CN207222382U - Piece test sorting robot system - Google Patents
Piece test sorting robot system Download PDFInfo
- Publication number
- CN207222382U CN207222382U CN201721099794.7U CN201721099794U CN207222382U CN 207222382 U CN207222382 U CN 207222382U CN 201721099794 U CN201721099794 U CN 201721099794U CN 207222382 U CN207222382 U CN 207222382U
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- China
- Prior art keywords
- measuring device
- conveying robot
- robot unit
- piece test
- measurement
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Abstract
The utility model provides a kind of piece test sorting robot system for the detection and sorting that can automatically carry out part.Piece test sorting robot system, for the assembling of the 1st part and the 2nd part, including：Conveying robot unit (4)；1st measuring device (3), its 1st delivery seat can move between the 1st part fetching position and the 1st measurement position；Charging tray (5), the 1st part is placed on corresponding storing position by it with multiple storing positions, conveying robot unit according to the measurement result of the 1st measuring device；2nd measuring device (6), its 2nd delivery seat can move between the 2nd part fetching position and the 2nd measurement position.1st, the 2nd part fetching position, charging tray configuration are in the operable scope of conveying robot unit.By the 1st element storage part to corresponding storing position, corresponding 1st part is captured according to the measurement result of the 2nd measuring device according to the measurement result of the 1st measuring device from storing position for conveying robot unit.
Description
Technical field
It the utility model is related to a kind of piece test sorting robot system.
Background technology
When in actual production, it is necessary to be measured to two kinds and above measured workpiece, when also being assembled, if wherein
Tested part size it is all especially small, manual operation when, will necessarily cause many bad results.For example material is being carried
During be misplaced, material is easy to fall off, place rigging position be inconvenient to debug.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of detection that can automatically carry out part and sorting
Piece test sorting robot system
To reach above-mentioned purpose, the utility model adopts the following technical scheme：
A kind of piece test sorting robot system, the assembling for the 1st part and the 2nd part, it is characterised in that bag
Include：Conveying robot unit, it can capture, put down and carry part in operable scope；1st measuring device, it has
The 1st delivery seat of the 1st part can be delivered by having, and the 1st delivery seat can be in the 1st part fetching position and the 1st measurement
Moved between position, the 1st part fetching position configuration is in the operable scope of the conveying robot unit；Charging tray, its
With multiple storing positions of the configuration in the operable scope of the conveying robot unit, the conveying robot unit according to
1st part is placed on corresponding storing position by the measurement result of the 1st measuring device；2nd measuring device, it is with energy
The 2nd delivery seat of the 2nd part is enough delivered, the 2nd delivery seat can be in the 2nd part fetching position and the 2nd measurement position
Between move, the 2nd part fetching position configure in the operable scope of the conveying robot unit, the conveying robot
Device, according to the measurement result of the 1st measuring device by the 1st element storage part to corresponding storing position, according to the described 2nd
The measurement result of measuring device captures corresponding 1st part from the corresponding storing position of the charging tray.
Using constituted above, the 1st part is placed on the 1st delivery seat of the 1st part fetching position, the 1st delivery seat
1st part is transported to the 1st measurement position, it is measured by the 1st measuring device, afterwards, the 1st delivers seat by the 1st part
The 1st part fetching position is transported to, conveying robot unit is captured and puts the corresponding storing position into charging tray；2nd measurement
Device measures the 2nd part, and conveying robot unit captures corresponding according to its measurement result from the corresponding storing position of charging tray
The 1st part, the 2nd measuring device is transported to, so as to realize the assembling of the 1st part and the 2nd part.
In this way, using the utility model, the detection and sorting of the 1st part can be automatically carried out, so as to avoid people
The various problems that work easily occurs when operating, improve the precision and efficiency of detecting of part, ensure the precision of sorting and assembling.
In addition, the 1st, the 2nd measuring device has the 1st, a 2nd part delivery seat, the 1st, the 2nd part delivery seat can the 1st,
Moved between 2nd part fetching position and the 1st, the 2nd measurement position, in this way, the 1st, the 2nd part measurement action with sorting act with
It is non-interference and assembling action separately carries out.
