CN108545457B - Device and method for automatically moving product position - Google Patents
Device and method for automatically moving product position Download PDFInfo
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- CN108545457B CN108545457B CN201810182022.2A CN201810182022A CN108545457B CN 108545457 B CN108545457 B CN 108545457B CN 201810182022 A CN201810182022 A CN 201810182022A CN 108545457 B CN108545457 B CN 108545457B
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- 230000007246 mechanism Effects 0.000 claims abstract description 38
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- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The invention discloses a device and a method for automatically moving the position of a product, wherein the device comprises a first mechanism, a second mechanism and a mechanical arm; the first mechanism comprises a first platform, a first positioning piece and a plurality of groups of first drivers, wherein the first drivers are arranged on the first platform, each group of first drivers are connected through a connecting shaft, the first positioning piece is arranged on the connecting shaft, the second mechanism comprises a second platform and a carrier piece, the carrier piece is positioned on the second platform, and the carrier piece is matched with a target product moving to the second mechanism; the mechanical arm comprises a linkage piece and an object taking piece, the linkage piece is movably connected with the object taking piece, and the mechanical arm moves a target product from the first platform to the second platform. The invention has higher working efficiency, wide application range and strong practicability.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a device and a method for automatically moving the position of a product.
Background
In the process of producing the product to a finished product, a plurality of working procedures are needed to be processed, and in the process of processing, the connection between one working procedure and the other working procedure cannot be realized at any time, so that the product or the part is inevitably transferred for a plurality of times; the pipeline used in the transfer has the function of starting up and down in each working procedure, so that one working procedure is slow or has a problem, chain reaction can be formed, and the whole line body and even the whole production process are influenced.
Therefore, in the process of transferring mass products or parts, if a manual transfer mode is adopted, the working efficiency of the whole production line is low; and due to limited efforts of staff, misoperation can occur, which further affects the quality of the product.
If the object transferring process is intelligent, people can be liberated from heavy physical labor and partial mental labor and severe and dangerous working environments, the functions of organs of the people can be expanded, the labor productivity is greatly improved, and the ability of the people to know and reform the world is enhanced, so that the method has important significance.
Disclosure of Invention
In order to solve the problems in the prior art, the present invention provides an apparatus and method for automatically moving a product position, comprising:
in a first aspect, the present invention provides an apparatus for automatically moving a product position, comprising a first mechanism, a second mechanism, and a robotic arm;
the first mechanism comprises a first platform, first positioning pieces and first drivers, wherein the first drivers are arranged on the first platform, the first drivers are one or more groups, each group of first drivers are connected through a connecting shaft, the first positioning pieces are arranged on the connecting shafts, and the first positioning pieces are used for limiting the arrangement positions of target products on the first platform;
the second mechanism comprises a second platform and a carrier piece, the carrier piece is positioned on the second platform and is matched with a target product moving to the second mechanism;
the mechanical arm comprises a linkage piece and an object taking piece, the linkage piece is movably connected with the object taking piece, the object taking piece is used for taking and placing a target product, and the mechanical arm moves the target product from the first platform to the second platform.
Further, the first mechanism further comprises a first limiting plate, the first limiting plate is located on the first platform and used for limiting the area of the target product on the first platform, a positioning groove is formed in the first limiting plate, and the first positioning piece is located in the positioning groove.
Further, the first mechanism further comprises a first detector, a second driver and a first conveyor belt,
the first detector detects the position of the target product on the first platform, the first conveyor belt is located on the first platform, and the second driver drives the first conveyor belt.
Further, the second mechanism further comprises a second detector, a third driver and a second conveyor belt,
the second detector is used for detecting the relative position of the object taking device and the carrier device on the second platform; the second conveyor belt is located on the second platform, and the third driver drives the second conveyor belt.
Further, the second mechanism further comprises a third detector and an alarm, wherein the alarm is connected with the third detector, and the third detector is used for detecting the position of the target product on the second platform.
Further, the mechanical arm further comprises a connecting piece and a base, the object taking piece is arranged on the connecting piece, the connecting piece is movably connected with the linkage piece, and the linkage piece is adjustably arranged on the base.
Further, the device also comprises a first receiver, wherein the first receiver is used for driving the mechanical arm to move according to the information of the first detector.
Further, the robot arm further comprises a second receiver, wherein the second receiver is used for driving the robot arm to move according to information of the second detector.
The invention also provides a method for automatically moving the product position by using the device, which comprises the following steps:
detecting the position of the target product on the first platform through a first detector, judging whether the transmitted target product reaches a first target position, and if so, taking the target product by taking an object;
the mechanical arm moves towards the second platform direction;
and detecting the relative position of the object taking piece and the carrier piece on the second platform through a second detector, judging whether the first relative position is reached, and if so, placing the target product on the second platform.
Further, the method further comprises the following steps:
and detecting the position of the target product on the second platform through a third detector, judging whether the target product is placed at the second target position on the second platform, and if not, triggering an alarm to send an alarm signal.
According to the device, through flexible rotation of the linkage piece, a target product is taken away through taking an object, and the target product is accurately and efficiently moved from the first platform to the second platform; before the object to be fetched is grabbed, the object to be fetched is orderly distributed through the position limitation of the first locating piece on the first mechanism, so that the mechanical arm can grab and locate the object to be fetched, and the object to be fetched is further convenient to evenly place on the second platform; the invention has higher working efficiency, wide application field and strong practicability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view showing a structure of an apparatus for automatically moving a product position in accordance with the first embodiment;
FIG. 2 is a flow chart of a method for automatically moving a product location in embodiment two;
FIG. 3 is a flow chart of a method for automatically moving a product location in embodiment three;
in the figure: 1-a first platform, 2-a first positioning piece, 3-a first driver, 4-a second platform, 5-a carrier piece, 6-a linkage piece, 7-taking out an object, 8-a first limiting plate, 9-a connecting piece, 10-a base, 11-a second limiting plate and 12-a target product.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.
Embodiment one:
the embodiment provides a device for automatically moving the position of a product, which comprises a first mechanism, a second mechanism and a mechanical arm, as shown in fig. 1;
the first mechanism comprises a first platform 1, a first positioning piece 2 and first drivers 3, wherein the first drivers 3 are arranged on the first platform 1, the first drivers are one or more groups, specifically, each group of the first drivers 3 are oppositely arranged on two sides of the first platform 1, each group of the first drivers 3 are connected through a connecting shaft, the first positioning piece 2 is arranged on the connecting shaft, and the first drivers 3 drive the first positioning piece 2 to move; the second mechanism comprises a second platform 4 and a carrier member 5, the carrier member 5 being located on the second platform 4, the carrier member 5 having a shape configuration that matches the shape configuration of the target product 12 moved to the second mechanism.
The first mechanism further comprises first limiting plates 8, the first limiting plates 8 are located on the first platform 1, the first limiting plates 8 limit the area of the target product on the first platform 1, when two rows of target products 12 are taken as an example in fig. 1, 3 first limiting plates 8 are located in the middle of the first platform 1, one first limiting plate 8 is located at two sides of the first platform 1, the other first limiting plates 8 are located at two sides of the target product 12, locating grooves are formed in the first limiting plates 8, the first locating pieces 2 are located in the locating grooves, and the first locating pieces are used for limiting the arrangement positions of the target products on the first platform.
The first mechanism further comprises a first detector that detects the position of the target product 12 on the first platform 1, a second driver that drives the first conveyor belt, and a first conveyor belt that is located on the first platform 1. The first mechanism further comprises a second limiting plate 11, and the second limiting plate 11 is arranged at one end of the first platform 1; specifically, the second limiting plate 11 is located at the end of the first platform 1, that is, the end of the first belt in the moving direction on the first platform 1. The first limiting plates 8 on the first platform 1 define left and right regions where the target products 12 are driven on the first conveying belt, the second limiting plates 11 define positions where the target products 12 stop moving on the first platform 1, and each of the two ends of the target products 12 is provided with a first limiting plate 8, and correspondingly, first positioning members 2, in detail, the first positioning members 2 uniformly arrange the target products 12 on the first platform 1, and the first positioning members 2 enter the positioning grooves by driving of the first driver 3, so that the target products 12 are successfully and uniformly arranged by the first limiting plates 8, the second limiting plates 11, the first positioning members 2, and the like. The apparatus also includes a first receiver that receives data information of the first detector. The detection information of the first detector is sent to the first receiver, and when the first receiver receives the target position information that the target product 12 has reached the first platform 1, the mechanical arm is activated to start to take the target product 12 from the first platform 1.
Further, the robotic arm moves the target product 12 from the first platform 1 to the second platform 4; specifically, the mechanical arm comprises a linkage piece 6 and an object taking piece 7, the mechanical arm further comprises a base 10, the linkage piece 6 is adjustably arranged on the base 10, the linkage piece 6 is movably connected with the object taking piece 7, and the linkage piece 6 can rotate 360 degrees along the joint of the linkage piece 6 and the object taking piece 7; the mechanical arm further comprises a connecting piece 9, the connecting piece 9 is movably connected with the linkage piece 6, and the object taking piece 7 is arranged on the connecting piece 9. In particular, the linkage member 6 is preferably shaft-shaped, the connecting member 9 is preferably plate-shaped, and the picking member 7 is preferably a suction cup.
In this embodiment, the target products 12 to be acted on are six and arranged in two rows; the number of the corresponding suction cups is twelve, and when the target products 12 are grabbed, two suction cups are adsorbed on each target product 12 and are respectively adsorbed on the two corresponding sides of the target products 12. The setting direction of the first limiting plates 8 is parallel to the moving direction of the target product 12 on the first conveyor belt, and as the two ends of the target product 12 are provided with the first limiting plates 8, the number of the first limiting plates 8 is 3; the direction of the connecting shaft is perpendicular to the moving direction of the target product 12, the first drivers 3 are two groups, and 6 product positions can be arranged through the two groups of the first drivers 3, wherein the number of the first positioning pieces 2 arranged on the connecting shaft corresponding to each group of the first drivers 3 is 3.
The second platform further comprises a second detector, a third driver and a second conveyor belt, the second conveyor belt is positioned on the second platform 4, and the third driver drives the second conveyor belt; the second detector detects the relative position of the object taking device 7 and the carrier 5 on the second platform 4, and is actually used for detecting the relative position of the target product 12 on the object taking device 7 and the carrier 5 on the second platform 4. The apparatus also includes a second receiver that receives data information of the second detector. Specifically, after the suction cup sucks the target product 12, the suction cup starts to move to the second platform 4, and simultaneously, the second detector obtains the relative position of the target product 12 and the carrier 5 from time to time, and when the target product 12 is detected to be located at a proper target position, the second platform 4 is placed with the target product 12.
Further, at this time, to further ensure that the target product 12 is correctly placed, the second mechanism further includes a third detector and an alarm, where the second detector detects a relative position between the object to be fetched and the carrier on the second platform, and the alarm is connected to the third detector, and when the third detector detects that the target product is not placed in the proper position on the second platform 4, the alarm is triggered to send an alarm signal.
The second platform further comprises a carrier positioner, the carrier positioner comprises a substrate supporting piece and a side edge positioning piece, when the mechanical arm moves the target product towards the second platform, the substrate supporting piece is used for supporting the carrier piece, when the target product is detected to be correctly placed on the carrier frame, the carrier positioner returns the carrier frame to the second platform, and if the second platform is provided with a second conveyor belt, the second conveyor belt moves the carrier frame with the target product forward.
It should be noted that, the positions of the first platform 1 and the second platform 4 are all within the protection scope of the present invention in the region where the mechanical arm can reach; the components on the first platform 1 and the second platform 4 may be interchanged, and the first detector and the second detector may be disposed on the mechanical arm.
According to the invention, through flexible rotation of the linkage piece, the object is taken to grasp a target product, so that the target product can be accurately and efficiently moved from the first platform to the second platform;
before the object to be fetched is grabbed, the first limiting plate, the first locating piece and the second limiting plate limit the traveling area of the object to be fetched on the first conveyor belt, and the object to be fetched is reasonably and uniformly distributed in order.
The device further comprises a first receiver and a second receiver, wherein the first receiver is used for receiving the data information of the first detector, so that the position of a target product on the first platform is acquired from time to time; simultaneously, the second receiver receives the data information of the second detector, so that the relative position of the grabbed target product and the first platform is acquired from time to time; thus, the mechanical arm can grasp the target product on time and accurately place the target product on the second platform.
Embodiment two:
the present embodiment provides a method for automatically moving a product position by using the apparatus according to the first embodiment, as shown in fig. 2, including:
s101, detecting the position of the target product on the first platform through a first detector,
s101a. determining whether the transferred target product reaches the first target position,
s101b, if yes, taking the target product by taking an object;
s102, moving towards a second platform by using a mechanical arm;
s103, detecting the relative positions of the object taking piece and the carrier piece on the second platform through a second detector,
s103a. determining whether the first relative position is reached,
and S103b, if yes, placing the target product on a second platform.
Embodiment III:
the present embodiment provides another method for automatically moving a product position by using the apparatus according to the first embodiment, as shown in fig. 3, where the method includes, in addition to the method according to the second embodiment:
s104, detecting the position of the target product on the second platform through a third detector,
s104a. determining whether said target product is placed at a second target location on said second platform,
s104b, if not, triggering an alarm to send an alarm signal.
In a word, the device for actively moving the position of the product has higher working efficiency, wide application range and strong practicability.
It should be noted that, the parameters of the first target position, the first relative position, and the second target position may exist in a certain module independently, or may be concentrated in a corresponding mechanism of the corresponding device.
