CN215797020U

CN215797020U - Multi-station material taking conveying line

Info

Publication number: CN215797020U
Application number: CN202122409683.4U
Authority: CN
Inventors: 邱建华
Original assignee: Chongqing Yinsheng Mold Co ltd
Current assignee: Chongqing Yinsheng Mold Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-02-11
Anticipated expiration: 2031-09-30

Abstract

The utility model relates to the technical field of product conveying equipment, and discloses a multi-station material taking conveying line which comprises a conveying belt, a mechanical arm and stations, wherein a conveying frame of the conveying belt is provided with a detection part and a groove, and the detection part is detachably and fixedly connected to the groove; the manipulator is a rectangular coordinate manipulator and comprises a rack, a mechanical upper arm and a mechanical lower arm; a sucker is arranged on the mechanical lower arm; the rack is provided with a controller, and the controller controls the manipulator according to a signal fed back by the detection part; each station is correspondingly provided with a manipulator and a detection part. The manipulator transports the workpiece in the station to the conveyer belt, the conveyer belt conveys the workpiece to a designated position, and in the process, the detection part detects whether the workpiece exists on the conveyer belt and feeds a signal back to the controller to control the sucker to put down the workpiece temporarily or not, so that the purpose of avoiding the workpiece damage caused by stacking the workpieces on the conveyer belt is achieved.

Description

Multi-station material taking conveying line

Technical Field

The utility model relates to the technical field of product conveying equipment, in particular to a multi-station material taking conveying line.

Background

In industrial production, finished products or semi-finished products are mostly conveyed among stations and workshops by conveying lines; often set up the transmission line that the multistation can be worked simultaneously, and then realize that the product multistation order is conveyed or is processed. In the prior art, patent CN103302199A discloses a multi-station automatic feeding device for sheet forming, each forming station can utilize a corresponding suction disc manipulator to suck a workpiece from a previous station and then convey the workpiece to a next station, so that mechanized automatic feeding can be realized, the labor intensity of personnel is reduced, the production efficiency is improved, and the potential safety hazard of production is reduced.

However, the following problems still exist in the prior art:

1) the automatic conveying of the products is only transferred step by the manipulator between the adjacent stations, which is time-consuming and does not completely realize mechanized automatic feeding;

2) when different stations use the manipulator to get the material conveying simultaneously, the manipulator can't discern whether this station has product or other barriers on corresponding the transfer line, can't avoid on the transfer line because of the product damage that the product stacked and caused.

Disclosure of Invention

The utility model aims to provide a multi-station material taking conveying line, and solves the problem that whether a workpiece exists on a conveying line corresponding to a station cannot be identified before a manipulator puts down the product.

In order to achieve the purpose, the utility model adopts the following technical scheme: a multi-station material taking conveying line comprises a conveying belt and a mechanical arm, wherein the mechanical arm comprises a rack, a mechanical arm and a first driving device, the rack is located above the conveying belt, the mechanical arm comprises an upper mechanical arm and a lower mechanical arm, the first driving device drives the upper mechanical arm to slide on the rack, an air cylinder is arranged at the bottom of the upper mechanical arm, a power output end of the air cylinder is connected with the lower mechanical arm, and a sucking disc is arranged at the tail end of the lower mechanical arm; a conveying frame of the conveying belt is provided with a groove and a detection part, and the detection part is detachably and fixedly connected to the groove; the controller is electrically connected with the detection part, the first driving device and the air cylinder, and the controller controls the first driving device and the air cylinder to be started or closed according to signals fed back by the detection part.

The principle and the advantages of the scheme are as follows:

1. after the controller controls the sucker to suck the workpiece, the mechanical arm is controlled to slide to the upper part of the conveying belt along the rack; and then the suction disc is controlled to put down the workpiece, and the workpiece falls onto the conveyor belt and is conveyed to a downstream station or a designated position by the conveyor belt. In the process, the mechanical arm and the conveying belt replace manual labor, so that the working efficiency is improved, the production cost is saved, and the mechanical automatic feeding is realized.

