CN106542338A - Part orientation identification correction balance robot and its method of work - Google Patents
Part orientation identification correction balance robot and its method of work Download PDFInfo
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- CN106542338A CN106542338A CN201510595022.1A CN201510595022A CN106542338A CN 106542338 A CN106542338 A CN 106542338A CN 201510595022 A CN201510595022 A CN 201510595022A CN 106542338 A CN106542338 A CN 106542338A
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Abstract
The invention belongs to a kind of part orientation identification correction balance robot, including main frame body (10), electrical control cubicles (6) and robot and handgrip (5) are housed on main frame body (10), it is characterized in that the base plate lower right-hand corner in main frame body (10) is equipped with blank panel feed mechanism (1), blank panel feed mechanism (2) is housed above blank panel feed mechanism (1), blank panel transport mechanism (3) is housed in the upper end of blank panel feed mechanism (2), component delivery mechanism (4) is housed in the base plate upper left corner of main frame body (10)；Dishful output mechanism (9) is housed at the base plate lower right corner of main frame body (10), dishful output mechanism (8) is housed in the upper end of dishful output mechanism (9), dishful conveying mechanism (7) is housed in the upper end of dishful output mechanism (8).The invention has the beneficial effects as follows:The invention can make unordered part automatic straightening attitude, and automatic disc filling piling is errorless, reduces labour intensity, improves production efficiency, it is ensured that the quality of production.
Description
Technical field
The invention belongs to robot, more particularly to a kind of utilization vision system, automatic straightening mechanism, the part orientation identification correction balance robot of quick balance piling automatic to machine components.
Background technology
At present, in process of production, all it is to use manually attitude indefinite part is put in pallet by fixed pose, pallet needs artificial replacing and piling.High labor intensive, inefficiency, needs are artificial more, and Jing is often freeed situations such as part orientation puts mistake, leakage pendulum and occurred, and has a strong impact on the quality of production.
The content of the invention
It is an object of the invention to overcome above-mentioned technical deficiency, there is provided a kind of to enable unordered part automatic straightening attitude, pallet is made to realize the part orientation identification correction balance robot of replacing automatically, sabot piling.
The technical proposal for solving the technical problem of the invention is：A kind of part orientation identification correction balance robot, including main frame body, electrical control cubicles and robot and handgrip are housed on main frame body, it is characterized in that the base plate lower right-hand corner in main frame body is equipped with blank panel feed mechanism, blank panel feed mechanism is housed above blank panel feed mechanism, blank panel transport mechanism is housed in the upper end of blank panel feed mechanism；Component delivery mechanism is housed in the base plate upper left corner of main frame body；Dishful output mechanism is housed at the base plate lower right corner of main frame body, dishful output mechanism is housed in the upper end of dishful output mechanism, dishful transport mechanism is housed in the upper end of dishful output mechanism.
Described blank panel transport mechanism, is included on support body equipped with lateral cylinder one, is fitted with two cross slide ways one in support body, and cross slide one is placed on above cross slide way one, and the piston rod of lateral cylinder one is connected with cross slide one；Separation cylinder, separation rail, separation jaw and crawl jaw are arranged on above longitudinal slide one, and separation rail connects with jaw is separated；Two longitudinal rails one are housed, equipped with longitudinal cylinder one between two longitudinal rails one on cross slide one.
Described component delivery mechanism, is included in substrate center equipped with part conveyer belt；In the top of part conveyer belt equipped with vision system, horizontal transport mechanism and longitudinal transport mechanism；Draw frame machine is housed above part conveyer belt right-hand member；Equipped with gear stop mechanism above the both sides base plate of part conveyer belt；In the right-hand member of part conveyer belt equipped with feed bin is collected, gripping body is housed feed bin both sides are collected, gripping body is connected transmission with turning motors；Light source is housed in the lower section of horizontal transport mechanism.
Described station switching mechanism, is included in support body and is fitted with lateral cylinder two and cross slide way two；The slide block of cross slide way two is fitted with cross slide two, and cross slide two is connected with lateral cylinder two；Cross slide two is fitted with longitudinal rail two and longitudinal cylinder two；Longitudinal slide two is arranged on above longitudinal rail two；Longitudinal cylinder two is connected with longitudinal slide two；Tray rack is mounted in the left end above longitudinal slide two, and left push cylinder and side push cylinder are housed on the tray rack of the right-hand member of longitudinal slide two.
The invention has the beneficial effects as follows:The invention can make unordered part automatic straightening attitude, and automatic disc filling piling is errorless, reduces labour intensity, improves production efficiency, it is ensured that the quality of production.
Description of the drawings
Below in conjunction with accompanying drawing, illustrated with embodiment
Fig. 1 is the front view of part orientation identification correction balance robot；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the right side view of Fig. 1；
Fig. 4 is the front view of the blank panel transport mechanism of Fig. 1；
Fig. 5 is the top view of Fig. 4；
Fig. 6 is the right side view of Fig. 4；
Fig. 7 is the front view of the component delivery mechanism of Fig. 1；
Fig. 8 is the top view of Fig. 7；
Fig. 9 is the right side view of Fig. 7；
Figure 10 is the front view of the Worker's Stadium switching mechanism of Fig. 1；
Figure 11 is the top view of Figure 10；
Figure 12 is the right side view of Figure 10.
In figure：1-blank panel feed mechanism；2-blank panel feed mechanism；3-blank panel transport mechanism；3-1-support body；3-2-lateral cylinder one；3-3-cross slide way one；3-4-cross slide one；3-5-longitudinal rail one；3-6-longitudinal cylinder one；3-7-longitudinal slide one；3-8-separate cylinder；3-9-separation rail；3-10-crawl jaw；3-11-separate jaw；4-component delivery mechanism；4-1-base plate；4-2-part conveyer belt；4-3-vision system；4-4-horizontal transport mechanism；4-5-longitudinal transport mechanism；4-6-draw frame machine；4-7-gripping body；4-8-turning motors；4-9-gear stop mechanism；4-10-light source；4-11-horizontal transport mechanism；4-12-collect feed bin；5-robot and handgrip；6-electrical control cubicles；7-dishful conveying mechanism；8-dishful output mechanism；9-dishful output mechanism；10-main frame body；11-station switching mechanism；11-1-support body；11-2-longitudinal slide two；11-3-tray rack；11-4-longitudinal cylinder two；11-5-longitudinal direction navigation two；11-6-left push cylinder；11-7-side push cylinder；11-8-lateral cylinder two；11-9-cross slide way two；11-10-longitudinal slide two；11-11-locating rack；12-safty shield；13-mobile leg；14-adjust leg.
Specific embodiment
Embodiment, referring to the drawings, a kind of part orientation identification correction balance robot, including main frame body 10, electrical control cubicles 6 and robot and handgrip 5 are housed on main frame body 10, it is characterized in that the base plate lower right-hand corner in main frame body 10 is equipped with blank panel feed mechanism 1, blank panel feed mechanism 2 is housed above blank panel feed mechanism 1, blank panel transport mechanism 3 is housed in the upper end of blank panel feed mechanism 2, dishful output mechanism 9 is housed equipped with component delivery mechanism 4 in the base plate upper left corner of main frame body 10 at the base plate lower right corner of main frame body 10, dishful output mechanism 8 is housed in the upper end of dishful output mechanism 9, dishful conveying mechanism 7 is housed in the upper end of dishful output mechanism 8.
Described blank panel transport mechanism 3, it is included on support body 3-1 and lateral cylinder one 3-2 is housed, two cross slide ways one 3-3 are fitted with support body 3-1, cross slide one 3-4 is placed on above cross slide way one 3-3, the piston rod of lateral cylinder one 3-2 is connected with cross slide one 3-4；Separate cylinder 3-8, separation rail 3-9, separation jaw 3-11 and crawl jaw 3-10 to be arranged on above longitudinal slide one 3-7, separation rail 3-9 connects with jaw 3-11 is separated；Two longitudinal rails one 3-5 are housed, equipped with longitudinal cylinder one 3-6 between two longitudinal rails one 3-5 on cross slide one 3-4.
