CN207759684U - A kind of photoelectricity alignment mechanism - Google Patents
A kind of photoelectricity alignment mechanism Download PDFInfo
- Publication number
- CN207759684U CN207759684U CN201721790190.7U CN201721790190U CN207759684U CN 207759684 U CN207759684 U CN 207759684U CN 201721790190 U CN201721790190 U CN 201721790190U CN 207759684 U CN207759684 U CN 207759684U
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- basic point
- control system
- sucker tool
- robot
- centering
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Abstract
The utility model is suitable for automated production field, provide a kind of photoelectricity alignment mechanism, the mechanism includes control system, robot and sucker tool, sucker tool is rectangular, center on the opposite side of the two of which of sucker tool is the first basic point and the second basic point, it is equipped on first basic point and the second basic point for detecting the optoelectronic switch for waiting for the centering location of workpiece, sucker tool is mounted in the swing arm of robot, and can be rotated rotating around the first basic point, the second basic point in different moments.The mechanism is parallel with a seamed edge of centering workpiece is waited for the line of the second basic point first with the first basic point on control system control alignment mechanism, then coordinate the programmed algorithm of control system by optoelectronic switch, first find the midpoint for waiting for one seamed edge of centering workpiece, it is found again by the midpoint and hang down with the seamed edge rectilinear midpoint, the as center of rectangular piece.Overall structure is simple, and cost is relatively low, and will not be affected by the ambient, and accuracy rate is high.
Description
Technical field
The utility model belongs to automated production field more particularly to a kind of photoelectricity alignment mechanism.
Background technology
On automatic production line, during producing product, the position for shifting product is essential operating mode.It is producing
When product are transported, it is sometimes necessary to capture the center of product to ensure balance of the product in transport process and steady.
Currently, product supplied materials on production line in the prior art, is adopted more there is more than type and irregular situation is put
With Visual identification technology some other problems is existed simultaneously although solving this problem in that a certain extent.First, depending on
Feel that identifying system is expensive, it is higher so as to cause production cost；Secondly, the recognition success rate of Visual identification technology by product from
Body and ambient enviroment are affected, and need in advance that the multiple images of typing, operation are compared in systems for new product
It is cumbersome.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of photoelectricity alignment mechanisms, it is intended to solve the prior art
In product centering cost it is higher, and by the larger problem of surrounding environment influence.
In order to solve the above technical problems, the utility model is realized in this way, a kind of photoelectricity alignment mechanism, including control system
System, robot and sucker tool, the sucker tool are rectangular shape, in the four edges of the sucker tool, two of which
The center on opposite side is the first basic point and the second basic point, is equipped on first basic point and the second basic point for detecting
Wait for the optoelectronic switch of the centering location of workpiece；The robot includes robot body and swing arm, and the sucker tool is mounted on
In the swing arm of the robot, and it can be rotated rotating around first basic point, the second basic point in different moments；The robot with
The control system electrical connection, the control system control the swing arm and the sucker tool are driven to wait for centering work close to described
Part, and control sucker tool rotation so that the line of first basic point and the second basic point with wait for the one of centering workpiece
Seamed edge is parallel, and the control system controls the robot and the sucker tool can be whole along perpendicular or parallel to first
It moves in the line direction of basic point and the second basic point；The optoelectronic switch of each position is electrically connected with the control system, institute
It states and controls the robot body movement after control system receives the optoelectronic switch feedack or stop.
Further, the sucker tool is square shape.
Further, the control system is PLC.
Compared with prior art, advantageous effect is the utility model：A kind of photoelectricity alignment mechanism of the utility model,
It is parallel with the seamed edge of centering workpiece is waited for the line of the second basic point first with the first basic point on control system control alignment mechanism,
Then the programmed algorithm for coordinating control system by optoelectronic switch, first finds the midpoint for waiting for one seamed edge of centering workpiece, then find
The midpoint of straight line vertical with the seamed edge and by the midpoint, the as center of rectangular piece.The photoelectricity alignment mechanism is integrally tied
Structure is simple, and cost is relatively low, and centering mode is to coordinate the programmed algorithm of control system to realize by optoelectronic switch, Bu Huishou
To the influence of ambient enviroment, accuracy rate height.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram for photoelectricity alignment mechanism that the utility model embodiment provides；
Fig. 2 is the flow diagram for the method that photoelectricity centering is carried out using the photoelectricity alignment mechanism of Fig. 1；
Fig. 3 is centering principle schematic.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
As shown in Figure 1, a kind of photoelectricity alignment mechanism 100 provided for the utility model embodiment comprising control system
(not shown), robot 1 and sucker tool 2, in the utility model embodiment, the control system is PLC, but is not limited to
The concrete type of the control system.
