CN108618275A - The carrying device and its transport method of pull head - Google Patents
The carrying device and its transport method of pull head Download PDFInfo
- Publication number
- CN108618275A CN108618275A CN201710167634.XA CN201710167634A CN108618275A CN 108618275 A CN108618275 A CN 108618275A CN 201710167634 A CN201710167634 A CN 201710167634A CN 108618275 A CN108618275 A CN 108618275A
- Authority
- CN
- China
- Prior art keywords
- pull head
- carrying device
- slider body
- claw
- upward
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A44—HABERDASHERY; JEWELLERY
- A44B—BUTTONS, PINS, BUCKLES, SLIDE FASTENERS, OR THE LIKE
- A44B19/00—Slide fasteners
- A44B19/42—Making by processes not fully provided for in one other class, e.g. B21D53/50, B21F45/18, B22D17/16, B29D5/00
Landscapes
- Manipulator (AREA)
Abstract
The present invention provides a kind of carrying device and its transport method of pull head, can transport different gestures, direction pull head.The carrying device of pull head includes：Imaging sensor identifies posture, the direction of pull head；Mechanical arm has at least one conveyance means, and to transport pull head；And controller.Controller receives the recognition result of imaging sensor, and form is transported according to comprising a variety of pull head postures and direction that can be transported, and is compared to determine that conveyance means, control machinery arm simultaneously transport pull head according to conveyance means with recognition result.
Description
Technical field
The present invention relates to the carrying devices in a kind of product assembling procedure, and the pull head more particularly in slide fastener assembling procedure
Carrying device and its transport method.
Background technology
Slide fastener (slide fastener) is by multiple assembling parts, and including at least a pair of of chain strap (tape), installation
In on chain cloth band chain tooth (element), in chain tooth slide be opened and closed chain strap both sides pull head (slider) and other zero
Part etc..It, can rapidly opened and closed chain strap both sides by pulling the pull head of slide fastener so that slide fastener extensively, multipurpose is applied more
In kind product, such as jacket, trousers, shoes, handbag, knapsack, movable wardrobe, luggage case etc..
The assembling mode of general slide fastener is chain tooth to be mounted on chain cloth band, and pull head is installed to the chain of chain tooth
On cloth band.It needs that pull head is made to be installed to chain strap with scheduled posture in such assembling mode, so needing with defined
Pull head is transported to certain place and arranged by posture, such as is transported to pull head collating unit, is arranged by pull head collating unit
Row, are then continuously installed to chain strap from pull head collating unit.
But pull head includes at least slider body and hangs over the pulling-on piece on slider body, type is very more, pull head master
Shape, the size of body are of all kinds, and shape, the size of pulling-on piece are also of all kinds, and the posture that can specify that transports certain pull head
Device may not can transport other pull heads.The customized dedicated carrying device of each pull head is unpractical.In particular, although pulling-on piece is hung
It on slider body, but actually shakes between the two or mutually, therefore carry out conveyance with defined posture to become more
It is difficult.
Invention content
Based on the above issues, the present invention provides a kind of carrying device and its transport method of pull head, can automatically remove
Send different gestures, direction pull head, be not required to manually classify and arrange pull head, can cut down artificial.
The present invention provides a kind of carrying device of pull head, transports pull head, and the carrying device of the pull head includes：Image sensing
Device identifies posture, the direction of pull head；Mechanical arm has at least one conveyance means, and to transport pull head；And control
Device.Controller receives the recognition result of imaging sensor, is removed according to comprising a variety of pull head postures that can transport, direction
Form is sent, is compared to determine that conveyance means, control machinery arm simultaneously transport pull head according to conveyance means with recognition result.
The present invention also provides a kind of transport methods of pull head, transport pull head, and the transport method of the pull head includes：
Posture, the direction of pull head are identified using imaging sensor；
Recognition result is compared with preset multiple forms that transport, find out it is multiple transport in form with recognition result
Consistent transports form, and the form that transports includes a variety of pull head postures and direction that can be transported；
It transports form according to what is found out and determines the conveyance means of mechanical arm, the conveyance means include clamping or inhale
The slider body of the attached pull head；And
Mechanical arm transports pull head according to the conveyance means of decision.
In the transport method of pull head, the carrying device of pull head, above-mentioned pull head include slider body and be mounted on pull head master
Pulling-on piece on body.Slider body has upper plate, lower plate and the connecting pole being connected between upper plate and lower plate.Have on upper plate
The mounting post of pulling-on piece is installed.The cover that pull head may also include covering and be fixed in the mounting post.
In the transport method of above-mentioned pull head, the carrying device of pull head, the above-mentioned form that transports includes：Mounting post (or cover
Son) a variety of pull head postures upward, direction, lower plate a variety of pull head postures upward, direction, connecting pole upward a variety of
Pull head posture, direction.
In the carrying device of above-mentioned pull head, the conveyance means of mechanical arm may include claw, adsorption section.Mechanical arm profit
Pull head is clamped with claw, pull head is adsorbed using adsorption section.Claw may include at least one gripping claw.Claw may include dual-purpose with
The mounting post (or cover) of slider body and the gripping claw of the connecting pole of slider body is clamped.Claw may include two phase similar shapes
The gripping claw of shape, respectively to be clamped slider body mounting post (or cover) and slider body connecting pole.Claw can wrap
Gripping claw of different shapes is included, respectively pull head of different shapes is clamped.
In the transport method of above-mentioned pull head, the carrying device of pull head, when that is found out according to comparison result transports form
Be lower plate upward when transporting form, conveyance means absorption slider body lower plate.When the form that transports found out is connection
Column upward when transporting form, the connecting pole of the conveyance means of decision clamping slider body.When the form that transports found out is
Mounting post (or cover) upward when transporting form, the mounting post (or cover) of the conveyance means of decision clamping slider body.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of an example for the pull head that the present invention transports.
Fig. 2 is other stereoscopic schematic diagram of the pull head that the present invention transports.
Fig. 3 is the stereoscopic schematic diagram of the carrying device of the pull head in embodiments of the present invention.
Fig. 4 is the flow chart of the transport method of the pull head in embodiments of the present invention.
Fig. 5 A~Fig. 5 C are the schematic diagrames (pulling-on piece is omitted) for transporting form in embodiments of the present invention.
Fig. 6 A~Fig. 6 C are that the pull head for transporting form watched respectively from the front of platform 103 is taken by conveying unit 122
Stereoscopic schematic diagram.
Reference sign
10、10′：Pull head
12、12′：Slider body
12a：Upper plate
12b：Lower plate
12c：Connecting pole
12d：Mounting post
12e：Cover
14：Pulling-on piece
100：The carrying device of pull head
101：Device body
103：Platform
110：Imaging sensor
120：Mechanical arm
121：Manipulator
122：Conveying unit
122a：Claw
122aw：Gripping claw
122b：Adsorption section
130：Controller
S100：Sense step
S200：Judgment step
S300：Posture resets step
S400：Transport step
θ：Angle
Specific implementation mode
In the assembling procedure of slide fastener, when pull head is installed to chain strap, need pull head with defined posture, direction
It is installed in chain strap.When pull head is installed to chain strap with the prescribed form of decision, direction, need to come in the same direction
Pull head is continuously fed towards chain strap.
Robot is commonly used to object of taking, when robot with can identify at a distance from object, position, shape image sensing
When device combines, the position of object can be identified, object of taking, and object is adjusted to defined posture and is transported.But
Identification object needs the time, especially when the body posture, direction to be identified are at random and unlocked, needs more time.Also,
When the kind of object to be taken is various, then more times are needed.
The present invention is by the combination of mechanical arm and imaging sensor, by carrying device come different gestures of taking, direction
Pull head, and the pull head taken by carrying device is transported to pull head aligning section, in pull head aligning section with determined posture,
Direction continuously arranges pull head.In the assembling procedure of slide fastener, the posture that can specify that, direction are from pull head aligning section towards chain strap
Supply pull head.And inventor is according to the characteristic of pull head, by the pull head that can take it is multiple transport form in the form of it is advance
Storage in the controller, allows controller to judge whether the posture of pull head, direction belong to multiple one modes transported in form.
Controller transports form and determines conveyance means according to what is judged, control machinery arm and according to the conveyance means of decision come
Transport pull head.
When referring to Fig.1, an example in the pull head of the invention to be transported is shown.Pull head 10 includes slider body 12 and peace
Pulling-on piece 14 on slider body 12.Slider body 12 has upper plate 12a, lower plate 12b and is connected to upper plate 12a and lower plate
Connecting pole 12c between 12b has the mounting post 12d of connection pulling-on piece 14 on upper plate 12a.
When with reference to Fig. 2, other examples in the pull head of the invention to be transported are shown.Fig. 2 and Fig. 1's the difference lies in that draw
First 10 ' slider body 12 ' is installed with cover 12e, and cover 12e is covered and is fixed in mounting post (not shown) (due to Fig. 2's
The structure of pull head 10 ' and the structure of the pull head 10 of Fig. 1 are slightly different, these mounting post is also slightly different, but is not schemed herein
Show).It is equipped with mounting post (not shown) in the upper plate 12a of pull head 10 ', has the lock for the mobile stopping for making pull head in this mounting post
Spring (lock pin spring) is sold, lock pin spring is contacted with cover 12e.Cover 12e is locally depressed and is fixed on mounting post
On.Fig. 1, Fig. 2 are only the example of general pull head, are following two forms according to Fig. 1, Fig. 2：When by the lower plate of pull head 10,10 '
When 12b is positioned on flat surface, typically mounting post 12d is exposed to top (Fig. 1) or cover 12e is exposed to top (Fig. 2).
The example of other existing pull heads is such as Japanese Patent Laid-Open 10-127313, Japanese Patent Laid-Open 11-127918.This
A little is general commercially available pull head, is not elaborated herein to the structure of pull head.
When with reference to Fig. 3, Fig. 4, Fig. 3 shows the three-dimensional signal of the carrying device of the pull head in embodiments of the present invention
Figure, Fig. 4 show the flow chart of the transport method of the pull head in embodiments of the present invention.About top to bottom, left and right, front and rear direction,
As shown by arrows in Figure 3.
The carrying device 100 of pull head includes imaging sensor 110, mechanical arm 120, controller 130.In the conveyance of pull head
The device body 101 of device 100 is equipped with mechanical arm 120.There is manipulator 121, manipulator in the front end of mechanical arm 120
121 are equipped with conveying unit 122, to transport pull head 10,10 '.It is equipped with imaging sensor 110, figure in the top of mechanical arm 120
As sensor 110 can for example be configured with arbitrary method in the top of mechanical arm 120, as long as can be to the pull head to be transported
10, it 10 ' is identified.Imaging sensor 110 and the product that mechanical arm 120 is commercially available product, wherein imaging sensor 110
It is the visual sensor of 3D, coordinates sensor technology and calculation process, can recognize that distance, position, the shape of determinand, machinery
Arm 120 can be joint type, for example, vertical multi-joint manipulator arm, as long as can be according to imaging sensor 110
Recognition result is come different gestures of taking, the object in direction and conveyance.By the conveying unit 122 of mechanical arm 120 to different appearances
Gesture, direction pull head 10,10 ' transported, and pull head 10,10 ' is transported to pull head aligning section (not shown), sequentially, continuously
Ground is supplied to pull head aligning section and arranges in the same direction.
There is platform 103 on device body 101, multiple pull heads 10 (or 10 ') are on platform 103 respectively with different sides
To on different positions.Each pull head 10 (or 10 ') is separatedly placed on platform 103 with different postures, direction sometimes
On, or be overlappingly stacked up and down with different postures, direction sometimes.In the lower section of mechanical arm 120 and scheming
In the range of being sensed as sensor 110, pull head 10 (or 10 ') be by pull head feedway (not shown) with arbitrary posture,
Platform 103 is sent into direction.In sensing step S100, imaging sensor 110 identifies position, posture, the side of pull head 10 (or 10 ')
To, and send recognition result to controller 130.In judgment step S200, controller 130 is sentenced according to above-mentioned recognition result
Whether disconnected pull head 10 (or 10 ') is that can transport form.In transporting step S400, controller 130 transports form according to above-mentioned
Judging result determine conveyance means, the conveying unit 122 of manipulator 121 of control machinery arm 120 and removing according to decision
It send means that pull head 10 (or 10 ') is adjusted to defined posture and transports.Judgment step S200 further explained below, conveyance step
Rapid S400.
Inventor has found, is taken in platform 103 and pull head 10,10 ' is sent to image sensing with arbitrary posture, direction
When the identification range (sensor is detectable and the range of identification object) of device 110 is interior, at least appearance of several pull heads 10,10 '
Gesture, direction, which are the conveying units 122 of manipulator 121, can steadily take pull head 10,10 ' and the form that is transported.About example
Son can hereinafter referred to as transport form as shown in Fig. 5 A~Fig. 5 C.
Fig. 5 A~Fig. 5 C are the figures (omitting pulling-on piece 14) for transporting form watched from the visual angle of imaging sensor 110, with
The face-up direction of paper delivery is top (top shown in Fig. 3).Fig. 6 A~Fig. 6 C be watched respectively from the front of platform 103 can
The stereoscopic schematic diagram that the pull head of conveyance form is taken by conveying unit 122.Fig. 6 A~Fig. 6 C be using the pull head 10 of not cover as
Example can also be the drawing of other pull heads (whether there is or not cover, the pull heads of other various shapes, size) and other shapes, size
Piece.Form can be transported including at least following several.
First, as shown in Figure 5A, pull head 10 is in mounting post 12d a variety of postures upward, direction.Posture shown in FIG. 1, side
To being the one of which forms of mounting post 12d upward.Refer to cover 12e upward a variety of when for other kinds of pull head 10 '
Posture, direction.Posture shown in Fig. 2, direction are the one of which forms of cover 12e upward.Fig. 6 A are by the pawl of conveying unit 122
Portion 122a take pull head 10 mounting post 12d example.
Second, as shown in Figure 5 B, pull head 10 is in lower plate 12b a variety of postures upward, direction.Fig. 6 B are by conveying unit 122
Adsorption section 122b absorption pull head 10 lower plate 12b example.
Third, as shown in Figure 5 C, pull head 10 is in connecting pole 12c a variety of postures upward, direction.Fig. 6 C are by conveying unit
122 claw 122a take pull head 10 connecting pole 12c example.
Form can be transported by illustrating only 5 in Fig. 5 A~Fig. 5 C, and can actually transport form has more.For example, due to machine
The difference of the movement locus of tool hand 121, any angle θ under the posture of such pull head 10 exist from 0 °~360 ° of range
90 °, 180 °, 270 ° angularly, using the conveying unit 122 of manipulator 121, being in can transport in form.Above-mentioned conveyance form
Example in, by every 90 ° for one can transport in the form of, but can correspond to the characteristic of mechanical arm, performance, the size of pull head,
Shape and be set as different angle intervals.
In judgment step S200, controller 130 receives the recognition result of imaging sensor 110, and according to image sensing
The recognition result of device 110, form can be transported by judging whether pull head 10 (or 10 ') belongs to.Moreover, controller 130 is according to comprising can
Conveyance a variety of pull head postures, direction transport form, with recognition result be compared to determine conveyance means.
As shown in figure 3, having manipulator 121 in the front end of the mechanical arm 120 of joint type, manipulator 121, which has, to be removed
Send the conveying unit 122 of pull head 10,10 '.The conveying unit 122 of the manipulator 121 of mechanical arm 120 includes claw 122a, transports hand
Section can be that the mounting post 12d (Fig. 6 A) or connecting pole 12c (Fig. 6 C) of slider body 12 are clamped by claw 122a.What it is when conveyance is
As Fig. 2 other kinds of pull head 10 ' when, conveyance means can be by claw 122a be clamped slider body 12 ' cover 12e or
Connecting pole 12c.Conveying unit 122 can also add adsorption section 122b, for example, sucker, vacuum chuck (chuck), electromagnet etc.,
And conveyance means can also be the lower plate 12b (Fig. 6 B) that slider body 12 is adsorbed by adsorption section 122b.Sucker is by squeezing out air
Suction is generated, vacuum chuck generates suction in a manner of vacuumizing, and electromagnet generates suction by being powered, pass through these sides
The adsorbable pull head 10 (or 10 ') of formula.The conveying unit 122 illustrated in figure 3 has claw 122a and adsorption section 122b, also may be used certainly
Only to have claw 122a, can also only have adsorption section 122b.
Conveying unit 122 has claw 122a, and claw 122a includes at least one gripping claw for holding pull head 10,10 '
122aw, that is, can only install a gripping claw 122aw in the conveying unit 122 of manipulator 121, multiple (Fig. 3 can also be installed
In be for two) gripping claw 122aw.When installing a gripping claw 122aw in conveying unit 122, gripping claw 122aw
E.g. dual-purpose is to be clamped the pawl of the mounting post 12d (or cover 12e) of slider body 12 and the connecting pole 12c of slider body 12.
When installing two gripping claw 122aw in conveying unit 122 (claw 122a), two gripping claw 122aw can also be made to use
The pawl of same shape, described two gripping claws are respectively being clamped the mounting post 12d (or cover 12e) and pull head of slider body 12
The connecting pole 12c of main body 12.Certain these gripping claws 122aw is interchangeable, can correspond to the pull head 10 that hold and take
(or 10 ') and the suitable gripping claw 122aw of shape is replaced with human hand (manual).Or the machine of 120 front end of mechanical arm can be made
Tool hand 121 rotates automatically to be switched to the suitable gripping claw 122aw of shape.To be installed on two phases of claw 122a in Fig. 3
For the gripping claw 122aw of similar shape, but the mounting post 12d (or cover 12e) due to slider body 12 and slider body 12
Connecting pole 12c shape it is different, therefore two are installed corresponding to the position for holding pull head 10 (or 10 ') and in claw 122a
(or multiple) gripping claw 122aw of different shapes.When the identification of imaging sensor 110 different gestures, the pull head 10 (or 10 ') in direction
When, gripping claw 122aw appropriate is selected by the manipulator 121 of 130 control machinery arm of controller, 120 front end, and by corresponding to
It is held in the gripping claw 122aw of the shape of the mounting post 12d (or cover 12e) or connecting pole 12c of pull head 10 (or 10 ')
And transport pull head 10 (or 10 ').Gripping claw 122aw is made of a pair of of the pawl separated, and a pair of of pawl is inwards moved and can be held
Pull head 10 (or 10 ') is held, the gripping of pull head 10 (or 10 ') is released by making the side movement outwardly of a pair of of pawl.Also, due to hold
The size of pull head 10 (or 10 '), shape it is different, therefore the gripping claw 122aw of multiple and different shapes can be installed on claw
122a。
In controller 130 preset it is multiple it is above-mentioned transport form, in judgment step S200, for example, controller 130 will
The result that imaging sensor 110 identifies with it is preset it is multiple transport compared with form, find out that whether there is or not consistent with recognition result
Form can be transported.When find out it is consistent with recognition result carry out conveyance step S400 when transporting form, according to recognition result
Consistent transports form to determine conveyance means, and transports pull head 10 (or 10 ') according to conveyance means.When that finds out removes
It is pull head 10 (or 10 ') in mounting post 12d (or cover 12e) postures upward, when transporting form of direction, control to send form
The conveyance means that device 130 determines are the mounting posts using the gripping claw 122aw clamping slider bodies 12 (or 12 ') of claw 122a
12d (or cover 12e).When find out transport form be lower plate 12b upward when, controller 130 determine conveyance means be profit
With the lower plate 12b of adsorption section 122b absorption slider bodies 12 (or 12 ').When find out transport form be connecting pole 12c upward
When, the conveyance means that controller 130 determines are the gripping claw 122aw clamping slider bodies 12 (or 12 ') using claw 122a
Connecting pole 12c.
The carrying device of pull head of the present invention, in the transport method of pull head, recognition result by imaging sensor with can
The comparison of form is transported to determine conveyance means, and pull head is transported according to conveyance means, can be transported with posture at random, direction
The pull head of placement.
Pull head 10 (or 10 ') as above-mentioned Fig. 1 or Fig. 2 is only to illustrate, and the applicable pull head of the present invention is of all kinds, substantially
As long as upper slider body 12 (or 12 ') has mounting post 12d (or cover 12e), connecting pole 12c, lower plate 12b, then its shape is not limited
Shape is the applicable range of the present invention.
It is to form groove in mounting post in addition, as other pull heads, lock pin spring is inserted and fixed the groove
In, it is also the applicable range of the present invention that the mobile stopping of pull head, such pull head are made using lock pin spring.
The present invention shows such as above embodiment, but the present invention is not limited to this, any technical field
Middle technical staff can change and correct without departing from the spirit of the scope of the invention, thus protection scope of the present invention extend to
In impartial range.
For example, due to the size or shape of pull head 10 (or 10 '), also mounting post can be adsorbed using adsorption section 122b
12d (or cover 12e).
It is equipped with mounting post or cover with lower plate both sides in the upper plate of slider body and is installed on the two sides of upper plate and lower plate and draw
The carrying device and its transport method of the present invention can also be used in the pull head of piece.If carrying device that can be through the invention and its
Transport method holds or adsorbs a part for pull head.
Claims (23)
1. a kind of carrying device of pull head (100), conveyance pull head (10,10 '), the feature of the carrying device (100) of the pull head
Be include：
Imaging sensor (110) identifies position, posture, the direction of the pull head (10,10 ')；
Mechanical arm (120) has at least one conveyance means, and to transport the pull head (10,10 ')；And
Controller (130) receives the recognition result of described image sensor (110), according to including a variety of drawings that can be transported
Head posture and direction transport form, are compared to determine conveyance means with the recognition result, control the manipulator
Arm (120) simultaneously transports the pull head (10,10 ') according to the conveyance means.
2. the carrying device (100) of pull head according to claim 1, it is characterised in that：The pull head (10,10 ') includes
The slider body (12,12 ') and the pulling-on piece (14) on the slider body (12,12 '), the slider body (12,
12 ') there is upper plate (12a), lower plate (12b) and the connecting pole being installed between the upper plate (12a) and the lower plate (12b)
(12c) has the mounting post (12d) for installing the pulling-on piece (14) on the upper plate (12a).
3. the carrying device (100) of pull head according to claim 2, it is characterised in that：The pull head (10,10 ') is also wrapped
The cover (12e) for including covering and being fixed in the mounting post (12d).
4. the carrying device (100) of pull head according to claim 1, it is characterised in that：The conveyance means include claw
The pull head (10,10 ') is clamped using the claw (122a) in (122a), the mechanical arm (120).
5. the carrying device (100) of pull head according to claim 2, it is characterised in that：The conveyance means include claw
The installation of the slider body (12,12 ') is clamped using the claw (122a) for (122a), the mechanical arm (120)
Column (12d) or the connecting pole (12c).
6. the carrying device (100) of pull head according to claim 3, it is characterised in that：The conveyance means include claw
The cover of the slider body (12,12 ') is clamped using the claw (122a) for (122a), the mechanical arm (120)
(12e) or the connecting pole (12c).
7. the carrying device (100) of pull head according to claim 1, it is characterised in that：The conveyance means include absorption
Portion (122b), the mechanical arm (120) adsorb the pull head (10,10 ') using the adsorption section (122b).
8. the carrying device (100) of pull head according to claim 2 or 3, it is characterised in that：The conveyance means include inhaling
Attached portion (122b), the mechanical arm (120) adsorb the institute of the slider body (12,12 ') using the adsorption section (122b)
State lower plate (12b).
9. the carrying device (100) of pull head according to claim 4, it is characterised in that：The claw (122a) includes extremely
A few gripping claw (122aw).
10. the carrying device (100) of pull head according to claim 5, it is characterised in that：The claw (122a) includes simultaneous
The mounting post (12d) of the slider body (12,12 ') and the connection of the slider body (12,12 ') is clamped
The gripping claw (122aw) of column (12c).
11. the carrying device (100) of pull head according to claim 6, it is characterised in that：The claw (122a) includes simultaneous
To be clamped the cover (12e) and the slider body (12,12 ') the connecting pole (12c) gripping claw (122aw).
12. the carrying device (100) of pull head according to claim 5, it is characterised in that：The claw (122a) includes two
The gripping claw (122aw) of a same shape, respectively to be clamped the mounting post (12d) of the slider body (12,12 ') with
The connecting pole (12c) of the slider body (12,12 ').
13. the carrying device (100) of pull head according to claim 6, it is characterised in that：The claw (122a) includes two
The gripping claw (122aw) of a same shape, respectively the cover (12e) and the institute of the slider body (12,12 ') is clamped
State the connecting pole (12c) of slider body (12,12 ').
14. the carrying device (100) of the pull head according to any one of claim 4 to 6, it is characterised in that：The claw
(122a) includes gripping claw of different shapes (122aw), respectively the pull head of different shapes (10,10 ') is clamped.
15. the carrying device (100) of pull head according to claim 7, it is characterised in that：The adsorption section (122b) includes
Sucker, vacuum chuck, electromagnet.
16. the carrying device (100) of pull head according to claim 2, it is characterised in that：The form that transports includes：
The mounting post (12d) a variety of pull head postures upward, direction, the lower plate (12b) a variety of pull head postures upward, side
To, the connecting pole (12c) a variety of pull head postures upward, direction.
17. the carrying device (100) of pull head according to claim 3, it is characterised in that：The form that transports includes institute
State cover (12e) a variety of pull head postures upward, direction, the lower plate (12b) a variety of pull head postures upward, direction,
The connecting pole (12c) a variety of pull head postures upward, direction.
18. a kind of transport method of pull head, conveyance pull head (10,10 '), the transport method of the pull head is characterized in that：
Utilize the posture of imaging sensor (110) identification pull head (10,10 '), direction；
Recognition result is compared with preset multiple forms that transport, find out it is the multiple transport in form with the identification
As a result consistent transports form, and the form that transports includes a variety of pull head postures and direction that can be transported；
Determine that the conveyance means of mechanical arm (120), the conveyance means include folder according to form can be transported described in finding out
Hold or adsorb the slider body (12,12 ') of the pull head (10,10 ')；And
The mechanical arm (120) transports pull head (10,10 ') according to the conveyance means of decision.
19. the transport method of pull head according to claim 18, it is characterised in that：The pull head (10,10 ') includes described
Slider body (12,12 ') and the pulling-on piece (14) on the slider body (12,12 '), the slider body (12,12 ')
With upper plate (12a), lower plate (12b) and connecting pole (12c) between the upper plate (12a) and the lower plate (12b) is connected,
There is the mounting post (12d) for connecting the pulling-on piece (14) on the upper plate (12a).
20. the transport method of pull head according to claim 19, it is characterised in that：The pull head (10,10 ') further includes covering
It covers and is fixed on the cover (12e) in the mounting post (12d).
21. the transport method of pull head according to claim 19, it is characterised in that：The form that transports includes the peace
Fill column (12d) a variety of pull head postures upward, direction, the lower plate (12b) a variety of pull head postures upward, direction, institute
State connecting pole (12c) a variety of pull head postures upward, direction.
22. the transport method of pull head according to claim 20, it is characterised in that：The form that transports includes the cover
Sub (12e) a variety of pull head postures upward, direction, the lower plate (12b) a variety of pull head postures upward, direction are described
Connecting pole (12c) a variety of pull head postures upward, direction.
23. the transport method of the pull head according to claim 21 or 22, it is characterised in that：When finding out according to the result of the comparison
Transport form be the lower plate (12b) upward when transporting form, the conveyance means include adsorbing the pull head master
The lower plate (12b) of body (12,12 '),
When find out transport form be the connecting pole (12c) upward when transporting form, the conveyance means of decision
The connecting pole (12c) including the slider body (12,12 ') is clamped,
When find out transport form be the mounting post (12d) upward when transporting form, the conveyance means of decision
The mounting post (12d) including the slider body (12,12 ') is clamped,
When find out transport form be the cover (12e) upward when transporting form, the conveyance means packet of decision
Include the clamping cover (12e).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710167634.XA CN108618275B (en) | 2017-03-20 | 2017-03-20 | Slider carrying device and method |
| TR2018/03611A TR201803611A2 (en) | 2017-03-20 | 2018-03-14 | Slider transport apparatus and transport method. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710167634.XA CN108618275B (en) | 2017-03-20 | 2017-03-20 | Slider carrying device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108618275A true CN108618275A (en) | 2018-10-09 |
| CN108618275B CN108618275B (en) | 2021-01-26 |
Family
ID=63687142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710167634.XA Active CN108618275B (en) | 2017-03-20 | 2017-03-20 | Slider carrying device and method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108618275B (en) |
| TR (1) | TR201803611A2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254778A (en) * | 2019-07-05 | 2019-09-20 | 上海中通吉网络技术有限公司 | The automatic package equipment of zipper-type packing bag |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05180622A (en) * | 1992-01-08 | 1993-07-23 | Hitachi Ltd | Position and attitude detecting apparatus |
