CN209367340U - A kind of card plug box automatic charging positioning device - Google Patents
A kind of card plug box automatic charging positioning device Download PDFInfo
- Publication number
- CN209367340U CN209367340U CN201822230133.4U CN201822230133U CN209367340U CN 209367340 U CN209367340 U CN 209367340U CN 201822230133 U CN201822230133 U CN 201822230133U CN 209367340 U CN209367340 U CN 209367340U
- Authority
- CN
- China
- Prior art keywords
- card plug
- glass plate
- sucker
- glass
- robot
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of card plug box automatic charging positioning devices, including material stations and workbench, material stations can insert the glass card plug of glass plate for clamping, the workbench is equipped with industrial camera, cache platform, conveyer belt, material table, first robot and four axis robots, industrial camera is electrically connected with vision system, first robot and four axis robots are separately installed with the first sucker and the second sucker, first robotically-driven first sucker clamps glass plate from glass card plug and is placed in caching platform, robotically-driven second sucker of four axis carries out the datum mark and tag scan of glass plate from caching platform clamping glass plate and being moved to above industrial camera, and judge whether the position and direction of glass plate are correct and whether labelled by vision system, glass plate or adjustment sheet position and side are clamped by four axis robots It is placed in material table backward, by automatic charging, realizes the raising of production efficiency and reduces production cost, reduce bad product rate.
Description
Technical field
The utility model relates to make-up machinery apparatus field, in particular to a kind of card plug box automatic charging positioning device.
Background technique
Glass is a kind of amorphous inorganic non-metallic material, is used in the every aspect of life.In mobile phone, touch screen its
In contain glass plate, in general glass plate process, need to label glass plate, after the completion of labeling, it will be placed on
It is whether qualified by subsequent processing inspection labeling in specified glass card plug.It is existing whether accurate for inspection glass labeling, need people
Work feeding takes out glass plate by industrial camera identifying system to glass plate benchmarking and scanning label from card plug, is grasping
Alignment will appear most of error and defective products situation by hand in work, cause production efficiency low and high production cost.
Utility model content
The main purpose of the utility model is to propose a kind of card plug box automatic charging positioning device, it is intended to be solved on glass plate
Material automation and scanning and positioning to glass plate, improve production efficiency and qualification rate, reduce production cost.
To achieve the above object, the utility model proposes a kind of card plug box automatic charging positioning devices, including material stations
And workbench, the material stations can insert the glass card plug of glass plate for clamping, the workbench is equipped with industrial camera, delays
Platform is deposited, conveyer belt, material table, the first robot and four axis robots, industrial camera are electrically connected with vision system, first machine
Device people and four axis robots are separately installed with the first sucker and the second sucker, and the first robotically-driven first sucker is from glass card plug
Clamping glass plate is simultaneously placed in caching platform, and robotically-driven second sucker of four axis is from caching platform clamping glass plate and is moved to industry
Carry out the datum mark and tag scan of glass plate above camera, and by vision system judge glass plate position and direction whether
Correctly and whether label, if sheet position and in the right direction and labelled, robotically-driven second sucker of four axis
Glass plate is moved above industrial camera and is placed on material table；If glass plate has been labelled but position and direction are incorrect,
Four axis robots then drive glass plate is mobile after the position and direction of the second sucker adjustment glass plate and are placed on material table；
If glass plate unlabelled, four axis robots drive the second sucker that glass plate is mobile and are placed on conveyer belt.
Technical solutions of the utility model clamp glass plate by the automation of the first robot, avoid manually from glass card plug
Feeding avoids defective products, improves the efficiency of feeding, and four axis robots clamp glass plate and examine product qualification rate, passes through four axis
Robot is moved to industrial camera, adjusts the direction and position of glass plate, keeps the position and direction of glass plate more accurate.Pass through
The mutual cooperation of first robot and four axis robots, accelerates speed of production, improves production efficiency, reduce defective products and
Bad product rate, reduces production cost.
Detailed description of the invention
Fig. 1 is the utility model front view；
Fig. 2 is the utility model top view；
Fig. 3 is the utility model stereoscopic schematic diagram one；
Fig. 4 is the utility model stereoscopic schematic diagram two；
Fig. 5 is the utility model stereoscopic schematic diagram three；
Specific embodiment
Below in conjunction with attached drawing, the technical scheme in the utility model embodiment is clearly and completely described, shows
So, described embodiment is only a part of the embodiment of the utility model, instead of all the embodiments.It is practical based on this
Embodiment in novel, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, is fallen within the protection scope of the utility model.
It is to be appreciated that if related in the utility model embodiment directionality instruction (such as up, down, left, right, before and after,
Top, bottom, inside and outside, vertical, transverse direction, longitudinal direction, counterclockwise, clockwise, circumferentially, radially, axially ...), then directionality indicates only
For explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if
When the particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, if relating to the description of " first " or " second " etc. in the utility model embodiment, should " first " or
The description of person " second " etc. is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated
The quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can explicitly or implicitly include to
Few this feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be common with this field
Based on technical staff can be realized, this skill will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of art scheme is not present, also not within the protection scope of the requires of the utility model.
The utility model proposes a kind of card plug box automatic charging positioning devices.
In the utility model embodiment, as shown in Fig. 1 to 5, which includes including material
Station 2 and workbench 1, the material stations 2 can insert the glass card plug 8 of glass plate for clamping, and the workbench 1 is equipped with
Industrial camera 3 caches platform 7, conveyer belt 6, material table 9, the first robot 4 and four axis robots 5, industrial camera 3 and vision system
System electrical connection, first robot 4 and four axis robots 5 are separately installed with the first sucker 41 and the second sucker 51.Automatic
Metaplasia produces in the process of glass plate, and after the completion of glass plate labeling, glass plate is packed into glass card plug 8, by intelligent trolley (such as AGV
Trolley) it is transported to card plug box automatic charging positioning device.First robot 4 drives the first sucker 41 to clamp glass from glass card plug 8
Glass plate is simultaneously placed in caching platform 7, and robotically-driven second sucker 51 of four axis clamps glass plate from caching platform 7 and is moved to industrial phase
The top of machine 3 to carry out the datum mark and tag scan of glass plate, and by vision system judge glass plate position and direction whether
Correctly and whether label, if sheet position and in the right direction and labelled, four axis robots 5 drive the second sucker
Glass plate is moved above industrial camera 3 and is placed on material table 9 by 51；If glass plate labelled but position and direction not just
Really, four axis robots then drive glass plate is mobile after the position and direction of the second sucker 51 adjustment glass plate and are placed on material
On platform 9；If glass plate unlabelled, four axis robots drive the second sucker 51 that glass plate is mobile and are placed into conveyer belt 6
On.Vision system is the prior art, is no longer repeated here its specific electrical connection and working principle.Pass through the first machine
Feeding production automation, in process of production, the first robot 4 and four axis robots are realized in the cooperation of people 4 and four axis robots 5
5 can be cooperated with multiple groups, realize that production maximizes.It is positioned by the adjustment of four axis robots 5, the accuracy of detection is ensured, under
It is more convenient that one process directly processes glass plate.By this equipment, cost of labor is reduced, reduces bad product rate, is improved
Production efficiency.
Specifically, four axis robots 5 include pedestal 52, first mechanical arm 53, second mechanical arm 54 and mechanical shaft 55, described
Pedestal 52 is removably mounted on workbench 1 by screw, and the first mechanical arm 53 is installed on pedestal 52 and with pedestal 52
For the horizontal rotation of axis point, the second mechanical arm 54 is mounted on 53 rear end of first mechanical arm and using 53 rear end of first mechanical arm as axis
Point rotation, the mechanical shaft 55 are installed in second mechanical arm 54, and second sucker 51 is installed in mechanical shaft 55, is set to
The driving device driving mechanical shaft 55 of second mechanical arm 54 moves up and down and rotary motion and the second sucker 51 of drive.Four axis machines
The movement of device people 5 is more single, is suitble to quick and repetitive, improves the efficiency of clamping glass plate.It should illustrate
It is that driving device is the prior art, as can refer to Chinese patent publication No. as the utility model patent institute of 207915457 U of CN
Disclosed corresponding driving device, is not discussed here.
More specifically, material stations 2 are equipped with lifting mechanism 21 for loading and unloading glass card plug 8, the lifting mechanism 21 includes
The bottom plate 22 of fixed plate and support glass card plug 8, the bottom plate 22 are driven by lifting motor and glass card plug 8 can be driven upward
It is moved into the position for the clamping of the first robot 4 and downward away between the position for the clamping of the first robot 4, the fixation
Plate includes left fixed plate 23, right fixed plate 24 and the upper mounted plate 25 driven respectively by three cylinders, and can be in corresponding cylinder
Driving under will be located at the position clamped for the first robot 4 glass card plug 8 clamp and unclamp position between move.When
Glass card plug 8 is put into bottom plate 22, after corresponding cylinder drives left fixed plate 23 and right fixed plate 24 to carry out left and right positioning, upper fixation
Plate 25 pairs of glass card plugs 8 under the driving of corresponding cylinder carry out compression positioning, and lifting motor driving bottom plate 22 makes glass card plug
It moves up and down between material stations 2 and workbench 1 and loads glass plate.
In the utility model embodiment, the first sucker 41 and the second sucker 51 are plate sucker, more by plate sucker
It is easy clamping glass plate, and not easy damaged glass.
In the utility model embodiment, organic frame 42 is fixed on workbench 1, first robot 4 is XYZ axis machine
Device people (or tri- axle suspension arm slide unit of XYZ or Cartesian robot etc.), XYZ axis robot is mounted in rack 42.
Specifically, the rack 42, which upwardly extends, is transversely provided with rack platform, and first robot 4 is mounted on rack platform
On.By rack platform, keep the first robot 4 more convenient in clamping glass plate, normal framework platform is higher than glass card plug 8 in workbench
1 level height.
In the utility model embodiment, 8 inside vertical spacing of glass card plug is provided with multiple card slots 81, the glass plate
Level is plugged in card slot 81, stores glass by glass card plug 8 and the first robot 4 is facilitated to clamp from glass card plug 8.
In the utility model embodiment, the motor of material table 9 including vertical setting, loaded on motor axis of rotation and can be with
Working plate 91 that the shaft of motor rotates horizontally and multiple working plates 91 and equal around the rotation centerline of working plate 91 of being set to
The material workbench 92 of even distribution.When glass plate deposits in material table 9, after going to destatic, clamped by portal frame to next
Process.Glass plate is stored by the alternating of material workbench 92, can work alternately subsequent processing and four axis robots 5.
Specifically, material workbench 92 is fastened on working plate 91 by welding or screw, presss from both sides the first robot 4
Take glass plate more stable, more precisely.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
Under all utility models in the utility model are conceived, equivalent structure made based on the specification and figures of the utility model
Transformation, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (9)
1. a kind of card plug box automatic charging positioning device, it is characterised in that: including material stations (2) and workbench (1), the object
Material station (2) can insert the glass card plug (8) of glass plate for clamping, and the workbench (1) is equipped with industrial camera (3), caching
Platform (7), conveyer belt (6), material table (9), the first robot (4) and four axis robots (5), industrial camera (3) and vision system
Electrical connection, first robot (4) and four axis robots (5) are separately installed with the first sucker (41) and the second sucker (51),
First robot (4) drives the first sucker (41) to clamp glass plate from glass card plug (8) and is placed in caching platform (7), four axis machines
Device people (5) drives the second sucker (51) from caching platform (7) clamping glass plate and is moved to above industrial camera (3) to carry out glass
The datum mark and tag scan of plate, and judge whether the position and direction of glass plate are correct and whether labelled by vision system
Label, if sheet position and in the right direction and labelled, four axis robots (5) drive the second sucker (51) by glass plate from work
Industry camera (3) top is mobile and is placed on material table (9)；If glass plate has been labelled but position and direction are incorrect, four axis machines
Device people then drives glass plate is mobile after the position and direction of the second sucker (51) adjustment glass plate and is placed on material table (9)
On；If glass plate unlabelled, four axis robots (5) drive the second sucker (51) that glass plate is mobile and are placed into conveyer belt
(6) on.
2. card plug box automatic charging positioning device as described in claim 1, it is characterised in that: four axis robot (5) packet
Pedestal (52), first mechanical arm (53), second mechanical arm (54) and mechanical shaft (55) are included, the pedestal (52) is removable by screw
It unloads and is installed on workbench (1), the first mechanical arm (53) is installed on pedestal (52) and is that axis point is horizontal with pedestal (52)
Rotation, the second mechanical arm (54) are mounted on first mechanical arm (53) rear end and revolve by axis point of first mechanical arm (53) rear end
Turn, the mechanical shaft (55) is installed on second mechanical arm (54), and second sucker (51) is installed on mechanical shaft (55), has
Driving device driving mechanical shaft (55) set on second mechanical arm (54) moves up and down and rotary motion and the second sucker of drive
(51)。
3. card plug box automatic charging positioning device as described in claim 1, it is characterised in that: the material stations (2) are equipped with
For lifting mechanism (21) for loading and unloading glass card plug (8), the lifting mechanism (21) includes fixed plate and support glass card plug (8)
Bottom plate (22), the bottom plate (22) are driven by lifting motor and glass card plug (8) can be driven to be upwardly into for the first robot
(4) clamp position and downward away from for the first robot (4) clamping position between move, the fixed plate include respectively by
Left fixed plate (23), right fixed plate (24) and the upper mounted plate (25) of three cylinders driving, and can be in the driving of corresponding cylinder
Under will be located at for the first robot (4) clamping position glass card plug (8) clamp and unclamp position between move.
4. card plug box automatic charging positioning device as described in claim 1, it is characterised in that: first sucker (41) and
Two suckers (51) are plate sucker.
5. card plug box automatic charging positioning device as described in claim 1, it is characterised in that: fixed on workbench (1) organic
Frame (42), first robot (4) are XYZ axis robot, and XYZ axis robot is mounted on rack (42).
6. card plug box automatic charging positioning device as claimed in claim 5, it is characterised in that: the rack (42) upwardly extends
It is transversely provided with rack platform, first robot (4) is mounted on rack platform.
7. card plug box automatic charging positioning device as described in claim 1, it is characterised in that: the glass card plug (8) is internal
Vertical spacing is provided with multiple card slots (81), and the glass plate level is plugged in card slot (81).
8. card plug box automatic charging positioning device as described in claim 1, it is characterised in that: the material table (9) includes hanging down
To the motor of setting, loaded on motor axis of rotation and the working plate (91) that can be rotated horizontally with the shaft of motor and multiple setting
In working plate (91) and around the equally distributed material workbench (92) of the rotation centerline of working plate (91).
9. card plug box automatic charging positioning device as claimed in claim 7, it is characterised in that: the material workbench (92) is logical
It crosses welding or screw is fastened on working plate (91).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822230133.4U CN209367340U (en) | 2018-12-28 | 2018-12-28 | A kind of card plug box automatic charging positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822230133.4U CN209367340U (en) | 2018-12-28 | 2018-12-28 | A kind of card plug box automatic charging positioning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209367340U true CN209367340U (en) | 2019-09-10 |
Family
ID=67827817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822230133.4U Expired - Fee Related CN209367340U (en) | 2018-12-28 | 2018-12-28 | A kind of card plug box automatic charging positioning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209367340U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110589490A (en) * | 2019-10-11 | 2019-12-20 | 深圳市集银科技有限公司 | Plug feeding device |
| CN111086814A (en) * | 2019-12-31 | 2020-05-01 | 上海中冶横天智能科技股份有限公司 | Robot sampling and lofting, labeling and material rack caching system and working method thereof |
| CN111618830A (en) * | 2020-06-09 | 2020-09-04 | 湖州职业技术学院 | Rectangular coordinate grabs birds robot integration platform |
-
2018
- 2018-12-28 CN CN201822230133.4U patent/CN209367340U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110589490A (en) * | 2019-10-11 | 2019-12-20 | 深圳市集银科技有限公司 | Plug feeding device |
| CN110589490B (en) * | 2019-10-11 | 2024-06-11 | 深圳市集银科技有限公司 | Clamping plug feeding device |
| CN111086814A (en) * | 2019-12-31 | 2020-05-01 | 上海中冶横天智能科技股份有限公司 | Robot sampling and lofting, labeling and material rack caching system and working method thereof |
| CN111618830A (en) * | 2020-06-09 | 2020-09-04 | 湖州职业技术学院 | Rectangular coordinate grabs birds robot integration platform |
| CN111618830B (en) * | 2020-06-09 | 2023-12-26 | 湖州职业技术学院 | Rectangular coordinate poultry robot integrated platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190910 Termination date: 20201228 |