the longitudinal direction, determining the rotation angle of the picking and placing mechanism for rotating the detected product, and enabling the picking and placing mechanism to rotate the detected product according to the rotation angle.
Optionally, the moving mechanism comprises a feeding transverse moving mechanism, a feeding longitudinal moving mechanism, a discharging transverse moving mechanism and a discharging longitudinal moving mechanism; the material taking and discharging mechanism comprises a material feeding manipulator and a material discharging manipulator; the first photographing mechanism comprises a feeding photographing mechanism and a discharging photographing mechanism;
the feeding transverse moving mechanism comprises a feeding transverse movement driving assembly and a feeding linear guide rail assembly; the feeding transverse movement driving assembly and the feeding linear guide rail assembly are arranged transversely; the feeding longitudinal moving mechanism is respectively connected with the feeding transverse moving device and the feeding linear guide rail assembly; the feeding mechanical arm is connected with the feeding longitudinal moving mechanism, and the feeding photographing mechanism is connected with the feeding mechanical arm;
The blanking transverse moving mechanism comprises a blanking transverse movement driving assembly and a blanking linear guide rail assembly; the blanking transverse movement driving assembly and the blanking linear guide rail assembly are arranged transversely; the discharging longitudinal moving mechanism is respectively connected with the discharging transverse moving device and the discharging linear guide rail assembly; the blanking manipulator is connected with the blanking longitudinal moving mechanism, and the blanking photographing mechanism is connected with the blanking manipulator.
Optionally, the feeding transverse motion driving assembly and the discharging transverse motion driving assembly each comprise a bidirectional linear motor, a first sliding connecting piece and a second sliding connecting piece; the first sliding connecting piece and the second sliding connecting piece are connected with the bidirectional linear motor, the bidirectional linear motor is used for driving the first sliding connecting piece and the second sliding connecting piece to move independently, and two ends of the bidirectional linear motor are respectively provided with a first inductor;
the feeding linear guide rail assembly and the discharging linear guide rail assembly comprise linear guide rails, third sliding connecting pieces and fourth sliding connecting pieces, and the third sliding connecting pieces and the fourth sliding connecting pieces are in sliding connection with the linear guide rails.
Optionally, the feeding longitudinal moving mechanism comprises a first feeding longitudinal moving module and a second feeding longitudinal moving module; the first feeding longitudinal moving module is connected with a first sliding connecting piece of the feeding transverse moving mechanism and a third sliding connecting piece of the feeding linear guide rail assembly respectively; the second feeding longitudinal module is connected with a second sliding connecting piece of the feeding transverse moving mechanism and a fourth sliding connecting piece of the feeding linear guide rail assembly respectively; one end of the first feeding longitudinal moving module and one end of the second feeding longitudinal moving module are provided with second sensors;
the feeding mechanical arm comprises a first feeding mechanical arm and a second feeding mechanical arm; the first feeding mechanical arm is installed on the first feeding longitudinal moving module, the feeding photographing mechanism is installed on the first feeding mechanical arm, and the second feeding mechanical arm is installed on the second feeding longitudinal moving module.
Optionally, the blanking longitudinal moving mechanism comprises a first blanking longitudinal moving module and a second blanking longitudinal moving module; the first blanking longitudinal moving module is respectively connected with a first sliding connecting piece of the blanking longitudinal moving mechanism and a third sliding connecting piece of the blanking linear guide rail assembly; the second blanking longitudinal module is connected with a second sliding connecting piece of the blanking longitudinal moving mechanism and a fourth sliding connecting piece of the blanking linear guide rail assembly respectively; one end of the first blanking longitudinal moving module and one end of the second blanking longitudinal moving module are provided with third sensors;
The blanking manipulator comprises a first blanking manipulator and a second blanking manipulator; the first blanking manipulator is arranged below the first blanking longitudinal moving module, the blanking photographing mechanism is arranged on the first blanking manipulator, and the second blanking manipulator is arranged on the second blanking longitudinal moving module.
Optionally, the first feeding mechanical arm, the second feeding mechanical arm, the first discharging mechanical arm and the second discharging mechanical arm all comprise a material sucking mechanism and a material sucking lifting mechanism;
the material sucking lifting mechanism comprises a first supporting plate and at least one material sucking lifting assembly arranged on the first supporting plate; each material sucking mechanism comprises a connecting component, a rotating component and a suction nozzle, wherein the connecting component is connected with the material sucking lifting component so that the material sucking lifting component drives the connecting component to move up and down along the vertical direction; the rotating component is fixed on the connecting component and connected with the suction nozzle, so that the rotating component drives the suction nozzle to rotate around the vertical shaft.
Optionally, the material sucking lifting assembly comprises a first lifting driving part, a driving wheel, a driven wheel, a synchronous belt and a lifting linear guide rail; the driving wheel and the driven wheel are arranged up and down, and the synchronous belt bypasses the driving wheel and the driven wheel; the first lifting driving part is connected with the driving wheel, the lifting linear guide rail is positioned below the driven wheel, and a first sliding block capable of sliding is arranged on the lifting linear guide rail; a fourth sensor is arranged above the driving wheel, and a first sensing piece is arranged on one side of the driving wheel;
The connecting components of the material sucking mechanisms are fixedly connected with the corresponding synchronous belts, and the rotating components of the material sucking mechanisms are connected with the first sliding blocks on the corresponding lifting linear guide rails.
Optionally, the rotating assembly comprises a hollow shaft, a rotating driving component, a rotating joint, a suction nozzle connecting rod, a vacuum valve and an air path;
the suction nozzle connecting rod is connected with the rotary driving component, the rotary driving component is also connected with a first sliding block on the corresponding lifting linear guide rail, the rotary joint is connected with the rotary motor through the hollow shaft, the suction nozzle is arranged on the hollow shaft, the vacuum valve is communicated with the suction nozzle through the air passage, and the air passage is provided with a regulating valve; a fifth sensor is further arranged on one side of the rotating head, and a second sensing piece is arranged on the rotating head.
Optionally, the material sucking lifting assembly further comprises a spring, one end of the spring is connected with the top of the material sucking mechanism connecting rod, and the other end of the spring is connected with the first supporting plate.
Optionally, the connecting assembly comprises a clamping block and a connecting plate which are arranged at the top of the suction nozzle connecting rod, and the synchronous belt is fixed between the clamping block and the connecting plate.
Optionally, the material sucking lifting assembly further comprises a synchronous belt tensioning sliding block, wherein the synchronous belt tensioning sliding block is located below the driving wheel, and the driven wheel is installed on the synchronous belt tensioning sliding block.
Optionally, the number of the first feeding mechanical arm, the first discharging mechanical arm, the second feeding mechanical arm, the second discharging mechanical arm, the first discharging mechanical arm, the second discharging mechanical arm and the first discharging mechanical arm is 6, and the number of the second feeding mechanical arm, the second discharging mechanical arm, the first discharging mechanical arm, the second discharging mechanical arm and the first discharging mechanical arm is 3.
Optionally, the feeding photographing mechanism and the discharging photographing mechanism comprise a bottom plate, a first camera lifting mechanism, a first camera, a first light source and a first light source lifting mechanism;
the first light source lifting mechanism is connected with the first light source so as to drive the first light source to move up and down along the vertical direction; the first camera lifting mechanism is connected with the first camera to drive the first camera to move up and down along the vertical direction;
the first light source lifting mechanism and the first camera lifting mechanism are mounted on the bottom plate, and the first light source lifting mechanism is located below the first camera lifting mechanism.
Optionally, the first camera lifting mechanism comprises an electric sliding table and a first sliding table connecting plate arranged on the electric sliding table; the electric sliding table is connected with the bottom plate, and the first sliding table connecting plate is connected with the first camera.
Optionally, the first light source lifting mechanism comprises a first fastener and a first light source connecting piece; the bottom plate is provided with a first waist hole in the vertical direction, and the first fastener penetrates through the first waist hole to be connected with the first light source connecting piece.
Optionally, the number of the second photographing mechanisms is two, and each second photographing mechanism comprises a second supporting plate, a second camera lifting mechanism, a second camera, a second light source and a second light source lifting mechanism;
the second light source lifting mechanism is connected with the second light source so as to drive the second light source to move up and down along the vertical direction; the second camera lifting mechanism is connected with the second camera to drive the second camera to move up and down along the vertical direction;
the second light source lifting mechanism and the second camera lifting mechanism are arranged on the second supporting plate, and the second light source lifting mechanism is positioned above the second camera lifting mechanism.
Optionally, the second camera lifting mechanism comprises a fine tuning sliding table and a second sliding table connecting plate in sliding connection with the fine tuning sliding table; the fine adjustment sliding table is fixed on the second supporting plate, and the second sliding table connecting plate is connected with the second camera.
Optionally, the second light source lifting mechanism includes a second fastener and a second light source connector; and a second waist hole is formed in the second supporting plate in the vertical direction, and the second fastening piece penetrates through the second waist hole to be connected with the second light source connecting piece.
Optionally, the feeding carrier device and the discharging carrier device comprise a sliding table cylinder and a cylinder connecting plate, wherein the sliding table cylinder is connected with the cylinder connecting plate so as to drive the cylinder connecting plate to move transversely; a sixth sensor is arranged at one end of the sliding table cylinder;
the cylinder connecting plate is provided with a carrier plate, the carrier plate is provided with an opening, the lower part of the opening is connected with a pipe joint, and the pipe joint is used for being communicated with the negative pressure device.
Optionally, the number of the openings is two; each group of the holes consists of 6 holes arranged in a straight line.
Optionally, the conveying device further comprises a tray conveying device, and the tray conveying device comprises an upper tray conveying device; the feeding disc conveying device comprises a first conveying mechanism, a first clamping mechanism, a feeding disc supporting mechanism and a first jacking mechanism; the feeding disc supporting mechanism is arranged on the first conveying mechanism; the tail end of the first conveying mechanism is provided with a first blocking mechanism, and the first jacking mechanism and the first blocking mechanism are arranged opposite; the first clamping mechanism is located at a position on the first conveying mechanism corresponding to the first jacking mechanism.
Optionally, the number of the first conveying mechanisms is two, and the two first conveying mechanisms are arranged side by side.
Optionally, the blanking disc comprises a good blanking disc and a defective blanking disc; the tray conveying device further comprises a good product blanking tray conveying device for conveying good product blanking trays and a defective product blanking tray conveying device for conveying defective product blanking trays;
the good product blanking disc conveying device and the defective product blanking disc conveying device comprise a second conveying mechanism, a blanking disc supporting mechanism, a second clamping mechanism, a positioning mechanism and a second jacking mechanism; the second clamping mechanism, the blanking disc supporting mechanism and the positioning mechanism are arranged on the second conveying mechanism, and the blanking disc supporting mechanism is positioned between the clamping mechanism and the positioning mechanism; the second jacking mechanism is positioned below the supporting mechanism; and a second blocking mechanism is arranged on one side of the second jacking mechanism, which is close to the positioning mechanism.
Optionally, the second blocking mechanism comprises an adjusting base, a mounting plate, a third fastening piece, a first blocking plate lifting driving part and a track; the track is arranged in the vertical direction, a second sliding block capable of sliding is arranged on the track, the second sliding block is connected with the first blocking plate lifting driving part, and the second sliding block is connected with the first blocking plate lifting driving part;
The adjusting base is provided with a third waist hole, the arrangement direction of the third waist hole is parallel to the arrangement direction of the second conveying mechanism, and the third fastener penetrates through the third waist hole to be connected with the bottom of the mounting plate.
Optionally, the first conveying mechanism and the second conveying mechanism comprise a first conveying assembly, a spacing adjusting assembly, a power assembly and a second conveying assembly;
the first conveying assembly and the second conveying assembly are arranged side by side, the interval adjusting assembly is respectively in transmission connection with the first conveying assembly and the second conveying assembly, and the power assembly is respectively in transmission connection with the first conveying assembly and the second conveying assembly.
Optionally, the first conveying assembly comprises a first belt fixing plate and a first belt, a first driving wheel and a first driven wheel are arranged on the side wall of the first belt fixing plate, and the first driving wheel is connected with the first driven wheel through the first belt;
the second conveying equipment comprises a second belt fixing plate and a second belt, wherein a second driving wheel corresponding to the first driving wheel and a second driven wheel corresponding to the first driven wheel are arranged on the side wall, opposite to the first belt fixing plate, of the second belt fixing plate; and the two ends of the first belt fixing plate are respectively provided with a seventh inductor.
