CN107538193A - A kind of multi-station manipulator system - Google Patents
A kind of multi-station manipulator system Download PDFInfo
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- CN107538193A CN107538193A CN201610462863.XA CN201610462863A CN107538193A CN 107538193 A CN107538193 A CN 107538193A CN 201610462863 A CN201610462863 A CN 201610462863A CN 107538193 A CN107538193 A CN 107538193A
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- station
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- pallet
- manipulator
- conveyer
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Abstract
The multi-station manipulator system of the present invention, it is used for the conveyer for station conveying workpieces including the support platform for carrying at least two stations, in support platform, is used to carry the pallet of workpiece on conveyer, is used for the jacking apparatus for realizing that the workpiece on pallet enters station in support platform, conveyer has the interval for being used for pallet and passing through with plane where station, when system is located at first state, jacking apparatus drives pallet to move to station, to complete workpiece being placed on station manipulation；When system is in the second state, jacking apparatus drives pallet to flow out operation from station away from station to complete workpiece.The system is less demanding to mechanical manual task beat, it is possible to increase job stabilization, System Fault Tolerance redundancy is high, and some mechanical hand breaks down when can not run, and whole system still can normal operation.
Description
Technical field
The present invention relates to mechanical field, more particularly to a kind of multi-station manipulator system.
Background technology
Manipulator is a kind of new device to grow up during mechanization, automated production.Existing
For in production process, manipulator is widely applied in automatic assembly line, the development and production of robot
Turn into high-tech sector, the emerging technology developed rapidly, it more promotes machinery
The development of hand so that the combination with mechanization and automation can be better achieved in manipulator.Manipulator
Although flexible like that not as good as human hand, it has energy constantly repeated work and work, does not know fatigue, no
The characteristics of fearness is dangerous, and the strength of snatch weight is bigger than people hand-power, therefore, manipulator is by many departments
Attention, and applied more and more widely.
Manual screw tightening is tightened including pure craft tightens two with electric screw driver or pneumatic screw driver
Kind, the latter produces rotary power by electric or pneumatic mode, to replace tightening for frequently craft dynamic
Make, alleviate the working strength of lock screw to a certain extent, but due to manual placing screws and alignment spiral shell
Silk head stills need to take substantial amounts of working time and energy, therefore whole efficiency lifting is than relatively limited.
Automatic screw-driving system is mainly using single-station jacking centering positioning method, its shortcoming at present：If
Previous station operation beat is higher than current station, and packing phenomenon occurs in workpiece, causes next station machinery
Hand is in idle state, and operating efficiency is relatively low.
The content of the invention
In view of this, the invention provides a kind of multi-station manipulator system.
It is an object of the present invention to provide a kind of multi-station manipulator system, including：For carrying at least
The support platform of two stations, in the support platform be used for for the station conveying workpieces biography
Device is sent, is used to carry the pallet of the workpiece on the conveyer, put down installed in the support
Be used for the jacking apparatus for realizing that workpiece on the pallet enters the station on platform, the conveyer with
Plane where the station, which has, is used for the interval that pallet passes through；When the system is located at first state,
The jacking apparatus drives the pallet to move to the station, described to complete the workpiece being placed on
Station manipulation；When the system is in the second state, the jacking apparatus drives the pallet away from institute
Station is stated, flows out operation from the station to complete the workpiece.
Alternatively, the system also includes and the station supporting manipulator one by one, the manipulator pair
The workpiece is operated.
Alternatively, the conveyer is multiple rollers be arrangeding in parallel.
Alternatively, it is provided with the station for realizing that the workpiece carries out the centralising device of position adjustment.
Alternatively, the centralising device includes four mobile devices, and four mobile devices are relative two-by-two
It is arranged on station.
Alternatively, the jacking apparatus includes four L-type cylinders, four L-type cylinders can with it is described
The corner of pallet abuts respectively.
Alternatively, the manipulator is screw mounting machine tool hand.
Alternatively, the system also includes device for delivering screws, and the screw mounting machine tool hand is by the spiral shell
The screw installation of silk conveying device conveying is on the workpiece.
As can be seen from the above technical solutions, the present invention has advantages below：
The present invention plans demand in addition to for two station concurrent jobs, according to production line beat, can be used for
Any amount station concurrent job, stacking-type jacking workpiece arrangement architecture, production line logistics legal is flexible,
Direct motion, parallel, three kinds of logistics operation states of driving in the wrong direction can be achieved, it is less demanding to mechanical manual task beat,
Job stabilization is improved, System Fault Tolerance redundancy is high, and some mechanical hand breaks down when can not run, entirely
System still can normal operation.
Brief description of the drawings
Structure chart when Fig. 1 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Fig. 2 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Fig. 3 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Fig. 4 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Fig. 5 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Fig. 6 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Fig. 7 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Fig. 8 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Fig. 9 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Figure 10 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Figure 11 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Figure 12 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Figure 13 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Figure 14 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Structure chart when Figure 15 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Flow chart when Figure 16 is a kind of embodiment work of the multi-station manipulator system of the present invention；
Flow chart when Figure 17 is another embodiment work of the multi-station manipulator system of the present invention；
Flow chart when Figure 18 is the another embodiment work of the multi-station manipulator system of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, is shown
So, described embodiment only a part of embodiment of the present invention, rather than whole embodiments.
Based on the embodiment in the present invention, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, should all belong to the scope of protection of the invention.
Term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two ", the (if present) such as " the 3rd " " 4th " be for distinguishing similar object, without with
In the specific order of description or precedence.It should be appreciated that the data so used in the appropriate case can be with
Exchange, so that the embodiments described herein can be with suitable in addition to the content for illustrating or describing herein
Sequence is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, production
Product or equipment are not necessarily limited to those steps clearly listed or unit, but may include not arrange clearly
It is going out or for the intrinsic other steps of these processes, method, product or equipment or unit.
With reference to shown in Fig. 1 to Figure 14, a kind of multi-station manipulator system provided by the invention, including：With
It is station conveying workpieces in carrying the support platform of at least two stations, being used in support platform
Conveyer, it is used to carry the pallet of workpiece on conveyer, is used in fact in support platform
Workpiece on existing pallet enters the jacking apparatus of station, and conveyer has with plane where station is used for stack
The interval that plate passes through, when system is located at first state, jacking apparatus drives pallet to move to station, with
Complete workpiece being placed on station manipulation；When system is in the second state, jacking apparatus drives pallet remote
From station, operation is flowed out from station to complete workpiece.
It should be noted that scheme provided by the invention, when a station just at work, workpiece can be with
From the lower section of the station by into the station of free time, avoiding because a station manipulation has influence on other
The transmission of workpiece, therefore, system provided by the invention, can at least there are two station alternatings, certainly
Three etc. can be set, specifically without limiting.
Alternatively, system also includes that supporting manipulator, manipulator are grasped to workpiece one by one with station
Make, can be configured as needed for the structure of manipulator, such as when progress automatic screw-driving operation
When, manipulator can be tool for twisting screw, not limit specifically.
Alternatively, conveyer is multiple rollers be arrangeding in parallel, and pallet is driven by the rotation of roller
Motion, pallet is transported to the station specified, jacked pallet to station by jacking apparatus.
Alternatively, it is provided with station for realizing that workpiece carries out the centralising device of position adjustment.
Alternatively, centralising device includes four mobile devices, and four mobile devices are oppositely arranged on work two-by-two
On position.
Alternatively, jacking apparatus includes four L-type cylinders, and four L-type cylinders can be with the corner point of pallet
Do not abut, specifically, when using two stations, jacking apparatus can include two groups of structures, distinguish
Into the jacking operation in respective station, jacking apparatus is divided into first group of climbing structure and second group of jacking knot
Structure.
Alternatively, manipulator is screw mounting machine tool hand, is not limited specifically.
Alternatively, system also includes device for delivering screws (not shown), and screw mounting machine tool hand will
The screw of device for delivering screws conveying is arranged on workpiece.
With reference to shown in Fig. 1 to Figure 17, it is introduced below for the operating method of multi-station manipulator：
It is introduced with two station arm-and-hand systems, station is divided into the first station (A stations) and the second work
Position (B stations), jacking apparatus are divided into first group of climbing structure (A, B, 9A, 9B) and second group of top
Rise structure (0A, 0B, 90A, 90B), centralising device include the first centralising device (1A, 4A, 4B,
5A) and the second centralising device (10A, 40A, 40B, 50A), first group of climbing structure and first pair
Middle device and the first station are supported the use, and second group of climbing structure is matched somebody with somebody with the second centralising device and second station
Set uses, and specially the turn of the screw manipulator (2A, 2B, 20A, 20B) is located at production wire body 6 both sides,
And it is respectively placed in support platform (3A, 30A)；Workpiece (8A, 8B, 8C) be respectively placed in pallet 7A,
On 7B, 7C；By first group of climbing structure and second group of climbing structure by workpiece pallet 7A, 7B, 7C
Jack up, in pallet avoiding space formed below, to be passed through for other workpiece pallets.
With reference to workflow Figure 16, when station A and station B is in idle state, multi-station manipulator
The operating method of system is specifically as follows：
As shown in Figure 2,3, workpiece 8B is placed on pallet 7B, and wait enters operation station, first group of top
Rise structure A, B, 9A, 9B and be in original state.
As shown in Figure 4,5, workpiece 8B enters station, first group of climbing structure under pallet 7B drives
A, B, 9A, 9B are in original state.Now, because previous station operation beat is very fast, workpiece 8C
Have begun to wait under pallet 7C drives and enter operation station.
As shown in Figure 6,7, first group of climbing structure A, B, 9A, 9B jack up pallet 7B,
After one centralising device (1A, 4A, 4B, 5A) completes positioning to workpiece 8B, the turn of the screw manipulator 2A,
2B starts that workpiece 8B is carried out to lock operation.Now occurring one below workpiece 8B and pallet 7B can
The space passed through for workpiece 8C and pallet 7C.
Workpiece 8C is passed into next station, second group of top under pallet 7C drives below pallet 7B
Rise structure 0A, 0B, 90A, 90B and be in original state.
Second group of climbing structure jacks up pallet 7C including 0A, 0B, 90A, 90B, in second pair
After device (10A, 40A, 40B, 50A) completes positioning to workpiece 8C, the turn of the screw manipulator 20A,
20B starts that workpiece 8C is carried out to lock operation.After the completion of workpiece 8B locks operation, pallet 7B can
Through outflow operation station below from pallet 7C.
With reference to shown in Figure 17, when only station A is idle, the operating method tool of multi-station manipulator system
Body can be：
As shown in Figure 8,9, 10, station 8A enters station B, second group of climbing structure (0A, 0B,
90A, 90B) jacking workpiece pallet 7A, the second centralising device (10A, 40A, 40B, 50A) centering
Workpiece 8A, manipulator 20A, 20B lock operation, after the completion of operation, the second centralising device (10A,
40A, 40B, 50A) workpiece 8A is discharged, second group of climbing structure (0A, 0B, 90A, 90B) falls
Lower workpiece 8A, workpiece 8A outflow station B.With above-mentioned operation simultaneously, station 8B enters station A, the
One group of climbing structure (A, B, 9A, 9B) jacking workpiece pallet 7B, the first centralising device (1A, 4A,
4B, 5A) centering workpiece 8B, manipulator 2A, 2B lock operation.As shown in Figure 11,12,13,
Workpiece 8C enters station B, and second group of climbing structure (0A, 0B, 90A, 90B) jacks workpiece pallet
7C, the second centralising device (10A, 40A, 40B, 50A) centering workpiece 8C, manipulator 20A, 20B
Lock operation.
With above-mentioned operation simultaneously, station A workpiece 8B locks completion, the first centralising device (1A, 4A,
4B, 5A) workpiece 8B is discharged, first group of climbing structure (A, B, 9A, 9B) falls workpiece 8B,
Because second group of climbing structure (0A, 0B, 90A, 90B) jacks station 8C, station 8B is from station B
Station A is flowed out between pallet 7C.
After the completion of workpiece 8C is locked, the second centralising device (10A, 40A, 40B, 50A) release workpiece
8C, second group of climbing structure (0A, 0B, 90A, 90B) fall workpiece 8C, workpiece 8C outflow works
Position B, terminates.