Furthermore due to being that the 1st, the 2nd part delivery seat can be in the 1st, the 2nd part fetching position and the 1st, the 2nd measurement position
The structure moved between putting, thus, in two positions moved, only makes part fetching position (the 1st, the 2nd part fetching position)
Configuration in the operable scope of conveying robot unit, and measurement position need not necessarily need to be provided conveying robot unit can
In opereating specification, in this way, can make the operable scope of conveying robot unit need not be very big, small-sized carrying implement can be used
Tool arm device, i.e. make the conveying robot unit miniaturization that price is relatively high, manufacture cost can be greatly reduced.
The utility model is preferred, further includes the 1st part feeding device, it is one by one transported the 1st part by the 1st position
Send to the 2nd position, the 2nd position and be configured in the operable scope of the conveying robot unit.
The utility model is preferred, and the 1st position is set as only accommodating single 1st part, further includes the 1st zero
Part feed device, wherein receiving multiple 1st parts, multiple 1st parts are transported to the 1st position in order.
The utility model is preferred, and the conveying robot unit has vacuum adsorption mechanism, by the vacuum adsorption mechanism
Capture and put down part.
The utility model is preferred, also has the storage device for being used for storing the 2nd part.Can be by operator by storing
The 2nd part in device takes out and puts to the 2nd parts measurement device.
The utility model is preferred, also has waste material dress of the configuration in the operable scope of the conveying robot unit
Put, the conveying robot unit puts the waste material of the 1st part to the waste material according to the measurement result of the 1st measuring device
Device.
The utility model is preferred, and the moving direction of the 1st delivery seat and the described 2nd delivery seat is horizontally oriented.In water
Square the 1st part and the 2nd part are inwardly transported, can easily be transported, the 1st delivery seat and the 2nd structure for delivering seat
It can simplify.
The utility model is preferred, and the moving direction of the 1st delivery seat is vertical with the moving direction of the described 2nd delivery seat.
The utility model is preferred, and the 1st measurement position is configured at the conveying robot with the 2nd measurement position and fills
Outside the operable scope put.
Brief description of the drawings
Fig. 1 is the top view of the piece test sorting robot system in embodiment；
Fig. 2 is the oblique view of the 1st part feeding device possessed by the piece test sorting robot system；
Fig. 3 is the explanatory drawin of the 1st measuring device possessed by above-mentioned piece test sorting robot system, wherein, (a) is
Side view, (b) are top view；
Fig. 4 is the side view of conveying robot unit possessed by above-mentioned piece test sorting robot system.
Embodiment
Specific embodiment of the present utility model is described in detail with reference to the accompanying drawings.
Fig. 1 is the top view of the piece test sorting robot system (100) in embodiment；Fig. 2 is the part
The oblique view of 1st part feeding device possessed by battery checker device people system (100)；Fig. 3 sorts for above-mentioned piece test
The explanatory drawin of 1st measuring device possessed by robot system 100, wherein, (a) is side view, and (b) is top view；Fig. 4 is upper
State the side view of conveying robot unit possessed by piece test sorting robot system (100).
As shown in Figure 1, piece test sorting robot system (100) is including on the 1st part feeding device (1), the 1st part
Expect device (2), the 1st measuring device (3), conveying robot unit (4), charging tray (5), the 2nd measuring device (6), waste material device (7)
With storage device (8).
In following narration, unless otherwise instructed, " front end " of each device refer to exit side (go out part side, part can
The side left) one end, left side, right side are with the left side from the point of view of each device self-view, right side.
For example, for the 1st part feeding device (1), it transports the 1st part from Fig. 1 to downside on the upside of paper,
Then corresponding its " front end " on the downside of paper, on the right side of paper corresponding its " left end ".
As shown in Figure 1, the left side of the 1st part feeding device (1) front end is equipped with the 1st part feeding device (2), the 1st part
The left side of feeding device (2) front end is equipped with the 1st precision measurement system (3), and the right side of the 1st measuring device (3) front end, which is equipped with, carries
Robot (4), transfer robot (4) front end are equipped with charging tray (5), and the right side of charging tray (5) front end is equipped with the 2nd precision measurement system
(6), the left side of charging tray (5) front end is equipped with waste material device (7), and storage device (8) is equipped with the right side of the 2nd precision measurement system (6).
1st part feeding device (2) includes the 1st cylinder (22) being fixed on the 1st mounting platform (21) and sensing workpiece
The inductive switch (23) whetheing there is.
1st measuring device (3) includes the 2nd cylinder (32) being fixed on the 2nd mounting platform (31), with the 2nd cylinder (32)
The pressure head stent (33) of connection, the center of pressure head stent (33) are equipped with measurement seaming chuck (34), and measurement seaming chuck (34) is equipped with phase
The measurement push-down head (35) of cooperation, measurement push-down head (35) are installed on delivery seat (36) (the 1st delivery seat), delivery seat (36) peace
On Mobile Slide (37).