| US5369493A (en) * | 1990-03-19 | 1994-11-29 | Hitachi, Ltd. | Component transporting apparatus and method |
| EP1426146A1 (en) * | 2002-10-24 | 2004-06-09 | Fanuc Ltd | Robot with sensor |
| CN1733579A (en) * | 2004-07-29 | 2006-02-15 | 发那科株式会社 | Transfer robot system comprising a manipulator and a temporary container depository moving synchronously with the manipulator |
| CN101618544A (en) * | 2008-07-04 | 2010-01-06 | 发那科株式会社 | Object picking device |
| CN103221188A (en) * | 2010-11-17 | 2013-07-24 | 三菱电机株式会社 | Work pick-up apparatus |
| US20140100696A1 (en) * | 2012-10-04 | 2014-04-10 | Electronics And Telecommunications Research Institute | Working method using sensor and working system for performing same |
| CN104837749A (en) * | 2014-02-18 | 2015-08-12 | Ykk株式会社 | Slider supplying device |
| CN105208892A (en) * | 2013-09-27 | 2015-12-30 | Ykk株式会社 | Slider attachment device |
| CN106455770A (en) * | 2014-07-29 | 2017-02-22 | Ykk株式会社 | Slider assembly device and slider assembly method |
-
2017
- 2017-03-20 CN CN201710167634.XA patent/CN108618275B/en active Active
-
2018
- 2018-03-14 TR TR2018/03611A patent/TR201803611A2/en unknown
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5369493A (en) * | 1990-03-19 | 1994-11-29 | Hitachi, Ltd. | Component transporting apparatus and method |
| JPH05180622A (en) * | 1992-01-08 | 1993-07-23 | Hitachi Ltd | Position and attitude detecting apparatus |
| EP1426146A1 (en) * | 2002-10-24 | 2004-06-09 | Fanuc Ltd | Robot with sensor |
| CN1733579A (en) * | 2004-07-29 | 2006-02-15 | 发那科株式会社 | Transfer robot system comprising a manipulator and a temporary container depository moving synchronously with the manipulator |
| CN101618544A (en) * | 2008-07-04 | 2010-01-06 | 发那科株式会社 | Object picking device |
| CN103221188A (en) * | 2010-11-17 | 2013-07-24 | 三菱电机株式会社 | Work pick-up apparatus |
| US20140100696A1 (en) * | 2012-10-04 | 2014-04-10 | Electronics And Telecommunications Research Institute | Working method using sensor and working system for performing same |
| CN105208892A (en) * | 2013-09-27 | 2015-12-30 | Ykk株式会社 | Slider attachment device |
| CN104837749A (en) * | 2014-02-18 | 2015-08-12 | Ykk株式会社 | Slider supplying device |
| CN106455770A (en) * | 2014-07-29 | 2017-02-22 | Ykk株式会社 | Slider assembly device and slider assembly method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110254778A (en) * | 2019-07-05 | 2019-09-20 | 上海中通吉网络技术有限公司 | The automatic package equipment of zipper-type packing bag |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108618275B (en) | 2021-01-26 |
| TR201803611A2 (en) | 2018-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9329585B2 (en) | Article assembling device using robot | |
| EP3403324B1 (en) | Methods and systems for electroadhesion-based manipulation in manufacturing | |
| US8295975B2 (en) | Object picking device | |
| TWI651243B (en) | Transport system and its operation method | |
| TWI556761B (en) | Assembly device for pull head and assembly method of pull head | |
| WO2016186060A1 (en) | Robotic system and robotic apparatus | |
| JP6997137B2 (en) | Grippers and robot systems | |
| CN108618275A (en) | The carrying device and its transport method of pull head | |
| KR20170024022A (en) | Cover-material-attaching apparatus and method for attaching cover-material to seat body | |
| TWI734192B (en) | Robot system | |
| TW201943519A (en) | Autonomous mobile transporting robot and clamp and working mechanism thereof | |
| CN108620839A (en) | The carrying device and its transport method of pull head | |
| JP2020082228A5 (en) | Robot system and insertion method | |
| TWI626904B (en) | Conveying device of slider and conveying method thereof | |
| TWI626907B (en) | Conveying device for slider and conveying method therefor | |
| CN215873953U (en) | Medicine bottle storing and taking cabinet capable of forming clean space | |
| CN112938407A (en) | Gripping device and gripping method | |
| CN211072475U (en) | Vehicle production system | |
| JP7208783B2 (en) | automatic chair placement system | |
| US10144136B2 (en) | Panel holding device and panel holding method | |
| JP5130771B2 (en) | Parts conveyor | |
| TW201742564A (en) | Material handling system, system for manufacturing shoe parts in an automated manner, and method of manufacturing a shoe | |
| JP4893508B2 (en) | Box body to which a bag is attached and a bag attachment device for attaching the bag to the box body | |
| JP6096426B2 (en) | Surface sheet pasting system | |
| CN106514641A (en) | Pulling piece clamping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |