CN219456770U

CN219456770U - Conveying line synchronous tracking follower device

Info

Publication number: CN219456770U
Application number: CN202320375795.9U
Authority: CN
Inventors: 肖挺; 陈绮璋; 程健; 江波; 赵和平
Original assignee: Sanfeng Intelligent Equipment Group Co ltd
Current assignee: Sanfeng Intelligent Equipment Group Co ltd
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2023-08-01
Anticipated expiration: 2033-02-28

Abstract

The utility model relates to a synchronous tracking follower device of a conveying line, which is characterized by comprising a linear steel rail arranged on the ground at one side of the conveying belt, wherein the linear steel rail is parallel to the conveying direction of the conveying belt, a tracking table is connected to the linear steel rail in a sliding way, an external device is arranged at the top of the tracking table, laser correlation sensors are respectively arranged at a tracking starting point and a tracking end point on the conveying belt, an incremental pulse encoder is arranged on a conveying motor of the conveying belt for acquiring the speed of the conveying line, a travel protection device is also arranged at the tail end of the linear steel rail, a speed error identification device is arranged on the external device, a PLC control unit and a driving device are arranged on the tracking table, and the tracking table can synchronously move with the conveying belt. The beneficial effects are that: the long-distance synchronous tracking follow-up processing requirement of the conveying line is met, the use cost of enterprises is reduced, the follow-up tracking function of nonstandard equipment is realized, and the application range of the nonstandard equipment is increased.

Description

Conveying line synchronous tracking follower device

Technical Field

The utility model relates to conveyor line matching equipment, in particular to a synchronous tracking follower device for a conveyor line.

Background

In an automatic production line in the industries of automobiles, light industry, logistics and the like, in order to realize processing of workpieces moving on a conveying line or a production line, the requirement on working efficiency is improved, and the traditional industrial robot tracking system is high in use cost, short in tracking distance and not compatible with the vision guiding function of an industrial camera. In order to realize the synchronous tracking following function of the conveying line of nonstandard equipment and standard equipment, the conveying line and a moving workpiece are kept relatively static and are processed. The industrial robot tracking board card, the encoder and the corresponding brand of tracking program software package are adopted to realize short-distance tracking, and the tracking modes of various brands of robot conveying lines are different and are not compatible with the vision guiding function. Some domestic or nonstandard mechanical arms cannot realize the tracking function. The application range is greatly limited; when a workpiece needs to be tracked and processed in a long distance on a conveying line, as part of domestic industrial robots and nonstandard mechanical arms cannot realize conveying line tracking, enterprises can only purchase foreign advanced industrial robot tracking systems at high price to realize conveying line tracking and processing requirements.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a conveying line synchronous tracking follower device for solving the problem.

The technical scheme for solving the technical problems is as follows: the utility model provides a synchronous tracking follower of transfer chain, its characterized in that, including installing in the subaerial sharp rail of conveyer belt one side, sharp rail with the direction of delivery of conveyer belt is parallel, sliding connection has the tracking platform on the sharp rail, the tracking platform top is installed external equipment and is used for right work piece on the conveyer belt is operated, the tracking start point on the conveyer belt and the tracking terminal point are installed laser correlation sensor respectively, install incremental pulse coder on the conveyer motor of conveyer belt and be used for obtaining the transfer chain speed, the end of sharp rail still is equipped with stroke protection device, install speed error recognition device on the external equipment, install PLC control unit and be used for the drive on the tracking platform and remove, the PLC control unit respectively with external equipment laser correlation sensor, stroke protection device, incremental pulse coder, speed error recognition device and drive arrangement signal connection, the tracking platform can keep synchronous movement with the conveyer belt.

The beneficial effects of the utility model are as follows: the long-distance synchronous tracking follow-up processing requirement of the conveying line is met, the use cost of enterprises is reduced, the follow-up tracking function of nonstandard equipment is realized, and the application range of the nonstandard equipment is increased. The system provides the conveying line synchronous tracking follower device which is simple in structure, convenient to install, wide in application range and stable in performance. The device has the advantages that the device adopts a simple low-cost structure, is simple to install, enables a standard industrial robot and a common mechanical arm or multi-axis nonstandard device to realize the synchronous tracking follow-up function of the conveying line, reduces the synchronous tracking application cost of the conveying line, improves the production efficiency, realizes the synchronous tracking follow-up processing or installation function of workpieces moving on the conveying line, and is mainly suitable for the tire installation, glass installation, seat installation and pipeline workpiece polishing, assembly, welding, gluing and carrying of automobile factories.

