CN204526580U - A kind of imprinter automatic loading and unloading device - Google Patents
A kind of imprinter automatic loading and unloading device Download PDFInfo
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- CN204526580U CN204526580U CN201520218353.9U CN201520218353U CN204526580U CN 204526580 U CN204526580 U CN 204526580U CN 201520218353 U CN201520218353 U CN 201520218353U CN 204526580 U CN204526580 U CN 204526580U
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Abstract
The utility model proposes a kind of imprinter automatic loading and unloading device, moving around of traversing bar, elevating lever and grabbing device is driven respectively by the work of the first stepper motor, the second stepper motor, the 3rd stepper motor, realize grabbing device to move in three-dimensional, workpiece grabbing is placed on the workbench of imprinter, whole operation obtains the location of workpiece by camera head, and manipulates each machine operation by controller modeling and realize accurate displacement.Production line working platform is put it to after device grabbing workpiece of the present utility model, namely single working cycles is completed, and by camera head shooting workpiece angle and position in crawl process, control the running of each device by controller process, realize the object of automation.
Description
Technical field
The utility model relates to a kind of imprinter automatic loading and unloading device.
Background technology
In the marking operation of the stator of current compressor of air conditioner, the main manpower that leans on is carried on production line from small handcart, and stator weight is comparatively large, and labor strength is large, efficiency is low, causes workpiece damage and injury to personnel most probably once accidentally drop.And workpiece is brought up to after on production line and will be carved characters at once, there is strict demand to the putting position of workpiece and direction, often wrong when manually putting, cause product rejection.
Utility model content
In order to solve the problem, the utility model proposes a kind of imprinter automatic loading and unloading device and can capture by grabbing device the workpiece needing marking, and the angle of the workpiece grabbed according to the visual angle adjustment of camera head, automatically be placed on workbench and mark, remove manually-operated inconvenience from.
The utility model realizes particular by following technical scheme:
A kind of imprinter automatic loading and unloading device, comprise framework, translating rails, traversing guide rail, riser guide, first slide block, second slide block, 3rd slide block, first stepper motor, second stepper motor, 3rd stepper motor and grabbing device, below described framework, workbench is set, described framework be arranged in parallel two parallel translating rails, described translating rails fixes the first slide block respectively, first slide block is fixed respectively the two ends of traversing bar, one end of described translating rails is provided with the first stepper motor, other end fixed idler whell, described first stepper motor connects roller by belt, described traversing bar is fixed on belt, traversing guide rail installed by described traversing bar, the second slide block fixed by described traversing guide rail, one end of described traversing guide rail is provided with the second stepper motor, other end fixed idler whell, described second stepper motor connects roller by belt and elevating lever is fixed by belt, and described elevating lever is fixed on the second slide block, riser guide installed by described elevating lever, described riser guide is fixed the 3rd slide block, one end of described riser guide is provided with the 3rd stepper motor, other end fixed idler whell, described 3rd stepper motor connects roller by belt and grabbing device is fixed by belt, and described grabbing device is fixed on the 3rd slide block, described traversing bar is provided with camera head, described camera head connection control device, and described controller connects described grabbing device, the first stepper motor, the second stepper motor and the 3rd stepper motor respectively by circuit.
Further, described controller is taken the image of material according to camera head and is set up coordinate model, calculate according to coordinate model parameter and adjust the rotating speed of the first stepper motor, the second stepper motor and the 3rd stepper motor and turn to, and control grabbing device crawl material is carried out the mobile placement of three-dimensional on the table;
Further, described grabbing device is provided with rotating mechanism to adjust the angle of the material captured;
Further, car positioning is fixed below described framework.