Conveying robot unit (4) includes fixed supported slab (41), the vacuum absorption device being fixed on fixed supported slab (41)
(42)。
Charging tray (5) presses ranks proper alignment, can be laid out according to measured workpiece actual size and demand.
2nd measuring device (6) is similar with the 1st measuring device (3) structure, and essentially merely configuration direction is different.
The size of waste material device (7) and storage device (8) is configured according to measured workpiece size.
Referring to Fig. 1,2,3, described with reference to said structure, to the piece test sorting robot system in present embodiment
The action of system 100 illustrates.Specially：
First, automatic measurement and sorting are carried out to the 1st part.1st part feeding device (1) works automatically, by the 1st part
Automatic sorting is delivered to the 1st part feeding device (2) (the 1st position), and inductive switch (23) sensing (the 1st position) whether there is workpiece
(the 1st part).If so, triggering the 1st cylinder (22) work, the 1st part is conveyed to next position into Fig. 1 on the left of paper
(the 2nd position).
2nd step, conveying robot unit (4) action, the vacuum absorption device (42) being fixed on fixed supported slab (41) will
The 1st part on the 1st part feeding device (2) is adsorbed to the measurement for being fixed on delivery seat (36) of the 1st measuring device (3)
On push-down head (35), delivery seat (36) at this time is located at paper upper side position (the 1st part fetching position in Fig. 1 in its stroke
Put).
3rd step, Mobile Slide (37) action, delivery seat (36) are moved to immediately below measurement seaming chuck (34) (the 1st measurement
Position).The action of the 2nd cylinder (32) is triggered, measurement seaming chuck (34) pushes, the 1st part is measured.
4th step, after being measured, foregoing 2nd cylinder (32) return, Mobile Slide (37) action, makes delivery seat (36) again
It is secondary to be moved to paper upper side position in Fig. 1 in its stroke (the 1st part fetching position).
5th step, conveying robot unit (4) action, the vacuum absorption device (42) being fixed on fixed supported slab (41) will
The 1st part on measurement push-down head (35) is adsorbed on charging tray (5), and according to sorting information be placed in order accordingly
Storing position.
6th step, manually in storage device (8) position feeding (the 2nd part), the 2nd measuring device is positioned over by the 2nd part
(6) (the 2nd delivery seat of the 2nd measuring device).Control device, which receives the 2nd part and is placed on the accurate measurement mechanism, to be measured
Signal, triggering the 2nd measuring device (6) work, to the 2nd part carry out accurate measurement.Data transfer is (a to terminating machine
People's computer, control device) later data processing is carried out, according to data processed result, selected the 1st part to match is into luggage
Match somebody with somebody.That is, conveying robot unit (4) action is triggered, is fixed on the vacuum absorption device (42) on fixed supported slab (41) in charging tray
(5) corresponding storing position feeding (the 1st part), the 2nd measurement is adsorbed to by (position) on charging tray (5) unique corresponding 1st part
Device (6).Afterwards, the assembling process of the 1st part and the 2nd part is completed.
7th step, after the completion of assembling, foregoing cylinder operation return, current 2nd part is removed, whole piece test sorting
Robot system waits the entrance of next workpiece.
By above-mentioned piece test sorting robot system, it can be achieved that accurate measurement is separated with sorting action and assembling action
Carry out, it is non-interference.± 0.005mm can reach to the displacement measurement repeatable accuracy of workpiece, meanwhile, for accurate measurement mechanism,
Replace frock and gauge head is convenient and reliable, it can be achieved that measured using same measuring mechanism to multi items workpiece, it is applied widely.
<The summary of embodiment>
Piece test sorting robot system (100), for the assembling of the 1st part and the 2nd part, it includes：Carrying implement
Tool arm device (4), it can capture, put down and carry part in operable scope；1st measuring device (3), it is with energy
The 1st delivery seat of the 1st part is enough delivered, the 1st delivery seat can move between the 1st part fetching position and the 1st measurement position, the
1 part fetching position is configured in the operable scope of conveying robot unit；Charging tray (5), it has configuration in handling machinery
Multiple storing positions in the operable scope of arm device, conveying robot unit (4) is according to the measurement knot of the 1st measuring device (3)
1st part is placed on corresponding storing position by fruit；2nd measuring device (6), it has the 2nd delivery that can deliver the 2nd part
Seat, the 2nd delivery seat can move between the 2nd part fetching position and the 2nd measurement position, and the configuration of the 2nd part fetching position exists
In the operable scope of conveying robot unit, conveying robot unit, according to the measurement result of the 1st measuring device by the 1st zero
Part is stored to corresponding storing position, and the corresponding 1st is captured from the corresponding storing position of charging tray according to the measurement result of the 2nd measuring device
Part.
At work, the 1st part is placed on the 1st delivery seat of the 1st part fetching position, (this action is in this reality
It is auto-action to apply in mode, can be manual operation however, as modification, i.e. can be omitted the 1st part feeding device (1)
With the 1st part feeding device (2)), the 1st delivery seat the 1st part is transported to the 1st measurement position, by the 1st measuring device to its into
1st part is transported to the 1st part fetching position by row measurement, afterwards, the 1st delivery seat, and conveying robot unit (4) is captured
And put the corresponding storing position into charging tray (5)；2nd measuring device (6) measures the 2nd part, conveying robot unit (4)
Corresponding 1st part is captured from the corresponding storing position of charging tray according to its measurement result, is transported to the 2nd measuring device, afterwards, can be with
Realize the assembling of the 1st part and the 2nd part.
In this way, using the utility model, the detection and sorting of the 1st part can be automatically carried out, so as to avoid people
The various problems that work easily occurs when operating, improve the precision and efficiency of detecting of part, ensure the precision of sorting and assembling.
In addition, the 1st, the 2nd measuring device has the 1st, a 2nd part delivery seat, the 1st, the 2nd part delivery seat can the 1st,
Moved between 2nd part fetching position and the 1st, the 2nd measurement position, in this way, the 1st, the 2nd part measurement action with sorting act with
It is non-interference and assembling action separately carries out.
Furthermore due to being that the 1st, the 2nd part delivery seat can be in the 1st, the 2nd part fetching position and the 1st, the 2nd measurement position
The structure moved between putting, thus, in two positions moved, only makes part fetching position (the 1st, the 2nd part fetching position)
Configuration in the operable scope of conveying robot unit, and measurement position need not necessarily need to be provided conveying robot unit can
In opereating specification, in this way, can make the operable scope of conveying robot unit need not be very big, small-sized carrying implement can be used
Tool arm device, i.e. make the conveying robot unit miniaturization that price is relatively high, manufacture cost can be greatly reduced.
In the present embodiment, piece test sorting robot system (100) further includes the 1st part feeding device, its by
The 1st part is transported to the 2nd position by the 1st position aly, the 2nd position is configured at the operable scope of conveying robot unit
It is interior.
In the present embodiment, the 1st position is set as only accommodating single 1st part, piece test sorting robot
System (100) further includes the 1st part feeding device (1), wherein multiple 1st parts are received, by multiple 1st parts in order to
Transport 1 position.
In the present embodiment, conveying robot unit has vacuum adsorption mechanism, is captured by vacuum adsorption mechanism with putting
Lower part.
In the present embodiment, piece test sorting robot system (100) further includes the storing for storing the 2nd part
Device.
In the present embodiment, piece test sorting robot system (100) further includes configuration in conveying robot unit
Operable scope in waste material device (7), conveying robot unit (4) is according to the measurement result of the 1st measuring device by the 1st zero
The waste material of part is put to waste material device (7).
In the present embodiment, the moving direction of the 1st delivery seat and the 2nd delivery seat is horizontally oriented.
In the present embodiment, the shifting of the moving direction (paper above-below direction in Fig. 1) of the 1st delivery seat and the 2nd delivery seat
Dynamic direction (paper left and right directions in Fig. 1) is vertical.
In the present embodiment, the 1st measurement position is configured at the operable model of conveying robot unit with the 2nd measurement position
Enclose outer.In this way, small-sized conveying robot unit (4) can be used, manufacture cost is reduced.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
Within new spirit and principle, any modification, equivalent replacement, improvement and so on, should be included in the guarantor of the utility model
Within the scope of shield.
Such as, it is convenient to omit the 1st part feeding device (1) and/or the 1st part feeding device (2), using artificial side
Formula operates the 1st part.
In addition, in the above-described embodiment, the structure as conveying robot unit exemplified with vacuum adsorption type, however,
The utility model is not limited to this, and can use the structure of other modes, such as the structure of mechanical gripper, can be according to zero
The shape of part selects suitable robot manipulator structure, or only can in the horizontal plane move and carry part, the 1st measuring device,
The position of 2nd measuring device can freely adjust, and correspondingly change structure, the mode of transport of conveying robot unit.
Furthermore in the above-described embodiment, the 2nd part is placed on action in the 2nd measuring device (6) by being accomplished manually,
However, it is also possible to realized by robot device, this robot device can be above-mentioned conveying robot (4) or in addition
The device of setting.
Claims (9)
1. a kind of piece test sorting robot system, the assembling for the 1st part and the 2nd part, it is characterised in that
Including：
Conveying robot unit (4), it can capture, put down and carry part in operable scope；
1st measuring device (3), it has the 1st delivery seat that can deliver the 1st part, and the 1st delivery seat can be the
Moved between 1 part fetching position and the 1st measurement position, the 1st part fetching position configuration is in the conveying robot unit
Operable scope in；
Charging tray (5), it has multiple storing positions of the configuration in the operable scope of the conveying robot unit, the carrying
1st part is placed on corresponding storing position by robot device (4) according to the measurement result of the 1st measuring device (3)；
2nd measuring device (6), it has the 2nd delivery seat that can deliver the 2nd part, and the 2nd delivery seat can be the
Moved between 2 part fetching positions and the 2nd measurement position, the 2nd part fetching position is configured in the conveying robot unit
In operable scope,
The conveying robot unit, according to the measurement result of the 1st measuring device by the 1st element storage part to corresponding
Storing position, corresponding 1st part is captured according to the measurement result of the 2nd measuring device from the corresponding storing position of the charging tray.
2. piece test sorting robot system according to claim 1, it is characterised in that
The 1st part feeding device is further included, the 1st part is one by one transported to the 2nd position by it by the 1st position, and the described 2nd
Position is configured in the operable scope of the conveying robot unit.
3. piece test sorting robot system according to claim 2, it is characterised in that
1st position is set as only accommodating single 1st part,
The 1st part feeding device is further included, wherein multiple 1st parts are received, by multiple 1st parts in order to institute
State the transport of the 1st position.
4. piece test sorting robot system according to claim 1, it is characterised in that the conveying robot unit
With vacuum adsorption mechanism, captured by the vacuum adsorption mechanism and put down part.
5. piece test sorting robot system according to any one of claims 1 to 4, it is characterised in that further include
For storing the storage device of the 2nd part.
6. piece test sorting robot system according to any one of claims 1 to 4, it is characterised in that further include
Configure waste material device in the operable scope of the conveying robot unit, the conveying robot unit is according to described the
The measurement result of 1 measuring device puts the waste material of the 1st part to the waste material device.
7. piece test sorting robot system according to any one of claims 1 to 4, it is characterised in that the described 1st
Delivery seat and the moving direction of the described 2nd delivery seat are horizontally oriented.
8. piece test sorting robot system according to claim 7, it is characterised in that the shifting of the 1st delivery seat
Dynamic direction is vertical with the moving direction of the described 2nd delivery seat.
9. piece test sorting robot system according to any one of claims 1 to 4, it is characterised in that the described 1st
Measurement position is configured at outside the operable scope of the conveying robot unit with the 2nd measurement position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721099794.7U CN207222382U (en) | 2017-08-30 | 2017-08-30 | Piece test sorting robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721099794.7U CN207222382U (en) | 2017-08-30 | 2017-08-30 | Piece test sorting robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207222382U true CN207222382U (en) | 2018-04-13 |
Family
ID=61859657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721099794.7U Withdrawn - After Issue CN207222382U (en) | 2017-08-30 | 2017-08-30 | Piece test sorting robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207222382U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398429A (en) * | 2017-08-30 | 2017-11-28 | 机科发展科技股份有限公司 | Piece test sorting robot system |
| CN113083720A (en) * | 2019-12-23 | 2021-07-09 | 沈阳新松机器人自动化股份有限公司 | Equipment for high-speed sorting of parts |
-
2017
- 2017-08-30 CN CN201721099794.7U patent/CN207222382U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107398429A (en) * | 2017-08-30 | 2017-11-28 | 机科发展科技股份有限公司 | Piece test sorting robot system |
| CN113083720A (en) * | 2019-12-23 | 2021-07-09 | 沈阳新松机器人自动化股份有限公司 | Equipment for high-speed sorting of parts |
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