The sucker tool 2 and wait for that centering workpiece 3 is rectangular shape, in the utility model embodiment, by the suction
The quadrangle of disk tooling 2 is defined as A, B, C, D, and the center of sucker tool 2 is O, by it is described wait for the quadrangle of centering workpiece 3 be defined as E,
F、G、H.AB in the four edges of the rectangular magnetic chuck tooling 2 while and center when CD where position be the first basic point M and
It is equipped on second basic point N, the first basic point M and the second basic point N and waits for the optoelectronic switch of the centering location of workpiece (not for detecting
Mark), naturally it is also possible to by AD while and midpoint P and Q when BC be set as the first basic point and the second basic point.
The robot 1 includes robot body 11 and swing arm 12, and the sucker tool 2 is mounted on the robot
In swing arm 12, and can be in different moments rotating around the first basic point M, the second basic point N rotations.The robot 1 and the control
System electrical connection processed, the control system control the swing arm 12 and the sucker tool 2 are driven to wait for centering workpiece 3 close to described,
The sucker tool 2 close to wait for centering workpiece 3 during, the optoelectronic switch meeting on the first basic point M or the second basic point N
Correspondingly close to the sides EG for waiting for centering workpiece 3.
Meanwhile the control system can control the sucker tool 2 to rotate, so that the first basic point M and the second base
The line of point N is parallel with the seamed edge of centering workpiece 3 is waited for, and the control system controls the robot 1 and the sucker work
Filling 2 can be whole along being moved perpendicular or parallel to the line direction of the first basic point M and the second basic point N, and centering workpiece 3 is waited for find
Center.The optoelectronic switch of each position is electrically connected with the control system, and the control system receives the photoelectricity and opens
The robot body movement is controlled after closing feedack or is stopped.
Specific centering step is as shown in Figures 2 and 3：
S100, the initial station for determining robot 1：Robot 1 is arranged in the first production line 10 and the second production line 20
Between, the position where the robot 1 is initial station at this time, be placed on first production line 10 put it is irregular
It waits for centering workpiece 3, is placed on second production line 20 and puts regular workpiece.
S200, the position for determining the first basic point M or the second basic point N：The swing arm 12 of control system control robot is put
It is dynamic, until the corresponding optoelectronic switch of the first basic point M or the second basic point N of sucker tool detects after centering workpiece 3, put
The pause of arm 12 is swung, and is set and detected the first basic point M for waiting for centering workpiece or the second basic point N as fixed point, another basic point N
Or M is set as the point of rotation；
It is S300, the first basic point M is parallel with the seamed edge of centering workpiece 3 is waited for the second basic point N：The control system controls institute
Sucker tool 2 is stated around the fixed point rotary, and drives the corresponding angle of the pivot point, so that the first basic point M
It is parallel with the seamed edge EG of centering workpiece 3 is waited for the line of the second basic point N；
S400, the midpoint for waiting for 3 one seamed edges of centering workpiece is determined：The control system controls the robot 1 and rotation
The sucker tool 2 of position of taking a turn for the better (is waited for together along the direction perpendicular with the line of the first basic point M and the second basic point N
The directions seamed edge EF of centering workpiece 3) it is mobile, until the first basic point M and the corresponding optoelectronic switches of the second basic point N detect not
When to workpiece 3, stop motion.The control system record mobile distance L1, the L1 are the seamed edge EF for waiting for centering workpiece 3
Length, then the control system control the robot 1 and rotate good position 2 backtracking of sucker tool movement away from
Half from L1, the center O of the sucker tool 2 is on the center line of seamed edge EF for waiting for centering workpiece 3 at this time.
S500, it determines the center by seamed edge EF and hangs down rectilinear midpoint with seamed edge EF：As shown in figure 3, ginseng
According to state 1, the control system control the robot 1 and rotate good position sucker tool 2 together along with the first base
Parallel a direction of the line of point M and the second basic point N (directions seamed edge EG for waiting for centering workpiece 3) is mobile, until described
When the corresponding optoelectronic switches of first basic point M can't detect workpiece, stop motion.At this point, the robot 1 and rotation good position
Sucker tool 2 be in state 2.