Described component delivery mechanism 4, center is equipped with part conveyer belt 4-2 above to be included in base plate 4-1；Equipped with vision system 4-3, horizontal transport mechanism 4-4 and longitudinal transport mechanism 4-5 above part conveyer belt 4-2；Draw frame machine 4-6 is housed above 4-2 right-hand member of part conveyer belt；Equipped with gear stop mechanism 4-9 above the both sides base plate 4-1 of part conveyer belt 4-2；In the right-hand member of part conveyer belt 4-2 equipped with feed bin 4-12 is collected, gripping body 4-7 is housed 4-12 both sides of feed bin are collected, gripping body 4-7 is connected transmission with turning motors 4-8；Light source 4-10 is housed in the lower section of horizontal transport mechanism 4-4.
Described station switching mechanism 11, is included in support body 11-1 and is fitted with lateral cylinder 2 11-8 and cross slide way 2 11-9；The slide block of cross slide way 2 11-9 is fitted with cross slide 2 11-10, and cross slide 2 11-10 is connected with lateral cylinder 2 11-8；Cross slide 2 11-10 is fitted with longitudinal rail 2 11-5 and longitudinal cylinder 2 11-4；Longitudinal slide 2 11-2 is arranged on above longitudinal rail 2 11-5；Longitudinal cylinder 2 11-4 is connected with longitudinal slide 2 11-2；Tray rack 11-3 is mounted in the left end above longitudinal slide 2 11-2, and left push cylinder 11-6 and side push cylinder 11-7 are housed on the tray rack 11-3 of the right-hand member of longitudinal slide 2 11-2.
The angle of bottom four of main frame body 10 is moved easily equipped with the mobile leg 13 in direction ground；Equipped with leg 14 is adjusted, facilitate the regulation of height so as to which machinery is steady.
The device action flow process of the invention is：Manually the pallet into pile is put in blank panel feed mechanism 1, by manipulating stock quotations, feed mechanism 2 will be transported on empty tray conveyor structure 3 into pile pallet, by on the tray rack 11-3 of single tray conveying to station switching mechanism 11, pallet is placed into using the movement of tray rack 11-3 and puts part position empty tray conveyor structure 3 by station switching mechanism 11；Component delivery mechanism 4 is by the steady Parts Recognition attitude placed and is remedied to formulation attitude and is transported to crawl position, and part is quickly placed into pallet specified location for robot and handgrip 5, until pallet is occupied；Pallet is placed into lower discharge position by station switching mechanism 11, and single dishful is transported to dishful output mechanism 8 above and gradually piling by dishful conveying mechanism 7, and quantity arbitrarily can be set within the specified range；To after certain amount dishful, dishful output mechanism 8 will be sent to above dishful output mechanism 9 piling into pile pallet, and wait is manually taken away.
The motion flow of blank panel transport mechanism 3 is：Crawl jaw 3-10 captures second pallet from top to bottom, separates the pallet that jaw 3-11 captures the superiors, separates cylinder 3-8 and drives separation jaw 3-11 and the pallet of the superiors to move upwards, and single pallet departs from；Lateral cylinder one 3-2 drives each part that pallet is placed on the hole pallet of station conversion device 11.
The motion flow of component delivery mechanism 4 is：Part conveyer belt mechanism 4-4 pairs connects sequence conveyer belt by part to front transfer；Gear stop mechanism 4-9 to be worked in coordination and be fixed to crawl position by part, and longitudinal transport mechanism 4-5 coordinates draw frame machine 4-6 that part suction is lived and raised up；The attitude of the identification part of vision system 4-3 is simultaneously stored；Laterally transport mechanism 4-4 drives longitudinal transport mechanism 4-5 and draw frame machine 4-6 and part above to move together, and three mechanisms work in coordination, and part is placed individually into left side and position is thus formulated；Horizontal transport mechanism 4-11 shifts the part of specified location onto upturned position；4-7 Clamp blocks of gripping body；Turning motors 4-8 drive gripping body 4-7 and fitting turnover, according to the data that vision system 4-3 is provided, overturn certain angle, reach and put required attitude.