Optionally, the power component comprises a first driving piece and a ball spline, the first driving piece is connected with a key shaft of the ball spline, two spline shaft nuts are arranged on the key shaft, one spline shaft nut is connected with the first driving wheel, and the other shaft sleeve is connected with the second driving wheel.
Optionally, the first driving piece comprises a fixed plate, a motor, a coupler and a motor connecting rod; the motor is arranged on the outer side of the fixed plate through the motor connecting rod, and a rotating shaft of the motor is connected with a key shaft of the ball spline through the coupler.
Optionally, a first bearing is further arranged on the side wall of the first belt fixing plate opposite to the second belt fixing plate;
the interval adjusting device comprises a connecting bottom plate, a trapezoidal screw rod and a hand wheel; a screw rod nut is arranged on the trapezoidal screw rod, one end of the trapezoidal screw rod penetrates through the fixed plate to be connected with the first bearing, and the other end of the trapezoidal screw rod is connected with the hand wheel; the screw rod nut is connected with the second belt fixing case;
one side of the connecting bottom plate is connected with the bottom of the first belt fixing plate, a track is arranged on the connecting bottom plate, the track is perpendicular to the first belt fixing plate and the second belt fixing plate, a third sliding block capable of sliding is arranged on the track, and the third sliding block is connected with the bottom of the second belt fixing plate.
Optionally, a lock nut for locking the hand wheel is further arranged on the hand wheel.
Optionally, a first guide plate is arranged at the upper part of the first belt fixing plate, and a second guide plate is arranged at the upper part of the second belt fixing plate; the first belt fixing plate is also provided with a first belt supporting plate for supporting the first belt, and the second belt fixing plate is also provided with a second belt supporting plate for supporting the second belt.
Optionally, the first lifting mechanism and the second lifting mechanism comprise a supporting plate lifting driving part, a supporting frame body and a supporting plate; a push plate connected with the supporting plate lifting driving part is arranged in the supporting frame body, two guide shafts are arranged on the push plate, and the top ends of the two guide shafts penetrate through the supporting frame body and are connected with the supporting plate; the upper part and the lower part of the supporting frame body are respectively provided with an eighth sensor, and one side of the push plate, which is close to the eighth sensor, is provided with a third sensing piece.
Optionally, the feeding tray supporting mechanism and the discharging tray supporting mechanism comprise a first supporting component arranged on the first belt fixing plate and a second supporting component arranged on the second belt fixing plate, the first supporting component is positioned above the first belt, and the second supporting component is positioned above the second belt;
The first support assembly and the second support assembly comprise a first telescopic driving part, a support block, a first telescopic driving part connecting piece, a first limiting plate and a second limiting plate; the first telescopic driving part is connected with the supporting block through the first telescopic driving part connecting piece, the first limiting plate is arranged on one side, close to the first telescopic driving part, of the supporting block, and the second limiting plate is arranged on the upper portion of the supporting block.
Optionally, the first clamping mechanism and the second clamping mechanism include a first clamping component disposed on the first belt fixing plate and a second clamping component disposed on the second belt fixing plate, and the first clamping component and the second clamping component are disposed opposite to each other;
the first clamping assembly and the second clamping assembly comprise a second telescopic driving part, a clamping part, a fixing seat, a fourth fastening piece and a first adjusting plate, the second telescopic driving part is connected with the clamping part, the second telescopic driving part is arranged on the first adjusting plate, a fourth waist hole is formed in the first adjusting plate, and the forming direction of the fourth waist hole is perpendicular to the first belt fixing plate and the second belt fixing plate; the fourth fastener passes through the fourth waist hole and is connected with the fixing base.
Optionally, the first blocking mechanism and the positioning mechanism comprise a support, a second adjusting plate, a second blocking plate, a fifth fastening piece and a ninth inductor; the ninth inductor is arranged on one side, close to the first conveying mechanism, of the second blocking plate, the second blocking plate is connected with the adjusting plate, a fifth waist hole is formed in the second adjusting plate, and the direction of the fifth waist hole is parallel to the arrangement direction of the first conveying mechanism; the fifth fastener is coupled to the support member through the fifth waist hole.
Optionally, the feeding tray is provided with an array of detected positions to be placed of the products, and the first photographing mechanism is specifically configured to obtain the detected positions to be placed of the products with 4 vertex angles, so as to determine the positions to be placed of other detected products through the detected positions to be placed of the products with 4 vertex angles.
According to the conveying equipment provided by the application, the first photographing mechanism is utilized to obtain the placement position of the product to be detected on the feeding disc, so that the moving mechanism drives the taking and placing mechanism to move to the placement position accurately, and the product to be detected can be absorbed accurately; the first photographing mechanism is utilized to obtain the position to be placed of the detected product on the blanking disc, so that the moving mechanism drives the taking and placing mechanism to accurately place the detected product on the blanking carrier device at the position to be placed; and the second photographing mechanism is utilized to acquire the angle and the position of the product to be detected or the detected product (namely the relative position of the product to be detected or the detected product and the taking and placing mechanism in the transverse direction and the longitudinal direction) which are absorbed by the taking and placing mechanism in the process of transferring the product to be detected or the detected product by the taking and placing mechanism, so that the rotation angle of the product to be detected or the detected product by the taking and placing mechanism is determined, then the taking and placing mechanism rotates according to the rotation angle, so as to adjust the placing posture of the product to be detected or the detected product, and therefore the product to be detected or the detected product can be accurately absorbed and placed by the taking and placing mechanism through the first photographing mechanism and the second photographing mechanism, the complexity of a control process is reduced, the conveying efficiency is improved, and the cost is reduced.
Drawings
The following drawings of the present application are included to provide an understanding of the present application as part of the present application. The drawings illustrate embodiments of the present application and their description to explain the principles of the present application.
In the accompanying drawings:
FIG. 1 is a perspective view of a delivery apparatus according to an alternative embodiment of the present application;
FIG. 2 is a block diagram of a rack according to an alternative embodiment of the present application;
FIG. 3 is a block diagram of a handling device according to an alternative embodiment of the present application;
FIG. 4 is a block diagram of a loading and unloading lateral movement device and a unloading lateral drive device according to an alternative embodiment of the present application;
FIG. 5 is a block diagram of a feed linear guide assembly according to an alternative embodiment of the present application;
FIG. 6 is a block diagram of a loading longitudinal movement mechanism and a pick-and-place mechanism according to an alternative embodiment of the present application;
FIG. 7 is a block diagram of a first loading longitudinal movement module according to an alternative embodiment of the present application;
FIG. 8 is a block diagram of a first blanking longitudinal movement module according to an alternative embodiment of the present application;
FIG. 9 is a block diagram of a first loading robot and a loading photographing mechanism according to an alternative embodiment of the present application;
FIG. 10 is a block diagram of a vacuum valve and a connecting frame according to an alternative embodiment of the present application;
FIG. 11 is a block diagram of a charging photographing mechanism according to an alternative embodiment of the present application;
FIG. 12 is a block diagram of a suction lift mechanism according to an alternative embodiment of the present application;
FIG. 13 is a block diagram of a suction mechanism according to an alternative embodiment of the present application;
FIG. 14 is a block diagram of an upper tray conveyor, a good tray conveyor, and a bad tray conveyor according to an alternative embodiment of the present application;
FIG. 15 is a block diagram of a tray feeder according to an alternative embodiment of the present application;
FIG. 16 is a block diagram of a power assembly of a tray feeding assembly according to an alternative embodiment of the present application;
FIG. 17 is a partial block diagram of a first conveyor assembly according to an alternative embodiment of the present application;
FIG. 18 is a partial block diagram of a first transport assembly according to an alternative embodiment of the present application;
FIG. 19 is a block diagram of a pitch adjustment assembly and a power assembly according to an alternative embodiment of the present application;
FIG. 20 is a partial block diagram of a second transport assembly according to an alternative embodiment of the present application;
FIG. 21 is a partial block diagram of a second transport assembly according to an alternative embodiment of the present application;
FIG. 22 is a block diagram of a good tray conveyor according to an alternative embodiment of the present application;
FIG. 23 is a block diagram of a first lift mechanism according to an alternative embodiment of the present application;
FIG. 24 is a block diagram of a first clamping mechanism according to an alternative embodiment of the present application;
FIG. 25 is a block diagram of a first blocking mechanism according to an alternative embodiment of the present application;
FIG. 26 is a block diagram of a positioning mechanism according to an alternative embodiment of the present application;
FIG. 27 is a block diagram of a first support mechanism according to an alternative embodiment of the present application;
FIG. 28 is a block diagram of a second blocking mechanism according to an alternative embodiment of the present application;
FIG. 29 is a block diagram of a second photographing mechanism according to an alternative embodiment of the present application;
FIG. 30 is a block diagram of a loading dock apparatus according to an alternative embodiment of the present application;
FIG. 31 is a block diagram of a detection fixture according to an alternative embodiment of the present application;
FIG. 32 is a schematic view of an array of positions to be placed according to an alternative embodiment of the present application.
Reference numerals illustrate:
10-a frame, 101-a mounting base plate, 20-a carrying device, 201-a feeding transverse moving mechanism, 2011-a feeding transverse moving driving assembly, 20111-a first sliding connector, 20112-a second sliding connector, 20113-a bi-directional linear motor, 20114-a first sensor, 20115-a linear motor base plate, 20116-a first supporting leg, 2012-a feeding linear guide assembly, 20121-a linear guide, 20122-a third sliding connector, 20123-a fourth sliding connector, 20124-a second supporting leg, 20125-a linear guide base plate, 202-a feeding longitudinal moving mechanism, 2021-a linear module, 20211-a servo motor, 20212-a screw module, 20213-a module base plate, 20214-a second sensor, 20215-a third sensor, 203-a taking and discharging mechanism, 2031-a first feeding manipulator, 20311-a suction lifting mechanism, 203111-a first support plate, 203112-a suction lifting assembly, 2031121-a fourth sensor mounting base, 2031122-a driving wheel, 2031123-a fourth sensor, 2031124-a first sensor blade, 2031125-a synchronous belt, 2031126-a first spring post, 2031127-a driven wheel, 2031128-a synchronous belt tensioning slider, 2031129-a linear slide rail bottom plate, 20311210-a first slider, 201311211-a lifting linear guide rail, 20312-a suction mechanism, 203121-a suction nozzle, 203122-a suction nozzle connecting rod, 203123-a first flange, 203124-a rotary driving part, 203125-a hollow shaft, 203126-a second sensor blade, 203127-a rotary joint, 203128-an adjusting valve, 203129-a connecting plate, 2031210-a suction mechanism connecting rod, 2031211-clamping blocks, 2031212-springs, 2031213-second spring posts, 2031214-fifth sensors, 2031215-vacuum valves, 20313-mounting frames, 203131-first connecting cross plates, 203132-risers, 2032-second feeding manipulators, 2033-first discharging manipulators, 2034-second discharging manipulators, 2035-feeding photographing mechanisms, 20351-second connecting cross plates, 20352-bottom plates, 20353-electric slipway, 20354-first slipway connecting plates, 20355-first light source adjusting plates, 20356-first light sources, 57-first light source fixing plates, 20358-first cameras, 20359-first camera fixing plates, 204-discharging longitudinal movement mechanisms, 205-discharging transverse movement mechanisms, 2051-discharging transverse movement driving components, 2052-discharging linear guide rail components, 30-charging tray conveying devices, 301-charging tray conveying devices, 3011-first conveying mechanisms, 30111-first conveying components, 111-first and second bearing and driving belts, 30175-first and second bearing and driving belts, 30135-second bearing and 3775-second bearing and guide plates, 3535-second bearing and 3535-third bearing and support plates, 3535-third sensor plates, 3535-3765-third sensor plates, 3535-third bearing plates, 3565-third bearing plates, and third bearing plates, etc., 301131-motor, 301132-second flange, 301133-coupling, 301134-motor connecting rod, 301135-fixed plate, 301136-spline shaft, 301137-spline shaft nut, 30114-pitch adjustment assembly, 301141-connecting base plate, 301142-track, 301143-third slider connecting plate, 301144-third slider, 301145-first bearing, 301146-trapezoidal screw, 301147-screw nut, 301148-hand wheel, 301149-lock nut, 3012-first blocking mechanism, 301149-ninth inductor, 301149-second blocking plate, 301149-support, 30124-second adjustment plate, 3013-first jacking mechanism, 301149-pallet, 30132-guide shaft, 301149-guide shaft sleeve, 30134-supporting riser, 301149-eighth inductor, 30136-eighth inductor mount, 301149-supporting bottom plate, 30138-supporting plate lifting driving part, 30139-pushing plate, 301149-second sensing piece, 301149-supporting top plate, 3014-first clamping mechanism, 30141-clamping part, 301149-clamping connecting plate, 30143-second telescopic driving part, 301149-telescopic part fixing plate, 30145-first adjusting plate, 301149-fixing seat, 3015-feeding tray supporting mechanism, 30151-first telescopic driving part, 30152-second limiting plate, 30153-supporting block, 30154-supporting block connecting plate, 30155-fixed connecting plate, 30156-first telescopic part connecting plate, 30157-first limiting plate, 302-good product blanking tray conveying device, 3021-second conveying mechanism, 3022-positioning mechanism, 3023-second blocking mechanism, 30231-first blocking plate, 30232-connecting seat, 30233-second slider, 30234-track, 30235-adjusting base, 30236-first blocking plate lifting driving part, 30237-mounting plate, 30238-connecting rod, 30239-movable connecting plate, 3024-blanking tray mechanism, 3025-second lifting mechanism, 3026-second clamping mechanism, 303-defective blanking tray conveying device, 40-bottom face flying device, 401-second supporting plate, 402-second light source adjusting plate, 403-second light source fixing plate, 404-second light source, 405-second camera, 406-second camera fixing plate, 407-second sliding table connecting plate, 408-fine adjustment sliding table, 409-rib plate, 4010-third connecting transverse plate, 50-feeding platform device, 501-sliding table cylinder bottom plate, 502-sliding table cylinder, 503-cylinder connecting bottom plate, 504-cylinder connecting vertical plate, 505-pipe joint, 506-cylinder connecting top plate, 507-platform, 60-blanking platform device, 70-detecting jig, 702-lower jig, and 80-lower jig.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, some features well known in the art have not been described in order to avoid obscuring the present application.