2. The detection part detects that a workpiece is arranged on the conveyor belt, the detection result can be fed back to the controller, the controller controls the external vacuum equipment connected with the sucker pipeline to be in a starting state, the workpiece is adsorbed on the sucker all the time, the workpiece is put down in a delayed mode, and the workpiece is prevented from being damaged due to the fact that the workpiece is stacked on the existing workpiece on the conveyor belt by the manipulator.

3. The detection part is detachably and fixedly connected to the groove, and the installation position and the installation direction of the detection part on the groove can be conveniently adjusted.

Preferably, as an improvement, the conveying frame is provided with a protection device, and the protection device is detachably and fixedly connected to the groove. The protection device prevents the workpiece from being possibly rebounded and bounced to the detection part when being put down, and avoids the detection result from being influenced by the change of the detection direction caused by the impact of the workpiece on the detection part.

Preferably, as a refinement, the detection unit is a reflection-type infrared sensor, and the number of the reflection-type infrared sensors is at least two. The reflection-type infrared sensor judges whether a workpiece exists on the conveyor belt according to the signal intensity received by the receiving tube, and the stability and the accuracy of signal feedback are ensured because the infrared anti-interference capability is strong.

Preferably, as an improvement, the installation angle between the detection parts and the conveyor belt is 30-90 degrees, and when the installation angle is smaller than 90 degrees, the detection directions of the two detection parts respectively face the feeding end and the discharging end of the conveyor belt. Under this installation angle, can enlarge the detection range of detection portion, be convenient for reserve enough space and reserve enough reaction time for the manipulator control sucking disc for the work piece of different volumes, upstream work piece just conveys the work piece to and reserves the position when avoiding the sucking disc to put down the work piece.

Preferably, as an improvement, a station is arranged on one side of the conveying line, and the rack is located above the station. The rack is positioned above the station to ensure that the manipulator takes materials and moves the materials to the conveyor belt, and then the materials are conveyed to a designated position through the conveyor belt.

Preferably, as a refinement, the number of the stations is at least two, and each station is provided with a manipulator and a detection part correspondingly. This technical scheme can ensure that the multistation is got the material conveying simultaneously.

Preferably, as a refinement, the station is provided with an injection molding machine. And each station is used for injection molding to produce a molded workpiece.

Preferably, as a modification, the station is provided with an operation room or a partition wall surrounded by sound-proof and heat-insulation glass. The work station injection moulding work piece in-process can produce noise and heat, adopts sound insulation and heat insulation glass can effectively avoid noise and heat to infrared ray sensor and the workman of inspection work to produce the influence.

Preferably, as an improvement, the mechanical upper arm is provided with two parallel transverse guide rails and a second driving device, and the second driving device is electrically connected with the controller; the transverse guide rails are perpendicular to the rack, and the second driving device drives the air cylinders to slide on the two transverse guide rails. The transverse guide rail and the rack form a rectangular coordinate guide rail, and the cylinder slides along the transverse guide rail, so that the fetching range of the sucking disc is enlarged.

Preferably, as a modification, the first driving device and the second driving device are one or a combination of an air cylinder and an electric motor. The driving device drives the mechanical arm to move, so that the mechanical arm can move the workpiece out of the conveying belt to the conveying belt and then convey the workpiece to a specified position through the conveying belt.

Drawings

Fig. 1 is a perspective view of a multi-station reclaiming conveyor line in embodiment 1 of the utility model.

Fig. 2 is a schematic sectional view of mounting of a lag bolt and a groove in embodiment 1 of the present invention.

Fig. 3 is a schematic view of an installation of an infrared sensor in embodiment 2 of the present invention.

Fig. 4 is a schematic view of an installation of the infrared sensor in embodiment 3 of the present invention.

Fig. 5 is a perspective view of an upper arm of a machine in embodiment 4 of the present invention.