On the basis of the technical scheme, the utility model can be improved as follows.

The external equipment comprises an industrial robot, and the industrial robot is in electrical signal connection with the PLC control unit.

The travel protection device comprises a travel switch arranged at the tail end of the linear steel rail, and the travel switch is in electric signal connection with the PLC control unit.

The speed error recognition device comprises a 2D industrial camera, and the 2D industrial camera is in electrical signal connection with the PLC control unit.

The tracking table comprises a body, wherein a connecting seat is fixedly connected to the top of the body and used for installing external equipment, and sliding grooves matched with the linear steel rails are respectively arranged on two sides of the body.

The bottom of the body and the inside of the chute are provided with rollers, and the rollers roll at the top and the side surfaces of the linear steel rail.

The driving device comprises a stepping motor fixedly connected to the body, a travelling wheel is further mounted at the bottom of the body, the stepping motor drives the travelling wheel to rotate so as to drive the tracking table to move on the linear steel rail, and the stepping motor is in electric signal connection with the PLC control unit.

Drawings

FIG. 1 is a schematic diagram of a synchronous tracking follower device for a conveyor line;

FIG. 2 is a front view of the conveyor line synchronous tracking follower shown in FIG. 1;

FIG. 3 is a top view of the conveyor line synchronous tracking follower shown in FIG. 2;

FIG. 4 is a schematic diagram of the connection of the linear rail and the tracking table of the conveyor line synchronous tracking follower shown in FIG. 1;

fig. 5 is a partial enlarged view of the conveyor line synchronous follow-up device a shown in fig. 4.

In the drawings, the list of components represented by the various numbers is as follows:

1. a straight line rail; 2. a tracking station; 3. 2D industrial cameras; 4. a laser correlation sensor; 5. a travel switch; 6. an incremental pulse encoder; 7. an industrial robot; 8. a conveyor belt; 201. a body; 202. a stepping motor; 203. a chute; 204. and a connecting seat.

Detailed Description

The principles and features of the present utility model are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the utility model and are not to be construed as limiting the scope of the utility model.

As shown in fig. 1-5, a synchronous tracking follower device for a conveying line is characterized by comprising a linear steel rail 1 arranged on the ground on one side of a conveying belt 8, wherein the linear steel rail 1 is parallel to the conveying direction of the conveying belt 8, a tracking table 2 is slidably connected to the linear steel rail 1, an external device is arranged at the top of the tracking table 2 and is used for operating a workpiece on the conveying belt 8, a laser correlation sensor 4 is respectively arranged at a tracking starting point and a tracking end point on the conveying belt 8, an incremental pulse encoder 6 is arranged on a conveying motor of the conveying belt 8 and is used for acquiring the speed of the conveying line, a travel protection device is further arranged at the tail end of the linear steel rail 1, a speed error identification device is arranged on the external device, a PLC control unit and a driving device for driving the tracking table 2 to move are arranged on the tracking table 2, the PLC control unit is respectively connected with the external device, the travel protection device, the incremental pulse encoder 6, the speed error identification device and the driving device are electrically connected with the laser correlation sensor 4, and the travel protection device.

The external equipment comprises an industrial robot 7, and the industrial robot 7 is in electrical signal connection with the PLC control unit. Obviously, according to the production line requirement, any external equipment can be installed on the tracking table 2, so that the external equipment can realize the tracking function of the conveying belt 8 and keep relative static with the conveying belt 8 or a workpiece on the conveying belt, and the processing such as polishing, assembling, welding, gluing, spraying, carrying and the like can be performed on the conveying belt.

The travel protection device comprises a travel switch 5 arranged at the tail end of the linear steel rail 1, and the travel switch 5 is in electrical signal connection with the PLC control unit.

The speed error recognition device comprises a 2D industrial camera 3, and the 2D industrial camera 3 is in electrical signal connection with the PLC control unit.

The tracking table 2 comprises a body 201, a connecting seat 204 is fixedly connected to the top of the body 201 and used for installing external equipment, and sliding grooves 203 matched with the linear steel rail 1 are respectively arranged on two sides of the body 201.

Rollers are arranged at the bottom of the body 201 and in the sliding groove 203, and roll on the top and the side surface of the linear steel rail 1.

The driving device comprises a stepping motor 202 fixedly connected to the body 201, a travelling wheel is further mounted at the bottom of the body 201, the stepping motor 202 drives the travelling wheel to rotate so as to drive the tracking table 2 to move on the linear steel rail 1, and the stepping motor 202 is electrically connected with the PLC control unit.

