WO2017193828A1 - 传送装置及其控制方法 - Google Patents

传送装置及其控制方法 Download PDF

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Publication number
WO2017193828A1
WO2017193828A1 PCT/CN2017/082442 CN2017082442W WO2017193828A1 WO 2017193828 A1 WO2017193828 A1 WO 2017193828A1 CN 2017082442 W CN2017082442 W CN 2017082442W WO 2017193828 A1 WO2017193828 A1 WO 2017193828A1
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WO
WIPO (PCT)
Prior art keywords
transfer
wheel
unit
transmission
drive shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/082442
Other languages
English (en)
French (fr)
Inventor
向琛
陈立博
李喆元
王在清
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BOE Technology Group Co Ltd
Chengdu BOE Optoelectronics Technology Co Ltd
Original Assignee
BOE Technology Group Co Ltd
Chengdu BOE Optoelectronics Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BOE Technology Group Co Ltd, Chengdu BOE Optoelectronics Technology Co Ltd filed Critical BOE Technology Group Co Ltd
Priority to US15/566,399 priority Critical patent/US10023401B1/en
Publication of WO2017193828A1 publication Critical patent/WO2017193828A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/063—Transporting devices for sheet glass
    • B65G49/064—Transporting devices for sheet glass in a horizontal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
    • B65G21/2045—Mechanical means for guiding or retaining the load on the load-carrying surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/10—Sequence control of conveyors operating in combination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/53—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another
    • B65G47/54—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)

Definitions

  • Embodiments of the present invention relate to the field of liquid crystal display manufacturing, and in particular, to a transmitting device and a control method of the foregoing transmitting device.
  • conveyors such as robots and transfer rollers are widely used, and the use of transfer rollers is particularly common.
  • the conveying roller in the existing automated production line includes a bracket 01, a transmission shaft 02, and a plurality of conveying rollers 03 mounted on the transmission shaft 02.
  • the plurality of conveying rollers 03 are coaxially fixed with the transmission shaft 02.
  • the transmission roller 03 can be rotated to realize the conveyance and transportation of the product.
  • the transfer roller 03 often leaves some marks on the surface of some products, which causes these products to become defective.
  • At least one object of an embodiment of the present invention is to provide a conveying apparatus which can prevent a product from being defective as a result of leaving a wheel print during transportation.
  • At least one object of embodiments of the present invention is to provide a control of a conveyor
  • the method can avoid the phenomenon that the product becomes a defective product due to the presence of the wheel print during transportation.
  • a conveying apparatus includes: a base; a roller assembly including a plurality of coaxially disposed transfer wheels, a plurality of screw rods, and one-to-one correspondence with the plurality of screw rods respectively a plurality of screw motor connected, each of the transfer wheels is provided with at least one threaded hole, and the transfer wheel is coupled with a corresponding one of the screw rods through a threaded hole thereon for controlling the corresponding transfer wheel along the shaft Moving in a direction; and a drive shaft rotatably coupled to the base, the spindle motor being disposed on the drive shaft by a fixed structure, wherein the plurality of transfer wheels and the drive shaft And a driving unit, wherein the driving unit is configured to drive the rotation of the driving shaft, and the driving shaft drives the screw motor to rotate at the same time, so that the roller assembly can be rotated about the axis of the driving shaft.
  • each of the transfer wheels is provided with a through hole for the other lead rod to pass through.
  • the guide bore is provided in the through hole and at the portion where the transfer wheel is slidably coupled to the drive shaft, and the guide bush is made of a smooth wear resistant material.
  • the drive unit is coupled to the drive shaft via a gear set including a cooperating drive wheel and a driven wheel, the drive wheel being in driving connection with the drive unit, the driven wheel being fixedly coupled to the drive shaft.
  • the roller assembly further includes two limit wheels, both of which are fixedly coupled to the drive shaft, and the plurality of transfer wheels are slidably sleeved on the drive shaft and located between the two limit wheels.
  • the transfer device may further comprise a transfer unit for transmitting a control signal and electrical energy to the lead screw motor, the transfer unit comprising an input end and an output end of the sliding connection, the input end being fixed to the base and the output end being fixed to the output end
  • the drive shaft is respectively connected to a plurality of screw motors, and when the rotary shaft rotates, the input end and the output end maintain sliding contact.
  • the input end of the transmission unit includes a brush
  • the output end of the transmission unit includes a conductive block
  • the conductive block is coaxially disposed with the drive shaft, and the radial section of the conductive block is circular, and the side of the brush and the conductive block The wall is in sliding contact.
  • the brush includes a plurality of terminals and a plurality of brush heads, and a holder for fixing the terminal and the brush head, a plurality of terminals and a pair of brush heads
  • the plurality of sets of mutually independent transmission lines are formed, and the fixing frame is fixedly connected to the base.
  • the conductive block comprises a plurality of conductive rings that are not connected to each other, and the plurality of conductive rings are in sliding contact with the plurality of brush heads in one-to-one correspondence.
  • the drive shaft is a hollow shaft, and the output end of the transmission unit is electrically connected to the lead screw motor through a wire, and the wire is threaded through the shaft hole of the drive shaft.
  • the base is provided with a bearing that mates with the drive shaft.
  • the transmitting device may further include a detecting unit and a comparing unit.