It should be noted that: the apparatus and method for automatically moving a product position according to the embodiments described above are only exemplified by the above-described division of each functional module or mechanism when moving a product position, and in practical applications, the above-described function allocation may be performed by different functional modules or mechanisms according to needs, i.e., the internal structure of the control mechanism or display mechanism is divided into different functional modules to perform all or part of the functions described above. In addition, the embodiments of the device and the method for moving a product position provided in this embodiment and the method for measuring a deformation degree provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the device and the method embodiments are described in the method embodiments, which are not repeated here.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. An apparatus for automatically moving a product position, comprising a first mechanism, a second mechanism, and a robotic arm;
the first mechanism comprises a first platform (1), a first positioning piece (2) and first drivers (3), wherein the first drivers are arranged on the first platform, the first drivers are one or more groups, each group of first drivers are connected through a connecting shaft, the first positioning piece is arranged on the connecting shaft, and the first positioning piece is used for limiting the arrangement position of target products on the first platform;
the first mechanism further comprises a first limiting plate (8), a second limiting plate (11) and a first conveyor belt, wherein the first limiting plate (8) is positioned on the first platform, the second limiting plate is arranged at one end of the first platform, the first limiting plate is used for limiting the area of the target product on the first platform, and a positioning groove is formed in the first limiting plate;
the first limiting plates (8) limit the left and right areas of the target product (12) which are driven on the first conveyor belt, the second limiting plates (11) limit the position of the target product (12) at which the movement of the first platform (1) stops, and the first limiting plates (8) are arranged at the two ends of each target product (12) and the first positioning pieces (2) are correspondingly arranged;
the first positioning pieces (2) uniformly arrange the target products (12) on the first platform (1), the first positioning pieces (2) enter the positioning grooves through the driving of the first driver (3), and the target products (12) are uniformly arranged through the first limiting plates (8), the second limiting plates (11) and the first positioning pieces (2);
the second mechanism comprises a second platform (4) and a carrier (5), wherein the carrier is positioned on the second platform and is matched with a target product moved to the second mechanism;
the mechanical arm comprises a linkage piece (6) and an object taking piece (7), the linkage piece is movably connected with the object taking piece, the object taking piece is used for taking and placing a target product, and the mechanical arm moves the target product (12) from the first platform to the second platform.
2. The apparatus of claim 1, wherein the first mechanism further comprises a first detector that detects the position of the target product on the first platform on which the first conveyor belt is located and a second driver that drives the first conveyor belt.
3. The apparatus of claim 1, wherein the second mechanism further comprises a second detector for detecting a relative position of the article and a carrier member on the second platform, a third drive, and a second conveyor belt; the second conveyor belt is located on the second platform (4), and the third driver drives the second conveyor belt.
4. The apparatus of claim 1, wherein the second mechanism further comprises a third detector and an alarm, the alarm being coupled to the third detector, the third detector being configured to detect a position of the target product on the second platform.
5. The device according to claim 1, characterized in that the mechanical arm further comprises a connecting piece (9) and a base (10), the picking piece (7) being arranged on the connecting piece, the connecting piece (9) being movably connected with the linkage piece (6), the linkage piece being adjustably arranged on the base.
6. The apparatus of claim 2, further comprising a first receiver for driving the robotic arm in motion based on information from the first detector.
7. A device according to claim 3, further comprising a second receiver for driving the robotic arm in motion based on information from the second detector.
8. A method of automatically moving the position of a product using the apparatus of any one of claims 1-7, the apparatus comprising a first detector and a second detector, comprising: detecting the position of the target product on the first platform through the first detector, judging whether the transmitted target product reaches a first target position, and if so, taking the target product by taking an object;
the mechanical arm moves towards the second platform direction;
and detecting the relative positions of the object taking piece and the carrier piece on the second platform through the second detector, judging whether the first relative position is reached, and if so, placing the target product on the second platform.
9. The method of claim 8, the apparatus further comprising a third detector, further comprising:
and detecting the position of the target product on the second platform through the third detector, judging whether the target product is placed at the second target position on the second platform, and if not, triggering an alarm to send an alarm signal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017101415496 | 2017-03-10 | ||
| CN201710141549 | 2017-03-10 |
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| Publication Number | Publication Date |
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| CN108545457A CN108545457A (en) | 2018-09-18 |
| CN108545457B true CN108545457B (en) | 2024-02-27 |
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| CN201810182022.2A Active CN108545457B (en) | 2017-03-10 | 2018-03-06 | Device and method for automatically moving product position |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020077456A1 (en) | 2018-10-17 | 2020-04-23 | Ats Automation Tooling Systems Inc. | High-output flexible feeding of discrete parts |
| CN111874561B (en) * | 2020-07-27 | 2022-02-18 | 广州智能装备研究院有限公司 | Conveying belt interval positioning method and device |
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| US7645111B2 (en) * | 2002-11-05 | 2010-01-12 | Central Glass Company, Limited | System for putting glass plates to target positions |
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| US3448867A (en) * | 1964-12-11 | 1969-06-10 | Rex Chainbelt Inc | Material handling system |
| US4383795A (en) * | 1980-04-07 | 1983-05-17 | Daiwa Can Company, Limited | Bag transfer apparatus |
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