The fixed connection referred to in this application may be a threaded connection, a welded connection or an adhesive connection.

The installation and use steps are as follows: (1) a laser correlation sensor 4 is arranged at the tracking start point and the tracking end point on the conveyor belt 8 to be tracked and is used for triggering tracking start signals and tracking end signals; (2) the incremental pulse encoder 6 is mounted on the conveyor line motor to be tracked to obtain the conveyor line speed, and the incremental pulse encoder 6 is mounted at the position to prevent the driving wheel of the incremental pulse encoder 6 from slipping when being contacted with the conveyor belt 8, so that tracking errors are caused. (3) An external device needing to track operation is installed on a tracking table 2, wherein the industrial robot 7 is installed on the tracking table 2 in the example, when the tracking table 2 tracks a conveying belt 8, the industrial robot 7 installed on the tracking table 2 and a workpiece on the conveying belt 8 are in a relatively static state; (4) when the tracking table 2 is just started, the speed of the tracking table is not consistent with that of the conveying belt 8, at the moment, the industrial robot 7 photographs through the 2D industrial camera 3, recognizes the position of a workpiece on the conveying belt 8 and guides the operation action of the workpiece, and the deviation of the position of the workpiece is eliminated; (5) the travel switch 5 is arranged at the tail end of the linear steel rail 1 of the tracking table 2, when the tracking table 2 is about to reach a limit distance, and when a workpiece touching the travel switch 5 or the conveyor belt 8 touches the laser correlation sensor 4 of the end point tracked by the conveyor belt 8, the tracking table 2 immediately stops tracking and returns to the initial position quickly to wait for tracking the next workpiece. The tracking system is controlled by a PLC, the incremental pulse encoder 6 obtains a speed value from the conveyer belt 8, the PLC controls the stepping motor 202 to rotate to drive the tracking table 2 to track along the movement direction of the conveyer belt 8, and at the moment, the industrial robot 7 arranged on the tracking table 2 can keep a relatively static state with a workpiece on the conveyer belt 8 and process the workpiece correspondingly.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims

1. The utility model provides a synchronous tracking follower of conveyer belt, its characterized in that, including installing in conveyer belt (8) one side subaerial sharp rail (1), sharp rail (1) with the direction of delivery of conveyer belt (8) is parallel, sliding connection has tracking platform (2) on sharp rail (1), tracking platform (2) top installation external equipment is used for right work piece on conveyer belt (8) is operated, the tracking start point and the punishment of tracking terminal point on conveyer belt (8) do not install laser correlation sensor (4), install increment type pulse encoder (6) on the conveying motor of conveyer belt (8) and be used for acquireing the conveyer belt speed, the end of sharp rail (1) still is equipped with stroke protection device, install speed error recognition device on external equipment, install PLC control unit and be used for the drive on tracking platform (2) remove drive arrangement, PLC control unit respectively with external equipment laser correlation sensor (4), electric signal protection device, type pulse encoder (6), speed recognition device and drive arrangement can keep in charge with conveyer belt (8) the synchronous speed.

2. The conveyor line synchronous tracking follower device according to claim 1, wherein the external device comprises an industrial robot (7), and the industrial robot (7) is electrically connected with the PLC control unit.

3. The conveyor line synchronous tracking follower device according to claim 1, wherein the travel protection device comprises a travel switch (5) mounted at the tail end of the linear steel rail (1), and the travel switch (5) is electrically connected with the PLC control unit.

4. A conveyor line synchronous tracking follower device according to claim 1, characterized in that the speed error recognition means comprise a 2D industrial camera (3), the 2D industrial camera (3) being electrically connected to the PLC control unit.

5. The conveying line synchronous tracking follower device according to claim 1, wherein the tracking table (2) comprises a body (201), a connecting seat (204) is fixedly connected to the top of the body (201) and used for installing external equipment, and sliding grooves (203) matched with the linear steel rail (1) are respectively arranged on two sides of the body (201).

6. The conveyor line synchronous tracking follower device according to claim 5, characterized in that rollers are arranged at the bottom of the body (201) and in the runner (203), said rollers rolling on the top and on the sides of the rectilinear rail (1).

7. The conveyor line synchronous tracking follower device according to claim 5, wherein the driving device comprises a stepping motor (202) fixedly connected to the body (201), a travelling wheel is further installed at the bottom of the body (201), the stepping motor (202) drives the travelling wheel to rotate so as to drive the tracking table (2) to move on the linear steel rail (1), and the stepping motor (202) is in electrical signal connection with the PLC control unit.