It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments in accordance with the present application. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.
The transverse direction referred to in this application is the Y-axis direction of the coordinate in fig. 1, the longitudinal direction is the X-axis direction of the coordinate in fig. 1, and the vertical direction is the Z-axis direction of the coordinate in fig. 1.
As shown in fig. 1 to 3, the embodiment of the present application provides a conveying device, which includes a frame 10, and a carrying device 20, a bottom fly swatter device 40, a loading tray, a unloading tray, a loading carrier device 50 and a unloading carrier device 60 which are arranged on the frame 10;
the carrying device 20 comprises a moving mechanism, a taking and placing mechanism 203 and a first photographing mechanism, wherein the taking and placing mechanism 203 is arranged on the moving mechanism, and the first photographing mechanism is arranged on the taking and placing mechanism 203; the bottom surface fly-swatter 40 comprises a second photographing mechanism;
the first photographing mechanism is used for acquiring the placement position of a product to be detected on the feeding tray, so that the taking and placing mechanism 203 moves to the placement position through the moving mechanism and absorbs the product to be detected; the device is used for acquiring the to-be-placed position 80 of the detected product on the blanking disc, so that the taking and placing mechanism 203 can place the detected product on the blanking table device 60 at the to-be-placed position 80 through the moving mechanism;
the second photographing mechanism is configured to obtain, during the process of transferring the product to be detected or the detected product by the taking and placing mechanism 203, an angle of the product to be detected or the detected product and a relative position of the product to be detected or the detected product and the taking and placing mechanism in a transverse direction and a longitudinal direction, so as to determine a rotation angle of the taking and placing mechanism 203 to rotate the product to be detected or the detected product, and enable the taking and placing mechanism 203 to rotate the product to be detected or the detected product according to the rotation angle;
A loading carrier device 50 for carrying and transporting the product to be detected sucked from the loading tray by the pick-and-place mechanism 203;
the blanking stage device 60 is used for carrying and transporting the detected products sucked from the detection mechanism by the picking and placing mechanism 203.
The product to be detected can be an electronic component, such as a mobile phone camera module and a component thereof; parts are also possible, and the present embodiment is not strictly limited. The housing 10 includes a large mounting base 101 with openings for mounting the various devices to facilitate the mounting of the various devices.
The conveying apparatus may further include a controller for analyzing images photographed by the first photographing mechanism and the second photographing mechanism and controlling the respective devices.
In a specific application, a product to be detected is placed in the feeding tray, the controller controls the moving mechanism to drive the taking and placing mechanism 203 and the first photographing mechanism to move at a high speed towards the feeding tray and start photographing when approaching to the feeding tray, so that the first photographing mechanism is utilized to obtain the placement position of the product to be detected on the feeding tray, the controller controls the moving mechanism to drive the taking and placing mechanism 203 to move to the upper side of the placement position, namely the upper side of the product to be detected, then controls the taking and placing mechanism 203 to absorb the product to be detected, controls the moving mechanism to move to the position of the feeding carrier device 50, and places the product to be detected on the feeding carrier device 50.
Then, the feeding carrier 507 is controlled to convey the product to be detected, then the taking and placing mechanism 203 is controlled to absorb the product to be detected on the feeding carrier device 50, then the moving mechanism is controlled to drive the taking and placing mechanism 203 to move towards the detection jig 70, the product to be detected passes through the upper part of the bottom surface fly shooting assembly in the moving process, the second shooting mechanism of the bottom surface fly shooting assembly shoots, the angle of the product to be detected absorbed by the taking and placing mechanism 203 and the relative position of the product to be detected and the taking and placing mechanism in the transverse direction and the longitudinal direction are obtained, and the controller determines the rotation angle of the product to be detected by the taking and placing mechanism 203 according to the parameters, and controls the taking and placing mechanism 203 to rotate the product to be detected according to the rotation angle, so that the product to be detected can be accurately placed on the detection jig 70, and then the product to be detected with the angle adjusted is placed on the detection jig 70 by the taking and placing mechanism 203.
After the detection of the product to be detected by the detection jig 70 is finished, the product to be detected placed on the detection jig 70 is changed into the detected product, the controller controls the moving mechanism to drive the material taking and placing mechanism 203 and the first photographing mechanism to pass through the material discharging disc, the first photographing mechanism is used for photographing the material discharging disc, so that the detected product is obtained at the position 80 to be placed on the material discharging disc, then the moving mechanism is controlled to drive the material taking and placing mechanism 203 to move to the position above the detection jig 70, the material taking and placing mechanism 203 is controlled to absorb the detected product, then the moving mechanism is controlled to drive the material taking and placing mechanism 203 to move to the position above the material discharging platform device 60, the detected product is placed on the material discharging platform device 60, then the moving mechanism is driven to move to the position above the material discharging platform device, the detected product is sucked by the material taking and placing mechanism 203, the material taking and placing mechanism is driven by the moving mechanism 203 to move to the position at the bottom surface of the material discharging disc, the material taking and placing mechanism is controlled to rotate according to the detected rotation angle of the material taking and placing mechanism, the detected product is accurately placed on the material taking and placing platform device is rotated, the material taking and placing mechanism is accurately rotated according to the detected rotation angle of the detected product taking and placed on the material taking and placing platform device 203, the pick and place mechanism 203 then places the angle-adjusted inspected product on a blanking tray.
Therefore, the first photographing mechanism is utilized to obtain the placement position of the product to be detected on the feeding disc, so that the moving mechanism drives the taking and placing mechanism 203 to move to the placement position accurately, and the product to be detected can be sucked accurately; the first photographing mechanism is utilized to obtain the to-be-placed position 80 of the detected product on the blanking disc, so that the moving mechanism drives the taking and placing mechanism 203 to accurately place the detected product on the blanking carrier device 60 at the to-be-placed position 80; and the second photographing mechanism is utilized to obtain the angle and the position of the product to be detected or the detected product sucked by the taking and placing mechanism 203 (i.e. the relative positions of the product to be detected or the detected product and the taking and placing mechanism in the transverse and longitudinal directions) in the process that the taking and placing mechanism 203 is transferring the product to be detected or the detected product, so as to determine the rotation angle of the product to be detected or the detected product by the taking and placing mechanism 203, then the taking and placing mechanism 203 rotates the product to be detected or the detected product according to the rotation angle, so as to adjust the placing posture of the product to be detected or the detected product, thereby enabling the taking and placing mechanism 203 to accurately suck and place the product to be detected or the detected through the first photographing mechanism and the second photographing mechanism, and also avoiding secondary positioning, thereby reducing the complexity of the control process, improving the conveying efficiency and reducing the cost.
Specifically, in the above embodiment, the second photographing mechanism is specifically configured to obtain, during the process that the pick-and-place mechanism 203 moves from the loading stage device 50 to the detecting mechanism, an angle of a product to be detected and a relative position of the product to be detected and the pick-and-place mechanism in a transverse direction and a longitudinal direction, which are sucked by the pick-and-place mechanism 203 from the loading stage device 50, so as to determine a rotation angle of the product to be detected by the pick-and-place mechanism 203, and enable the pick-and-place mechanism 203 to rotate the product to be detected according to the rotation angle; and in the process that the taking and placing mechanism 203 moves from the blanking carrying platform device 60 to the blanking disc, acquiring the angle of the detected product sucked by the taking and placing mechanism 203 from the blanking carrying platform device 60 and the relative positions of the detected product and the taking and placing mechanism in the transverse direction and the longitudinal direction, so as to determine the rotation angle of the taking and placing mechanism 203 to rotate the detected product, and enabling the taking and placing mechanism 203 to rotate the detected product according to the rotation angle.
In the process that the product to be detected moves from the feeding carrying table device 50 to the detecting mechanism through the material taking and placing mechanism 203, when the material taking and placing mechanism 203 passes through the upper part of the second photographing mechanism, the second photographing mechanism is used for obtaining the angle of the product to be detected sucked by the material taking and placing mechanism 203 and the relative position of the product to be detected and the material taking and placing mechanism in the transverse direction and the longitudinal direction, so that the rotation angle of the product to be detected by the material taking and placing mechanism 203 is determined, then the material taking and placing mechanism 203 rotates the product to be detected according to the rotation angle, so that the placing posture of the product to be detected is adjusted, and the material taking and placing mechanism 203 can place the product to be detected on the feeding carrying table device 50 in a better posture, so that the placing accuracy is improved.
Likewise, in the process that the detected product moves from the discharging carrier device 60 to the discharging tray through the taking and discharging mechanism 203, when the taking and discharging mechanism 203 passes over the second photographing mechanism, the second photographing mechanism is used for obtaining the angle of the detected product sucked by the taking and discharging mechanism 203 and the relative positions of the detected product and the taking and discharging mechanism in the transverse direction and the longitudinal direction, so that the rotation angle of the detected product by the taking and discharging mechanism 203 is determined, then the taking and discharging mechanism 203 rotates the detected product according to the rotation angle to adjust the placing posture of the detected product, and the taking and discharging mechanism 203 can place the detected product on the discharging tray in a better posture to improve the placing accuracy.
Further, as shown in fig. 3, the moving mechanism includes a feeding lateral moving mechanism 201, a feeding longitudinal moving mechanism 202, a discharging lateral moving mechanism 205, and a discharging longitudinal moving mechanism 204; the material taking and discharging mechanism 203 comprises a material feeding manipulator and a material discharging manipulator; the first photographing mechanism comprises a feeding photographing mechanism and a discharging photographing mechanism; the feeding transverse moving mechanism 201 comprises a feeding transverse motion driving assembly 2011 and a feeding linear guide rail assembly 2012; the feeding transverse motion driving assembly 2011 and the feeding linear guide rail assembly 2012 are arranged along the transverse direction; the feeding longitudinal moving mechanism 202 is respectively connected with a feeding transverse moving device and a feeding linear guide rail assembly 2012; the feeding mechanical arm is connected with the feeding longitudinal moving mechanism 202, and the feeding photographing mechanism is connected with the feeding mechanical arm; the discharging transverse moving mechanism 205 comprises a discharging transverse motion driving assembly 2051 and a discharging linear guide rail assembly 2052; the blanking transverse motion driving assembly 2051 and the blanking linear guide rail assembly 2052 are arranged along the transverse direction; the discharging longitudinal moving mechanism 204 is respectively connected with the discharging transverse moving device and the discharging linear guide rail assembly 2052; the blanking manipulator is connected with the blanking longitudinal moving mechanism 204, and the blanking photographing mechanism is connected with the blanking manipulator.
