CN105600051B - A kind of automatic device and method of announcing successful tender - Google Patents
A kind of automatic device and method of announcing successful tender Download PDFInfo
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- CN105600051B CN105600051B CN201510694835.6A CN201510694835A CN105600051B CN 105600051 B CN105600051 B CN 105600051B CN 201510694835 A CN201510694835 A CN 201510694835A CN 105600051 B CN105600051 B CN 105600051B
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- millimeter paper
- bottom plate
- millimeter
- clamping jaw
- successful tender
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Abstract
Clamping jaw, vertical transplanting mechanism and manipulator of announcing successful tender are pulled the invention discloses a kind of automatic device of announcing successful tender, including bottom plate, horizontal transplanting mechanism, millimeter paper blank body, millimeter paper；The automatic apparatus and method of announcing successful tender of the present invention simulate the mode of announcing successful tender of people, the edge of millimeter paper is pushed down by millimeter paper blank body, millimeter paper pulls clamping jaw and pulls millimeter paper downwards, it is partially separated so that mark is realized with millimeter paper in the edge of bottom plate one, so that manipulator of announcing successful tender is easy to from millimeter paper take mark off, announce successful tender efficiency high, and add industrial camera, can be realized by vision and accurately take mark.
Description
Technical field
The present invention relates to a kind of automation equipment and its implementation, particularly a kind of device announced successful tender automatically and its realization
Method.
Background technology
Circular opaque mark is posted on many products, as shown in Figure 1, these marks are original to be attached to a sheet by a sheet transparent mark
On paper, traditional announces successful tender with will be relied on labeling to product manually, manually first bends millimeter paper by a target part and millimeter paper point
From, then mark removed, but manually labeling position is inaccurate, efficiency is low, is difficult to control for the occasion error for requiring error
System.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of simulation artificial mode of announcing successful tender
Announce successful tender and device and announce successful tender method.
Technical scheme：To achieve the above object, one kind of the invention automatic announce successful tender device, including bottom plate, horizontal transplanter
Structure, millimeter paper blank body, millimeter paper pull clamping jaw, vertical transplanting mechanism and manipulator of announcing successful tender；
The bottom plate is square, and its upper surface is smooth flat；The horizontal transplanting mechanism is arranged on the upper of the bottom plate
On surface, the millimeter paper blank body is arranged on horizontal transplanting mechanism, millimeter paper blank body push down two of millimeter paper it is mutually flat
Capable edge, horizontal transplanting mechanism drives the millimeter paper blank body and the millimeter paper pushed down by millimeter paper blank body together in institute
State on the upper surface of bottom plate along rectilinear translation, millimeter paper moved to a side of the bottom plate, and make one of millimeter paper not by
The edge pushed down is stretched out in outside the region of bottom plate；
The millimeter paper pulls clamping jaw and is arranged on the vertical transplanting mechanism, and the vertical transplanting mechanism is arranged on the bottom
The side for having the stretching of millimeter paper edge of plate, millimeter paper, which pulls clamping jaw, to be used to clamp the side that millimeter paper is stretched out in outside the baseplate zone
Edge, the vertical transplanting mechanism drives millimeter paper to pull clamping jaw and vertically translated；
The manipulator of announcing successful tender is fixedly mounted relative to the bottom plate, and the end effector mechanism for manipulator of announcing successful tender is in two points
Moved back and forth between position, two points position be respectively from the side edge for thering is millimeter paper to stretch out of the bottom plate tear off target tear off a position with
Labeling to target location is placed with a position.
Further, the manipulator of announcing successful tender includes multi-axis industrial robot and the mechanism that announces successful tender, and the mechanism that announces successful tender is fixed
In end effector mechanism of the end of multi-axis industrial robot as manipulator of announcing successful tender；
The mechanism that announces successful tender includes support, Pneumatic suction cup, guide pillar, guide pin bushing, tracheae and back-moving spring；The support is fixed on
On the multi-axis industrial robot, the guide pin bushing is connected on support, to be slidably matched between the guide pillar and guide pin bushing, guide pillar from
Multi-axis industrial robot is fixedly connected between one end and the Pneumatic suction cup farther out, and in the central shaft and Pneumatic suction cup of guide pillar
Heart overlapping of axles；String has the back-moving spring on guide pillar, and back-moving spring is pressed between the support and the Pneumatic suction cup；
The center of the guide pillar is hollow-core construction, and its hollow parts is communicated with connecing for the Pneumatic suction cup at source of the gas, institute
The one end for stating tracheae connects the guide pillar from the nearlyer one end of multi-axis industrial robot, the electromagnetism of other end connection control break-make gas
Valve.