Detailed Description

The following is further detailed by way of specific embodiments:

the reference numbers in the drawings of the specification include: the device comprises a conveying frame 10, a conveying belt 11, a detection part 12, a groove 13, a square-head bolt 131, a protection plate 14, a frame 20, a PLC (programmable logic controller) 21, a first driving device 31, a mechanical upper arm 32, an air cylinder 321, a transverse guide rail 322, a second driving device 323, a mechanical lower arm 33, a suction cup 34, a station 40 and a partition wall 41.

Example 1

This embodiment is substantially as shown in figure 1: a multi-station material taking conveying line comprises a conveying belt 11, a mechanical arm and a station 40; a groove 13 and a detection part 12 are arranged on a conveying frame 10 of the conveying belt 11, the detection part 12 is arranged on the conveying frame 10 through a mounting piece, the mounting piece is an L-shaped mounting plate, the detection part 12 is fixed or welded on one side wall of the L-shaped mounting plate through a bolt, and a through hole is formed in the other side wall of the L-shaped mounting plate; a square head bolt 131 (specifically, a rectangular head) is arranged inside the groove 13, as shown in fig. 2, the cross section of the channel inside the groove 13 is in a convex shape, so that the head of the square head bolt 131 is positioned in the wider channel, two long edges of the head of the square head bolt 131 are in contact with the wall of the channel, and the screw of the square head bolt 131 extends out of the groove 13; under the condition of not being matched with the nut, the square head bolt 131 can slide along the channel, so that a user can conveniently move the position as required; when the nut needs to be screwed, because the head of the square head bolt 131 can not rotate in the groove 13, the user can screw the nut on the screw rod of the square head bolt 131 without spending effort to prevent the square head bolt 131 from rotating; when the detection part 12 needs to be installed, the screw of the square-head bolt 131 penetrates through the through hole of the L-shaped mounting plate, then the nut is screwed on, the L-shaped mounting plate is pressed and fixed at the groove of the conveying frame, and meanwhile, the installation and the fixation of the detection part 12 are also achieved.

The detection unit 12 in this embodiment is specifically a reflection-type infrared sensor; the station 40 is located at one side of the conveyor belt 11, and the embodiment includes three stations 40, and each station 40 is correspondingly provided with an operation room or partition wall 41 surrounded by a manipulator, the detection part 12, the injection molding machine and the sound-proof noise-reducing glass, and the operation room or partition wall is specifically a partition wall 41 in the embodiment. The manipulator comprises a rack 20, a mechanical arm and a first driving device 31, wherein the rack 20 is positioned above the conveyor belt 11 and the station 40, the mechanical arm comprises an upper mechanical arm 32 and a lower mechanical arm 33, the upper mechanical arm 32 is driven by the first driving device 31 to slide on the rack 20, and the first driving device 31 is an air cylinder or a motor, and is specifically a motor in the embodiment; the bottom of the upper mechanical arm 32 is provided with an air cylinder 321, the power output end of the air cylinder 321 is fixedly connected with the lower mechanical arm 33, and the suction cup 34 is arranged on the lower mechanical arm 33. The suction cup 34 is communicated with an external vacuum device through a pipeline, the vacuum device is started to suck, negative air pressure is generated in the suction cup 34, and therefore a workpiece is firmly sucked, and the workpiece can be conveyed; when the vacuum equipment is closed, the air pressure in the sucker is restored to the atmospheric pressure, so that the workpiece is put down; the vacuum device may be any one of a vacuum pump, a vacuum generator, and the like, and the embodiment is specifically a vacuum pump. A controller is arranged on the frame 20, and the controller is electrically connected with the detection part 12, the motor, the vacuum pump, the cylinder 321 and the like; the detection part 12 is electrically connected with the input end of the controller, and the motor, the vacuum pump and the air cylinder 321 are electrically connected with the output end of the controller; the controller controls the motor, the vacuum pump and the cylinder 321 to start or stop according to the signal fed back by the detection part 12, and the controller of the embodiment is specifically a PLC controller 21.

The specific implementation process of this embodiment is as follows, when the robot is located above the conveyor belt 11, the PLC controller 21 controls the cylinder 321 to start, so that the lower mechanical arm 33 and the suction cup 34 move upward above the partition wall 41; then starting the motor to drive the manipulator to move towards the station 40; then, the cylinder 321 is started to control the mechanical lower arm 33 to move downwards, and simultaneously, the vacuum pump is started to suck, so that the suction cup 34 firmly sucks the injection-molded workpiece; after sucking the workpiece, the PLC controller 21 controls the mechanical arm to return to the upper side of the conveyor belt 11, and then starts the cylinder 321 and turns off the vacuum pump according to a signal fed back from the detection part 12, so that the workpiece is put down when the suction cup 34 is close to the conveyor belt 11, and the workpiece is conveyed to a designated position along with the conveyor belt 11.

It should be noted that the detection unit 12 continuously sends out a signal to detect whether or not there is a workpiece on the conveyor belt 11 below the rack 20. When the robot arm for sucking the workpiece moves above the conveyor belt 11, if the workpiece is just conveyed to the position right below the robot arm, the detection part 12 feeds back a signal to the PLC controller 21 to control the suction cup 34 to suspend putting down the workpiece, thereby preventing the workpiece from being stacked and damaged. When the workpiece is transferred out of the detection range of the detection part 12, the detection part 12 feeds back a signal to the PLC controller 21 to control the suction cup 34 to drop the workpiece.

Example 2

In order to further expand the detection range of the detection section 12, leave a space for placing a workpiece with different volumes, and leave a reaction time for the manipulator to place the workpiece down, the present embodiment differs from embodiment 1 in that, as shown in fig. 3, the detection section 12 is specifically two reflective infrared sensors, and the installation angle of the reflective infrared sensors to the conveyor belt 11 is 30 ° to 90 °, and the present embodiment is specifically 45 °.

In the embodiment of the present embodiment, as shown in example 1, the detection directions of the two reflective infrared sensors are respectively directed to the feeding end and the discharging end of the conveyor belt 11 to detect whether the workpiece enters and leaves the corresponding areas. When the robot hand sucking the workpiece moves above the conveyor belt 11, as shown in fig. 3, when the workpiece is conveyed into the detection area of the left reflective infrared sensor, the left infrared sensor sends a signal to the PLC controller, and the PLC controller 21 receives the signal and controls the suction cup 34 to suspend dropping the workpiece; when the workpiece entering the detection range is conveyed out of the detection area of the right-hand reflective infrared sensor, the right-hand infrared sensor sends a signal to the PLC controller, and the PLC controller 21 receives the signal to control the suction cup 34 to drop the workpiece. The installation mode of the detection part 12 of the embodiment enlarges the detection range of the detection part 12 and leaves enough placing space for workpieces with different volumes; meanwhile, the conveyor belt 11 is always in a conveying state, the detection range is expanded, the manipulator can control the sucker 34 to put down the workpiece to remain enough reaction time, and the condition that the upstream workpiece is just conveyed to a workpiece pre-placing position when the sucker 34 puts down the workpiece is avoided, so that the workpiece is stacked and even damaged.

Example 3

In order to further prevent the detection result from being influenced by the deviation of the detection direction of the detection unit 12 caused by the bounce-back impact on the detection unit 12 when the workpiece falls. The difference between this embodiment and embodiment 2 is that, as shown in fig. 4, a protection device is provided on the conveying frame 10, and the protection device is fixedly installed on the groove by the square head bolt 131 and the nut in embodiment 1; the protection device may be any one of a protection box, a protection board 14, a protection sleeve, a protection frame, and the like, and the protection board 14 is located between the detection parts 12 in this embodiment, and the extension length of the protection board 14 is greater than the extension length of the sensor.

In the embodiment of the present embodiment, as shown in example 1, after the suction cup 34 puts down the workpiece, as shown in fig. 4, the protection plate 14 near the detection part 12 can stop the workpiece back onto the conveyor belt 11 to continue conveying, so as to effectively avoid the workpiece directly impacting the detection part 12, and thus avoid the detection part 12 from influencing the detection result due to the deviation of the detection direction.