The feeding transverse moving mechanism 201 drives the feeding longitudinal moving device to move along the transverse direction (Y-axis direction), so that the feeding photographing mechanism and the feeding manipulator are driven to move along the transverse direction (Y-axis direction), and the feeding longitudinal moving device drives the feeding manipulator and the feeding photographing mechanism to move along the longitudinal direction (X-axis direction), so that the feeding photographing mechanism and the feeding manipulator can move in multiple dimensions through the feeding transverse moving device and the feeding longitudinal moving device, and the flexibility of movement of the feeding manipulator is improved.
Similarly, the discharging transverse moving mechanism 205 drives the discharging longitudinal moving device to move along the transverse direction (Y-axis direction), so as to drive the discharging photographing mechanism and the discharging manipulator to move along the transverse direction (Y-axis direction), and the discharging longitudinal moving device drives the discharging manipulator and the discharging photographing mechanism to move along the longitudinal direction (X-axis direction), so that the discharging photographing mechanism and the discharging manipulator can move in multiple dimensions through the discharging transverse moving device and the discharging longitudinal moving device, and the flexibility of the movement of the discharging manipulator is improved.
In a specific application, the feeding transverse motion driving assembly 2011 drives the feeding longitudinal moving device to move along the transverse direction (Y-axis direction), so as to drive the feeding photographing mechanism and the feeding manipulator to move along the transverse direction (Y-axis direction), and the feeding linear guide rail assembly 2012 plays roles of supporting and guiding. The discharging transverse movement driving assembly 2051 drives the discharging longitudinal moving device to move along the transverse direction (Y-axis direction), so that the discharging photographing mechanism and the discharging manipulator are driven to move along the transverse direction (Y-axis direction), and the discharging linear guide rail assembly 2052 plays a role in supporting and guiding.
Further, as shown in fig. 3 to 5, the feeding lateral motion driving assembly 2011 and the discharging lateral motion driving assembly 2051 each include a bi-directional linear motor 20113, a first sliding connector 20111 and a second sliding connector 20112; the first sliding connecting piece 20111 and the second sliding connecting piece 20112 are connected with a bidirectional linear motor 20113, the bidirectional linear motor 20113 is used for driving the first sliding connecting piece 20111 and the second sliding connecting piece 20112 to move independently, and two ends of the bidirectional linear motor 20113 are respectively provided with a first sensor 20114; the feeding linear guide assembly 2012 and the discharging linear guide assembly 2052 each include a linear guide 20121, a third sliding connector 20122 and a fourth sliding connector 20123, and the third sliding connector 20122 and the fourth sliding connector 20123 are slidably connected to the linear guide 20121.
In a specific application, the first sliding connector 20111, the second sliding connector 20112, the third sliding connector 20122 and the fourth sliding connector 20123 may all adopt a mounting block structure. And the bottom of the bi-directional linear motor 20113 is mounted on the first support leg 20116 through the linear motor bottom plate 20115, so as to support the bi-directional linear motor 20113. The linear guide 20121 may also be mounted on the second support leg 20124 through a linear guide bottom plate 20125, thereby supporting the linear guide 20121. Further, the linear guide 20121 of the feeding linear guide assembly 2012 and the linear guide 20121 of the discharging linear guide assembly 2052 can be installed side by side on the bottom plate 20125 of one linear guide, so that the whole mechanism is more compact. The first sensor 20114 is used for sensing whether the first sliding connector 20111 and the second sliding connector 20112 are reset in place or not during resetting.
In this embodiment, the bidirectional linear motor 20113 can drive the first sliding connecting piece 20111 and the second sliding connecting piece to move independently, that is to say, the movements of the first sliding connecting piece 20111 and the second sliding connecting piece 20112 do not affect each other, so that the first sliding connecting piece 20111 and the second sliding connecting piece 20112 of the feeding transverse movement driving assembly 2011 can be provided with the feeding mechanical hand respectively, thereby improving the number of the feeding mechanical hand and further improving the feeding efficiency. Similarly, the first sliding connector 20111 and the second sliding connector 20112 of the discharging transverse movement driving assembly 2051 may be respectively provided with a discharging manipulator, so as to increase the number of the discharging manipulators and further increase the discharging efficiency.
Specifically, as shown in fig. 3 to 5 and 9, the feeding longitudinal moving mechanism 202 includes a first feeding longitudinal moving module and a second feeding longitudinal moving module; the first feeding longitudinal moving module is respectively connected with a first sliding connecting piece 20111 of the feeding transverse moving mechanism 201 and a third sliding connecting piece 20122 of the feeding linear guide rail assembly 2012; the second feeding longitudinal module is connected with a second sliding connecting piece 20112 of the feeding transverse moving mechanism 201 and a fourth sliding connecting piece 20123 of the feeding linear guide rail assembly 2012 respectively; one end of the first feeding longitudinal moving module and one end of the second feeding longitudinal moving module are provided with a second sensor 20214; the feeding manipulator comprises a first feeding manipulator 2031 and a second feeding manipulator 2032; the first loading manipulator 2031 is mounted on the first loading longitudinal movement module, the loading photographing mechanism 2035 is mounted on the first loading manipulator 2031, and the second loading manipulator 2032 is mounted on the second loading longitudinal movement module.
The first feeding longitudinal moving module and the second feeding longitudinal moving module may adopt a linear module 2021, specifically, the linear module 2021 includes a servo motor 20211, a screw module 20212, and a screw slider; the screw rod module 20212 is installed on the module bottom plate 20213, the servo motor 20211 is connected with the screw rod of the screw rod module 20212, the screw rod sliding block is in threaded connection with the screw rod of the screw rod module 20212, the second sensor 20214 is installed to one end of the screw rod module 20212, and the second sensor 20214 is used for sensing whether the screw rod sliding block is reset in place or not when reset.
The first feeding manipulator 2031 is mounted on a screw rod slider of the first feeding longitudinal moving module, the second feeding manipulator 2032 is mounted on a screw rod slider of the second feeding longitudinal moving module, so that the first feeding longitudinal mechanism can move along with a first sliding connecting piece 20111 of the feeding transverse moving mechanism 201 in a transverse direction (Y axis direction), and a screw rod of the screw rod module 20212 is driven to rotate by a servo motor 20211 of the first feeding longitudinal moving module, so that the screw rod slider can do linear reciprocating motion along the screw rod, further the first feeding manipulator 2031 and the feeding photographing mechanism 2035 can move along a longitudinal direction (X axis direction), multi-dimensional motion of the first feeding manipulator 2031 and the feeding photographing mechanism 2035 is achieved, and the second feeding manipulator 2032 and the first feeding manipulator 2031 are identical in motion process and are not repeated herein.
Further, as shown in fig. 3 to 5 and fig. 7 to 9, the blanking longitudinal moving mechanism 204 includes a first blanking longitudinal moving module and a second blanking longitudinal moving module; the first blanking longitudinal moving module is respectively connected with a first sliding connecting piece 20111 of the blanking longitudinal moving mechanism 204 and a third sliding connecting piece 20122 of the blanking linear guide rail assembly 2052; the second discharging longitudinal modules are respectively connected with a second sliding connecting piece 20112 of the discharging longitudinal moving mechanism 204 and a fourth sliding connecting piece 20123 of the discharging linear guide rail assembly 2052; one end of the first blanking longitudinal moving module and one end of the second blanking longitudinal moving module are provided with a third sensor 20215; the blanking manipulator comprises a first blanking manipulator 2033 and a second blanking manipulator 2034; the first blanking manipulator 2033 is mounted on the first blanking longitudinal movement module, the blanking photographing mechanism is mounted on the first blanking manipulator 2033, and the second blanking manipulator 2034 is mounted on the second blanking longitudinal movement module.
The first and second blanking longitudinal moving modules may also adopt a linear module 2021, specifically, the linear module 2021 includes a servo motor 20211, a screw module 20212, and a screw slider; the servo motor 20211 is connected with the screw of the screw module 20212, the screw slider is in threaded connection with the screw of the screw module 20212, the third sensor 20215 is mounted to one end of the screw module 20212, and the third sensor 20215 is used for sensing whether the screw slider is reset in place when reset.
The first discharging manipulator 2033 is mounted on the screw rod slider of the first discharging longitudinal moving module, the second discharging manipulator 2034 is mounted on the screw rod slider of the second discharging longitudinal moving module, so that the first discharging longitudinal mechanism can move along with the first sliding connector 20111 of the discharging transverse moving mechanism 205 in the transverse direction (Y axis direction), and the screw rod of the screw rod module 20212 is driven to rotate by the servo motor 20211 of the first discharging longitudinal moving module, so that the screw rod slider can do linear reciprocating motion along the screw rod, and further the first discharging manipulator 2033 and the discharging photographing mechanism move along the longitudinal direction (X axis direction), thereby realizing multidimensional motion of the first discharging manipulator 2033 and the discharging photographing mechanism, and the motion process of the second discharging manipulator and the first discharging manipulator 2033 is the same, and will not be repeated herein.
Specifically, as shown in fig. 9, the first feeding manipulator 2031, the second feeding manipulator 2032, the first discharging manipulator 2033, and the second discharging manipulator 2034 each include a suction mechanism 20312 and a suction lifting mechanism 20311; the suction lift mechanism 20311 includes a first support plate 203111 and at least one suction lift assembly 203112 disposed on the first support plate 203111; each suction mechanism 20312 comprises a connecting component, a rotating component and a suction nozzle 203121, wherein the connecting component is connected with a suction lifting component 203112, so that the suction lifting component 203112 drives the connecting component to move up and down along the vertical direction; the rotating assembly is fixed on the connecting assembly, and the rotating assembly is connected with the suction nozzle 203121, so that the rotating assembly drives the suction nozzle 203121 to rotate around the vertical axis.
The first support plate 203111 is connected with the corresponding screw slider through the mounting frame 20313. Specifically, the mounting frame 20313 includes a first connection cross plate 203131, and two opposite vertical plates 203132, the vertical plates 203132 are disposed on the upper surface of the first connection cross plate 203131, the first connection cross plate 203131 is connected with the screw slider, and the first support plate 203111 is connected between the two vertical plates 203132, thereby increasing the connection stability.
In a specific application, the suction lifting component 203112 drives the connecting component to move up and down along the vertical direction (Z-axis direction) so as to drive the suction nozzle 203121 to also move up and down along the vertical direction (Z-axis direction), so that the suction lifting mechanism and the linear module 2021 and the bidirectional linear motor 20113 in the above embodiment can implement three-dimensional movement of the suction nozzle 203121 in the transverse direction (Y-axis direction), the longitudinal direction (X-axis direction) and the vertical direction (Z-axis direction), thereby improving flexibility of the suction nozzle 203121. Further, the rotating assembly can drive the suction nozzle 203121 to rotate around the vertical direction (Z-axis direction) axis, so that when the picking and placing mechanism 203 needs to adjust the placement posture of the product to be detected or the detected product, the rotating assembly drives the suction nozzle 203121 to rotate around the vertical direction (Z-axis direction) axis by a corresponding angle, and the adjustment of the angle of the product to be detected or the detected product can be realized, that is, the adjustment of the placement posture of the product to be detected or the detected product is realized.