  • the detecting unit is connected to the comparing unit through the transmitting unit, the detecting unit is configured to detect the position of the transmitting wheel on the driving shaft, generate coordinate parameters of the transmitting wheel, and pass the
  • the transmission unit sends to the comparison unit, the comparison unit is configured to compare the coordinate parameters of the transmission wheel with the virtual area coordinate parameters of the product to be transmitted, and send a control signal to the screw motor through the transmission unit.
  • a control method for controlling the above-described transmitting device provided with a detecting unit and a comparing unit, the method comprising the steps of:
  • the comparison unit compares the coordinate parameter of the transfer wheel with the virtual zone coordinate parameter of the product to be transmitted. If the coordinate parameter of the transfer wheel is consistent with the virtual zone coordinate parameter of the product to be transmitted, that is, the transfer wheel of the transfer device is in an ideal position, and the process can be performed.
  • the control signal and the electric energy are sent to the screw motor through the transmission unit to control the screw motor corresponding to the transfer wheel whose coordinate parameters are inconsistent, so that the transfer wheel is axially moved to the ideal position.
  • FIG. 1 is a schematic structural view of a transfer device of the prior art
  • FIG. 2 is a schematic structural diagram of a transmitting apparatus according to an embodiment of the present invention.
  • FIG. 3 is a schematic enlarged structural view showing a connection between a screw motor and a lead screw in a conveying device according to an embodiment of the present invention
  • FIG. 4 is a schematic enlarged structural view of a transfer wheel in a transfer device according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram showing an enlarged structure of a transmission unit in a transmitting apparatus according to an embodiment of the present invention
  • FIG. 6 is a schematic structural diagram of a plurality of sets of roller assemblies disposed in parallel in a transport apparatus according to an embodiment of the present invention.
  • FIG. 7 is a functional block diagram of a part of a unit in a transmitting apparatus according to an embodiment of the present invention.
  • installation should be understood broadly. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection; it may be directly connected or through the middle.
  • the medium is indirectly connected and can be internal to the two components.
  • the embodiment of the invention provides a conveying device, as shown in Figures 2, 3 and 4, the conveying device comprises: a base 1; a roller assembly 2; a drive shaft 3 and a drive unit 4.
  • the roller assembly 2 includes a plurality of coaxially disposed transfer wheels 21, a plurality of lead screws 22, and a plurality of screw motors 23 respectively connected in one-to-one correspondence with the plurality of lead screws 22, each of which has a thread on the transfer wheel 21
  • the hole 211, through which the transfer wheel 21 is coupled with a corresponding one of the screw rods 211, is used to control the movement of the corresponding transfer wheel 21 in the axial direction.
  • each of the transfer wheels 21 is provided with a through hole 212 for the other screw rods 22 to pass therethrough.
  • the transmission shaft 3 is rotatably connected with the base 1 , and the transmission shaft 3 is fixedly connected with the roller assembly 2 .
  • the transmission shaft 3 can drive the roller assembly 2 to rotate about the axis of the transmission shaft 3
  • the screw motor 23 is disposed on the transmission shaft 3 through the fixing structure 33 .
  • Upper, a plurality of transfer wheels 21 are disposed coaxially with the drive shaft 3.
  • the driving unit 4 is used for driving the rotation of the transmission shaft 3, and the transmission shaft 3 drives the screw motor 23 to rotate at the same time, so that the roller assembly 2 can be rotated about the axis of the transmission shaft 3.
  • the conveying device of the embodiment of the present invention drives the drive shaft 3 to rotate, and the drive shaft 3 drives the roller assembly 2 to rotate about the axis of the drive shaft 3, thereby enabling the conveyance and handling of the product.
  • the roller assembly 2 includes the same number of multiple transfer wheels 21, a plurality of lead screws 22, and a plurality of screw motors 23, wherein each screw motor 23 correspondingly controls one lead screw 22, one corresponding to each screw rod 22
  • the transfer wheel 21 is screwed.
  • the screw 22 corresponding to the screw motor 23 can be controlled to rotate, so that the transfer wheel 21 threadedly engaged with the screw 22 can be moved axially along the drive shaft 3.
  • the conveying wheel 21 can be moved axially along the transmission shaft when conveying different products, so that the conveying wheel 21 is in contact with the virtual area of different products, so that even if the conveying wheel is in the product The virtual area leaves a wheel print and will not cause the product to become a defective product.
  • the position of the transfer wheel can be conveniently adjusted according to the position of the virtual zone of different models, so that the transfer wheel can be in contact with the virtual area of the product correspondingly, thereby avoiding the phenomenon that the product becomes defective due to leaving the wheel print during transportation. .
  • the roller assembly 2 further includes two limiting wheels 24 .
  • the two limiting wheels 24 are respectively fixedly connected to the transmission shaft 3 , and the plurality of transmission wheels 21 are slidably sleeved on the transmission shaft 3 . It is located between the two limit wheels 24.
  • the limit wheel 24 is disposed on both sides of the plurality of transfer wheels 21, the problem of the product slipping or slipping out of the conveyor during transport can be avoided. Since the limit wheel 24 is not in contact with the product, it does not leave a wheel print on the bottom of the product. Moreover, since the limit wheel 24 needs to limit the conveyed product, the limit wheel 24 is fixedly coupled to the drive shaft 3. Since the transfer wheel 21 needs to be moved in the axial direction of the drive shaft 3, the transfer wheel 21 is slidably sleeved on the drive shaft 3.
  • the conveying device provided by the embodiment of the invention further comprises a transmission unit 20 for transmitting the control signal and the electric energy to the screw motor 23 (as shown in FIG. 7).
  • the transmission unit comprises an input of a sliding connection (brush 5 as shown in FIG. 5, which will be described in detail below) and an output (such as the conductive block 6 shown in FIG. 5, which will be described in detail below).
  • the input end is fixed to the base 1, and the output end is fixed to the drive shaft 3 and respectively connected to the plurality of screw motors 23.
  • the input end and the output end maintain sliding contact.
  • sliding contact means that the contact faces of two components in contact with each other are slidable relative to each other.
  • the transmission device provided by the embodiment of the present invention provides a transmission unit for transmitting a control signal and electric energy to the screw motor 23. When the transmission shaft 3 rotates, the input end and the output end of the transmission unit maintain sliding contact, thereby ensuring the screw motor. Control signal and power transfer.
  • the power of the screw motor can be powered by a battery, and the control signal can be transmitted by wireless communication, but the battery is not conducive to environmental protection, and the wireless communication is susceptible to interference from the surrounding environment, and the transmission reliability is not high. Therefore, it is desirable to use the manner in which the input and output of the sliding connection are used.
  • the product is prevented from being defective due to the presence of the wheel printing during the transportation, mainly by adjusting the conveying wheel 21 to the virtual state of the product to be conveyed.
  • the location of the pseudo-region is corresponding to the location. If manual contrast observation is used and then adjusted, the efficiency is low and the precision is not high, which cannot be applied to large-scale production lines. Therefore, in order to make the position adjustment of the transfer wheel 21 efficient and accurate, as shown in FIG.
  • the transmitting apparatus further includes a detecting unit 10 and a comparing unit 30, and the detecting unit 10 is connected to the comparing unit 30 through the transmitting unit 20,
  • the detecting unit 10 is configured to detect the position of the transfer wheel 21 on the drive shaft 3, generate coordinate parameters of the transfer wheel 21, and transmit to the comparison unit 30 through the transmission unit 20, and the comparison unit 30 is used to coordinate the coordinate parameters of the transfer wheel 21.
  • the virtual zone coordinate parameters of the product to be transmitted are compared, and a control signal is generated for the lead screw motor 23 via the transmission unit 20. In this way, the coordinate parameters of the position of the transfer wheel 21 on the drive shaft 3 can be conveniently obtained.
  • the comparison unit 30 can adjust the coordinate parameters of the transfer wheel 21 and the product to be delivered.
  • the virtual zone coordinate parameters are compared to determine whether to deliver the product. Specifically, when the coordinate parameter of the transfer wheel 21 coincides with the virtual zone coordinate parameter of the product to be transmitted, the transfer wheel 21 can be considered to be in an ideal position, and thus the product to be transported can be transmitted; when the coordinate parameter of the transfer wheel 21 is to be transmitted.
  • the screw motor 23 corresponding to the transfer wheel 21 whose coordinate parameters are inconsistent is determined, and then the control signal is transmitted to the corresponding screw motor 23 through the transmission unit 20, so that the screw motor 23 is activated, and then The transfer wheel 21 is driven to move axially to the desired position on the drive shaft 3, and then the product to be conveyed is transferred.
  • the detecting unit 10, the transmitting unit 20, and the comparing unit 30 may be, but not limited to, adopting functional modules commonly used in the industry. Also, the detecting unit 10 and the comparing unit 30 may be disposed on the base 1 or the transmission shaft 3 of the conveying device.
  • the input end of the transmission unit includes a brush 5
  • the output end of the transmission unit includes a conductive block 6, the conductive block 6 and
  • the drive shaft 3 is coaxially disposed and the radial section of the conductive block 6 is circular, and the brush 5 is in sliding contact with the side wall of the conductive block 6.
  • the brush 5 includes a plurality of terminals 51 and a plurality of brush heads 52, and for fixing the terminals 51 and the heads
  • the fixing frame 53 of the 52, the plurality of connecting terminals 51 and the plurality of brush heads 52 are in one-to-one correspondence, and constitute a plurality of sets of mutually non-intersecting transmission lines, the fixing frame 53 is fixedly connected with the base 1, and the conductive block 6 comprises a plurality of mutually incompatible
  • the conductive ring 61 has a plurality of conductive rings 61 in sliding contact with the plurality of brush heads 52 in one-to-one correspondence.
  • the plurality of terminals 51 and the plurality of brush heads 52 are in one-to-one correspondence, and the plurality of brush heads 52 are in sliding contact with the plurality of conductive rings 61 in a one-to-one correspondence, thereby forming a plurality of sets of mutually non-intersecting transmission lines, and realizing multiple sets of control signals and circuits.
  • each group of transmission lines can control one screw motor.
  • the transmission shaft 3 can be set as a hollow shaft, and the output end of the transmission unit is electrically connected to the screw motor 23 via a wire 31, and the wire 31 is bored in the shaft hole of the transmission shaft 3. After the wire 31 is inserted into the shaft hole of the transmission shaft 3, the wire rotates in the shaft hole, and there is no problem that the wire is entangled with the external gas object, and the transmission shaft 3 protects the wire.
  • the connecting portions are each provided with a guide bush 7 which is made of a smooth wear resistant material.
  • the smooth wear-resistant material can be arbitrarily selected, such as a copper sleeve, and can be easily replaced after the guide bush 7 is worn to ensure that the frictional force of the transfer wheel 21 to move axially along the drive shaft 3 is always small.
  • the driving unit 4 can be a motor, and the motor is connected with the transmission shaft 3 to drive the transmission shaft 3 to rotate.
  • the transmission connection can be geared or belt driven.
  • the driving unit 4 passes through the gear set 8.
  • the transmission shaft 3 includes a driving shaft 81 and a driven wheel 82.
  • the driving wheel 81 is drivingly connected to the driving unit 4, and the driven wheel 83 is fixedly connected to the transmission shaft 3.
  • Gear transmission, the transmission is more accurate, high efficiency, compact structure and reliable operation.
  • the base 1 can be disposed with the drive shaft
  • the 3-phase matched bearing 32 is shown in Figures 3 and 5.
  • the bearing is rotatably connected to support the transmission shaft 3, and the frictional force during the rotation of the transmission shaft 3 is reduced.
  • a plurality of sets of roller assemblies 2 and a plurality of roller assemblies are generally arranged in parallel.
  • a plurality of transmission shafts 3 are fixedly connected to each other, and a plurality of bases 1 are mounted on the two ends of the plurality of transmission shafts 3, and the driving unit can drive the plurality of transmission shafts 3 to rotate, thereby driving the plurality of roller assemblies 2 Rotation to achieve long-distance handling of the product 9.
  • the embodiment of the present invention further provides a control method for controlling the above-mentioned transmitting device provided with the detecting unit 10 and the comparing unit 30, the control method comprising the following steps:
  • the detection unit 10 of the transmission device detecting the position of the transmission wheel 21 on the transmission shaft 3, generating coordinate parameters of the transmission wheel 21, and transmitting to the comparison unit 30;
  • the comparison unit 30 compares the coordinate parameter of the transfer wheel 21 with the virtual zone coordinate parameter of the product to be transmitted. If the coordinate parameter of the transfer wheel 21 coincides with the virtual zone coordinate parameter of the product to be delivered, that is, the transfer wheel 21 of the transfer device is in an ideal position.
  • the transmission of the product to be transmitted can be performed; if the coordinate parameter of the transfer wheel 21 does not coincide with the virtual zone coordinate parameter of the product to be delivered, that is, the transfer wheel 21 of the transport device is not in the ideal position, the position of the transfer wheel 21 that does not match the coordinate parameters is required. Adjustment is made.
  • control signal and the electric energy are sent to the screw motor 23 through the transmission unit 20, and the screw motor 23 corresponding to the transfer wheel 21 whose coordinate parameters are inconsistent is controlled to be activated, so that the transfer wheel 21 is axially moved to the ideal position. .
  • the control method provided by the embodiment of the present invention obtains the coordinate parameter of the virtual area of the product to be transmitted through the product information network before the product is transmitted, and the detecting unit can detect and generate the coordinate parameter of the transmission wheel 21, and send it to the comparison unit, and the comparison unit will The coordinate parameter of the transfer wheel 21 is compared with the virtual zone coordinate parameter of the product to be transmitted, and the next step control is performed: when the coordinate parameter of the transfer wheel 21 coincides with the virtual zone coordinate parameter of the product to be transmitted, that is, the transfer wheel 21 is transmitting the The product will be in contact with the virtual area of the product, and can be transmitted at this time; when the coordinate parameter of the transfer wheel 21 is inconsistent with the virtual area coordinate parameter of the product to be transmitted, the position of the transfer wheel 21 needs to be adjusted.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rollers For Roller Conveyors For Transfer (AREA)
  • Control Of Conveyors (AREA)
  • Toys (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

一种传送装置，包括：基座（1），滚轮组件（2），传动轴（3）和驱动单元（4）；滚轮组件（2）包括多个同轴设置的传送轮（21）、多个丝杆（22）以及分别与多个丝杆（22）一一对应连接的多个丝杆电机（23），每个传送轮（21）上均开设有一个螺纹孔（211），传送轮（21）通过其上的螺纹孔（211）与相应的一个丝杆（22）配合连接，用于控制相应的传送轮（21）沿轴向方向移动；传动轴（3）与基座（1）可转动连接，传动轴（3）与滚轮组件（2）固定连接，驱动单元（4）用于驱动传动轴（3）的旋转，传动轴（3）带动丝杆电机（23）同时转动，从而可带动滚轮组件（2）绕传动轴（3）的轴线旋转。此外还公开了控制该传送装置的传送方法。通过控制传送轮（21）沿轴向方向移动，可以避免产品因搬运时留有轮印而成为不良品现象的发生。

Description

传送装置及其控制方法
相关申请的交叉引用
本申请要求于2016年5月11日向中国国家知识产权局递交的中国专利申请201610311777.9的权益，该申请的公开内容通过引用整体并入本文中。
技术领域
本发明实施例涉及液晶显示屏制造领域，尤其涉及一种传送装置及一种前述传送装置的控制方法。
背景技术
在目前的液晶显示屏等自动化生产线中，为了搬运产品，机械手和传送滚轮等传送装置被广泛使用，其中，传送滚轮的使用尤其普遍。
在现有的自动化生产线中的传送滚轮，如图1所示，包括支架01、传动轴02以及安装在传动轴02上的多个传送滚轮03，多个传送滚轮03与传动轴02同轴固定连接，当传动轴02输入外界动力时，可带动传送滚轮03旋转，进而实现产品的传送搬运。
但是，采用现有技术的方案在进行产品传送的过程中，传送滚轮03经常会在一些产品的表面留下一些轮印，进而导致这些产品变为不良品。
发明内容
本发明的实施例的至少一个目的在于提供一种传送装置，可以避免产品因搬运时留有轮印而成为不良品的现象发生。
本发明的实施例的至少一个目的在于提供一种传送装置的控制 方法，可以避免产品因搬运时留有轮印而成为不良品的现象发生。
根据本发明实施例的一个方面，提供了一种传送装置，包括：基座；滚轮组件，滚轮组件包括多个同轴设置的传送轮、多个丝杆以及分别与多个丝杆一一对应连接的多个丝杆电机，每个传送轮上均开设有至少一个螺纹孔，传送轮通过其上的螺纹孔与丝杆中相应的一个丝杆配合连接，用于控制相应的传送轮沿轴向方向移动；和传动轴，所述传动轴与所述基座可转动连接，所述丝杆电机通过固定结构设置在所述传动轴上，其中，所述多个传送轮与所述传动轴同轴设置；和驱动单元，所述驱动单元用于驱动所述传动轴的旋转，所述传动轴带动所述丝杆电机同时转动，从而可带动所述滚轮组件绕传动轴的轴线旋转。
在一些实施例中，每个传送轮上均开设有用于使得其它丝杆穿过的通孔。
在一些实施例中，通孔内以及传送轮与传动轴滑动连接的部位均设有导筒，导筒由光滑耐磨材料制成。
在一些实施例中，驱动单元通过齿轮组与传动轴传动连接，齿轮组包括相啮合的主动轮和从动轮，主动轮与驱动单元传动连接，从动轮与传动轴固定连接。
在一些实施例中，滚轮组件还包括两个限位轮，两个限位轮均与传动轴固定连接，多个传送轮滑动套设于传动轴上且位于两个限位轮之间。
在一些实施例中，传送装置还可以包括用于向丝杆电机传输控制信号和电能的传输单元，传输单元包括滑动连接的输入端和输出端，输入端固定于基座上，输出端固定于传动轴上且分别与多个丝杆电机连接，当旋转轴旋转时，输入端和输出端保持滑动接触。
在一些实施例中，传输单元的输入端包括电刷，传输单元的输出端包括导电块，导电块与传动轴同轴设置且导电块的径向截面为圆形，电刷与导电块的侧壁滑动接触。
在一些实施例中，电刷包括多个接线端子和多个刷头，以及用于固定接线端子和刷头的固定架，多个接线端子和多个刷头一一对 应，构成多组互不相通的传输线路，固定架与基座固定连接，导电块包括多个互不相通的导电环，多个导电环与多个刷头一一对应滑动接触。
在一些实施例中，传动轴为空心轴，传输单元的输出端与丝杆电机通过导线电连接，导线穿设于传动轴的轴孔内。
在一些实施例中，基座上设有与传动轴相配合的轴承。
在一些实施例中，传送装置还可以包括检测单元和比较单元，检测单元通过传输单元与比较单元连接，检测单元用于检测传送轮在传动轴上的位置，生成传送轮的坐标参数，并通过传输单元发送给比较单元，比较单元用于将传送轮的坐标参数与待传送产品的虚拟区坐标参数进行比较，以及通过传输单元为丝杆电机发送控制信号。
根据本发明的实施例的另一方面，还提供一种控制方法，用于控制上述设有检测单元和比较单元的传送装置，该方法包括以下步骤：
通过产品信息网络采集待传送产品的信息参数，得到待传送产品虚拟区的坐标参数；
通过传送装置的检测单元，检测传送轮在传动轴上的位置，生成传送轮的坐标参数，并发通过传输单元送给比较单元；和
比较单元将传送轮的坐标参数与待传送产品的虚拟区坐标参数进行比较，若传送轮的坐标参数与待传送产品的虚拟区坐标参数一致，即传送装置的传送轮处于理想位置，可进行待传送产品的传送；若传送轮的坐标参数与待传送产品的虚拟区坐标参数不一致，即传送装置的传送轮未处于理想位置，需要对坐标参数不一致的传送轮的位置进行调整，此时，将控制信号和电能通过传输单元发送至丝杆电机，以控制坐标参数不一致的传送轮所对应的丝杆电机启动，使传送轮轴向移动至理想位置。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下 面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为现有技术的一种传送装置的结构示意图；
图2为本发明实施例提供的传送装置的结构示意图；
图3为本发明实施例提供的传送装置中的丝杆电机与丝杆连接的放大结构示意图；
图4为本发明实施例提供的传送装置中的传送轮的放大结构示意图；
图5为本发明实施例提供的传送装置中的传输单元的放大结构示意图；
图6为本发明实施例提供的传送装置中并列设置多组滚轮组件时的结构示意图；和
图7为本发明实施例提供的传送装置中部分单元的功能框图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本文的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本文的描述中，需要说明的是，除非另有明确的规定和限定，术 语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
本发明实施例提供一种传送装置，如图2、3和4所示，该传送装置包括：基座1；滚轮组件2；传动轴3和驱动单元4。滚轮组件2包括多个同轴设置的传送轮21、多个丝杆22以及分别与多个丝杆22一一对应连接的多个丝杆电机23，每个传送轮21上均开设有一个螺纹孔211，传送轮21通过其上的螺纹孔211与相应的一个丝杆22配合连接，用于控制相应的传送轮21沿轴向方向移动。在一个实施例中，每个传送轮21上均开设有用于使得其它丝杆22穿过的通孔212。传动轴3与基座1可转动连接，传动轴3与滚轮组件2固定连接，传动轴3可带动滚轮组件2绕传动轴3的轴线旋转，丝杆电机23通过固定结构33设置在传动轴3上，多个传送轮21与传动轴3同轴设置。驱动单元4用于驱动传动轴3的旋转，传动轴3带动丝杆电机23同时转动，从而可带动滚轮组件2绕传动轴3的轴线旋转。
本发明实施例的传送装置，如图2、3和4所示，驱动单元4驱动传动轴3旋转，传动轴3带动滚轮组件2绕传动轴3的轴线旋转，进而可以实现对产品的传送搬运。滚轮组件2包括相同数量的多个传送轮21、多个丝杆22和多个丝杆电机23，其中，每个丝杆电机23对应控制一个丝杆22，每个丝杆22对应地与一个传送轮21螺纹连接。当丝杆电机23通电后，可控制对应该丝杆电机23的丝杆22旋转，进而使与该丝杆22螺纹配合的传送轮21可以沿传动轴3轴向移动。在液晶产品生产过程中，一整块的产品中必然具有虚拟区(Dummy区，即不会作为最终产品产出的无用的区域)，且不同型号的产品，其虚拟区的位置也不相同，由此，利用本发明实施例的传送装置，在传送不同产品时，可以将传送轮21沿传动轴轴向移动，以使传送轮21与不同产品的虚拟区接触，这样，即使传送轮在产品的虚拟区留下轮印，也不会导致该产品变为不良品。相比现 有技术，可根据不同型号产品的虚拟区位置，很方便地调节传送轮的位置，使传送轮对应地与产品虚拟区接触，可避免产品因搬运时留有轮印而成为不良品的现象发生。
具体地，如图2和图3所示，滚轮组件2还包括两个限位轮24，两个限位轮24分别与传动轴3固定连接，多个传送轮21滑动套设于传动轴3上且位于两个限位轮24之间。在多个传送轮21的两侧设置了限位轮24后，可以避免产品在传送过程中，偏离或从传送装置内滑出的问题。由于限位轮24不与产品接触，不会造成产品底部留有轮印。而且，由于限位轮24需要对传送的产品进行限位，因此，将限位轮24与传动轴3固定连接。由于传送轮21需要在传动轴3轴向方向移动，因此，传送轮21滑动套设于传动轴3上。
如图5所示，由于丝杆电机23设置在滚轮组件2内，滚轮组件2与传动轴3固定连接，当传动轴3旋转时丝杆电机23会随着传动轴的旋转而旋转，这样，丝杆电机的控制信号和电能的传输不能直接通过导线连接，因此，本发明实施例提供的传送装置还包括用于向丝杆电机23传输控制信号和电能的传输单元20(如图7所示)，在结构上，传输单元包括滑动连接的输入端(如图5所示的电刷5，将在下文中详细描述)和输出端(如图5所示的导电块6，将在下文中详细描述)，输入端固定于基座1上，输出端固定于传动轴3上且分别与多个丝杆电机23连接，当旋转轴3旋转时，输入端和输出端保持滑动接触。需要注意的是，本文中所描述的“滑动接触”是指两个彼此接触的部件的接触面之间能够相对于彼此进行滑动。本发明实施例提供的传送装置，通过设置向丝杆电机23传输控制信号和电能的传输单元，当传动轴3旋转时，传输单元的输入端和输出端保持滑动接触，可以保证丝杆电机的控制信号和电能的传输。当然，在其它实施例中，丝杆电机的电能可以采用电池供电，控制信号可以采用无线通信的方式传输，但是采用电池不利于环保，而无线通信易受周围环境的干扰，传输可靠性不高，因此，理想地采用滑动连接的输入端和输出端的方式。
本发明实施例提供的传送装置中，避免产品因搬运时留有轮印而成为不良品，主要在于通过将传送轮21调整到与待传送产品的虚 拟区位置相对应的位置而实现的。如果采用人工对比观察，然后进行调整，效率较低，且精度不高，不能适用于大规模生产线中。因此，为了使传送轮21的位置调整高效准确，如图7所示，本发明实施例提供的传送装置还包括检测单元10和比较单元30，检测单元10通过传输单元20与比较单元30连接，检测单元10用于检测传送轮21在传动轴3上的位置，生成传送轮21的坐标参数，并通过传输单元20发送给比较单元30，而比较单元30用于将传送轮21的坐标参数与待传送产品的虚拟区坐标参数进行比较，以及通过传输单元20为丝杆电机23发生控制信号。这样，可以很方便的得到传送轮21处于传动轴3上位置的坐标参数，将传送轮21的坐标参数发送给比较单元30后，比较单元30可将传送轮21的坐标参数与待传送产品的虚拟区坐标参数进行比较，进而决定是否传送产品。具体地，当传送轮21的坐标参数与待传送产品的虚拟区坐标参数一致时，即可认为传送轮21处于理想位置，进而可以对待传送产品进行传送；当传送轮21的坐标参数与待传送产品的虚拟区坐标参数一致时，确定坐标参数不一致的传送轮21所对应的丝杆电机23，然后将控制信号通过传输单元20传送至相应的丝杆电机23，使丝杆电机23启动，进而带动传送轮21在传动轴3上轴向移动至理想位置，而后再对待传送产品进行传送。相比人工操作，可以提高工作效率和调整精度。需要注意的是，在本发明实施例提供的传送装置中，检测单元10、传输单元20和比较单元30可以但不限于采用业界常用的功能模块。并且，检测单元10和比较单元30可以设置在传送装置的基座1或传动轴3上。
为了实现机械旋转运动过程中控制信号和电能的传输，在一个实施例中，如图5所示，传输单元的输入端包括电刷5，传输单元的输出端包括导电块6，导电块6与传动轴3同轴设置且导电块6的径向截面为圆形，电刷5与导电块6的侧壁滑动接触。这样，当丝杆电机23随传动轴3旋转时，导电块6的侧壁始终与电刷5滑动接触，可以实现旋转过程中控制信号和电能的传输。
由于滚轮组件2内设置了多个丝杆电机23，且多个丝杆电机23一一对应地控制多个传送轮21，且控制信号和电路应当为相应数量 的多组传送线路，因此，为了可以传输多组控制信号和电路，如图5所示，电刷5包括多个接线端子51和多个刷头52，以及用于固定接线端子51和刷头52的固定架53，多个接线端子51和多个刷头52一一对应，构成多组互不相通的传输线路，固定架53与基座1固定连接，导电块6包括多个互不相通的导电环61，多个导电环61与多个刷头52一一对应滑动接触。多个接线端子51和多个刷头52一一对应，多个刷头52与多个导电环61一一对应滑动接触，构成多组互不相通的传输线路，实现多组控制信号和电路的传输，每组传输线路可对应控制一个丝杆电机。
在传输单元中，常采用导线传输，传输单元的输出端与丝杆电机23连接后，导线会随传动轴3旋转，这样导线有可能与外部气体物体缠绕在一起而损坏，因此，参照图3和图5，可设置传动轴3为空心轴，传输单元的输出端与丝杆电机23通过导线31电连接，导线31穿设于传动轴3的轴孔内。将导线31穿设于传动轴3的轴孔内后，导线在轴孔内旋转，不会产生与外部气体物体缠绕在一起而损坏的问题，且传动轴3对导线起到一个保护作用。
在传送轮21沿传动轴3轴向移动的过程中，通孔212与控制其它传送轮21的丝杆会发生摩擦，同样，传送轮与传动轴3滑动连接的部位也会产生摩擦，不利于传送轮21沿传动轴3轴向移动，为了减小传送轮21沿传动轴3轴向移动的过程中的摩擦力，如图4所示，通孔212内以及传送轮21与传动轴3滑动连接的部位均设有导筒7，导筒7由光滑耐磨材料制成。光滑耐磨材料可随意选择，例如铜套，而且，当导筒7磨损后可方便更换，以保证传送轮21沿传动轴3轴向移动的摩擦力一直较小。
驱动单元4可为电机，电机与传动轴3传动连接，可驱动传动轴3旋转，传动连接的方式可为齿轮传动或带传动，如图3和图5所示，驱动单元4通过齿轮组8与传动轴3传动连接，齿轮组8包括相啮合的主动轮81和从动轮82，主动轮81与驱动单元4传动连接，从动轮83与传动轴3固定连接。采用齿轮传动，传动比较准确，效率高，结构紧凑，工作可靠。
由于传动轴3与基座1可转动连接，基座1上可设置与传动轴 3相配合的轴承32，如图3和图5所示。采用轴承实现可转动连接，支撑传动轴3，降低传动轴3旋转过程中的摩擦力。
需要说的是，本发明实施例的传送装置，如图6所示，在实际的生产操作中，为了对产品9进行长距离搬运，一般会并列设置多组滚轮组件2，与多个滚轮组件2分别固定连接有多个传动轴3，多个传动轴3两端对应位置设置有装有轴承的多个基座1，驱动单元可驱动多个传动轴3旋转，进而带动多个滚轮组件2旋转，实现对产品9的长距离搬运。
本发明的实施例还提供一种控制方法，用于控制上述设有检测单元10和比较单元30的传送装置，该控制方法包括以下步骤：
通过产品信息网络采集待传送产品的信息参数，得到待传送产品虚拟区的坐标参数；
通过传送装置的检测单元10，检测传送轮21在传动轴3上的位置，生成传送轮21的坐标参数，并发送给比较单元30；
比较单元30将传送轮21的坐标参数与待传送产品的虚拟区坐标参数进行比较，若传送轮21的坐标参数与待传送产品的虚拟区坐标参数一致，即传送装置的传送轮21处于理想位置，可进行待传送产品的传送；若传送轮21的坐标参数与待传送产品的虚拟区坐标参数不一致，即传送装置的传送轮21未处于理想位置，需要对坐标参数不一致的传送轮21的位置进行调整，此时，将控制信号和电能通过传输单元20发送至丝杆电机23，以控制坐标参数不一致的传送轮21所对应的丝杆电机23启动，使传送轮21轴向移动至理想位置。
本发明实施例提供的控制方法，在产品传送前，通过产品信息网络得到待传送产品虚拟区的坐标参数，检测单元可以检测并生成传送轮21的坐标参数，并发送给比较单元，比较单元将传送轮21的坐标参数与待传送产品的虚拟区坐标参数相比较，并进行下步控制：当传送轮21的坐标参数与待传送产品的虚拟区坐标参数一致时，即传送轮21在传送该产品时会与该产品的虚拟区相接触，此时可以进行传送；当传送轮21的坐标参数与待传送产品的虚拟区坐标参数不一致时，就需要对传送轮21的位置进行调整，此时将信号发送至 控制坐标参数不一致的传送轮21的丝杆电机23，进而启动该丝杆电机23，对传送轮21的位置进行调整，以使传送轮21坐标参数一致，而后在进行产品的传送，这样，保证每个产品在传送时，传送轮21与产品的虚拟区接触，可避免产品因搬运时留有轮印而成为不良品的现象发生。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求所述的保护范围为准。

Claims (12)

  1. 一种传送装置，包括：
    基座；
    滚轮组件，所述滚轮组件包括多个同轴设置的传送轮、多个丝杆以及分别与多个丝杆一一对应连接的多个丝杆电机，每个所述传送轮上均开设有至少一个螺纹孔，每个所述传送轮通过其上的螺纹孔与所述丝杆中相应的一个丝杆配合连接，用于控制相应的传送轮沿轴向方向移动；
    传动轴，所述传动轴与所述基座可转动连接，所述丝杆电机通过固定结构设置在所述传动轴上，其中，所述多个传送轮与所述传动轴同轴设置；和
    驱动单元，所述驱动单元用于驱动所述传动轴的旋转，所述传动轴带动所述丝杆电机同时转动，从而可带动所述滚轮组件绕传动轴的轴线旋转。
  2. 根据权利要求1所述的传送装置，其中，每个传送轮上均开设有用于使得其它丝杆穿过的通孔。
  3. 根据权利要求2所述的传送装置，其中，所述通孔内以及所述传送轮与所述传动轴滑动连接的部位均设有导筒，所述导筒由光滑耐磨材料制成。
  4. 根据权利要求1所述的传送装置，其中，所述驱动单元通过齿轮组与所述传动轴传动连接，所述齿轮组包括相啮合的主动轮和从动轮，所述主动轮与所述驱动单元传动连接，所述从动轮与所述传动轴固定连接。
  5. 根据权利要求1所述的传送装置，其中，所述滚轮组件还包括两个限位轮，所述两个限位轮分别与所述传动轴固定连接，所述多个传送轮滑动套设于所述传动轴上且位于所述两个限位轮之间。
  6. 根据权利要求1所述的传送装置，还包括用于向丝杆电机传输控制信号和电能的传输单元，所述传输单元包括滑动连接的输入端和输出端，所述输入端固定于所述基座上，所述输出端固定于所述传动轴上且分别与多个所述丝杆电机连接，当所述传动轴旋转时， 所述输入端和输出端保持滑动接触。
  7. 根据权利要求6所述的传送装置，其中，所述传输单元的输入端包括电刷，所述传输单元的输出端包括导电块，所述导电块与所述传动轴同轴设置且所述导电块的径向截面为圆形，所述电刷与所述导电块的侧壁滑动接触。
  8. 根据权利要求7所述的传送装置，其中，所述电刷包括多个接线端子和多个刷头，以及用于固定所述接线端子和所述刷头的固定架，多个所述接线端子和多个所述刷头一一对应，构成多组互不相通的传输线路，所述固定架与所述基座固定连接，所述导电块包括多个同轴设置且互不相通的导电环，多个所述导电环与多个所述刷头一一对应滑动接触。
  9. 根据权利要求6所述的传送装置，其中，所述传动轴为空心轴，所述传输单元的输出端与所述丝杆电机通过导线电连接，所述导线穿设于所述传动轴的轴孔内。
  10. 根据权利要求1所述的传送装置，其中，所述基座上设有与所述传动轴相配合的轴承。
  11. 根据权利要求6所述的传送装置，还包括检测单元和比较单元，所述检测单元通过所述传输单元与所述比较单元连接，所述检测单元用于检测所述传送轮在所述传动轴上的位置，生成所述传送轮的坐标参数，并通过所述传输单元发送给所述比较单元，所述比较单元用于将所述传送轮的坐标参数与待传送产品的虚拟区坐标参数进行比较，以及通过所述传输单元为所述丝杆电机发送控制信号。
  12. 一种用于控制权利要求11所述的传送装置的控制方法，所述控制方法包括以下步骤：
    通过产品信息网络采集待传送产品的信息参数，得到所述待传送产品虚拟区的坐标参数；
    通过所述传送装置的所述检测单元，检测所述传送轮在所述传动轴上的位置，生成所述传送轮的坐标参数，并通过所述传输单元发送给所述比较单元；和
    所述比较单元将所述传送轮的坐标参数与待传送产品的虚拟区 坐标参数进行比较，若所述传送轮的坐标参数与待传送产品的虚拟区坐标参数一致，即所述传送装置的所述传送轮处于理想位置，可进行所述待传送产品的传送；若所述传送轮的坐标参数与待传送产品的虚拟区坐标参数不一致，即所述传送装置的所述传送轮未处于理想位置，需要对坐标参数不一致的传送轮的位置进行调整，此时，将控制信号和电能通过所述传输单元发送至所述丝杆电机，以控制坐标参数不一致的传送轮所对应的丝杆电机启动，使所述传送轮轴向移动至理想位置。
PCT/CN2017/082442 2016-05-11 2017-04-28 传送装置及其控制方法 Ceased WO2017193828A1 (zh)

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