The beneficial effect that the utility model produces is: put it to production line working platform after device grabbing workpiece of the present utility model, namely single working cycles is completed, and by camera head shooting workpiece angle and position in crawl process, control the running of each device by controller process, realize the object of automation.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is perspective view of the present utility model;
Fig. 2 is side-looking structural representation of the present utility model;
Fig. 3 is the structural representation of the utility model elevating lever;
Fig. 4 is control flow chart of the present utility model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
As shown in Fig. 1 ~ 3, a kind of imprinter automatic loading and unloading device, comprise framework 1, translating rails 2, traversing guide rail 5, riser guide 9, first slide block 11, second slide block 12, 3rd slide block 13, first stepper motor 3, second stepper motor 6, 3rd stepper motor 8 and grabbing device 10, below described framework, workbench is set, described framework be arranged in parallel two parallel translating rails 2, described translating rails 2 is fixed respectively the first slide block 11, first slide block 11 is fixed respectively the two ends of traversing bar 4, one end of described translating rails 2 is provided with the first stepper motor 3, other end fixed idler whell, described first stepper motor 3 connects roller by belt, described traversing bar 4 is fixed on belt.First stepper motor 3 works, and is moved around by the traversing bar 4 of belt drive, and the first slide block 11 is on translating rails 2 simultaneously, ensures that traversing bar 4 can not be subjected to displacement at moving process.
Traversing guide rail 5 installed by traversing bar 4, described traversing guide rail 5 is fixed the second slide block 12, one end of described traversing guide rail 5 is provided with the second stepper motor 6, other end fixed idler whell, described second stepper motor 6 connects roller by belt and belt is fixed elevating lever 7, and described elevating lever 7 is fixed on the second slide block 12.Identical with the operation principle of traversing bar, there is back and forth the displacement in direction in elevating lever 7 on traversing guide rail 5.
Elevating lever 7 is installed riser guide 9, described riser guide 9 is fixed the 3rd slide block 13, one end of described riser guide 9 is provided with the 3rd stepper motor 8, other end fixed idler whell, described 3rd stepper motor 8 connects roller by belt and belt is fixed grabbing device 10, and described grabbing device 10 is fixed on the 3rd slide block 13.In like manner, there is the displacement of above-below direction in grabbing device 10 on riser guide 9.
In the utility model, traversing bar 4 is provided with camera head, described camera head connection control device, and described controller connects described grabbing device 10, first stepper motor 3, second stepper motor 6 and the 3rd stepper motor 8 respectively by circuit.Described controller is according to the space under camera head framework 1, take the image of material and set up coordinate model, calculate according to coordinate model parameter and adjust the rotating speed of the first stepper motor 3, second stepper motor 6 and the 3rd stepper motor 8 and turn to, and control grabbing device 10 being captured material and carry out that three-dimensional is mobile places on the table.The picture taken to coordinate camera head and each placement location of dolly constant, car positioning 15 is fixed below framework 1, the dolly be at every turn transported under framework is all placed on same position, and controller can be able to complete repeatedly by programming successively, the crawl of many cars.
In the present embodiment, because stamp needs strict control to the direction of workpiece, grabbing device 10 is provided with rotating mechanism to adjust the angle of the material captured, and the program only needs grabbing device 10 being arranged on rotating mechanism, and rotating mechanism connection control device can realize operation.The program has in a lot of field and relates to, and is no longer described in detail here.
As shown in Figure 4, a kind of control method of imprinter automatic loading and unloading device, comprises the following steps:
A, material dolly are placed on car positioning 15, whether testing platform is ready, and whether material dolly is in place, the image of camera head shooting material, workpiece in recognizate trolley also carries out picture position coding, and controller sets up coordinate model according to code signal;
B, the coordinate model set up according to code signal, controller controls grabbing device 10 and captures the maximum workpiece of position code in present image, control the work of each stepper motor, and by above workpiece movable to workbench 14, identify that workpiece angle is deteriorated and is adjusted to needs direction simultaneously;
C, judge whether the location of workpiece, angle meet the requirements according to coordinate model, namely at predetermined coordinate position, if not, be then adjusted to commitment positions; If so, then control grabbing device 10 and put down workpiece, complete a feeding, discharge;
D, complete blanking after, check in material dolly whether also have workpiece, if so, repeat step b; If not, then send the instruction of next material dolly of calling, if do not receive out-of-work instruction, then circulation starts step a, otherwise stops.