With reference to shown in Figure 18, when only station B is idle, the operating method tool of multi-station manipulator system
Body can be：
Start, workpiece 8A enters station A, and first group of climbing structure (A, B, 9A, 9B) jacks work
Part pallet 7A, the first centralising device (1A, 4A, 4B, 5A) centering workpiece 8A, manipulator 2A,
2B locks operation, after the completion of locking, the first centralising device (1A, 4A, 4B, 5A) release workpiece
8A, first group of climbing structure (A, B, 9A, 9B) fall workpiece 8A, workpiece 8A outflow station A,
Workpiece 8C enters station A, first group of climbing structure (A, B, 9A, 9B) jacking workpiece 8C, and first
Centralising device (1A, 4A, 4B, 5A) centering workpiece 8C, manipulator 2A, 2B lock operation, lock
After the completion of attached, the first centralising device (1A, 4A, 4B, 5A) release workpiece 8C, first group of jacking knot
Structure (A, B, 9A, 9B) falls workpiece 8C, after workpiece 8B outflow stations B, station 8C outflows
Station A.
While first group of climbing structure (A, B, 9A, 9B) jacking workpiece 8A, workpiece 8B enters
Station B, second group of climbing structure (0A, 0B, 90A, 90B) jack workpiece pallet 7B, now,
Workpiece 8A flows out station A, the second centralising device (10A, 40A, 40B, 50A) centering workpiece 8B,
Manipulator 20A, 20B lock operation, after the completion of locking, the second centralising device (10A, 40A, 40B,
Workpiece 8B 50A) is discharged, second group of climbing structure (0A, 0B, 90A, 90B) falls workpiece 8B,
Workpiece 8B flows out station B, workpiece 8C outflow station A, terminates.
The present invention multi-station manipulator system, including for carry at least two stations support platform,
It is used for the conveyer for the station conveying workpieces in the support platform, positioned at the transmission
For carrying the pallet of the workpiece, in the support platform for realizing the pallet on device
On workpiece enter the jacking apparatus of the station, the conveyer and the station place plane have
The interval passed through for pallet, when the system is located at first state, described in the jacking apparatus drive
Pallet moves to the station, to complete the workpiece being placed on the station manipulation, when the system
During in the second state, the jacking apparatus drives the pallet away from the station, to complete the work
Part flows out from the station to be operated, and in addition to for two station concurrent jobs, is planned according to production line beat
Demand, available for any amount station concurrent job, stacking-type jacking workpiece arrangement architecture, production line thing
Stream planning is flexible, direct motion, parallel, three kinds of logistics operation states of driving in the wrong direction can be achieved, to mechanical manual task section
Clap less demanding, improve job stabilization, System Fault Tolerance redundancy is high, and some mechanical hand breaks down can not
During operation, whole system still can normal operation.
It is apparent to those skilled in the art that for convenience and simplicity of description, it is above-mentioned to retouch
The specific work process for the system, apparatus, and unit stated, it may be referred to the correspondence in preceding method embodiment
Process, it will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, device and
Method, it can realize by another way.For example, device embodiment described above is only to show
Meaning property, for example, the division of the unit, only a kind of division of logic function can when actually realizing
To there is other dividing mode, such as multiple units or component can combine or be desirably integrated into another
System, or some features can be ignored, or not perform.Another, shown or discussed is mutual
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING by some interfaces, device or unit
Or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, make
It can be for the part that unit is shown or may not be physical location, you can with positioned at a place,
Or it can also be distributed on multiple NEs.Can select according to the actual needs part therein or
Person's whole unit realizes the purpose of this embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit
In or unit be individually physically present, can also two or more units be integrated in one
In individual unit.Above-mentioned integrated unit can both be realized in the form of hardware, can also use software work(
The form of energy unit is realized.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment
Suddenly it is that by program the hardware of correlation can be instructed to complete, the program can be stored in a computer can
Read in storage medium, storage medium can include：Read-only storage (ROM, Read Only
Memory), random access memory (RAM, Random Access Memory), disk or CD
Deng.
A kind of multi-station manipulator system provided by the present invention is described in detail above, for this
The those skilled in the art in field, according to the thought of the embodiment of the present invention, in embodiment and using model
There will be changes are placed, in summary, this specification content should not be construed as the limit to the present invention
System.
Claims (8)
- A kind of 1. multi-station manipulator system, it is characterised in that including：For carrying at least two stations Support platform, in the support platform be used for for the station conveying workpieces conveyer, It is used to carry the pallet of the workpiece on the conveyer, is used in the support platform Realize that the workpiece on the pallet enters the jacking apparatus of the station, the conveyer and the station Place plane, which has, is used for the interval that pallet passes through；When the system is located at first state, the jacking Device drives the pallet to move to the station, to complete the workpiece being placed on the station manipulation； When the system is in the second state, the jacking apparatus drives the pallet away from the station, with Complete the workpiece and flow out operation from the station.
- 2. system according to claim 1, it is characterised in that the system also includes and the work Supporting manipulator, the manipulator operate to the workpiece one by one for position.
- 3. system according to claim 1, it is characterised in that the conveyer is multiple parallel The roller of setting.
- 4. system according to claim 1, it is characterised in that be provided with the station for real The existing workpiece carries out the centralising device of position adjustment.
- 5. system according to claim 1, it is characterised in that the centralising device includes four Mobile device, four mobile devices are oppositely arranged on station two-by-two.
- 6. system according to claim 1, it is characterised in that the jacking apparatus includes four L Type cylinder, four L-type cylinders can abut respectively with the corner of the pallet.
- 7. system according to claim 1, it is characterised in that the manipulator is screw mounting machine Tool hand.
- 8. system according to claim 7, it is characterised in that the system also includes screw and conveyed Device, the screw that the screw mounting machine tool hand conveys the device for delivering screws are arranged on the workpiece On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462863.XA CN107538193A (en) | 2016-06-23 | 2016-06-23 | A kind of multi-station manipulator system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610462863.XA CN107538193A (en) | 2016-06-23 | 2016-06-23 | A kind of multi-station manipulator system |
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| Publication Number | Publication Date |
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| CN107538193A true CN107538193A (en) | 2018-01-05 |
Family
ID=60960677
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610462863.XA Pending CN107538193A (en) | 2016-06-23 | 2016-06-23 | A kind of multi-station manipulator system |
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| US20050095114A1 (en) * | 2003-11-03 | 2005-05-05 | Kolinahr Systems Inc. | Pallet stacker system |
| CN101801596A (en) * | 2007-09-14 | 2010-08-11 | 柔性连接部件股份公司 | Lifting device for a conveyor system, a conveyor system and a method |
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| CN203568322U (en) * | 2013-11-29 | 2014-04-30 | 苏州博众精工科技有限公司 | Carrier-transporting mechanism |
| CN203679739U (en) * | 2014-01-14 | 2014-07-02 | 东莞劲胜精密组件股份有限公司 | Mobile phone accessory attaching system |
| CN105438826A (en) * | 2015-12-24 | 2016-03-30 | 广州瑞松科技有限公司 | Assembling method and system for elevator floor door sheet guide shoe |
| CN105460540A (en) * | 2015-12-30 | 2016-04-06 | 苏州博众精工科技有限公司 | Assembly line mechanism |
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2016
- 2016-06-23 CN CN201610462863.XA patent/CN107538193A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6354431B1 (en) * | 1999-12-16 | 2002-03-12 | Eastman Kodak Company | Dark box-transfer apparatus and manufacturing system |
| US20050095114A1 (en) * | 2003-11-03 | 2005-05-05 | Kolinahr Systems Inc. | Pallet stacker system |
| CN101801596A (en) * | 2007-09-14 | 2010-08-11 | 柔性连接部件股份公司 | Lifting device for a conveyor system, a conveyor system and a method |
| CN102490180A (en) * | 2011-12-19 | 2012-06-13 | 山东大陆科技有限公司 | Grabbing mechanical hand, machining system constituted by same and machining method |
| CN203568322U (en) * | 2013-11-29 | 2014-04-30 | 苏州博众精工科技有限公司 | Carrier-transporting mechanism |
| CN203679739U (en) * | 2014-01-14 | 2014-07-02 | 东莞劲胜精密组件股份有限公司 | Mobile phone accessory attaching system |
| CN105438826A (en) * | 2015-12-24 | 2016-03-30 | 广州瑞松科技有限公司 | Assembling method and system for elevator floor door sheet guide shoe |
| CN105460540A (en) * | 2015-12-30 | 2016-04-06 | 苏州博众精工科技有限公司 | Assembly line mechanism |
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Application publication date: 20180105 |