The motion flow of station switching mechanism 11 is：Empty pallet transport mechanism 3 is placed into empty pallet above the tray rack 11-3 of left side, cylinder 2 11-4 longitudinal first drives tray rack 11-3 and pallet is moved upwards above, then lateral cylinder 2 11-8 drives tray rack 11-3 and pallet transverse shifting above by each part, after reaching specified location, longitudinal cylinder 2 11-4 is moved downward, pallet is driven to be placed into above locating rack 11-11, then left push cylinder 11-6 and 11-7 backup pallet of side push cylinder positioning, wait robot and handgrip 5 to put.
Claims (4)
1. a kind of part orientation identification correction balance robot, including main frame body（10）, in main frame body（10）It is upper that electrical control cubicles are housed（6）With robot and handgrip（5）, it is characterised in that in main frame body（10）Base plate lower right-hand corner be equipped with blank panel feed mechanism（1）, in blank panel feed mechanism（1）Above be equipped with blank panel feed mechanism（2）, in blank panel feed mechanism（2）Upper end be equipped with blank panel transport mechanism（3）, in main frame body（10）The base plate upper left corner be equipped with component delivery mechanism（4）；In main frame body（10）The base plate lower right corner at be equipped with dishful output mechanism（9）, in dishful output mechanism（9）Upper end be equipped with dishful output mechanism（8）, in dishful output mechanism（8）Upper end be equipped with dishful conveying mechanism（7）.
2. balance robot is corrected in part orientation identification according to claim 1, it is characterised in that described blank panel transport mechanism（3）, it is included in support body（3—1）It is upper that lateral cylinder one is housed（3—2）, in support body（3—1）It is fitted with two cross slide ways one（3—3）, cross slide（3—4）It is placed on cross slide way one（3—3）Above, lateral cylinder one（3—2）Piston rod and cross slide one（3—4）Connection；Separate cylinder（3—8）, separation rail（3—9）, separate jaw（3—11）With crawl jaw（3—10）Installed in longitudinal slide one（3—7）Above, separation rail（3—9）With separate jaw（3—11）Connection；In cross slide one（3—4）Equipped with two longitudinal rails one（3—5）, two longitudinal rails one（3—5）Between equipped with longitudinal cylinder one（3—6）.
3. balance robot is corrected in part orientation identification according to claim 1, it is characterised in that described component delivery mechanism（4）, it is included in base plate（4—1）Center is equipped with part conveyer belt above（4—2）；In part conveyer belt（4—2）Top is equipped with vision system（4—3）, horizontal transport mechanism（4—4）With longitudinal transport mechanism（4—5）；In part conveyer belt（4—2）Draw frame machine above right-hand member（4—6）；In part conveyer belt（4—2）Both sides base plate（4—1）Top is equipped with gear stop mechanism（4—9）；In part conveyer belt（4—2）Right-hand member equipped with collect feed bin（4—12）, collecting feed bin（4—12）Both sides are equipped with gripping body（4—7）, gripping body（4—7）With turning motors（4—8）Connection transmission；In horizontal transport mechanism（4—4）Lower section be equipped with light source（4—10）.
4. balance robot is corrected in part orientation identification according to claim 1, it is characterised in that described station switching mechanism（11）, it is included in support body（11—1）It is fitted with lateral cylinder two（11—8）With cross slide way two（11—9）；Cross slide way two（11—9）Slide block be fitted with cross slide two（11—10）, cross slide two（11—10）With lateral cylinder two（11—8）Connection；Cross slide two（11—10）It is fitted with longitudinal rail two（11—5）With longitudinal cylinder two（11—4）；Longitudinal slide two（11—2）Installed in longitudinal rail two（11—5）Above；Longitudinal cylinder two（11—4）With longitudinal slide two（11—2）Connection；Tray rack（11—3）It is mounted in longitudinal slide two（11—2）Left end above, in longitudinal slide two（11—2）Right-hand member tray rack（11—3）It is upper that left push cylinder is housed（11—6）With side push cylinder（11—7）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510595022.1A CN106542338A (en) | 2015-09-18 | 2015-09-18 | Part orientation identification correction balance robot and its method of work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510595022.1A CN106542338A (en) | 2015-09-18 | 2015-09-18 | Part orientation identification correction balance robot and its method of work |
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| Publication Number | Publication Date |
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| CN106542338A true CN106542338A (en) | 2017-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510595022.1A Pending CN106542338A (en) | 2015-09-18 | 2015-09-18 | Part orientation identification correction balance robot and its method of work |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107954018A (en) * | 2017-11-29 | 2018-04-24 | 横店集团东磁股份有限公司 | A kind of automatic laminated loader suitable for flexible flake |
| CN107953245A (en) * | 2017-11-15 | 2018-04-24 | 厦门创云精智机械设备股份有限公司 | Blade handling system |
| CN118180041A (en) * | 2024-05-14 | 2024-06-14 | 宁波格劳博智能工业有限公司 | Full-automatic cleaning device and cleaning method for flange cover of lithium battery electrolyte packaging container |
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| JPH10338351A (en) * | 1997-06-11 | 1998-12-22 | Toyo Kanetsu Kk | Container stage loading and stage disjoining device |
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| CN203345774U (en) * | 2013-07-01 | 2013-12-18 | 山东兰剑物流科技股份有限公司 | Combining and separating device for cigarette packing boxes |
| CN204150695U (en) * | 2014-08-27 | 2015-02-11 | 深圳莱宝高科技股份有限公司 | Automatic circulating plate machine |
| CN104773337A (en) * | 2015-03-18 | 2015-07-15 | 合肥通用机械研究院 | Snatch formula tray automatic distribution device |
| CN104828564A (en) * | 2015-04-10 | 2015-08-12 | 温岭市金悦自动化设备有限公司 | Stacking assembly line |
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- 2015-09-18 CN CN201510595022.1A patent/CN106542338A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10338351A (en) * | 1997-06-11 | 1998-12-22 | Toyo Kanetsu Kk | Container stage loading and stage disjoining device |
| CN201952012U (en) * | 2011-02-23 | 2011-08-31 | 云南众诚士德柔性自动化设备有限公司 | Device for stacking, transferring and conveying cylinder articles |
| CN203345774U (en) * | 2013-07-01 | 2013-12-18 | 山东兰剑物流科技股份有限公司 | Combining and separating device for cigarette packing boxes |
| CN204150695U (en) * | 2014-08-27 | 2015-02-11 | 深圳莱宝高科技股份有限公司 | Automatic circulating plate machine |
| CN104773337A (en) * | 2015-03-18 | 2015-07-15 | 合肥通用机械研究院 | Snatch formula tray automatic distribution device |
| CN104828564A (en) * | 2015-04-10 | 2015-08-12 | 温岭市金悦自动化设备有限公司 | Stacking assembly line |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953245A (en) * | 2017-11-15 | 2018-04-24 | 厦门创云精智机械设备股份有限公司 | Blade handling system |
| CN107953245B (en) * | 2017-11-15 | 2023-12-08 | 厦门创云精智机械设备股份有限公司 | Blade handling system |
| CN107954018A (en) * | 2017-11-29 | 2018-04-24 | 横店集团东磁股份有限公司 | A kind of automatic laminated loader suitable for flexible flake |
| CN118180041A (en) * | 2024-05-14 | 2024-06-14 | 宁波格劳博智能工业有限公司 | Full-automatic cleaning device and cleaning method for flange cover of lithium battery electrolyte packaging container |
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Application publication date: 20170329 |