Further, the mechanism that announces successful tender also includes industrial camera and camera light source；The camera light source is hollow cylinder
Shape, its lower end is provided with a circle LED, and the industrial camera is installed on the support with camera light source, and camera light
Source is installed with one heart relative to the camera lens of industrial camera, the centerline parallel of the center line of the camera lens of industrial camera and the guide pillar,
The direction of the direction of illumination of camera light source and the camera lens of industrial camera is away from the direction of the multi-axis industrial robot.
Further, photoelectric sensor is installed, the number of the photoelectric sensor is parallel with millimeter paper on the bottom plate
Equal in the target row of millimeter paper translation direction, photoelectric sensor is arranged on the lower section of the bottom plate, and the inspection of photoelectric sensor
Upwards, the position correspondence that photoelectric sensor is provided with the bottom plate is provided with through hole to gauge head；All photoelectric sensors form a line,
Orientation perpendicular to millimeter paper translation direction, the distance between two neighboring photoelectric sensor with it is flat parallel to millimeter paper on millimeter paper
The distance between the adjacent two row mark for moving direction is equal, and often arranges target center line parallel to millimeter paper translation direction on millimeter paper
Lower section is to that should have a photoelectric sensor.
Further, in addition to automatically upper millimeter paper device, the automatically upper millimeter paper device includes millimeter paper case, two axle right angles and sat
Mark manipulator and take millimeter paper device installed in two axle right angle coordinate manipulator ends；
The millimeter paper case is the quadrangle box of upper opening, and millimeter paper, which is integrally stacked, to be placed in millimeter paper case；
Two kinematic axis of the two axles right angle coordinate manipulator are respectively the translation of vertical direction and millimeter paper blank body
Direction, two axle right angle coordinate manipulators, which drive, takes millimeter paper device to be moved back and forth between two points position, two points positions be respectively from
Taking millimeter paper point position and millimeter paper is placed at millimeter paper blank body and putting millimeter paper point position for millimeter paper is taken in millimeter paper case；
It is described to take millimeter paper device to include sucker mounting bracket and four the second Pneumatic suction cups；The sucker mounting bracket is square
And two axle right angle coordinate manipulator ends are fixed on, four Pneumatic suction cups are arranged on four angles of sucker mounting bracket and side
To down.
Further, the millimeter paper blank body includes edge-pressing strip and flanging cylinder；The expansion link court of the flanging cylinder
Lower to install, telescopic direction is vertical direction；The edge-pressing strip is elongate in shape, and edge-pressing strip is arranged on the expansion link of flanging cylinder
On, and it is arranged on upper surface of the lower surface parallel to the bottom plate of rear edge-pressing strip on the expansion link of flanging cylinder, and edge-pressing strip
Lower surface is fixed with one layer of rubber peel.
Further, the horizontal transplanting mechanism includes the first guide rail, the first sliding block and the first servomotor, described first
To be slidably matched between sliding block and the first guide rail, the millimeter paper blank body is arranged on first sliding block, and described first watches
Take motor and the first sliding block is driven relative to the translational motion of the first guide rail by the first screw mandrel or the first timing belt.
Further, the millimeter paper, which pulls clamping jaw, includes two finger clamping jaw cylinders and two clamping jaw fingers, two clamping jaw fingers
It is symmetrically mounted on described two two translation units for referring to clamping jaw cylinder, clamping jaw finger is in integrally flat, i.e., it is in clamping jaw gas
Thinner thickness on the translation direction of the translation unit of cylinder, and it is larger in the entire area being perpendicularly to the direction；Two clamping jaw hands
After finger is installed on the clamping jaw cylinder, its relative face is parallel to each other, for pressing from both sides millimeter paper, the one side of the folder millimeter paper of clamping jaw finger
It is fixed with one layer of rubber peel.
Further, the vertical transplanting mechanism includes the second guide rail, the second sliding block, the second servomotor, described second
Sliding block is slidably matched with the second guide rail, and the millimeter paper pulls clamping jaw and is arranged on second sliding block, second servomotor
Second sliding block is driven relative to the translational motion of the second guide rail by the second screw mandrel or the second timing belt.