The control system controls the robot 1 and rotates the reverse movement of sucker tool 2 of good position, until described
After the corresponding optoelectronic switches of second basic point N can't detect workpiece 3, stop motion, at this point, the robot 1 and having rotated position
The sucker tool 2 set is in state 3.Record is from state 2 to state 3, the robot 1 and the sucker tool for rotating good position
2 distances moved jointly are L2.
The control system control the robot and rotate good position sucker tool move backward two again/
One L2, at this time the center O of the sucker tool 2 be correspondingly situated at the surface at the center for waiting for centering workpiece 3, with reference to state 4.
S600, centering workpiece 3 is waited for using the crawl of sucker tool 2：The control system controls the crawl of sucker tool 2 the
Centering workpiece 3 is waited on one production line 10, and is returned to the initial station described in S100.
S700, the workpiece 3 after centering is moved to from the first production line 10 on the second production line 20：The control system control
It makes the robot 1 workpiece 3 after centering is moved on the second production line 20, to complete the transfer of workpiece 3.
In conclusion a kind of photoelectricity alignment mechanism 100 of the utility model embodiment offer and the method using its centering,
Its 100 overall structure of photoelectricity alignment mechanism is simple, and cost is relatively low, and centering mode is to coordinate control system by optoelectronic switch
Programmed algorithm realize, will not be affected by the ambient, accuracy rate is high.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (3)
1. a kind of photoelectricity alignment mechanism, which is characterized in that including control system, robot and sucker tool, the sucker work
Dress is rectangular shape, and in the four edges of the sucker tool, the center on the opposite side of two of which is the first basic point and the
Two basic points are equipped with for detecting the optoelectronic switch for waiting for the centering location of workpiece on first basic point and the second basic point；The machine
Device people includes robot body and swing arm, and the sucker tool is mounted in the swing arm of the robot, and can be when different
It carves and is rotated rotating around first basic point, the second basic point；The robot is electrically connected with the control system, the control system
Controlling the swing arm drives the sucker tool to wait for centering workpiece close to described, and controls the sucker tool rotation, so that
First basic point is parallel with a seamed edge of centering workpiece is waited for the line of the second basic point, and the control system controls the machine
Device people and the sucker tool can be moved integrally on edge perpendicular or parallel to the line direction of the first basic point and the second basic point；It is each
The optoelectronic switch of position is electrically connected with the control system, and the control system receives the letter of the optoelectronic switch feedback
The robot body movement is controlled after breath or is stopped.
2. photoelectricity alignment mechanism as described in claim 1, which is characterized in that the sucker tool is square shape.
3. photoelectricity alignment mechanism as described in claim 1, which is characterized in that the control system is PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721790190.7U CN207759684U (en) | 2017-12-20 | 2017-12-20 | A kind of photoelectricity alignment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721790190.7U CN207759684U (en) | 2017-12-20 | 2017-12-20 | A kind of photoelectricity alignment mechanism |
Publications (1)
| Publication Number | Publication Date |
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| CN207759684U true CN207759684U (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721790190.7U Active CN207759684U (en) | 2017-12-20 | 2017-12-20 | A kind of photoelectricity alignment mechanism |
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| CN (1) | CN207759684U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934546A (en) * | 2017-12-20 | 2018-04-20 | 紫光日东科技（深圳）有限公司 | A kind of photoelectricity alignment mechanism and the method using its centering |
| CN111422649A (en) * | 2020-03-30 | 2020-07-17 | 龙海市安得马富机械有限公司 | Full-automatic one drags two gauze mask machine conveying mechanism |
-
2017
- 2017-12-20 CN CN201721790190.7U patent/CN207759684U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934546A (en) * | 2017-12-20 | 2018-04-20 | 紫光日东科技（深圳）有限公司 | A kind of photoelectricity alignment mechanism and the method using its centering |
| CN111422649A (en) * | 2020-03-30 | 2020-07-17 | 龙海市安得马富机械有限公司 | Full-automatic one drags two gauze mask machine conveying mechanism |
| CN111422649B (en) * | 2020-03-30 | 2021-07-06 | 龙海市安得马富机械有限公司 | Full-automatic one drags two gauze mask machine conveying mechanism |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518000 Guangdong city of Shenzhen province Baoan District Fuyong street baishixia building G1 building second, third, fourth layer Patentee after: Ridong intelligent equipment technology (Shenzhen) Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Baoan District Fuyong street baishixia building G1 building second, third, fourth layer Patentee before: UNISPLENDOUR SUNEAST TECHNOLOGY (SHENZHEN) Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |