CN214827252U

CN214827252U - Positioning conveyor

Info

Publication number: CN214827252U
Application number: CN202120429914.5U
Authority: CN
Inventors: 易德连; 陈中
Original assignee: Zhejiang Symbiosis Intelligent Technology Co ltd
Current assignee: Zhejiang Symbiosis Intelligent Technology Co ltd
Priority date: 2021-02-28
Filing date: 2021-02-28
Publication date: 2021-11-23
Anticipated expiration: 2031-02-28

Abstract

The utility model discloses a location conveyer, including band conveyer, install driving motor on the band conveyer, install servo straight line module on band conveyer's the bottom frame crossbeam, servo straight line module contains servo motor and screw-nut travel mechanism, and detection sensor is installed on servo straight line module's top, and band conveyer's one end fixed mounting has the correction baffle, and the side of correcting the baffle is fixed with the linear slide rail of direction usefulness, and the bottom of correcting the baffle is connected with the cylinder. The utility model discloses only use a correction baffle, rely on the transport action of conveyer to realize the ascending location of glass direction of delivery, the side only unilateral uses the detection sensor to detect the detection that the glass border realized the glass position for cooperation robot grasping system fixes a position the glass gesture, is vision positioning system or conventional multiple spot positioning system's lower cost substitution solution.

Description

Positioning conveyor

Technical Field

The utility model relates to a conveyer, in particular to location conveyer.

Background

The glass production and manufacturing process uses the conveyor, the position and the posture of the glass inevitably change after the glass is conveyed by the plurality of conveyors in a relay way, the glass needs to be fed to the robot on a plurality of stations when being conveyed on the conveyor, the robot needs to know the exact position and posture information of the glass or ensure that the glass can be accurately grabbed when being grabbed, two solutions can be realized at present, one is that a vision system is used for carrying out vision identification on the posture of the glass so as to judge the front and back, left and right positions and angle deflection information of the glass, the vision system sends the posture information of the glass to the robot, the robot moves the paw to the front and back, left and right distances and angles corresponding to the posture of the glass according to the posture information of the glass to grab the glass, and the posture of the glass relative to the robot paw is always consistent, accurate grabbing can be realized. The other method is to position the glass, generally a 6-point positioning system is used according to the appearance of the glass, namely, the glass is clamped to move to a correct position and angle by applying a correcting block or a wheel to the center at 6 points outside the edge of the glass, the posture of the glass is consistent before the robot paw catches the glass by depending on the positioning points, and the robot paw catches the glass at the fixed position, so that the posture of the glass relative to the robot paw can be always consistent, and the glass can be precisely grabbed. The two conventional solutions have high cost, the cost of a camera and matched software of a vision system which need high resolution is high, and the cost of a moving mechanism of 6 groups of positioning blocks or wheels needed by a 6-point positioning mechanism is high.

SUMMERY OF THE UTILITY MODEL

The to-be-solved problem of the utility model is overcome the defect that prior art expense is high, provide a low-cost location conveyer, the utility model discloses only use one set of blocking device (a correction baffle promptly), rely on the transport action of conveyer to realize the ascending location of glass direction of delivery, the side only unilateral uses detection sensor to detect the detection that the glass border realized the glass position, only needs 1 set of servo sharp module to detect the sensor position and moves about, can fix a position the glass gesture, is vision positioning system and 6 a positioning system's lower cost replacement solution.

In order to solve the technical problem, the utility model provides a following technical scheme:

the utility model relates to a positioning conveyor, including band conveyer, band conveyer is last to install driving motor, install servo straight line module on band conveyer's the bottom frame crossbeam, servo straight line module contains servo motor and lead screw, detection sensor is installed on servo straight line module's top, band conveyer keeps away from driving motor's one end fixed mounting and has the correction baffle, the side of correcting the baffle is fixed with the linear slide rail that the direction was used, the bottom of correcting the baffle is connected with the cylinder.

As the utility model discloses a preferred technical scheme of positioning conveyor, operation direction when band conveyer rectifies glass is for carrying from the organic motor end to the no motor end, has the correction baffle at the one end fixed mounting who keeps away from driving motor, operation direction when band conveyer rectifies glass if for carrying from the no motor end to the organic motor end, has the correction baffle at the one end fixed mounting who is close to driving motor, the correction baffle is arranged the position and is need to keep unanimous with the direction of delivery when band conveyer rectifies the action, arranges and to carry the outlet end.

As the utility model discloses a preferred technical scheme of location conveyer, the preferred correlation type sensor that chooses for use of detection sensor, the curved surface glass that can be used to the detection surface to have obvious radian also can be used to detect plane glass, the detection sensor is if adopt reflection-type sensor, then only is applicable to the curved surface glass that detects surface level or only have small radian, and servo sharp module is relevant with the detection sensor signal, and the position signal that will read servo module when the detection sensor detects the product border feeds back to the system to calculate the border coordinate size of product.

As the utility model discloses a preferred technical scheme of location conveyer, the detection sensor shifts through servo sharp module transmission, the lead screw of servo sharp module moves mechanism and band conveyer bottom frame crossbeam fixed connection and forms vertical structure, the direction of moving of servo sharp module is perpendicular with band conveyer's direction of delivery.

As the utility model discloses a preferred technical scheme of location conveyer, the correction baffle reciprocates through the flexible drive of cylinder, the face of correction baffle is perpendicular with band conveyer's conveying plane, there is small contained angle in the direction of reciprocating of correction baffle and band conveyer conveying plane's perpendicular, makes the correction baffle accomplish product correction and moves small distance to the direction of keeping away from the product when retracting downwards, cuts the product limit portion of rubbing to when can avoiding the correction baffle to move downwards, when measurement accuracy requires not high, the correction baffle face also can be made and have small contained angle and make the direction of reciprocating perpendicular with band conveyer conveying plane's perpendicular, also can avoid the correction baffle to cut with the product border when accomplishing the withdrawal.

Compared with the prior art, the beneficial effects of the utility model are as follows:

the utility model discloses only use one set of blocking device (a correction baffle promptly), rely on the transport action of conveyer to realize the ascending location of glass direction of delivery, the side only uses 1 group detection sensor to detect the detection that the glass border realized the glass position on sharp module, can be used to cooperate the robot grasping system to fix a position the glass gesture, is vision positioning system and 6 a positioning system's lower cost substitution solution.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a front view of the present invention;

fig. 2 is a left side view of the present invention;

fig. 3 is a top view of the present invention;

in the figure: 1. a belt conveyor; 2. a drive motor; 3. a servo linear module; 4. a detection sensor; 5. correcting the baffle; 6. a telescopic rod; 7. and a cylinder.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention. Wherein like reference numerals refer to like parts throughout.

In addition, if a detailed description of the known art is not necessary to show the features of the present invention, it is omitted. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

Example 1

As in fig. 1-3, the utility model provides a positioning conveyor, including band conveyer 1, band conveyer 1 is last to install driving motor 2, installs servo straight line module 3 on band conveyer 1's the bottom frame crossbeam, and servo straight line module 3 contains servo motor and screw nut and moves the mechanism, and detection sensor 4 is installed on servo straight line module 3's top, and band conveyer 1's one end fixed mounting has correction baffle 5, and the side of correction baffle 5 is fixed with the straight line slide rail 6 of direction usefulness, and the bottom of telescopic link 6 is connected with cylinder 7.

Further, band conveyer 1 includes belt pulley and belt, and driving motor 2 and roll wheel are connected through directly linking or chain sprocket connection or hold-in range synchronous pulley, and driving motor 2 rotates through driving the drive shaft and makes the belt pulley rotate, lets the belt move on band conveyer 1, realizes the transport effect.

The detection sensor 4 is used for transmitting displacement through the servo linear module 3, a screw nut mechanism of the servo linear module 3 is fixedly connected with a cross beam of a bottom rack of the belt conveyor 1 to form a vertical structure, so that a nut moves when the screw is driven to rotate through the rotation of a servo motor, and the screw drives the detection sensor 4 to change the distance between the detection sensor and the belt conveyor 1.

Specifically, the utility model discloses in, each electrical components all inserts the PLC controller, and glass passes through the band conveyer input, blocks glass up to correcting baffle 5, relies on 2 points or the sideline of glass forward position to lean on tight baffle to make the glass angle turn to parallel with the baffle, accomplishes the position location on glass angle and the direction of delivery, detects the distance of glass border to band conveyer through the detection sensor 5 of side, generates glass at the ascending position information of direction of delivery left and right sides.

Only use one set of retention device (being a correction baffle 5), rely on the conveying action of conveyer to realize the correction location of glass direction of delivery position and angle, the side only unilateral uses detection sensor 5 to detect the glass border and realizes the position detection of glass direction of delivery left and right sides direction for carry out the position coordination robot grasping system to the glass gesture and use, be the lower cost alternative solution of vision positioning system and 6 point positioning system.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a positioning conveyor, includes band conveyer (1), its characterized in that, install driving motor (2) on band conveyer (1), install servo sharp module (3) on the bottom frame crossbeam of band conveyer (1), servo sharp module (3) contain servo motor and screw nut travel mechanism, detection sensor (4) are installed to the top of servo sharp module (3), the one end fixed mounting that driving motor (2) were kept away from in band conveyer (1) has correction baffle (5), correction baffle (5) also can be installed in band conveyer (1) and be close to driving motor (2) one side, correction baffle (5) are arranged the position and are required to be arranged at the direction of delivery when band conveyer (1) rectifies the action unanimously, the side of correction baffle (5) is fixed with straight line slide rail (6) that the direction was used, the bottom end of the correction baffle (5) is connected with a cylinder (7).

2. A positioning conveyor according to claim 1, characterized in that the detection sensor (4) is a correlation type sensor for detecting curved glass with a surface having a significant curvature and flat glass, the detection sensor (4) is a reflection type sensor, and is only suitable for detecting glass with a level surface or curved glass with a slight curvature, the servo linear module (3) is in signal connection with the detection sensor (4), and when the detection sensor (4) detects the edge of the product, the position signal of the servo module is fed back to the system, so as to calculate the edge coordinate size of the product.

3. The positioning conveyor according to claim 1, wherein the detection sensor (4) is driven by the servo linear module (3) to move, a lead screw of the servo linear module (3) is fixedly connected with a cross beam of a bottom frame of the belt conveyor (1) to form a vertical structure, and the moving direction of the servo linear module (3) is perpendicular to the conveying direction of the belt conveyor (1).

4. The positioning conveyor according to claim 1, characterized in that the correcting baffle (5) is moved up and down by the telescopic driving of the cylinder (7), the surface of the correcting baffle (5) is vertical to the conveying plane of the belt conveyor (1), a small included angle is formed between the up-and-down moving direction of the correcting baffle (5) and the vertical plane of the conveying plane of the belt conveyor (1), so that the correcting baffle (5) moves a small distance to the direction far away from the product when finishing the product correction and retracting downwards, can avoid scraping the edge of the product when the correction baffle (5) moves downwards, when the requirement on the measurement precision is not high, the surface of the correction baffle (5) can also be made into a vertical surface with the conveying plane of the belt conveyor (1) to form a tiny included angle, the up-down moving direction is perpendicular to the conveying plane of the belt conveyor (1), and the correction baffle (5) can be prevented from being scraped with the edge of a product when the correction is completed and the retraction is completed.