Specifically, as shown in fig. 12, the suction lift assembly 203112 includes a first lift driving part, a driving wheel 2031122, a driven wheel 2031127, a timing belt 2031125, and a lift linear guide rail; the driving wheel 2031122 and the driven wheel 2031127 are arranged up and down, and the synchronous belt 2031125 bypasses the driving wheel 2031122 and the driven wheel 2031127; the first lifting driving part is connected with the driving wheel 2031122, the lifting linear guide rail 201311211 is positioned below the driven wheel 2031127, and a first sliding block 2311210 capable of sliding is arranged on the lifting linear guide rail 201311211; a fourth sensor 2031123 is arranged above the driving wheel 2031122, and a first sensing sheet 2031124 is arranged on one side of the driving wheel 2031122; the connection assembly of each suction mechanism 20312 is fixedly connected with the corresponding synchronous belt 2031125, and the rotation assembly of each suction mechanism 20312 is connected with the first slider 2311210 on the corresponding lifting linear guide 201311211.
The first lifting driving part drives the driving wheel 2031122 to rotate, and drives the synchronous belt 2031125 to rotate around the driving wheel 2031122 through the driving wheel 2031122, that is, the synchronous belt 2031125 runs in the vertical direction (the Z-axis direction), so as to drive the material sucking mechanism 20312 connected with the synchronous belt 2031125 to move up and down in the vertical direction (the Z-axis direction), that is, the material sucking mechanism 20312 is moved in the vertical direction (the Z-axis direction). The rotating component of each material sucking mechanism 20312 is connected with the first slider 2311210 on the corresponding lifting linear guide rail, so that the lifting linear guide rail 201311211 plays a role in supporting and guiding the material sucking mechanism 20312, and the material sucking mechanism 20312 is prevented from moving away from the vertical direction due to the influence of external force. Wherein, the first lifting driving part can adopt a motor.
In a specific application, each lifting linear rail 201311211 is connected to the first support plate 203111 via the linear rail base plate 2031129, thereby facilitating the connection of each upgrade linear rail 201311211 to the first support plate 203111, and also increasing the stability of the connection. By the cooperation of the first sensing piece 2031124 and the fourth sensor 2031123, the sensing of whether the driving wheel 2031122 is in place during resetting and the shielding of the fourth sensor 2031123 by the first sensing piece 2031124 indicates that the driving wheel 2031122 is in place. Optionally, a fourth inductor 2031123 is mounted on the fourth inductor mount 2031121 to improve the stability of the installation.
Specifically, as shown in fig. 10 and 13, the rotary assembly includes a hollow shaft 203125, a rotary driving member 203124, a rotary joint 203127, a nozzle connecting rod 203122, a vacuum valve 2031215, and an air path; the rotary driving part 203124 is connected with the suction nozzle connecting rod 203122, the rotary driving part 203124 is also connected with the first sliding block 2311210 on the corresponding lifting linear guide rail, the rotary joint 203127 is connected with the rotary motor through the hollow shaft 203125, the suction nozzle 203121 is arranged on the hollow shaft 203125, the vacuum valve 2031215 is communicated with the suction nozzle 203121 through an air path, and the air path is provided with the regulating valve 203128; a fifth sensor 2031214 is also provided on one side of the rotator head, and a second sensing tab 203126 is provided on the rotator head.
The rotation driving part 203124 may be a stepping motor, and the rotation part is connected to the nozzle connecting rod 203122 and the first connecting transverse plate 203131 through the first flange 203123, thereby improving the connection stability. The hollow shaft 203125 is driven to rotate by the rotating component, so that the suction nozzle 203121 is driven to rotate, and the purpose of adjusting the angle of the detected product or the product to be detected sucked by the suction nozzle 203121 can be achieved. The hollow shaft 203125 can communicate the air path from the interior of the hollow shaft 203125 with the suction nozzle 203121, thereby facilitating the placement of the air path.
The vacuum valve 2031215 is provided on the first connecting diaphragm 203131 of the mounting frame 20313, thereby making full use of space and improving compactness of the structure. The vacuum valve 2031215 is used to change the air pressure in the air path, so that the suction nozzle 203121 can suck and release the product to be inspected or the inspected product. Specifically, the suction nozzle 203121 can suck the product to be inspected or the inspected product by lowering the air pressure in the air path, and the suction nozzle 203121 can release the sucked product to be inspected or the inspected product by raising the air pressure in the air path.
The regulator valve 203128 is used to regulate the amount of gas flow through the gas path and thus the speed at which the suction nozzle 203121 sucks or releases the product to be or the product that has been detected.
Further, as shown in fig. 12 and 13, the suction lift assembly 203112 further includes a spring 2031212, one end of the spring 2031212 is connected to the top of the suction mechanism connecting rod 203122, and the other end of the spring 2031212 is connected to the first support plate 203111.
Wherein, the suction mechanism connecting rod 203122 is provided with a first spring column 2031126, and the first support plate 203111 is provided with a second spring column, thereby facilitating the connection with the spring 2031212.
In the case of the rotation driving part 203124 using a stepper motor, after the stepper motor stops working, the tension of the spring 2031212 applies an upward tension to the suction mechanism connecting rod 203122, so that the suction mechanism 20312 can be located at a higher position, so as to avoid that the rotation shaft of the stepper motor cannot return to the original position after the stepper motor stops working, and the suction mechanism 20312 descends under the action of gravity.
Further, as shown in fig. 13, the connection assembly includes a clamping block 2031211 and a connection plate 203129 disposed on top of the suction mechanism connection rod 203122, and a timing belt 2031125 is fixed between the clamping block 2031211 and the connection plate 203129.
The synchronous belt 2031125 is clamped by the clamping blocks 2031211 and the connecting plates 203129, so that the material sucking mechanism 20312 and the synchronous belt 2031125 are connected, and compared with a connecting structure such as rivets, the risk of damage to the synchronous belt 2031125 can be reduced, so that the breakage probability of the synchronous belt 2031125 is reduced.
Further, as shown in fig. 12, the suction lift assembly 203112 further includes a timing belt tensioning slider 2031128, the timing belt tensioning slider 2031128 is disposed below the driving wheel 2031122, and the driven wheel 2031127 is mounted on the timing belt tensioning slider 2031128.
By adjusting the distance between the tensioning slider and the driving wheel 2031122, that is, the distance between the driven wheel 2031127 and the driving wheel 2031122, the function of tensioning the timing belt 2031125 can be achieved.
Further, the number of the suction mechanisms 20312 and the suction lifting mechanisms 20311 of the first feeding manipulator 2031 and the first discharging manipulator 2033 is 6, and the number of the suction mechanisms 20312 and the suction lifting mechanisms 20311 of the second feeding manipulator 2032 and the second discharging manipulator 2034 is 3.
The first loading manipulator 2031, the second loading manipulator 2032, the first unloading manipulator 2033 and the second unloading manipulator 2034 have a plurality of sucking mechanisms 20312, so that a plurality of detected products or products to be detected can be sucked in one transferring process, and the transportation efficiency is improved.
Further, as shown in fig. 11, the feeding photographing mechanism 2035 and the discharging photographing mechanism each include a bottom plate, a first camera 20358 lifting mechanism, a first camera 20358, a first light source 20356 and a first light source lifting mechanism; the first light source lifting mechanism is connected with the first light source 20356 to drive the first light source 20356 to move up and down along the vertical direction; the first camera 20358 lifting mechanism is connected with the first camera 20358 to drive the first camera 20358 to move up and down along the vertical direction; the first light source elevating mechanism and the first camera 20358 elevating mechanism are mounted on the base plate, and the first light source elevating mechanism is located below the first camera 20358 elevating mechanism.
The first light source 20356 is used for illuminating the first camera 20358 when photographing the first camera 20358, thereby improving the definition of a photographed image.
The first camera 20358 can be driven to move up and down along the vertical direction (the Z-axis direction) by the lifting mechanism of the first camera 20358, so that the height of the first camera 20358 is adjusted to adapt to trays with different heights, products to be detected or detected products. The height of the first light source 20356 can be adjusted by the first light source lifting mechanism simultaneously with the height adjustment of the first camera 20358, so that the first light source 20356 can better illuminate the first camera 20358.
In a specific application, a second connection cross plate 20351 is further provided on the upper portion of the base plate, and the base plate is connected to the first connection cross plate through the second connection cross plate 20351.
Specifically, the first camera 20358 lifting mechanism includes an electric slide table 20353 and a first slide table connection board 20354 provided on the electric slide table 20353; the electric slide 20353 is connected to the bottom plate 20352, and the first slide connection plate 20354 is connected to the first camera 20358.
In a specific application, the first camera 20358 is mounted on the first camera fixing plate 20359, and the first camera fixing plate 20359 is mounted on the first sliding table connecting plate 20354, so that the purpose of driving the first camera 20358 to move up and down along the vertical direction (the Z-axis direction) through the electric sliding table 20353 is achieved.
The electric sliding table 20353 may adopt a structure of an electric sliding table in the prior art, which is not described in detail in this embodiment.
Specifically, as shown in fig. 11, the first light source lifting mechanism includes a first fastener and a first light source 20356 connector; a first waist hole is formed in the bottom plate in the vertical direction, and a first fastener penetrates through the first waist hole and is connected with the first light source 20356 connector.
When the height of the first light source 20356 needs to be adjusted, the first fastening member is unscrewed, then the first light source 20356 connecting member is moved up or down along the first waist hole, and after the height is adjusted, the first fastening member is screwed again, so that the first light source 20356 is fixedly connected to the bottom plate.
Wherein, the first fastening piece may be a bolt, the first light source 20356 connector includes a first light source adjusting plate 20355 and a first light source fixing plate 20357, the first light source fixing plate 20357 is connected with the first light source adjusting plate 20355, the first light source 20356 is mounted on the first light source fixing plate 20357, and the first fastening piece passes through the first waist hole and is connected with the first light source adjusting plate 20355.
Further, as shown in fig. 29, the number of the second photographing mechanisms is two, and each second photographing mechanism includes a second supporting plate 401, a second camera lifting mechanism, a second camera 405, a second light source 404, and a second light source 404 lifting mechanism; the second light source 404 lifting mechanism is connected with the second light source 404 to drive the second light source 404 to move up and down along the vertical direction; the second camera lifting mechanism is connected with the second camera 405 to drive the second camera 405 to move up and down along the vertical direction; a second light source 404 elevating mechanism and a second camera elevating mechanism are mounted on the second support plate 401, and the second light source 404 elevating mechanism is located above the second camera elevating mechanism.
The second camera 405 can be driven to move up and down along the vertical direction (Z-axis direction) by the second camera lifting mechanism, so that the height of the second camera 405 can be adjusted to adapt to trays with different heights, products to be detected or detected products. The height of the second camera 405 can be adjusted, and simultaneously, the height of the second light source 404 can be adjusted through the first light source lifting mechanism, so that the second light source 404 can better illuminate the second camera 405.
In a specific application, a third connection cross plate 4010 is further arranged at the lower part of the second support plate 401, and the second support plate 401 is connected with the frame 10 through the third connection cross plate 4010. Further, a rib plate 409 is further provided between the second support plate 401 and the third connection cross plate 4010, thereby improving the connection stability.
Specifically, as shown in fig. 29, the second camera lifting mechanism includes a fine adjustment slide table 408 and a second slide table connecting plate 407 slidably connected to the fine adjustment slide table 408; the fine tuning slipway 408 is fixed on the second support plate 401, and the second slipway connecting plate 407 is connected with the second camera 405.
In a specific application, the second camera 405 is mounted on the second camera fixing plate 406, and the second camera fixing plate 406 is mounted on the second sliding table connecting plate 407, so that the purpose of driving the second camera 405 to move up and down along the vertical direction (the Z-axis direction) through the fine adjustment sliding table 408 is achieved.
The fine tuning sliding table 408 may adopt a structure of a fine tuning sliding table in the prior art, which is not described in detail in this embodiment.
Specifically, as shown in fig. 29, the second light source 404 lifting mechanism includes a second fastening member and a second light source 404 connecting member; a second waist hole is formed in the second support plate 401 in the vertical direction, and a second fastener passes through the second waist hole and is connected with a second light source 404 connector.
When the height of the second light source 404 needs to be adjusted, the second fastening member is unscrewed, then the second light source 404 connecting member is moved up or down along the second waist hole, and after the height is adjusted, the second fastening member is screwed, so that the second light source 404 is fixedly connected to the second support plate 401.
The second fastening piece may be a bolt, the second light source 404 connecting piece includes a second light source adjusting plate 402 and a second light source fixing plate 403, the second light source fixing plate 403 is connected with the second light source adjusting plate 402, the second light source 404 is mounted on the second light source fixing plate 403, and the second fastening piece passes through the second waist hole and is connected with the second light source adjusting plate 402.
Further, as shown in fig. 30, the loading stage device 50 and the unloading stage device 60 each include a sliding table cylinder 502 and a cylinder connecting plate, and the sliding table cylinder 502 is connected with the cylinder connecting plate to drive the cylinder connecting plate to move in the transverse direction; a sixth sensor is arranged at one end of the sliding table cylinder 502; the cylinder connecting plate is provided with a carrier plate, the carrier plate is provided with an opening, the lower part of the opening is connected with a pipe joint 505, and the pipe joint 505 is used for communicating with the negative pressure device.
The loading platform device 50 and the unloading platform device 60 are used for transporting the product to be detected from the loading tray to the detecting mechanism and transporting the detected product from the detecting mechanism to the unloading tray. Specifically, the first loading manipulator 2031 sucks 6 products to be detected from the loading tray, then moves onto the carrier plate of the loading stage device 50, then the first loading manipulator 2031 descends, and places the 6 products to be detected at corresponding openings on the carrier plate, the products to be detected are adsorbed on the carrier plate through the negative pressure device, then the first loading manipulator 2031 ascends and returns to the loading tray to continue to take the material, meanwhile, the sliding table cylinder 502 of the loading stage device 50 drives the carrier plate to move to the detection mechanism, then the second loading manipulator 2032 moves to the position above the loading stage device 50, and the negative pressure device releases gas, the adsorption force of the products to be detected of the carrier plate disappears, then the second loading manipulator 2032 sucks 3 products to be detected from the carrier plate to move to the detection mechanism, in the process, the placement angle of the products to be detected is adjusted by using the second photographing mechanism, then the 3 products to be detected are placed on the detection mechanism to be detected, and then the second loading manipulator 2032 moves to the upper side of the loading stage device 50 to rotate to the position of the loading stage device 50, and the second loading manipulator 2032 is rotated to finish the material taking mode, and the products to be detected on the carrier plate 50 are simultaneously.
After the detection mechanism finishes detection, the second blanking manipulator 2034 moves to the upper side of the detection mechanism, meanwhile, the sliding table cylinder 502 of the blanking carrying table device 60 drives the carrying table 507 to move to the detection mechanism, then the second blanking manipulator 2034 sucks 3 detected products from the detection mechanism and moves to the upper side of the carrying plate of the blanking carrying table device 60, then the 3 detected products are placed on the holes of the carrying plate, then the 3 detected products are adsorbed on the carrying plate by using the negative pressure device, then the second blanking manipulator 2034 transfers the 3 detected products on the detection mechanism to the carrying plate in the same way, and then the sliding table 502 drives the carrying table 507 to move to the blanking disc to perform subsequent transportation procedures.
Wherein, the cylinder connecting plate includes the frame that cylinder connecting bottom plate 503, cylinder connecting riser 504 and cylinder connecting roof 506 are constituteed, and the microscope carrier 507 is installed on cylinder connecting roof 506. The bottom of slip table cylinder 502 is equipped with slip table cylinder bottom plate 501, and slip table cylinder 502 passes through slip table cylinder bottom plate 501 to be installed on frame 10. As shown in fig. 31, the detecting mechanism includes a detecting jig 70, the detecting jig 70 includes a jig upper plate 701 and a jig lower plate 702, and a product to be detected is placed on the jig upper plate 701 for detection. The sixth sensor is used to detect whether the stage 507 is moving into place.
Further, the number of the holes is two; each group of holes consists of 6 holes arranged in a straight line.
Be provided with 2x6 totally 12 hole sites on the support plate, can place 2 groups total products of waiting to detect or detected product, wherein a set of hole site is used for the normal material of getting of product, and another set of hole site is used for caching the position when the unloading dish is being traded, not only reduces the change and waits for the blowing time like this, and then improves efficiency, simple structure moreover, with low costs.
Further, as shown in fig. 14 and 15, the conveying apparatus further includes a tray conveying device 30, where the tray conveying device 30 includes a loading tray conveying device 301; the loading tray conveying device 301 includes a first conveying mechanism 3011, a first clamping mechanism 3014, a loading tray supporting mechanism 3015, and a first lifting mechanism 3013; the feeding tray supporting mechanism 3015 is arranged on the first conveying mechanism 3011; the tail end of the first conveying mechanism 3011 is provided with a first blocking mechanism 3012, and the first jacking mechanism 3013 is arranged opposite to the first blocking mechanism 3012; the first gripping mechanism 3014 is located at a position on the first conveying mechanism 3011 corresponding to the first lifting mechanism 3013.
Automatic feeding of the feeding tray and automatic recovery of the empty feeding tray can be achieved through the feeding tray conveying device 301, so that workload of workers is reduced, and working efficiency is improved.
Specifically, the feeding tray carrying the product to be detected is conveyed to the tail end of the first conveying mechanism 3011 through the first conveying mechanism 3011, then the first conveying mechanism 3011 stops working, the first jacking mechanism 3013 jacks up the feeding tray until the feeding tray is higher than the feeding tray supporting mechanism 3015 and then stops moving, then the feeding tray supporting mechanism 3015 moves to the bottom of the feeding tray to play a supporting role on the feeding tray, then the first jacking mechanism 3013 descends to enable the feeding tray to fall on the feeding tray supporting mechanism 3015, the first jacking mechanism 3013 continues to descend to the initial position, and in the descending process of the first jacking mechanism 3013, the first clamping mechanism clamps the feeding tray, meanwhile the first blocking mechanism 3012 also detects the feeding tray, and at the moment, the feeding tray is in a working state, that is, the first feeding manipulator 2031 can take materials from the feeding tray.
After all the products to be detected on the feeding tray are taken out, that is, the feeding tray is empty, the first clamping mechanism releases the feeding tray, then the first lifting mechanism 3013 ascends to enable the feeding tray to ascend to a certain height, the feeding tray supporting mechanism 3015 retracts, then the first lifting mechanism 3013 waits for the feeding tray to descend, the feeding tray falls on the first conveying mechanism 3011, the first lifting mechanism 3013 continues to descend to the initial position, and then the first conveying mechanism 3011 runs in the opposite direction to recover the empty feeding tray.
Further, as shown in fig. 14, the number of the first conveyance mechanisms 3011 is two, and the two first conveyance mechanisms 3011 are arranged side by side.
The two first conveying mechanisms 3011 can alternately convey the feeding tray, that is, when one of the first conveying mechanisms 3011 conveys the feeding tray, the feeding tray of the other first conveying mechanism 3011 is already in a working state, so that the first feeding manipulator 2031 can absorb the product to be detected in the feeding tray, and the feeding tray conveyed by the other first conveying mechanism 3011 is also in a working state, so that the first feeding manipulator 2031 can continuously work, the time for waiting for conveying the feeding tray is saved, and the working efficiency is improved.
In addition, when the number of products to be detected remaining in one of the feeding trays is less than 6, the first feeding manipulator 2031 may suck the products to be detected from the other feeding tray again, so as to make up 6.
Further, as shown in fig. 22, the blanking tray includes a good blanking tray and a bad blanking tray; the tray conveying device 30 further includes a good tray conveying device 302 for conveying good trays and a bad tray conveying device 303 for conveying bad trays; the good product blanking tray conveying device 302 and the defective product blanking tray conveying device 303 comprise a second conveying mechanism 3021, a blanking tray supporting mechanism 3024, a second clamping mechanism 3026, a positioning mechanism 3022 and a second jacking mechanism 3025; the second clamping mechanism, the blanking disc supporting mechanism 3024 and the positioning mechanism 3022 are arranged on the second conveying mechanism 3021, and the blanking disc supporting mechanism 3024 is arranged between the clamping mechanism and the positioning mechanism 3022; the second jacking mechanism 3025 is located below the supporting mechanism; a second blocking mechanism 3023 is arranged on one side of the second lifting mechanism 3025 close to the positioning mechanism 3022.
The good product unloading dish is used for holding qualified detected product, and the defective products unloading dish is used for holding unqualified detected product, and good products unloading dish and defective products unloading dish can distinguish through different sign, colour or material.
In a specific application, the empty good product blanking tray is conveyed to the waiting position through the second conveying mechanism 3021 of the good product blanking tray conveying device 302, then the second conveying mechanism 3021 is reversed, meanwhile, the second blocking mechanism 3023 of the good product blanking tray conveying device 302 is lifted to a certain height, in the process, the good product tray on the second conveying mechanism 3021 is blocked by the second blocking mechanism 3023, the second conveying mechanism 3021 stops moving, then the second lifting mechanism 3025 jacks up the good product tray until the good product tray is higher than the bottom of the good product tray under the action of stopping moving after the good product tray is higher than the blanking tray supporting mechanism 3024, then the blanking tray supporting mechanism 3024 moves to the bottom of the good product tray, the good product tray is supported, then the second lifting mechanism 3025 is lowered, the good product tray falls on the good product tray supporting mechanism, the second lifting mechanism 3025 is continuously lowered to the initial position, in the process of the second lifting mechanism 3025 is clamped, and meanwhile, the positioning mechanism 3022 detects that the good product tray is in a qualified product blanking state, and the good product tray is detected to be sucked by the first lifting mechanism 2033.
In the process of moving the first discharging manipulator 2033, that is, in the process of transferring the detected product, the second empty good product tray is also transported to the waiting position by the second conveying mechanism 3021, and then the second conveying mechanism 3021 stops working, where the second good product tray is in a static state. After the qualified product in the working state is filled with the qualified product, the second clamping mechanism releases the feeding disc, then the second jacking mechanism 3025 ascends, the feeding disc supporting mechanism 3024 retracts, then the second jacking mechanism 3025 brings the qualified product disc of the full disc down, the feeding disc falls on the second conveying mechanism 3021, the second jacking mechanism 3025 continues to descend to the initial position, then the second conveying mechanism 3021 runs reversely, the qualified product disc and the empty qualified product disc move simultaneously, the second blocking mechanism 3023 ascends until the empty qualified product disc is blocked by the second blocking mechanism 3023, the second conveying mechanism 3021 stops moving, then the second jacking mechanism 3025 jacks the qualified product disc until the qualified product disc is higher than the feeding disc supporting mechanism 3024, then the feeding disc supporting mechanism 3024 moves to the bottom of the feeding disc, the second jacking mechanism 3025 also does not need to move to the initial position, the second jacking mechanism 3022 simultaneously, the working efficiency of the empty good product disc is improved, and the working efficiency of the second jacking mechanism is improved, and the working staff is also improved.
It is understood that the recovery and replacement of the defective trays are the same as the above process, and will not be described here again.
Further, as shown in fig. 28, the second blocking mechanism 3023 includes an adjustment base 30235, a mounting plate 30237, a third fastener, a first blocking plate 30231, a first blocking plate lift driving portion 30236, and a rail 30234; the rail 30234 is arranged along the vertical direction, a second sliding block 30233 capable of sliding is arranged on the rail 30234, the second sliding block 30233 is connected with the first barrier lifting driving part 30236, and the second sliding block 30233 is connected with the first barrier lifting driving part 30236; the adjusting base 30235 is provided with a third waist hole, the opening direction of the third waist hole is parallel to the arrangement direction of the second conveying mechanism 3021, and a third fastener penetrates through the third waist hole to be connected with the bottom of the mounting plate 30237.
In a specific application, the second slider 30233 is provided with a connection seat 30232, the connection seat 30232 is provided with a movable connection plate 30239, and the movable connection plate 30239 is provided with a connection rod 30238 connected to the first blocking plate lifting driving portion 30236, so that the connection between the second slider 30233 and the first blocking plate 30231 lifting driving mechanism is achieved. The first blocking plate 30231 on the second slider 30233 can be lifted by driving the second slider 30233 to move up and down along the guide rail by the lifting driving mechanism of the first blocking plate 30231. Wherein the first blocking plate 30231 may be a cylinder.
In addition, through the third waist hole that opens, the relative position of mounting panel 30237 and adjustment base 30235, that is, the relative position of adjustment first barrier 30231 and the blanking tray to the blanking tray of different length can be adapted, thereby improving the adaptability and the flexibility of use of second barrier 3023. Specifically, when the position of the first blocking plate 30231 needs to be adjusted, the third fastening member is loosened, and then the first blocking plate 30231 is moved to the desired position, and then the third fastening member is tightened. Wherein, the third fastener can adopt a bolt.
Specifically, as shown in fig. 15, the first and second conveyance mechanisms 3011 and 3021 include a first conveyance assembly 30111, a pitch adjustment assembly 301144, a power assembly 30113, and a second conveyance assembly 30112; the first conveying component 30111 and the second conveying component 30112 are arranged side by side, the distance adjusting component 301144 is in transmission connection with the first conveying component 30111 and the second conveying component 30112 respectively, and the power component 30113 is in transmission connection with the first conveying component 30111 and the second conveying component 30112 respectively.
The distance adjusting component 301144 can enable the first conveying component 30111 and the second conveying component 30112 to move in opposite directions or in opposite directions so as to adjust the distance between the first conveying component 30111 and the second conveying component 30112, so that a worker can adjust the distance of the adaptation according to the size of the feeding tray or the discharging tray, and each conveying mechanism can convey the feeding tray or the discharging tray with different sizes, and adaptability is improved.
In addition, in the present embodiment, the first and second conveying members 30111 and 30112 share one power member 30113 for providing power for conveying, and compared with the prior art in which each conveying member is provided with one power member 30113, the synchronization of the first and second conveying members 30111 and 30112 is improved, the number of power members 30113 is reduced, the cost is reduced, and the structure is made more compact.
Specifically, as shown in fig. 17, 18, 20 and 21, the first conveying assembly 30111 includes a first belt fixing plate 301118 and a first belt 301112, a first driving wheel 301111 and a first driven wheel 301113 are disposed on a side wall of the first belt fixing plate 301118, and the first driving wheel 301111 is connected to the first driven wheel 301113 by a first belt 301112; the second conveying device comprises a second belt fixing plate 301126 and a second belt 301122, wherein a second driving wheel 301121 corresponding to the first driving wheel 301111 and a second driven wheel 301123 corresponding to the first driven wheel 301113 are arranged on the side wall of the second belt fixing plate 301126 opposite to the first belt fixing plate 301118; the seventh inductors 301116 are provided at both ends of the first belt fixing plate 301118, respectively.
The number and positions of the first driven wheels 301113 can be set by staff according to actual conditions, and the embodiment does not have strict requirements; the number of second driven wheels 301123 is the same as and corresponds to one with the number of first driven wheels 301113. The number of the first driven wheels 301113 is 6, two first driven wheels 301113 are respectively disposed at two ends of the first belt fixing plate 301118, and the remaining first driven wheels 301113 are disposed above the first driving wheel 301111 and are staggered up and down, so that the first driven wheels 301113 can be used as tensioning wheels to improve the tensioning speed of the first belts 301112, and thus improve the stability and reliability of conveying the feeding tray or the discharging tray. The seventh sensor 301116 is fixed to both ends of the first belt fixing plate 301118 by a seventh sensor mounting plate 301117, thereby detecting whether the upper tray or the lower tray is transferred in place.
Further, as shown in fig. 16, the power assembly 30113 includes a first driving member and a ball spline, the first driving member is connected to a key shaft of the ball spline, two spline shaft nuts 301137 are disposed on the key shaft, one spline shaft nut 301137 is connected to the first driving wheel 301111, and the other shaft sleeve is connected to the second driving wheel 301121.
The first driving member drives the key shaft to rotate, so that the key shaft drives the two spline shaft nuts 301137 to rotate, and then drives the first driving wheel 301111 and the second driving wheel 301121 to rotate through the two spline shaft nuts 301137, so that the rotation of the first belt 301112 and the second belt 301122 can provide power, and the feeding tray or the discharging tray can be conveyed. And when the distance adjusting component 301144 adjusts the distance between the first conveying component 30111 and the second conveying component 30112, the second driving wheel 301121 drives the corresponding spline shaft nut 301137 to move on the spline shaft.
Specifically, the first driving member includes a fixed plate 301135, a motor 301131, a coupling 301133, and a motor connecting rod 301134; the motor 301131 is mounted on the outer side of the fixing plate 301135 by a motor connecting rod 301134, and a rotating shaft of the motor 301131 is connected to a key shaft of the ball spline by a coupling 301133.
Rotation of the motor 301131 drives rotation of the ball spline key shaft, thereby providing rotational power to the first drive wheel 301111 and the second drive wheel 301121. In a specific application, a second flange 301132 is also provided on the outside of the motor 301131, and a motor connecting rod 301134 is mounted on the second flange 301132.
The first driving wheel 301111 is further provided with a second bearing 301114 and a first retainer ring 301115 to improve the reliability of the connection between the first driving wheel 301111 and the ball spline, and similarly, the second driving wheel 301121 is further provided with a third bearing 301124 and a second retainer ring 301125 to improve the reliability of the connection between the second driving wheel 301121 and the ball spline.
Further, as shown in fig. 19, a first bearing 301145 is further provided on a side wall of the first strap fixing plate 301118 opposite to the second strap fixing plate 301126; the spacing adjusting device comprises a connecting bottom plate 301141, a trapezoidal screw 301146 and a hand wheel 301148; a screw nut 301147 is arranged on the trapezoidal screw 301146, one end of the trapezoidal screw 301146 penetrates through the fixed plate to be connected with the first bearing 301145, and the other end of the trapezoidal screw 301146 is connected with the hand wheel 301148; the screw nut 301147 is connected with the second belt fixing plate 301126; one side of the connection bottom plate 301141 is connected with the bottom of the first belt fixing plate 301118, a track 301142 is arranged on the connection bottom plate 301141, the track 301142 is perpendicular to the first belt fixing plate 301118 and the second belt fixing plate 301126, a third sliding block 30114 capable of sliding is arranged on the track 301142, and the third sliding block 30114 is connected with the bottom of the second belt fixing plate 301126.
Under the condition that the trapezoid screw rod is driven to rotate through the hand wheel 301148, the screw rod nut can move close to or far away from the first belt fixing plate 301118, so that the second belt fixing plate 301126 is driven to be close to or far away from the first belt fixing plate 301118, namely the distance between the first conveying assembly 30111 and the second conveying assembly 30112 is adjusted, and therefore the feeding disc or the discharging disc with different sizes is adapted.
Wherein the rail 301142 and its upper third slider 30114 serve as a guide for the movement of the second belt fixing plate 301126. Further, the third slider 30114 is mounted to the linear slide base plate 201311211 by a third slider connecting plate 301143.
Further, as shown in fig. 19, a locking nut 301149 for locking the hand wheel 301148 is further provided on the hand wheel 301148, and the hand wheel 301148 can be locked by the locking nut 301149 without using the hand wheel 301148, so as to avoid the hand wheel 301148 from rotating after being touched by external force.
Specifically, as shown in fig. 18 and 21, a first guide plate 3011210 is provided at an upper portion of the first belt fixing plate 301118, and a second guide plate 301128 is provided at an upper portion of the second belt fixing plate 301126; the first belt fixing plate 301118 is further provided with a first belt supporting plate 301129 for supporting the first belt 301112, and the second belt fixing plate 301126 is further provided with a second belt supporting plate 301127 for supporting the second belt 301122.
The first belt support plate 301129 is disposed at a lower portion of the first belt 301112 and closely contacts the first belt 301112, thereby serving to support the first belt 301112, so as to prevent the first belt 301112 from sagging to affect the conveying effect. In addition, in order to reduce friction between the first belt support plate 301129 and the first belt 301112, thereby reducing an influence on the conveying speed, the upper surface of the first belt support plate 301129 may be coated with lubricating oil. Similarly, the second belt support plate 301127 is disposed at a lower portion of the second belt 301122 and is closely attached to the second belt 301122, thereby serving to support the second belt 301122, so as to prevent the second belt 301122 from sagging to affect the conveying effect. In addition, in order to reduce friction between the second belt support plate 301127 and the second belt 301122, thereby reducing an influence on the conveying speed, the upper surface of the second belt support plate 301127 may be coated with lubricating oil.
Through the cooperation of the first guide plate 3011210 and the second guide plate 301128, the feeding tray or the discharging tray is prevented from falling off, and the guide function is also realized, so that the conveying is more reliable and stable.
Further, as shown in fig. 23, the first and second lifting mechanisms 3013 and 3025 include a pallet lifting drive portion 30138, a support frame, and a pallet 30131; a push plate 30139 connected with the supporting plate lifting driving part 30138 is arranged in the supporting frame body, two guide shafts 30132 are arranged on the push plate 30139, and the top ends of the two guide shafts 30132 penetrate through the supporting frame body and are connected with the supporting plate 30131; the eighth sensor 30135 is provided on the upper and lower portions of the support frame, and the pusher 30139 is provided with a third sensor piece on a side thereof adjacent to the eighth sensor 30135.
The lifting driving part 30138 drives the two guide shafts 30132 on the push plate 30139 to move up and down in the vertical direction, so as to drive the supporting plate 30131 to move up and down in the vertical direction, thereby realizing the lifting and descending of the lifting mechanism.
The supporting frame body is surrounded by a supporting bottom plate 30137, a supporting top plate 301311 and a supporting vertical plate 3014, and an eighth sensor 30135 is fixed on the supporting frame body through an eighth sensor mounting seat 30136, and an eighth sensor 30135 is used for sensing whether the push plate 30139 moves in place. The two guide shafts 30132 are provided with guide sleeves 30133 penetrating the support frame body, so that the guide shafts 30132 can smoothly move up and down.
Further, as shown in fig. 27, the upper tray supporting mechanism 3015 and the lower tray supporting mechanism 3024 include a first supporting member disposed on the first belt fixing plate 301118 and a second supporting member disposed on the second belt fixing plate 301126, the first supporting member being located above the first belt 301112, the second supporting member being located above the second belt 301122; the first support assembly and the second support assembly comprise a first telescopic driving part 30151, a support block 30153, a first telescopic driving part connecting piece 30151, a first limiting plate and a second limiting plate 30152; the first telescopic driving part 30151 is connected to the supporting block 30153 by a telescopic part connecting member, a first limiting plate is disposed on one side of the supporting block 30153 close to the first telescopic driving part 30151, and a second limiting plate 30152 is disposed on the upper portion of the supporting block 30153.
The first telescopic driving part 30151 of the first supporting component and the first telescopic driving part 30151 of the second supporting component move in opposite directions or in opposite directions, so that the corresponding supporting blocks 30153 are driven to move in opposite directions or in opposite directions, and the purpose of supporting or releasing a lower tray or an upper tray is achieved.
The first telescopic driving part 30151 may adopt a telescopic cylinder, the first telescopic driving part connector 30151 includes a fixed connection plate 30155 and a support block connection plate 30154, the support block connection plate 30154 is connected with the first telescopic driving part 30151 through the fixed connection plate 30155, and the support block 30153 is mounted on the support block connection plate 30154, so that the stability of connection is improved.
Further, as shown in fig. 24, the first clamping mechanism 3014 and the second clamping mechanism 3026 include a first clamping assembly disposed on the first belt fixing plate 301118 and a second clamping assembly disposed on the second belt fixing plate 301126, and the first clamping assembly is disposed opposite to the second clamping assembly; the first clamping assembly and the second clamping assembly comprise a second telescopic driving part 30143, a clamping part 30141, a fixed seat 30146, a fourth fastening piece and a first adjusting plate 30145, the second telescopic driving part 30143 is connected with the clamping part 30141, the second telescopic driving part 30143 is arranged on the first adjusting plate 30145, a fourth waist hole is formed in the first adjusting plate 30145, and the forming direction of the fourth waist hole is perpendicular to the first belt fixing plate 301118 and the second belt fixing plate 301126; the fourth fastener passes through the fourth waist hole and is connected with the fixed seat 30146.
The second telescopic driving part 30143 of the first clamping assembly and the second telescopic driving part 30143 of the second clamping assembly move in opposite directions or in opposite directions, so that the corresponding clamping parts 30141 are driven to move in opposite directions or in opposite directions, and the aim of clamping or unclamping a lower tray or an upper tray is fulfilled. The clamp portion 30141 is connected to the second telescopic drive portion 30143 via a clamp connection plate 30142.
The second telescopic driving unit 30143 may be a telescopic cylinder, which is fixed to the first adjusting plate 30145 by a telescopic unit fixing plate 30144, thereby improving connection stability.
Through the position of the first adjusting plate 30145 and the fixed seat 30146, the relative position of the clamping part and the feeding disc or the discharging disc is adjusted, and the clamping part is suitable for feeding discs or discharging discs with different lengths, so that the adaptability and the use flexibility of the first clamping mechanism 3014 and the second clamping mechanism 3026 are improved. Specifically, when the position of the clamping portion needs to be adjusted, the fourth fastening member is loosened, and then the first adjusting plate 30145 is moved to the required position along the fourth waist hole, and then the fourth fastening member is tightened. Wherein, the fourth fastener can adopt a bolt.
Further, as shown in fig. 25 and 26, the first blocking mechanism 3012 and positioning mechanism 3022 include a support 30123, a second adjustment plate 30124, a second blocking plate 30122, a fifth fastener, and a ninth sensor 30121; the ninth inductor 30121 is arranged on one side of the second blocking plate 30122, close to the first conveying mechanism 3011, the second blocking plate 30122 is connected with an adjusting plate, a fifth waist hole is formed in the second adjusting plate 30124, and the direction of the fifth waist hole is parallel to the arrangement direction of the first conveying mechanism 3011; the fifth fastener is coupled to the support 30123 through the fifth waist hole.
Through the fifth waist hole, the relative position between the supporting piece 30123 and the second adjusting plate 30124 can be adjusted, namely, the relative position between the second blocking plate 30122 and the blanking disc or the feeding disc is adjusted, so that the blanking disc with different lengths can be adapted, and the adaptability and the use flexibility of the second blocking mechanism 3023 are improved. Specifically, when the position of the second blocking plate 30122 needs to be adjusted, the fifth fastening member is loosened, and then the second blocking plate 30122 is moved to a desired position, and then the fifth fastening member is tightened. Wherein, the fifth fastener can adopt a bolt. The ninth sensing piece is used for sensing whether the feeding tray or the discharging tray is conveyed in place.
Further, as shown in fig. 32, the loading tray is provided with an array of detected positions to be placed 80 of the products, and the first photographing mechanism is specifically configured to obtain the detected positions to be placed 80 of the products with 4 vertex angles, so as to determine the positions to be placed 80 of other detected products through the detected positions to be placed of the products with 4 vertex angles.
While the second discharging manipulator 2034 moves above the detecting mechanism, the first photographing mechanism (i.e., the discharging photographing mechanism) on the first discharging manipulator 2033 passes above the discharging tray and photographs, so as to obtain the positions 80 to be placed of the detected products at the 4 top corners, and thus, by the length and the width occupied by each position, other positions 80 to be placed can be determined, and then, the detected products can be placed according to the determined positions 80 to be placed.
The present application has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the present application to the scope of the described embodiments. Further, it will be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and that many variations and modifications are possible in light of the teachings of the present application, which variations and modifications are within the scope of what is claimed herein. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims (11)

1. The conveying equipment is characterized by comprising a rack, and a carrying device, a bottom surface flying device, a feeding tray, a discharging tray, a feeding carrying platform device and a discharging carrying platform device which are arranged on the rack;
the carrying device comprises a moving mechanism, a taking and placing mechanism and a first photographing mechanism, wherein the taking and placing mechanism is arranged on the moving mechanism, and the first photographing mechanism is arranged on the taking and placing mechanism; the bottom surface flying device comprises a second photographing mechanism;
the first photographing mechanism is used for acquiring the placement position of a product to be detected on the feeding disc, so that the taking and placing mechanism moves to the placement position through the moving mechanism, and the product to be detected is sucked; the device comprises a loading platform device, a moving mechanism, a loading mechanism, a detecting mechanism and a positioning mechanism, wherein the loading platform device is used for loading the detected products on the loading platform device;
The second photographing mechanism is used for acquiring the angle of the product to be detected or the detected product sucked by the taking and placing mechanism and the relative position of the product to be detected or the detected product and the taking and placing mechanism in the transverse direction and the longitudinal direction in the process that the taking and placing mechanism transfers the product to be detected or the detected product, so as to determine the rotation angle of the taking and placing mechanism to rotate the product to be detected or the detected product, and enabling the taking and placing mechanism to rotate the product to be detected or the detected product according to the rotation angle;
the loading carrier device is used for carrying and transporting the products to be detected sucked from the loading tray by the taking and placing mechanism;
the blanking carrier device is used for carrying and transporting the detected products sucked by the picking and placing mechanism from the detecting mechanism.
2. The conveying device according to claim 1, wherein the second photographing mechanism is specifically configured to obtain, during a process that the pick-and-place mechanism moves from the loading stage device to the detecting mechanism, an angle of a product to be detected sucked by the pick-and-place mechanism from the loading stage device and a relative position of the product to be detected and the pick-and-place mechanism in a transverse direction and a longitudinal direction, so as to determine a rotation angle of the pick-and-place mechanism to rotate the product to be detected, and enable the pick-and-place mechanism to rotate the product to be detected according to the rotation angle;
And in the process that the picking and placing mechanism moves from the blanking carrying platform device to the blanking disc, acquiring the angle of the detected product sucked by the picking and placing mechanism from the blanking carrying platform device and the relative positions of the detected product and the picking and placing mechanism in the transverse direction and the longitudinal direction, determining the rotation angle of the picking and placing mechanism for rotating the detected product, and enabling the picking and placing mechanism to rotate the detected product according to the rotation angle.
3. The conveying apparatus according to claim 1 or 2, wherein the moving mechanism includes a feeding lateral moving mechanism, a feeding longitudinal moving mechanism, a discharging lateral moving mechanism, and a discharging longitudinal moving mechanism; the material taking and discharging mechanism comprises a material feeding manipulator and a material discharging manipulator; the first photographing mechanism comprises a feeding photographing mechanism and a discharging photographing mechanism;
the feeding transverse moving mechanism comprises a feeding transverse movement driving assembly and a feeding linear guide rail assembly; the feeding transverse movement driving assembly and the feeding linear guide rail assembly are arranged transversely; the feeding longitudinal moving mechanism is respectively connected with the feeding transverse moving device and the feeding linear guide rail assembly; the feeding mechanical arm is connected with the feeding longitudinal moving mechanism, and the feeding photographing mechanism is connected with the feeding mechanical arm;
The blanking transverse moving mechanism comprises a blanking transverse movement driving assembly and a blanking linear guide rail assembly; the blanking transverse movement driving assembly and the blanking linear guide rail assembly are arranged transversely; the discharging longitudinal moving mechanism is respectively connected with the discharging transverse moving device and the discharging linear guide rail assembly; the blanking manipulator is connected with the blanking longitudinal moving mechanism, and the blanking photographing mechanism is connected with the blanking manipulator.
4. The conveying apparatus of claim 3, wherein the feeding lateral motion driving assembly and the discharging lateral motion driving assembly each comprise a bi-directional linear motor, a first sliding connector and a second sliding connector; the first sliding connecting piece and the second sliding connecting piece are connected with the bidirectional linear motor, the bidirectional linear motor is used for driving the first sliding connecting piece and the second sliding connecting piece to move independently, and two ends of the bidirectional linear motor are respectively provided with a first inductor;
the feeding linear guide rail assembly and the discharging linear guide rail assembly comprise linear guide rails, third sliding connecting pieces and fourth sliding connecting pieces, and the third sliding connecting pieces and the fourth sliding connecting pieces are in sliding connection with the linear guide rails.
5. The conveying apparatus of claim 4, wherein the loading longitudinal movement mechanism comprises a first loading longitudinal movement module and a second loading longitudinal movement module; the first feeding longitudinal moving module is connected with a first sliding connecting piece of the feeding transverse moving mechanism and a third sliding connecting piece of the feeding linear guide rail assembly respectively; the second feeding longitudinal module is connected with a second sliding connecting piece of the feeding transverse moving mechanism and a fourth sliding connecting piece of the feeding linear guide rail assembly respectively; one end of the first feeding longitudinal moving module and one end of the second feeding longitudinal moving module are provided with second sensors;
the feeding mechanical arm comprises a first feeding mechanical arm and a second feeding mechanical arm; the first feeding mechanical arm is installed on the first feeding longitudinal moving module, the feeding photographing mechanism is installed on the first feeding mechanical arm, and the second feeding mechanical arm is installed on the second feeding longitudinal moving module.
6. The conveying apparatus of claim 5, wherein the blanking longitudinal moving mechanism comprises a first blanking longitudinal moving module and a second blanking longitudinal moving module; the first blanking longitudinal moving module is respectively connected with a first sliding connecting piece of the blanking longitudinal moving mechanism and a third sliding connecting piece of the blanking linear guide rail assembly; the second blanking longitudinal module is connected with a second sliding connecting piece of the blanking longitudinal moving mechanism and a fourth sliding connecting piece of the blanking linear guide rail assembly respectively; one end of the first blanking longitudinal moving module and one end of the second blanking longitudinal moving module are provided with third sensors;
The blanking manipulator comprises a first blanking manipulator and a second blanking manipulator; the first blanking manipulator is installed on the first blanking longitudinal moving module, the blanking photographing mechanism is installed on the first blanking manipulator, and the second blanking manipulator is installed on the second blanking longitudinal moving module.
7. The conveying apparatus of claim 6, wherein the first feeding robot, the second feeding robot, the first discharging robot, and the second discharging robot each comprise a suction mechanism and a suction lifting mechanism;
the material sucking lifting mechanism comprises a first supporting plate and at least one material sucking lifting assembly arranged on the first supporting plate; each material sucking mechanism comprises a connecting component, a rotating component and a suction nozzle, wherein the connecting component is connected with the material sucking lifting component so that the material sucking lifting component drives the connecting component to move up and down along the vertical direction; the rotating component is fixed on the connecting component and connected with the suction nozzle, so that the rotating component drives the suction nozzle to rotate around the vertical shaft.
8. The conveying apparatus as claimed in claim 7, wherein the suction lifting assembly comprises a first lifting driving part, a driving wheel, a driven wheel, a synchronous belt and a lifting linear guide rail; the driving wheel and the driven wheel are arranged up and down, and the synchronous belt bypasses the driving wheel and the driven wheel; the first lifting driving part is connected with the driving wheel, the lifting linear guide rail is positioned below the driven wheel, and a first sliding block capable of sliding is arranged on the lifting linear guide rail; a fourth sensor is arranged above the driving wheel, and a first sensing piece is arranged on one side of the driving wheel;
The connecting components of the material sucking mechanisms are fixedly connected with the corresponding synchronous belts, and the rotating components of the material sucking mechanisms are connected with the first sliding blocks on the corresponding lifting linear guide rails.
9. The transport apparatus of claim 8, wherein the rotating assembly comprises a hollow shaft, a rotary drive member, a rotary joint, a nozzle connecting rod, a vacuum valve, and an air path;
the suction nozzle connecting rod is connected with the rotary driving component, the rotary driving component is also connected with a first sliding block on the corresponding lifting linear guide rail, the rotary joint is connected with the rotary motor through the hollow shaft, the suction nozzle is arranged on the hollow shaft, the vacuum valve is communicated with the suction nozzle through the air passage, and the air passage is provided with a regulating valve; a fifth sensor is further arranged on one side of the rotating head, and a second sensing piece is arranged on the rotating head.
10. The conveyor apparatus of claim 9 wherein the suction lift assembly further comprises a spring having one end connected to the top of the suction mechanism connecting rod and the other end connected to the first support plate.
11. The transport apparatus of claim 9, wherein the connection assembly includes a clamping block and a connection plate disposed on top of the nozzle connection rod, the timing belt being secured between the clamping block and the connection plate.
CN202211515523.0A 2022-11-30 2022-11-30 Conveying equipment Pending CN116062463A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211515523.0A CN116062463A (en) 2022-11-30 2022-11-30 Conveying equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211515523.0A CN116062463A (en) 2022-11-30 2022-11-30 Conveying equipment

Publications (1)

Publication Number Publication Date
CN116062463A true CN116062463A (en) 2023-05-05

Family

ID=86173927

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211515523.0A Pending CN116062463A (en) 2022-11-30 2022-11-30 Conveying equipment

Country Status (1)

Country Link
CN (1) CN116062463A (en)

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