Care testing device danger or fault-signal in control method of the present utility model, when detecting that danger or fault-signal stop immediately, whole control procedure is mainly through the image of camera head, identify the location of workpiece respectively and set up code signal setting coordinate model, the position of whole workpiece is moved and is moved forward into Row sum-equal matrix all by coordinate model.Adjustment process middle controller controls the parts such as each stepper motor and carries out work, the workpiece needing marking can be captured by grabbing device, and the angle of the workpiece grabbed according to the visual angle adjustment of camera head, be automatically placed on workbench and mark, remove manually-operated inconvenience from.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (4)
1. an imprinter automatic loading and unloading device, it is characterized in that, comprise framework (1), translating rails (2), traversing guide rail (5), riser guide (9), first slide block (11), second slide block (12), 3rd slide block (13), first stepper motor (3), second stepper motor (6), 3rd stepper motor (8) and grabbing device (10), described framework (1) below arranges workbench (14), described framework be arranged in parallel two parallel translating rails (2), described translating rails (2) is fixed respectively the first slide block (11), first slide block (11) is fixed respectively the two ends of traversing bar (4), one end of described translating rails (2) is provided with the first stepper motor (3), other end fixed idler whell, described first stepper motor (3) connects roller by belt, described traversing bar (4) is fixed on belt, described traversing bar (4) is upper installs traversing guide rail (5), described traversing guide rail (5) fixes the second slide block (12), one end of described traversing guide rail (5) is provided with the second stepper motor (6), other end fixed idler whell, described second stepper motor (6) connects roller by belt and belt is fixed elevating lever (7), and described elevating lever (7) is fixed on the second slide block (12), described elevating lever (7) is installed riser guide (9), described riser guide (9) is fixed the 3rd slide block (13), one end of described riser guide (9) is provided with the 3rd stepper motor (8), other end fixed idler whell, described 3rd stepper motor (8) connects roller by belt and belt is fixed grabbing device (10), and described grabbing device (10) is fixed on the 3rd slide block (13), described traversing bar (4) is provided with camera head, described camera head connection control device, and described controller connects described grabbing device (10), the first stepper motor (3), the second stepper motor (6) and the 3rd stepper motor (8) respectively by circuit.
2. a kind of imprinter automatic loading and unloading device as claimed in claim 1, it is characterized in that, described controller is taken the image of material according to camera head and is set up coordinate model, calculate according to coordinate model parameter and adjust the first stepper motor (3), the second stepper motor (6) and the 3rd stepper motor (8) rotating speed and turn to, and will control grabbing device (10) capture material carry out three-dimensional movement placement on the table.
3. a kind of imprinter automatic loading and unloading device as claimed in claim 1, is characterized in that, described grabbing device (10) is provided with rotating mechanism to adjust the angle of the material captured.
4. a kind of imprinter automatic loading and unloading device as claimed in claim 1, is characterized in that, the fixing car positioning (15) in described framework (1) below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520218353.9U CN204526580U (en) | 2015-04-13 | 2015-04-13 | A kind of imprinter automatic loading and unloading device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520218353.9U CN204526580U (en) | 2015-04-13 | 2015-04-13 | A kind of imprinter automatic loading and unloading device |
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| CN204526580U true CN204526580U (en) | 2015-08-05 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760453A (en) * | 2015-04-13 | 2015-07-08 | 武汉申安机电工程有限责任公司 | Automatic loading and unloading device of marking press and control method thereof |
| CN113045114A (en) * | 2021-03-12 | 2021-06-29 | 重庆市水产技术推广总站 | Multistage sedimentation filtration breeding tail water treatment system |
-
2015
- 2015-04-13 CN CN201520218353.9U patent/CN204526580U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104760453A (en) * | 2015-04-13 | 2015-07-08 | 武汉申安机电工程有限责任公司 | Automatic loading and unloading device of marking press and control method thereof |
| CN113045114A (en) * | 2021-03-12 | 2021-06-29 | 重庆市水产技术推广总站 | Multistage sedimentation filtration breeding tail water treatment system |
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