Example 4

In order to further increase the range of use of the manipulator, the manipulator is made laterally movable. The present embodiment is different from embodiment 1 in that, as shown in fig. 5: the mechanical upper arm 32 is provided with two parallel transverse guide rails 322 and a second driving device 323, and the second driving device 323 is electrically connected with the controller; the transverse rails 322 are perpendicular to the frame 20, and the second driving device 323 drives the air cylinder 321 to slide on the two transverse rails 322, in this embodiment, the second driving device 323 is an air cylinder.

When the manipulator is located above the conveyor belt 11, the PLC controller 21 starts the first driving device 31, controls the manipulator to slide along the rack 20 to the position above the working position 40, the PLC controller 21 starts the second driving device 323 again, controls the cylinder 321 to slide along the transverse guide rail 322 to the workpiece, and then the PLC controller starts the cylinder 321 and the vacuum pump, so that the suction cup 34 can firmly suck the workpiece. After sucking the workpiece, the PLC controller 21 continues to control the cylinder 321 and the vacuum pump to start, controls the suction cup 34 and the workpiece to move upward, the PLC controller 21 starts the second driving device 323 again, drives the cylinder 321 to slide along the transverse guide rail 322 to reset, and finally, the PLC controller 2 starts the first driving device 31, drives the robot arm to return to above the conveyor belt 11 and lowers the workpiece onto the conveyor belt 11 in the manner shown in embodiment 1, and then the workpiece is conveyed to a specified position on the conveyor belt 11.

The foregoing is merely an example of the present invention and common general knowledge in the art of designing and/or characterizing particular aspects and/or features is not described in any greater detail herein. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several variations and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims

1. The utility model provides a material conveying line is got to multistation, includes conveyer belt and manipulator, its characterized in that: the mechanical arm comprises a rack, a mechanical arm and a first driving device, the rack is positioned above the conveyor belt, the mechanical arm comprises an upper mechanical arm and a lower mechanical arm, the first driving device drives the upper mechanical arm to slide on the rack, an air cylinder is arranged at the bottom of the upper mechanical arm, the power output end of the air cylinder is connected with the lower mechanical arm, and a sucker is arranged at the tail end of the lower mechanical arm; a conveying frame of the conveying belt is provided with a groove and a detection part, and the detection part is detachably and fixedly connected to the groove; the controller is electrically connected with the detection part, the first driving device and the air cylinder, and the controller controls the first driving device and the air cylinder to be started or closed according to signals fed back by the detection part.

2. The multi-station reclaiming conveyor line according to claim 1, wherein: the conveying frame is provided with a protection device, and the protection device is detachably and fixedly connected to the groove.

3. A multi-station reclaiming conveyor line as in claim 2 wherein: the detection unit is a reflection-type infrared sensor, and the number of the reflection-type infrared sensors is at least two.

4. A multi-station reclaiming conveyor line as in claim 3 wherein: the installation angle of the detection parts and the conveyor belt is 30-90 degrees, and when the installation angle is smaller than 90 degrees, the detection directions of the two detection parts respectively face the feeding end and the discharging end of the conveyor belt.

5. The multi-station reclaiming conveyor line according to claim 1, wherein: a station is arranged on one side of the conveying line, and the rack is located above the station.

6. The multi-station reclaiming conveyor line according to claim 5, wherein: the number of the stations is at least two, and each station is correspondingly provided with a manipulator and a detection part.

7. The multi-station reclaiming conveyor line according to claim 5, wherein: the station is provided with an injection molding machine.

8. The multi-station reclaiming conveyor line according to claim 5, wherein: and the station is provided with an operating room or a partition wall surrounded by sound-proof and heat-proof glass.

9. The multi-station reclaiming conveyor line according to claim 1, wherein: the mechanical upper arm is provided with two parallel transverse guide rails and a second driving device, and the second driving device is electrically connected with the controller; the transverse guide rails are perpendicular to the rack, and the second driving device drives the air cylinders to slide on the two transverse guide rails.

10. The multi-station reclaiming conveyor line according to claim 9, wherein: the first driving device and the second driving device are one or a combination of an air cylinder and a motor.