A kind of automatic method of announcing successful tender, its step is specially：
Step 1：The two axles right angle coordinate manipulator takes millimeter paper device to take a mark into the millimeter paper case described in driving
Paper is placed at the millimeter paper blank body；
Step 2：The edge that millimeter paper blank body push down millimeter paper two are parallel to each other, horizontal transplanting mechanism drives the mark
Paper blank body and the millimeter paper pushed down by millimeter paper blank body will be marked together on the upper surface of the bottom plate along rectilinear translation
Paper moves to a side of the bottom plate, and an edge not being held down of millimeter paper is stretched out in outside the region of bottom plate；
Step 3：The millimeter paper pulls clamping jaw and clamps the edge that millimeter paper is stretched out in outside the baseplate zone, the vertical shifting
Planting mechanism drives millimeter paper dragging clamping jaw vertically to translate, while the horizontal transplanting mechanism drives the millimeter paper blank body
And the millimeter paper pushed down by millimeter paper blank body along front direction continue translate, until millimeter paper on millimeter paper translation direction
Fewer than half part of the first row target part that separates and separate with millimeter paper it is cantilevered out outside the side of the bottom plate；
Step 4：The manipulator of announcing successful tender tears off that outside the side for having the cantilevered out bottom plate in part in step 3 in turn
Row mark, until having taken off；
Step 5：The vertical transplanting mechanism drives millimeter paper dragging clamping jaw vertically to continue translation, while the level
Transplanting mechanism drive the millimeter paper blank body and the millimeter paper pushed down by millimeter paper blank body along front direction continue to translate, directly
The part that fewer than half part of next column target on to millimeter paper on millimeter paper translation direction separates and separated with millimeter paper
It is cantilevered out outside the side of the bottom plate；The manipulator of announcing successful tender tears off the side for having the cantilevered out bottom plate in part in step 3 in turn
That row mark outside side, until having taken off；
Step 6：Repeat step 5 is until all marks on a millimeter paper have been taken off, and the vertical transplanting mechanism drives millimeter paper to drag
Drag clamping jaw and vertically continue translation, target millimeter paper will have been taken off and be completely withdrawn from the bottom plate and discard；
Step 7：All processes of repeat step 1 to step 6 continue executing with operation of announcing successful tender.
Beneficial effect：The automatic apparatus and method of announcing successful tender of the present invention simulate the mode of announcing successful tender of people, and pass through millimeter paper blank body
The edge of millimeter paper is pushed down, millimeter paper pulls clamping jaw and pulls millimeter paper downwards so that mark realizes part with millimeter paper in the edge of bottom plate one
Separation so that manipulator of announcing successful tender is easy to from millimeter paper take mark off, efficiency high of announcing successful tender, and adds industrial camera, by regarding
Feel and can be achieved accurately to take mark.
Brief description of the drawings
Accompanying drawing 1 is the schematic diagram for posting target millimeter paper；
Accompanying drawing 2 is the structural representation of device of announcing successful tender automatically；
Accompanying drawing 3 is the schematic diagram of mechanism of announcing successful tender；
Accompanying drawing 4 is the partial enlarged drawing of device of announcing successful tender automatically.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
The automatic device of announcing successful tender of one kind as shown in Figure 2, including bottom plate 1, horizontal transplanting mechanism 2, millimeter paper blank body 3,
Millimeter paper pulls clamping jaw 4, vertical transplanting mechanism 5 and manipulator 6 of announcing successful tender；
Bottom plate 1 is square, and its upper surface is smooth flat；Horizontal transplanting mechanism 2 is arranged on the upper surface of bottom plate 1, mark
Paper blank body 3 is arranged on horizontal transplanting mechanism 2, the edge that push down millimeter paper two of millimeter paper blank body 3 are parallel to each other, water
Flat transplanting mechanism 2 drives millimeter paper blank body 3 and the millimeter paper pushed down by millimeter paper blank body 3 together in the upper surface of bottom plate 1
On along rectilinear translation, millimeter paper is moved to a side of bottom plate 1, and an edge not being held down of millimeter paper is stretched out in bottom
Outside the region of plate 1；
Millimeter paper pulls clamping jaw 4 and is arranged on vertical transplanting mechanism 5, and vertical transplanting mechanism 5 has millimeter paper side installed in bottom plate 3
The side that edge stretches out, millimeter paper, which pulls clamping jaw 4, to be used to clamp the edge that millimeter paper is stretched out in outside the region of bottom plate 1, vertical transplanting mechanism 5
Drive millimeter paper to pull clamping jaw 4 vertically to translate, while horizontal transplanting mechanism 2 drives millimeter paper blank body 3 and by millimeter paper
The millimeter paper that blank body 3 is pushed down along front direction continue to translate, until first row on millimeter paper translation direction on millimeter paper
The part that fewer than half part of target separates and separated with millimeter paper is cantilevered out outside the side of bottom plate 1；So simulate people
The first step that work is announced successful tender, even if a target part is separated with millimeter paper, conveniently can further tear off.
Manipulator 6 of announcing successful tender is fixedly mounted relative to bottom plate 1, and the end effector mechanism of manipulator 6 of announcing successful tender is two point positions
Between move back and forth, two points position be respectively from the side edge for thering is millimeter paper to stretch out of bottom plate 3 tear off target tear off a position with by labeling
A position is placed with to target location.
Manipulator 6 of announcing successful tender includes multi-axis industrial robot 61 and the mechanism 62 that announces successful tender, and the mechanism that announces successful tender 62 is fixed on multi-axial industrial
The end of robot 61 as manipulator 6 of announcing successful tender end effector mechanism；
As shown in Figure 3, the mechanism that announces successful tender 62 includes support 621, Pneumatic suction cup 622, guide pillar 623, guide pin bushing 624, tracheae 625
With back-moving spring 626；Support 621 is fixed on multi-axis industrial robot 61, and guide pin bushing 624 is connected on support 621, guide pillar 623
To be slidably matched between guide pin bushing 624, guide pillar 623 is consolidated between one end and Pneumatic suction cup 622 farther out from multi-axis industrial robot 61
Fixed connection, and the center overlapping of axles of the central shaft and Pneumatic suction cup 622 of guide pillar 623；String has back-moving spring 626 on guide pillar 623, and
Back-moving spring 626 is pressed between support 621 and Pneumatic suction cup 622；Guide pin bushing 624, tracheae 625 can torn off with back-moving spring 626
Prevent Pneumatic suction cup 622 from feeding to realize buffer protection function too much during target, prevent Pneumatic suction cup 622 from feeding excessively and bottom
Plate 1 is very stiff and demanding to damage Pneumatic suction cup 622 by pressure.
The center of guide pillar 623 is hollow-core construction, and its hollow parts is communicated with connecing for Pneumatic suction cup 622 at source of the gas, tracheae
625 one end connection guide pillar 623 is from the nearlyer one end of multi-axis industrial robot 61, the electromagnetism of other end connection control break-make gas
Valve, tears off timestamp, and magnetic valve drives the air-breathing of Pneumatic suction cup 622 to pick up mark, is placed with timestamp, and magnetic valve drives Pneumatic suction cup 622
Blow and decontrol mark.
In order to realize that the mark that manipulator 6 of announcing successful tender is torn off every time is consistent relative to the position of Pneumatic suction cup 622, it can add and regard
Feel function, the mechanism that announces successful tender 62 also includes industrial camera 627 and camera light source 628；Camera light source 628 is hollow cylinder shape, its
Lower end is provided with a circle LED, and industrial camera 627 is installed on support 621 with camera light source 628, and the phase of camera light source 628
Installed with one heart for the camera lens of industrial camera 627, the center line of the camera lens of industrial camera 627 and the centerline parallel of guide pillar 623,
The direction of the direction of illumination of camera light source 628 and the camera lens of industrial camera 627 is away from the side of multi-axis industrial robot 61
To.Add after visual performance, before announcing successful tender every time, industrial camera 627 is taken pictures to millimeter paper, the control system for device of entirely announcing successful tender
The photo clapped according to taken a picture analytical industry camera 627 of uniting determines next definite center of the target to be taken, multi-axial industrial machine
Device people 61 control announce successful tender the accurate motion of mechanism 62 to determination center announce successful tender.
Because the position having on the millimeter paper that has indicates damaged or flaw, it is necessary to manually be thrown off before use is delivered on millimeter paper
Underproof mark, causes the position having on millimeter paper not marked, and institute's corresponding sensor in need determines correspondence position either with or without mark,
Allow announce successful tender manipulator 6 take mark during the tripping position.Therefore photoelectric sensor 7, photoelectricity are installed on bottom plate 1
The number of sensor 7 is equal with the target row on millimeter paper parallel to millimeter paper translation direction, and photoelectric sensor 7 is arranged on bottom plate 1
Lower section, and photoelectric sensor 7 detection head upwards, be provided with bottom plate 1 photoelectric sensor 7 position correspondence be provided with through hole；
All photoelectric sensors 7 form a line, orientation perpendicular to millimeter paper translation direction, between two neighboring photoelectric sensor 7
Distance it is equal parallel to the distance between the adjacent two row mark of millimeter paper translation direction with millimeter paper, and parallel to millimeter paper on millimeter paper
The lower section of the often row target center line of translation direction is to that should have a photoelectric sensor 7.
In order to realize full-automation, in addition to upper millimeter paper device 8 automatically, upper millimeter paper device includes millimeter paper case 81, two automatically
Axle right angle coordinate manipulator 82 and take millimeter paper device 83 installed in the end of two axle right angle coordinate manipulator 82；
Millimeter paper case 81 is the quadrangle box of upper opening, and millimeter paper, which is integrally stacked, to be placed in millimeter paper case 81；
Two kinematic axis of two axle right angle coordinate manipulators 82 are respectively the translation side of vertical direction and millimeter paper blank body 3
To two axle right angle coordinate manipulators 82, which drive, takes millimeter paper device 83 to be moved back and forth between two point positions, and two point positions are respectively
Taking millimeter paper point position and millimeter paper is placed at millimeter paper blank body 3 and putting millimeter paper point position for millimeter paper is taken from millimeter paper case 81；
Millimeter paper device 83 is taken to include sucker mounting bracket 831 and four the second Pneumatic suction cups 832；Sucker mounting bracket 831 is
Square and be fixed on the end of two axle right angle coordinate manipulator 82, four Pneumatic suction cups 832 are arranged on four of sucker mounting bracket 831
On angle and it is directed downward.
Millimeter paper blank body 3 includes edge-pressing strip 31 and flanging cylinder 32；The expansion link of flanging cylinder 32 is installed down, is stretched
Direction is vertical direction；Edge-pressing strip 31 is elongate in shape, and edge-pressing strip 31 is arranged on the expansion link of flanging cylinder 32, and is arranged on
The lower surface of edge-pressing strip 31 is parallel to the upper surface of bottom plate 1 after on the expansion link of flanging cylinder 32, and the lower surface of edge-pressing strip 31 is solid
Surely there is one layer of rubber peel.The effect of rubber peel is to prevent millimeter paper from being skidded relative to edge-pressing strip 31.
Horizontal transplanting mechanism 2 includes the first guide rail 21, the first sliding block 22 and the first servomotor 23, the first sliding block 22 and the
To be slidably matched between one guide rail 21, millimeter paper blank body 3 is arranged on the first sliding block 22, and the first servomotor 23 passes through first
Screw mandrel or the first timing belt drive the first sliding block 22 relative to the translational motion of the first guide rail 21.
As shown in Figure 4, millimeter paper, which pulls clamping jaw 4, includes two finger clamping jaw cylinders 41 and two clamping jaw fingers 42, two clamping jaws
Finger 42 is symmetrically mounted on two translation units of two finger clamping jaw cylinders 41, and overall clamping jaw finger 42 is in flat, i.e., its
Thinner thickness on the translation direction of the translation unit of clamping jaw cylinder 41, and it is larger in the entire area being perpendicularly to the direction；Two
After individual clamping jaw finger 42 is installed on clamping jaw cylinder 41, its relative face is parallel to each other, for pressing from both sides millimeter paper, the folder of clamping jaw finger 42
The one side of millimeter paper is fixed with one layer of rubber peel.The effect of rubber peel is to prevent millimeter paper from being skidded relative to clamping jaw finger 42.
Vertical transplanting mechanism 5 includes the second guide rail 51, the second sliding block 52, the second servomotor 53, the second sliding block 52 and the
Two guide rails 51 are slidably matched, and millimeter paper pulls clamping jaw 4 and is arranged on the second sliding block 52, the second servomotor 53 by the second screw mandrel or
Second timing belt drives the second sliding block 52 relative to the translational motion of the second guide rail 51.
A kind of automatic method of announcing successful tender, its step is specially：
Step 1：Two axle right angle coordinate manipulators 82, which drive, takes millimeter paper device 83 to take a millimeter paper placement into millimeter paper case 81
To at millimeter paper blank body 3；
Step 2：The edge that push down millimeter paper two of millimeter paper blank body 3 are parallel to each other, horizontal transplanting mechanism 2 drives millimeter paper
Blank body 3 and the millimeter paper pushed down by millimeter paper blank body 3 are together on the upper surface of bottom plate 1 along rectilinear translation, by millimeter paper
A side of bottom plate 1 is moved to, and an edge not being held down of millimeter paper is stretched out in outside the region of bottom plate 1；
Step 3：Millimeter paper pulls clamping jaw 4 and clamps the edge that millimeter paper is stretched out in outside the region of bottom plate 1, the vertical band of transplanting mechanism 5
Dynamic millimeter paper pulls clamping jaw 4 and vertically translated, while horizontal transplanting mechanism 2 drives millimeter paper blank body 3 and by millimeter paper pressure
The millimeter paper that side mechanism 3 is pushed down along front direction continue to translate, until first row mark on millimeter paper translation direction on millimeter paper
Fewer than half the part part that separates and separate with millimeter paper it is cantilevered out outside the side of bottom plate 1, as shown in Figure 4；
Step 4：Manipulator 6 of announcing successful tender tears off that row mark outside the side for having the cantilevered out bottom plate 1 in part in step 3 in turn,
Until having taken off；
Step 5：Vertical transplanting mechanism 5 drives millimeter paper dragging clamping jaw 4 vertically to continue translation, while horizontal transplanter
Structure 2 drive millimeter paper blank body 3 and the millimeter paper pushed down by millimeter paper blank body 3 along front direction continue to translate, until millimeter paper
On fewer than half part of next column target on the millimeter paper translation direction part that separates and separate with millimeter paper it is cantilevered out in
Outside the side of bottom plate 1；Manipulator 6 of announcing successful tender tears off that row outside the side for having the cantilevered out bottom plate 1 in part in step 3 in turn
Mark, until having taken off；
Step 6：Repeat step 5 is until all marks on a millimeter paper have been taken off, and vertical transplanting mechanism 5 drives millimeter paper to pull folder
Pawl 4 vertically continues translation, will take off target millimeter paper and be completely withdrawn from bottom plate 1 and discard；
Step 7：All processes of repeat step 1 to step 6 continue executing with operation of announcing successful tender.
The automatic apparatus and method of announcing successful tender of the present invention simulate the mode of announcing successful tender of people, and millimeter paper is pushed down by millimeter paper blank body
Edge, millimeter paper pulls clamping jaw and pulls millimeter paper downwards so that marks the edge realization with millimeter paper in bottom plate one and is partially separated so that takes off
Mark manipulator is easy to from millimeter paper take mark off, efficiency high of announcing successful tender, and adds industrial camera, can be realized accurately by vision
Take mark.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (9)
1. a kind of automatic device of announcing successful tender, it is characterised in that：Including bottom plate (1), horizontal transplanting mechanism (2), millimeter paper blank body
(3), millimeter paper pulls clamping jaw (4), vertical transplanting mechanism (5) and manipulator of announcing successful tender (6)；
The bottom plate (1) is square, and its upper surface is smooth flat；The horizontal transplanting mechanism (2) is arranged on the bottom plate (1)
Upper surface on, the millimeter paper blank body (3) be arranged on horizontal transplanting mechanism (2) on, millimeter paper blank body (3) pushes down millimeter paper
Two edges for being parallel to each other, horizontal transplanting mechanism (2) drives the millimeter paper blank body (3) and by millimeter paper blank body
(3) millimeter paper is moved to the bottom plate (1) by the millimeter paper pushed down together on the upper surface of the bottom plate (1) along rectilinear translation
One side, and an edge not being held down of millimeter paper is stretched out in outside the region of bottom plate (1)；
The millimeter paper pulls clamping jaw (4) and is arranged on the vertical transplanting mechanism (5), and the vertical transplanting mechanism (5) is arranged on
The side for having the stretching of millimeter paper edge of the bottom plate (3), millimeter paper pulls clamping jaw (4) and stretches out in the bottom plate for clamping millimeter paper
(1) edge outside region, the vertical transplanting mechanism (5) drives millimeter paper to pull clamping jaw (4) and vertically translated；
The manipulator of announcing successful tender (6) is fixedly mounted relative to the bottom plate (1), and the end effector mechanism of manipulator of announcing successful tender (6) exists
Moved back and forth between two point positions, two point positions are respectively to tear off target from the side edge for having millimeter paper to stretch out of the bottom plate (3)
Tear off a position and labeling to target location is placed with a position；
It is provided with the bottom plate (1) in photoelectric sensor (7), the number and millimeter paper of the photoelectric sensor (7) parallel to mark
The target row of paper translation direction is equal, and photoelectric sensor (7) is arranged on the lower section of the bottom plate (1), and photoelectric sensor (7)
Detection head upwards, be provided with the bottom plate (1) photoelectric sensor (7) position correspondence be provided with through hole；All photoelectric sensings
Device (7) forms a line, orientation perpendicular to millimeter paper translation direction, the distance between two neighboring photoelectric sensor (7) with
It is equal parallel to the distance between the adjacent two row mark of millimeter paper translation direction on millimeter paper, and parallel to millimeter paper translation direction on millimeter paper
Often row target center line lower section to that should have a photoelectric sensor (7).
2. automatic device of announcing successful tender according to claim 1, it is characterised in that：The manipulator of announcing successful tender (6) includes multiaxis work
Industry robot (61) and the mechanism (62) that announces successful tender, the mechanism that announces successful tender (62) are fixed on the end conduct of multi-axis industrial robot (61)
Announce successful tender the end effector mechanisms of manipulator (6)；
The mechanism that announces successful tender (62) includes support (621), Pneumatic suction cup (622), guide pillar (623), guide pin bushing (624), tracheae (625)
With back-moving spring (626)；The support (621) is fixed on the multi-axis industrial robot (61), and the guide pin bushing (624) is connected
On support (621), to be slidably matched between the guide pillar (623) and guide pin bushing (624), guide pillar (623) is from multi-axial industrial machine
People (61) is fixedly connected between one end and the Pneumatic suction cup (622) farther out, and the central shaft and Pneumatic suction cup of guide pillar (623)
(622) center overlapping of axles；String has the back-moving spring (626) on guide pillar (623), and back-moving spring (626) is pressed in the branch
Between frame (621) and the Pneumatic suction cup (622)；
The center of the guide pillar (623) is hollow-core construction, and its hollow parts connects phase at source of the gas with the Pneumatic suction cup (622)
Logical, one end of the tracheae (625) connects the guide pillar (623) from multi-axis industrial robot (61) nearlyer one end, and the other end connects
Connect the magnetic valve of control break-make gas.
3. automatic device of announcing successful tender according to claim 2, it is characterised in that：The mechanism that announces successful tender (62) also includes industrial phase
Machine (627) and camera light source (628)；The camera light source (628) is hollow cylinder shape, and its lower end is provided with a circle LED；
The industrial camera (627) and camera light source (628) are installed on the support (621), and camera light source (628) relative to
The camera lens of industrial camera (627) is installed with one heart, the center line of the camera lens of industrial camera (627) and the center of the guide pillar (623)
Line is parallel, and the direction of the direction of illumination of camera light source (628) and the camera lens of industrial camera (627) is away from the multiaxis work
The direction of industry robot (61).
4. automatic device of announcing successful tender according to claim 1, it is characterised in that：Also include upper millimeter paper device (8) automatically, it is described
Automatically upper millimeter paper device includes millimeter paper case (81), two axle right angle coordinate manipulators (82) and installed in two axle rectangular co-ordinates machinery
Hand (82) end takes millimeter paper device (83)；
The millimeter paper case (81) is the quadrangle box of upper opening, and millimeter paper, which is integrally stacked, to be placed in millimeter paper case (81)；
It is flat with millimeter paper blank body (3) that two kinematic axis of the two axles right angle coordinate manipulator (82) are respectively vertical direction
Direction is moved, two axle right angle coordinate manipulators (82), which drive, takes millimeter paper device (83) to be moved back and forth between two point positions, two points
Position is that taking millimeter paper point position and millimeter paper being placed into putting from millimeter paper blank body (3) for millimeter paper is taken from millimeter paper case (81) respectively
Millimeter paper point position；
It is described to take millimeter paper device (83) to include sucker mounting bracket (831) and four the second Pneumatic suction cups (832)；The sucker peace
(831) are shelved to be square and be fixed on two axle right angle coordinate manipulator (82) ends, four Pneumatic suction cups (832) are arranged on
On four angles of sucker mounting bracket (831) and it is directed downward.
5. automatic device of announcing successful tender according to claim 1, it is characterised in that：The millimeter paper blank body (3) includes flanging
Bar (31) and flanging cylinder (32)；The expansion link of the flanging cylinder (32) is installed down, and telescopic direction is vertical direction；It is described
Edge-pressing strip (31) is elongate in shape, and edge-pressing strip (31) is arranged on the expansion link of flanging cylinder (32), and installed in flanging cylinder
(32) lower surface of edge-pressing strip (31) is parallel to the upper surface of the bottom plate (1), and edge-pressing strip (31) following table after on expansion link
Face is fixed with one layer of rubber peel.
6. automatic device of announcing successful tender according to claim 1, it is characterised in that：The horizontal transplanting mechanism (2) includes first
Guide rail (21), the first sliding block (22) and the first servomotor (23), be between first sliding block (22) and the first guide rail (21)
It is slidably matched, the millimeter paper blank body (3) is arranged on first sliding block (22), and first servomotor (23) passes through
First screw mandrel or the first timing belt drive the first sliding block (22) relative to the translational motion of the first guide rail (21).
7. automatic device of announcing successful tender according to claim 1, it is characterised in that：The millimeter paper, which pulls clamping jaw (4), includes two fingers
Clamping jaw cylinder (41) and two clamping jaw fingers (42), two clamping jaw fingers (42) are symmetrically mounted on described two and refer to clamping jaw cylinder (41)
Two translation units on, clamping jaw finger (42) is in integrally flat, i.e. its translation in the translation unit of clamping jaw cylinder (41)
Thinner thickness on direction, and it is larger in the entire area being perpendicularly to the direction；Two clamping jaw fingers (42) are installed to the folder
After on pawl cylinder (41), its relative face is parallel to each other, and for pressing from both sides millimeter paper, the one side of the folder millimeter paper of clamping jaw finger (42) is fixed with
One layer of rubber peel.
8. automatic device of announcing successful tender according to claim 1, it is characterised in that：The vertical transplanting mechanism (5) includes second
Guide rail (51), the second sliding block (52), the second servomotor (53), second sliding block (52) is slided with the second guide rail (51) matches somebody with somebody
Close, the millimeter paper pulls clamping jaw (4) and is arranged on second sliding block (52), and second servomotor (53) passes through second
Bar or the second timing belt drive the second sliding block (52) relative to the translational motion of the second guide rail (51).
9. the automatic method of announcing successful tender of one kind based on automatic device of announcing successful tender described in claim 4, it is characterised in that：Its step is specific
For：
Step 1：The two axles right angle coordinate manipulator (82) takes millimeter paper device (83) to arrive in the millimeter paper case (81) described in driving
A millimeter paper is taken to be placed into millimeter paper blank body (3) place；
Step 2：The edge that millimeter paper blank body (3) push down millimeter paper two are parallel to each other, horizontal transplanting mechanism (2) drives described
Millimeter paper blank body (3) and the millimeter paper pushed down by millimeter paper blank body (3) are together on the upper surface of the bottom plate (1) along straight
Line is translated, and millimeter paper is moved to a side of the bottom plate (1), and an edge not being held down of millimeter paper is stretched out in bottom
Outside the region of plate (1)；
Step 3：The millimeter paper pulls clamping jaw (4) and clamps the edge that millimeter paper is stretched out in outside the bottom plate (1) region, described vertical
Transplanting mechanism (5) drives millimeter paper to pull clamping jaw (4) and vertically translated, while the horizontal transplanting mechanism (2) drive is described
Millimeter paper blank body (3) and the millimeter paper pushed down by millimeter paper blank body (3) along front direction continue to translate, until being hung down on millimeter paper
The straight part for separating and separating with millimeter paper in fewer than half the part of first row target on millimeter paper translation direction is cantilevered out in described
Outside the side of bottom plate (1)；
Step 4：The manipulator of announcing successful tender (6) tears off that outside the side for having the cantilevered out bottom plate (1) in part in step 3 in turn
One row mark, until having taken off；
Step 5：The vertical transplanting mechanism (5) drives millimeter paper to pull clamping jaw (4) vertically continuation translation, while the water
Flat transplanting mechanism (2) drive the millimeter paper blank body (3) and the millimeter paper pushed down by millimeter paper blank body (3) along front direction
Continue to translate, until on millimeter paper fewer than half part of next column target on millimeter paper translation direction separated with millimeter paper and
The part of separation is cantilevered out outside the side of the bottom plate (1)；The manipulator of announcing successful tender (6) tears off in turn part in step 3
That row mark outside the side of the cantilevered out bottom plate (1), until having taken off；
Step 6：Repeat step 5 is until all marks on a millimeter paper have been taken off, and the vertical transplanting mechanism (5) drives millimeter paper to pull
Clamping jaw (4) vertically continues translation, will take off target millimeter paper and be completely withdrawn from the bottom plate (1) and discard；
Step 7：All processes of repeat step 1 to step 6 continue executing with operation of announcing successful tender.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510694835.6A CN105600051B (en) | 2015-10-22 | 2015-10-22 | A kind of automatic device and method of announcing successful tender |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510694835.6A CN105600051B (en) | 2015-10-22 | 2015-10-22 | A kind of automatic device and method of announcing successful tender |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105600051A CN105600051A (en) | 2016-05-25 |
| CN105600051B true CN105600051B (en) | 2017-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510694835.6A Active CN105600051B (en) | 2015-10-22 | 2015-10-22 | A kind of automatic device and method of announcing successful tender |
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| CN (1) | CN105600051B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108995874A (en) * | 2018-07-27 | 2018-12-14 | 同济大学 | A kind of auxiliary device supplied for blank and finished parts storage |
| CN109179049A (en) * | 2018-09-29 | 2019-01-11 | 天津市金星空气压缩机制造股份有限公司 | A kind of inscription plate-paper separator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003104341A (en) * | 2001-09-28 | 2003-04-09 | Hatayama Seikosho:Kk | Labeling device |
| FI115122B (en) * | 2003-03-25 | 2005-03-15 | Perlos Oyj | Product solution device and method for its use |
| US7294216B2 (en) * | 2004-04-09 | 2007-11-13 | Cobra Placement Systems Llc | Liner driven component transfer systems and methods |
| CN104843264B (en) * | 2014-02-14 | 2019-04-09 | 博宸睿(苏州)智能科技有限公司 | A kind of rotation suction header of labelling machine |
| CN104787415B (en) * | 2015-02-14 | 2020-01-14 | 海南亚元防伪技术研究所（普通合伙） | Low-carbon labeling machine |
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| CN105600051A (en) | 2016-05-25 |
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Effective date of registration: 20210106 Address after: Room 407-2-6, building C, Tian'an Digital City, 588 Changwu South Road, Wujin high tech Industrial Development Zone, Changzhou City, Jiangsu Province 213100 Patentee after: CHANGZHOU XIAOGUO INFORMATION SERVICES Co.,Ltd. Address before: 22 Mingxin Middle Road, Wujin District, Changzhou City, Jiangsu Province Patentee before: CHANGZHOU College OF INFORMATION TECHNOLOGY |