TW201912543A - Automatic positioning apparatus and positioning device thereof which can fast position the workpiece and reduce the damage of workpiece - Google Patents
Automatic positioning apparatus and positioning device thereof which can fast position the workpiece and reduce the damage of workpiece Download PDFInfo
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本發明是有關於一種自動定位設備，特別是指一種用以快速定位工件的自動定位設備及其定位裝置。The invention relates to an automatic positioning device, in particular to an automatic positioning device for quickly positioning a workpiece and a positioning device thereof.
多年來，伴隨工業技術進步，輸送裝置成為生產線中不可或缺的設備之一，工件透過輸送裝置輸送至一容置槽後，必須再經由一機械手臂的協助才能被移動至下一設備。然而，礙於該工件掉落至該容置槽內的位置不固定，以致於該機械手臂在每一次欲夾取該工件時必須透過影像定位的技術才能精準的夾取該工件，如此不僅降低生產效率，且還須提高成本使用一台具影像定位功能的機械手臂。Over the years, with the advancement of industrial technology, the conveying device has become one of the indispensable devices in the production line. After the workpiece is transported to a receiving tank through the conveying device, it must be assisted by a robot arm to be moved to the next device. However, the position where the workpiece is dropped into the accommodating groove is not fixed, so that the robot must accurately capture the workpiece by the technique of image positioning every time the workpiece is to be gripped, so that the workpiece is not only lowered. Production efficiency, and the need to increase the cost of using a robotic arm with image positioning.
因此，本發明之一目的，即在提供一種能將工件快速定位並能降低工件受損之自動定位設備。Accordingly, it is an object of the present invention to provide an automatic positioning apparatus that can quickly position a workpiece and reduce damage to the workpiece.
因此，本發明之另一目的，即在提供一種結構簡單且易於維修之自動定位設備。Accordingly, it is another object of the present invention to provide an automatic positioning apparatus that is simple in construction and easy to maintain.
本發明之另一目的，即在提供一種避免定位後的工件與下一個待定位之工件相互碰撞之自動定位設備。Another object of the present invention is to provide an automatic positioning apparatus that avoids collision between a workpiece after positioning and a workpiece to be positioned next.
於是，本發明自動定位設備，用於定位一工件。該自動定位設備包含：一輸送裝置及一定位裝置。Thus, the automatic positioning device of the present invention is used to position a workpiece. The automatic positioning device comprises: a conveying device and a positioning device.
該輸送裝置用於輸送該工件，該輸送裝置包括一輸出該工件的輸出端。該定位裝置用於接收來自該輸出端所輸出之該工件，該定位裝置包括：一傾斜板、多個滾動件及一擋止單元。該傾斜板具有一角隅，且該傾斜板在該角隅相對於其他部位處於一最低點的一傾斜位置。該等滾動件沿著該傾斜板的傾斜方向配置用以供該工件接觸，使得該工件能沿著該等滾動件朝向該角隅方向滑移。而該擋止單元設置於該傾斜板並用以擋止該工件以使其定位在一位於該角隅處的定位位置。The conveying device is for conveying the workpiece, and the conveying device includes an output end for outputting the workpiece. The positioning device is configured to receive the workpiece outputted from the output end, and the positioning device comprises: an inclined plate, a plurality of rolling members and a stopping unit. The sloping plate has an angled ridge, and the slanting plate is at an inclined position at a lowest point relative to the other portion. The rolling members are disposed along the oblique direction of the inclined plate for contacting the workpiece such that the workpiece can slide along the rolling elements toward the corner. The stopping unit is disposed on the inclined plate and is configured to block the workpiece to be positioned at a positioning position at the corner.
在一些實施態樣中，該等滾動件沿著該傾斜板的傾斜方向彼此相間隔排列，各該滾動件為一透過線接觸方式與該工件接觸的輥。In some embodiments, the rolling members are spaced apart from each other along an oblique direction of the inclined plate, and each of the rolling members is a roller that is in contact with the workpiece in a line contact manner.
在一些實施態樣中，該定位裝置更包括一電連接該輸送裝置的感測器，該感測器用以感測是否有該工件定位在該定位位置，當該感測器偵測到該工件時會發送一感測訊號至該輸送裝置以使其停止運轉。In some implementations, the positioning device further includes a sensor electrically connected to the conveying device, the sensor is configured to sense whether the workpiece is positioned at the positioning position, and when the sensor detects the workpiece A sensing signal is sent to the conveyor to stop it.
在一些實施態樣中，該傾斜板具有一鄰近於該輸出端的頂邊、一相反於該頂邊且遠離該輸出端的底邊、一連接於該頂邊與該底邊之間的第一側邊，及一連接於該頂邊與該底邊之間的第二側邊，該底邊與該第一側邊界定出該角隅，該擋止單元具有：一由該底邊向上延伸的下擋止板、一由該第一側邊向上延伸並銜接該下擋止板一側的第一側擋板，及一由該第二側邊向上延伸並銜接該下擋止板另一側的第二側擋板，其中，各該滾動件兩端分別樞接於該第一側擋板及該第二側擋板。In some embodiments, the sloping plate has a top edge adjacent to the output end, a bottom edge opposite the top edge and away from the output end, and a first side connected between the top edge and the bottom edge a side edge, and a second side edge connected between the top edge and the bottom edge, the bottom edge and the first side boundary define the corner, the stopping unit has: an upward extending from the bottom edge a lower stop plate, a first side baffle extending upward from the first side and engaging a side of the lower stop plate, and a second side extending upwardly and engaging the other side of the lower stop plate The second side baffle is configured to be pivotally connected to the first side baffle and the second side baffle respectively.
在一些實施態樣中，該感測器是一種紅外線感測器，且該感測器具有一設置於該第二側擋板靠近該下擋止板處的發射部，及一設置於該第一側擋板靠近該下擋止板處的接收部，其中，該發射部朝該接收部發射一紅外線。In some embodiments, the sensor is an infrared sensor, and the sensor has a transmitting portion disposed at the second side baffle near the lower stop plate, and is disposed at the first The side baffle is adjacent to the receiving portion at the lower stop plate, wherein the emitting portion emits an infrared ray toward the receiving portion.
在一些實施態樣中，該輸送裝置更包括一電連接於該感測器的控制模組、一電連接該控制模組的驅動模組，及一可被該驅動模組驅動而運轉並且用以輸送該工件的輸送件，當該控制模組接收到該感測訊號時會控制該驅動模組停止驅動該輸送件，使該輸送件停止運轉。In some implementations, the transport device further includes a control module electrically connected to the sensor, a drive module electrically connected to the control module, and a motor module that can be driven by the drive module and used The conveying member for conveying the workpiece, when the control module receives the sensing signal, controls the driving module to stop driving the conveying member to stop the conveying member.
在一些實施態樣中，該定位裝置更包括一設置於該傾斜板下方的支撐機構，該支撐機構具有一底座、一第一直桿、一第一滑動組、一橫桿、一第二滑動組、一第二直桿、一樞軸，及一樞接件，該第一直桿固定於該底座上，該第一滑動組連接於該第一直桿並可沿一縱方向相對於該第一直桿移動且還可繞該第一直桿轉動以調整角度位置，該橫桿其中一端穿設於該第一滑動組，該橫桿可沿一垂直於該縱方向的橫方向相對於該第一滑動組移動且可相對於該第一滑動組轉動以調整轉動角度，該第二滑動組連接於該橫桿另一端並可沿該橫方向相對於該橫桿移動且可相對於該橫桿轉動以調整轉動角度，該第二直桿穿設於該第二滑動組且可沿該縱方向相對於該第二滑動組移動，該樞軸穿設於該第二直桿且該樞軸的軸向垂直於該橫方向與該縱方向，該樞接件固定地連接於該傾斜板並且可轉動地樞接於該樞軸，該樞接件可繞該樞軸相對於該第二直桿轉動。In some embodiments, the positioning device further includes a support mechanism disposed under the inclined plate, the support mechanism having a base, a first straight bar, a first sliding group, a cross bar, and a second sliding a first straight rod, a pivot shaft, and a pivoting member, the first straight rod is fixed to the base, the first sliding group is coupled to the first straight rod and is movable relative to the longitudinal direction The first rod moves and is further rotatable about the first straight rod to adjust an angular position, wherein one end of the cross rod is disposed in the first sliding group, and the horizontal rod is opposite to a transverse direction perpendicular to the longitudinal direction The first sliding group is movable and rotatable relative to the first sliding group to adjust a rotation angle, the second sliding group is coupled to the other end of the cross bar and movable relative to the horizontal bar in the lateral direction and relative to the Rotating the crossbar to adjust the rotation angle, the second straight rod is disposed in the second sliding group and movable along the longitudinal direction relative to the second sliding group, the pivoting shaft is disposed on the second straight rod and the pivot The axial direction of the shaft is perpendicular to the transverse direction and the longitudinal direction, and the pivoting member is fixedly connected To the inclined plate and rotatably pivoted to the pivot axis, the pivot member is rotatable about the pivot axis relative to the second vertical rotation.
因此，本發明之又一目的，即在提供一種能將工件快速定位並能降低工件受損且結構簡單易於維修之自動定位設備的定位裝置。Accordingly, it is still another object of the present invention to provide a positioning device for an automatic positioning device that can quickly position a workpiece and reduce damage to the workpiece and that is simple in structure and easy to maintain.
於是，本發明定位裝置，用於接收來自一輸送裝置之一輸出端所輸出之一工件，該定位裝置包含：一傾斜板、多個滾動件及一擋止單元。該傾斜板包括一角隅，且該傾斜板在該角隅相對於其他部位處於一最低點的一傾斜位置。該等滾動件沿著該傾斜板的傾斜方向配置用以供該工件接觸，使得該工件能沿著該等滾動件朝向該角隅方向滑移。該擋止單元設置於該傾斜板並用以擋止該工件以使其定位在一位於該角隅處的定位位置。Therefore, the positioning device of the present invention is configured to receive a workpiece outputted from an output end of a conveying device, the positioning device comprising: an inclined plate, a plurality of rolling members and a stopping unit. The sloping plate includes a corner sill and the slanting plate is at an inclined position at a lowest point relative to the other portion. The rolling members are disposed along the oblique direction of the inclined plate for contacting the workpiece such that the workpiece can slide along the rolling elements toward the corner. The stopping unit is disposed on the inclined plate and is configured to block the workpiece to be positioned at a positioning position at the corner.
在一些實施態樣中，該等滾動件沿著該傾斜板的傾斜方向彼此相間隔排列，各該滾動件為一透過線接觸方式與該工件接觸的輥。該定位裝置更包含一電連接該輸送裝置的感測器，該感測器用以感測是否有該工件定位在該定位位置，當該感測器偵測到該工件並發送一感測訊號至該輸送裝置以使其停止運轉。該傾斜板更包括一鄰近於該輸出端的頂邊、一相反於該頂邊且遠離該輸出端的底邊、一連接於該頂邊與該底邊之間的第一側邊，及一連接於該頂邊與該底邊之間的第二側邊，該底邊與該第一側邊界定出該角隅，該擋止單元包括一由該底邊向上延伸的下擋止板、一由該第一側邊向上延伸並銜接該下擋止板一側的第一側擋板，及一由該第二側邊向上延伸並銜接該下擋止板另一側的第二側擋板，其中，各該滾動件兩端分別樞接於該第一側擋板及該第二側擋板。In some embodiments, the rolling members are spaced apart from each other along an oblique direction of the inclined plate, and each of the rolling members is a roller that is in contact with the workpiece in a line contact manner. The positioning device further includes a sensor electrically connected to the conveying device, the sensor is configured to sense whether the workpiece is positioned at the positioning position, and when the sensor detects the workpiece and sends a sensing signal to The conveyor is stopped to operate. The slanting plate further includes a top edge adjacent to the output end, a bottom edge opposite to the top edge and away from the output end, a first side edge connected between the top edge and the bottom edge, and a connection a second side edge between the top edge and the bottom edge, the bottom edge and the first side boundary define the corner, the stopping unit includes a lower stop plate extending upward from the bottom edge, The first side edge extends upwardly and engages the first side baffle on the side of the lower stop plate, and a second side baffle extending upward from the second side and engaging the other side of the lower stop plate, Each of the two rolling elements is pivotally connected to the first side baffle and the second side baffle.
本發明之功效在於：該自動定位系統藉由使該傾斜板在該角隅相對於其他部位處於該最低點的該傾斜位置，並採用較少接觸面積的滾動件，使該工件可快速定位。另方面，也因為該等工件都可定位至該定位位置，藉此提升該機械手臂的夾取效率並降低生產成本。再方面，藉由該感測器的監控與該輸送裝置的運轉切換，進一步使該等工件受損的機率降低。又一方面，透過結構簡單的該傾斜板與該等滾動件相互結合，不僅易於組裝且維修便利。The effect of the present invention is that the automatic positioning system enables the workpiece to be quickly positioned by causing the inclined plate to be at the inclined position of the lowest point relative to other portions and using a rolling member having a small contact area. On the other hand, also because the workpieces can be positioned to the positioning position, thereby improving the gripping efficiency of the robot arm and reducing the production cost. On the other hand, the probability of damage to the workpieces is further reduced by the monitoring of the sensor and the switching of the operation of the conveyor. On the other hand, the sloping plate having a simple structure and the rolling members are combined with each other, which is not only easy to assemble but also convenient to maintain.
參閱圖1，本發明自動定位設備之一實施例，用於定位一工件9，使工件9在定位後可供一機械手臂(圖未示)夾取，該自動定位設備包含：一輸送裝置1及一定位裝置2。Referring to FIG. 1 , an embodiment of the automatic positioning device of the present invention is used for positioning a workpiece 9 so that the workpiece 9 can be gripped by a mechanical arm (not shown) after positioning. The automatic positioning device comprises: a conveying device 1 And a positioning device 2.
該輸送裝置1用於輸送該工件9，該輸送裝置1包括一控制模組11、一電連接該控制模組11的驅動模組12，及一可被該驅動模組12驅動而運轉並且用以輸送該工件9的輸送件13。於本實施例中，該輸送件13例如是一呈圍繞狀的輸送帶，該輸送件13包括一輸出該工件9的輸出端131。該驅動模組12例如包括多個穿設於輸送件13內用以帶動輸送件13移動及轉動的輪軸，及一與其中一輪軸連接並可驅動其轉動的馬達。該控制模組11例如是一種工業電腦。The conveying device 1 is configured to transport the workpiece 9. The conveying device 1 includes a control module 11 , a driving module 12 electrically connected to the control module 11 , and a motor module 12 can be driven and operated by the driving module 12 . The conveying member 13 of the workpiece 9 is conveyed. In the present embodiment, the conveying member 13 is, for example, a belt-shaped conveyor belt, and the conveying member 13 includes an output end 131 for outputting the workpiece 9. The driving module 12 includes, for example, a plurality of axles that are disposed in the conveying member 13 for driving the conveying member 13 to move and rotate, and a motor that is coupled to one of the axles and can drive the rotation thereof. The control module 11 is, for example, an industrial computer.
參閱圖1、圖2及圖3，該定位裝置2用於接收來自該輸送件13的該輸出端131所輸出之該工件9，該定位裝置2包括一傾斜板3、多個位於該傾斜板3上方的滾動件4、一設置於該傾斜板3的擋止單元5、一設置於該擋止單元5的感測器6，及一設置於該傾斜板3下方的支撐機構7。Referring to FIG. 1 , FIG. 2 and FIG. 3 , the positioning device 2 is configured to receive the workpiece 9 outputted from the output end 131 of the conveying member 13 . The positioning device 2 includes a tilting plate 3 and a plurality of the inclined plates. The upper rolling element 4, the stopping unit 5 disposed on the inclined plate 3, the sensor 6 disposed on the stopping unit 5, and a supporting mechanism 7 disposed under the inclined plate 3.
該傾斜板3具有一鄰近於該輸出端131的頂邊31、一相反於該頂邊31且遠離該輸出端131的底邊32、一連接於該頂邊31與該底邊32之間的第一側邊33、一連接於該頂邊31與該底邊32之間的第二側邊34，及一是由該底邊32與該第一側邊33界定出的角隅35。且該傾斜板3在該角隅35相對於其他部位處於一最低點的一傾斜位置。The sloping plate 3 has a top edge 31 adjacent to the output end 131, a bottom edge 32 opposite to the top edge 31 and away from the output end 131, and a connection between the top edge 31 and the bottom edge 32. The first side 33, a second side 34 connected between the top edge 31 and the bottom edge 32, and a corner 35 defined by the bottom edge 32 and the first side edge 33. And the inclined plate 3 is at an inclined position of the corner point 35 at a lowest point with respect to other portions.
該等滾動件4沿著該傾斜板3的傾斜方向彼此相間隔排列用以供該工件9接觸，使得該工件9能沿著該等滾動件4朝向該角隅35方向滑移。於本實施例中，各該滾動件4舉例為一透過線接觸方式與該工件9接觸的輥，藉此能減少該工件9與該等滾動件4的接觸面積，以降低該工件9與各滾動件4之間的摩擦力。藉由滾動件4為輥的設計方式，除了能降低工件9在滑動過程中因摩擦力過大而受損之外，還能進一步讓該工件9可快速滑移至定位。當然，除了輥之外，在本實施例的其他實施方式中，該等滾動件4也可以是透過點接觸方式與該工件9接觸的滾珠。The rolling members 4 are arranged spaced apart from each other along the inclined direction of the inclined plate 3 for the workpiece 9 to be contacted so that the workpiece 9 can slide along the rolling members 4 in the direction of the corners 35. In the present embodiment, each of the rolling members 4 is exemplified by a roller that is in contact with the workpiece 9 through a line contact manner, thereby reducing the contact area between the workpiece 9 and the rolling members 4, thereby reducing the workpiece 9 and each The friction between the rolling elements 4. By designing the roller 4 as a roller, in addition to reducing the damage of the workpiece 9 due to excessive friction during sliding, the workpiece 9 can be further smoothly slid to the position. Of course, in addition to the rollers, in other embodiments of the embodiment, the rolling members 4 may also be balls that are in contact with the workpiece 9 by point contact.
該擋止單元5具有一由該底邊32向上延伸的下擋止板51、一由該第一側邊33向上延伸並銜接該下擋止板51一側的第一側擋板52，及一由該第二側邊34向上延伸並銜接該下擋止板51另一側的第二側擋板53。其中，各該滾動件4兩端分別樞接於該第一側擋板52及該第二側擋板53。於本實施例中，該下擋止板51、該第一側擋板52及該第二側擋板53用以擋止該工件9在該等滾動件4上滑移的過程中滑移出傾斜板3外側，且該下擋止板51與該第一側擋板52相配合用以擋止該工件9並使其定位在一位於該角隅35處的定位位置。The stop unit 5 has a lower stop plate 51 extending upward from the bottom edge 32, a first side baffle 52 extending upward from the first side edge 33 and engaging the side of the lower stop plate 51, and A second side baffle 53 extending upwardly from the second side 34 and engaging the other side of the lower stop plate 51. Each of the two rolling elements 4 is pivotally connected to the first side baffle 52 and the second side baffle 53 respectively. In the embodiment, the lower stop plate 51, the first side baffle 52 and the second side baffle 53 are used to block the workpiece 9 from slipping out during the sliding of the rolling elements 4. The outer side of the inclined plate 3, and the lower stop plate 51 cooperates with the first side baffle 52 to block the workpiece 9 and position it at a positioning position at the corner turn 35.
於本實施例中，該感測器6舉例為一種紅外線感測器，且該感測器6電連接該輸送裝置1之該控制模組12。該感測器6之一發射部61設置於該第二側擋板53靠近該下擋止板51處，以及該感測器6之一接收部62設置於該第一側擋板52靠近該下擋止板51處，而且該感測器6之該發射部61朝該接收部62發射一紅外線。其中，該紅外線移動路徑將穿過該定位位置。In the embodiment, the sensor 6 is exemplified by an infrared sensor, and the sensor 6 is electrically connected to the control module 12 of the conveying device 1 . One of the sensors 6 is disposed on the second side baffle 53 adjacent to the lower stop plate 51, and one of the sensors 6 is disposed on the first side baffle 52. At the lower stop plate 51, the emitting portion 61 of the sensor 6 emits an infrared ray toward the receiving portion 62. Wherein, the infrared moving path will pass through the positioning position.
以下配合圖3和圖4說明該支撐機構7，該支撐機構7具有一底座71、一固定於該底座71頂面的第一直桿72、一連接於該第一直桿72的第一滑動組73、一穿設於該第一滑動組73的橫桿75、一連接於該橫桿75的第二滑動組76、一穿設於該第二滑動組76的第二直桿78、一設置於該第二直桿78的樞接件79，及一穿設於該第二直桿78及該樞接件79的樞軸81。The supporting mechanism 7 is described below with reference to FIG. 3 and FIG. 4 . The supporting mechanism 7 has a base 71 , a first straight rod 72 fixed to the top surface of the base 71 , and a first sliding joint connected to the first straight rod 72 . a group 73, a crossbar 75 disposed on the first sliding group 73, a second sliding group 76 connected to the crossbar 75, and a second straight rod 78 disposed in the second sliding group 76. The pivoting member 79 is disposed on the second straight rod 78 and the pivoting shaft 81 is disposed on the second straight rod 78 and the pivoting member 79.
該第一直桿72沿一縱方向Z延伸。該第一滑動組73具有一第一滑塊731，及二第一固定件732。該第一滑塊731的兩相反端分別具有二第一夾制臂733及二第二夾制臂734。The first straight rod 72 extends in a longitudinal direction Z. The first sliding group 73 has a first slider 731 and two first fixing members 732. The opposite ends of the first slider 731 have two first clamping arms 733 and two second clamping arms 734, respectively.
二第一夾制臂733沿一垂直於縱方向Z的橫方向X相間隔。各該第一夾制臂733形成有一第一螺孔735，該等第一螺孔735沿橫方向X延伸。二第一夾制臂733共同界定一沿縱方向Z延伸並供該第一直桿72穿設的第一套孔736，及一沿縱方向Z延伸並與第一套孔736相連通的第一開口737。其中，該第一開口737位於該等第一螺孔735間，且連通該等第一螺孔735。藉由第一套孔736供該第一直桿72穿設，以及該第一滑塊731可沿縱方向Z相對於該第一直桿72移動，藉此，能調整該第一滑塊731在該第一直桿72上的高度位置。此外，該第一滑塊731還可繞該第一直桿72轉動以調整角度位置。The two first clamping arms 733 are spaced apart in a transverse direction X perpendicular to the longitudinal direction Z. Each of the first clamping arms 733 is formed with a first screw hole 735 extending in the lateral direction X. The first clamping arms 733 collectively define a first sleeve hole 736 extending in the longitudinal direction Z and extending through the first straight rod 72, and a first portion extending in the longitudinal direction Z and communicating with the first sleeve hole 736. An opening 737. The first opening 737 is located between the first screw holes 735 and communicates with the first screw holes 735. The first straight rod 72 is passed through the first set of holes 736, and the first slider 731 is movable relative to the first straight rod 72 in the longitudinal direction Z, whereby the first slider 731 can be adjusted. The height position on the first straight rod 72. In addition, the first slider 731 can also rotate about the first straight rod 72 to adjust the angular position.
二第二夾制臂734沿縱方向Z相間隔。各該第二夾制臂734形成有一第二螺孔738，該等第二螺孔738沿縱方向Z延伸。二第二夾制臂734共同界定一沿橫方向X延伸並供橫桿75穿設的第二套孔739，及一沿橫方向X延伸並與第二套孔739相連通的第二開口741。其中，該第二開口741位於該等第二螺孔738間，且連通該等第二螺孔738。藉由該第二套孔739供橫桿75穿設，以及橫桿75可沿橫方向X相對於該第一滑塊731移動，藉此，能調整橫桿75在該第一滑塊731上的橫向位置。此外，該橫桿75能相對於該第一滑塊731轉動以調整轉動角度。The second clamping arms 734 are spaced apart in the longitudinal direction Z. Each of the second clamping arms 734 is formed with a second screw hole 738 extending in the longitudinal direction Z. The second clamping arms 734 collectively define a second sleeve hole 739 extending in the lateral direction X and extending through the cross bar 75, and a second opening 741 extending in the lateral direction X and communicating with the second sleeve hole 739. . The second opening 741 is located between the second screw holes 738 and communicates with the second screw holes 738. The second set of holes 739 are provided for the cross bar 75, and the cross bar 75 is movable relative to the first slider 731 in the lateral direction X, whereby the cross bar 75 can be adjusted on the first slider 731. The lateral position. Further, the crossbar 75 is rotatable relative to the first slider 731 to adjust the angle of rotation.
該等第一固定件732於本實施例中舉例為螺絲，而其中之一第一固定件732螺鎖於該等第一螺孔735，其中另一第一固定件732螺鎖於該等第二螺孔739。舉例而言，當其中之一第一固定件732在該等第一螺孔735內旋鬆時，二第一夾制臂733相互遠離，且各該第一夾制臂733內臂面脫離該第一直桿72，藉此該第一滑動組73能相對於該第一直桿72上下調整高度。反之，當該第一固定件732旋緊時，二第一夾制臂733相互靠近且該等第一夾制臂733內臂共同夾制該第一直桿72，使該第一滑動組73固定於該第一直桿72上的一高度位置。當其中另一第一固定件732在該等第二套孔739內旋鬆時，二第二夾制臂734相互遠離，且各該第二夾制臂734內臂面脫離該橫桿75，藉此該橫桿75能相對於該第一滑塊731調整橫向位置。反之，當第一固定件732旋緊時，二第二夾制臂734相互靠近且該等第二夾制臂734內臂共同夾制該橫桿75，使該橫桿75固定於該第一滑塊731上的一橫向位置。The first fixing member 732 is exemplified as a screw in the embodiment, and one of the first fixing members 732 is screwed to the first screw holes 735, and the other first fixing member 732 is screwed to the first portion. Two screw holes 739. For example, when one of the first fixing members 732 is loosened in the first screw holes 735, the two first clamping arms 733 are away from each other, and the inner arm surfaces of the first clamping arms 733 are separated from the arm. The first straight rod 72, whereby the first sliding group 73 can adjust the height up and down with respect to the first straight rod 72. On the other hand, when the first fixing member 732 is tightened, the two first clamping arms 733 are close to each other, and the inner arms of the first clamping arms 733 jointly clamp the first straight rod 72, so that the first sliding group 73 is Fixed to a height position on the first straight rod 72. When the other first fixing member 732 is unscrewed in the second sleeve holes 739, the second clamping arms 734 are away from each other, and the inner arm surfaces of the second clamping arms 734 are separated from the cross bar 75. Thereby, the crossbar 75 can adjust the lateral position with respect to the first slider 731. On the other hand, when the first fixing member 732 is screwed, the two second clamping arms 734 are close to each other, and the inner arms of the second clamping arms 734 jointly clamp the cross bar 75 to fix the cross bar 75 to the first A lateral position on the slider 731.
該第二滑動組76具有一第二滑塊761，及二第二固定件762。該第二滑塊761的兩相反端分別具有二第三夾制臂763，及二第四夾制臂764。The second sliding group 76 has a second slider 761 and two second fixing members 762. The opposite ends of the second slider 761 have two third clamping arms 763 and two fourth clamping arms 764, respectively.
二第三夾制臂763沿縱方向Z相間隔。各該第三夾制臂763形成有一第三螺孔765，該等第三螺孔765沿縱方向Z延伸。二第三夾制臂763共同界定一沿橫方向X延伸並供該橫桿75穿設的第三套孔766，及一沿橫方向X延伸並與第三套孔766相連通的第三開口767。其中，該第三開口767位於該等第三螺孔765間，且連通該等第三螺孔765。藉由第三套孔766連接於該橫桿75，以及該第二滑塊761可沿橫方向X相對於該橫桿75移動，藉此，能調整第二滑塊761在該橫桿75上的橫向位置。此外，該第二滑塊761能相對於該橫桿75轉動以調整轉動角度。The second clamping arms 763 are spaced apart in the longitudinal direction Z. Each of the third clamping arms 763 is formed with a third screw hole 765 extending in the longitudinal direction Z. The second clamping arms 763 collectively define a third set of holes 766 extending in the lateral direction X and extending through the cross bar 75, and a third opening extending in the lateral direction X and communicating with the third set of holes 766 767. The third opening 767 is located between the third screw holes 765 and communicates with the third screw holes 765. The crossbar 75 is coupled to the crossbar 75 by a third set of holes 766, and the second slider 761 is movable relative to the crossbar 75 in the lateral direction X, whereby the second slider 761 can be adjusted on the crossbar 75 The lateral position. Further, the second slider 761 is rotatable relative to the crossbar 75 to adjust the angle of rotation.
二第四夾制臂764沿一垂直於縱方向Z的橫方向X相間隔。各該第四夾制臂764形成有一第四螺孔768，該第四螺孔768沿橫方向X延伸。二第四夾制臂764共同界定一沿縱方向Z延伸並供該第二直桿78穿設的第四套孔769，及一沿縱方向Z延伸並與第四套孔769相連通的第四開口771。其中，該第四開口771位於該等第四螺孔768間，且連通該等第四螺孔768。藉由該第四套孔769供該第二直桿78穿設，以及該第二滑塊761可沿縱方向Z相對於該第二直桿78移動，藉此，能調整該第二滑塊761在該第二直桿78上的高度位置。此外，該第二滑塊761還可繞第二直桿78轉動以調整角度位置。The second fourth clamping arms 764 are spaced apart in a transverse direction X perpendicular to the longitudinal direction Z. Each of the fourth clamping arms 764 is formed with a fourth screw hole 768 extending in the lateral direction X. The second fourth clamping arms 764 collectively define a fourth set of holes 769 extending in the longitudinal direction Z for the second straight rods 78, and a first extending in the longitudinal direction Z and communicating with the fourth set of holes 769 Four openings 771. The fourth opening 771 is located between the fourth screw holes 768 and communicates with the fourth screw holes 768. The second straight rod 78 is pierced by the fourth set of holes 769, and the second slider 761 is movable relative to the second straight rod 78 in the longitudinal direction Z, whereby the second slider can be adjusted The height position of the 761 on the second straight rod 78. In addition, the second slider 761 can also be rotated about the second straight rod 78 to adjust the angular position.
該等第二固定件762於本實施例中舉例為螺絲，且作動方式與該等第一固定件732相同，因此，不再贅述。The second fixing members 762 are exemplified as screws in the embodiment, and are operated in the same manner as the first fixing members 732, and therefore will not be described again.
該第二直桿78遠離底座71之一端形成有一穿孔781，該穿孔781的延伸方向分別垂直於該縱方向Z和該橫方向X。The second straight rod 78 is formed at a distal end of the base 71 to form a through hole 781. The extending direction of the through hole 781 is perpendicular to the longitudinal direction Z and the lateral direction X, respectively.
該樞接件79具有一供該傾斜板3設置的連接板791，及一凸設於連接板791一側的樞接板792。樞接板792抵靠於該第二直桿78的一側邊。其中，該樞接板792具有一對應於該穿孔781的通孔793。於本實施例中，該連接板791可透過例如螺鎖或銲接方式固定於該傾斜板3底面。The pivoting member 79 has a connecting plate 791 for the inclined plate 3 and a pivoting plate 792 protruding from one side of the connecting plate 791. The pivoting plate 792 abuts against one side of the second straight rod 78. The pivoting plate 792 has a through hole 793 corresponding to the through hole 781. In this embodiment, the connecting plate 791 can be fixed to the bottom surface of the inclined plate 3 by, for example, screwing or welding.
該樞軸81穿設於該第二直桿78之該穿孔781和該樞接件79之該通孔793，且該樞軸81的軸向垂直於該橫方向X與該縱方向Z，藉此，該樞接件79可轉動地樞接於該樞軸81，且該樞接件79可繞該樞軸81相對於該第二直桿78轉動。藉由該第一滑塊731可繞該第一直桿72轉動、該橫桿75能相對於該第一滑塊731轉動、該第二滑塊761可繞該橫桿75轉動、該第二直桿78可繞該第二滑塊761轉動，以及該樞接件79可繞樞軸81相對於該第二直桿78轉動的設計方式，使得該傾斜板3能透過該支撐機構7進行傾斜角度的調整。The pivot 81 is disposed in the through hole 781 of the second straight rod 78 and the through hole 793 of the pivoting member 79, and the axial direction of the pivot 81 is perpendicular to the transverse direction X and the longitudinal direction Z. The pivoting member 79 is rotatably pivoted to the pivot shaft 81, and the pivoting member 79 is rotatable relative to the second straight rod 78 about the pivot shaft 81. By the first slider 731 being rotatable about the first straight rod 72, the crossbar 75 being rotatable relative to the first slider 731, the second slider 761 being rotatable about the crossbar 75, the second The straight rod 78 is rotatable about the second slider 761, and the pivoting member 79 is rotatable relative to the second straight rod 78 so that the inclined plate 3 can be tilted through the support mechanism 7. Angle adjustment.
以下配合圖5至圖6說明該自動定位設備運作流程，首先，該輸送裝置1之該輸送件13上將多數個彼此前後間隔置放的工件9朝輸出端131方向移動，當該等工件9其中之一移動至該定位裝置1之該等滾動件4時，不管該工件9是由靠近該第二側擋板53或是靠近第一側擋板52的地方進入，最終該工件9都將受重力牽引並沿著該等滾動件4朝向該角隅35方向滑移，且隨著該工件9受該下擋止板51和該第一側擋板52的阻擋而無法繼續下滑時即代表到達該定位位置。同一時刻，該感測器6的發射部61(如圖3)發出的紅外線受到該工件9的遮斷而使感測器6的接收部62(如圖3)無法接收到紅外線，此時，該感測器6產生一感測訊號並將其立即發送至該控制模組11，使該控制模組11接收到該感測訊號時即控制該驅動模組12停止驅動該輸送件13，使該輸送件13停止運轉。此時，機械手臂便能將位在該定位位置的工件9取出。該工件9被該機械手臂取出後，讓該感測器6之接收部62接收到發射部61發出的紅外線，此時，該控制模組11控制驅動模組12重新驅動該輸送件13，輸送件13才會再繼續運轉以帶動下一個工件9進入至該定位裝置2。如此一來，便可避免位於該定位裝置2的工件與下一個工件9發生碰撞而造成損傷之情況。The operation flow of the automatic positioning device will be described below with reference to FIG. 5 to FIG. 6. First, the conveying member 13 of the conveying device 1 moves a plurality of workpieces 9 spaced apart from each other in the direction of the output end 131, when the workpieces 9 are moved. When one of the workpieces is moved to the rolling elements 4 of the positioning device 1, the workpiece 9 will eventually enter regardless of whether the workpiece 9 is approached by the second side fence 53 or close to the first side fence 52. Being pulled by gravity and sliding along the rolling elements 4 in the direction of the corners 35, and when the workpiece 9 is prevented from continuing to slide by the lower stop plate 51 and the first side fence 52, Reach the location. At the same time, the infrared ray emitted from the emitting portion 61 (as shown in FIG. 3) of the sensor 6 is blocked by the workpiece 9 so that the receiving portion 62 of the sensor 6 (see FIG. 3) cannot receive infrared rays. The sensor 6 generates a sensing signal and immediately sends it to the control module 11 to control the driving module 12 to stop driving the conveying member 13 when the control module 11 receives the sensing signal. The conveying member 13 is stopped. At this time, the robot arm can take out the workpiece 9 positioned at the positioning position. After the workpiece 9 is taken out by the robot arm, the receiving portion 62 of the sensor 6 receives the infrared rays emitted from the emitting portion 61. At this time, the control module 11 controls the driving module 12 to re-drive the conveying member 13, and transports the workpiece. The piece 13 will continue to operate to drive the next workpiece 9 into the positioning device 2. In this way, it is possible to avoid a situation in which the workpiece located in the positioning device 2 collides with the next workpiece 9 to cause damage.
綜上所述，本發明自動定位設備藉由使該傾斜板3在該角隅35相對於其他部位處於該最低點的該傾斜位置，並採用較少接觸面積的滾動件4，使該工件9可快速定位並能降低工件9在滑動過程中因摩擦力過大而受損。另方面，也因為該等工件9都可定位至該定位位置，藉此提升該機械手臂的夾取效率並降低生產成本。再方面，藉由感測器6的監控與該輸送裝置1的運轉切換，進一步使該等工件9受損的機率降低。又一方面，透過結構簡單的該傾斜板3與該等滾動件4相互結合，不僅易於組裝且維修便利，故確實能達成本發明之目的。In summary, the automatic positioning device of the present invention causes the workpiece 9 to be at the inclined position of the corner plate 35 at the lowest point relative to the other portion, and the rolling member 4 having a smaller contact area is used. It can be quickly positioned and can reduce the damage of the workpiece 9 due to excessive friction during sliding. On the other hand, also because the workpieces 9 can be positioned to the positioning position, thereby improving the gripping efficiency of the robot arm and reducing the production cost. On the other hand, the probability of damage to the workpieces 9 is further reduced by the monitoring of the sensor 6 and the switching of the operation of the transport device 1. On the other hand, the sloping plate 3 having a simple structure and the rolling elements 4 are coupled to each other, which is not only easy to assemble but also convenient to maintain, so that the object of the present invention can be achieved.
惟以上所述者，僅為本發明之實施例而已，當不能以此限定本發明實施之範圍，凡是依本發明申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.
1‧‧‧輸送裝置1‧‧‧ delivery device
11‧‧‧控制模組11‧‧‧Control module
12‧‧‧驅動模組12‧‧‧Drive Module
13‧‧‧輸送件13‧‧‧Transport
131‧‧‧輸出端131‧‧‧output
2‧‧‧定位裝置2‧‧‧ Positioning device
3‧‧‧傾斜板3‧‧‧ sloping plate
31‧‧‧頂邊31‧‧‧ top side
32‧‧‧底邊32‧‧‧Bottom
33‧‧‧第一側邊33‧‧‧ first side
34‧‧‧第二側邊34‧‧‧Second side
35‧‧‧角隅35‧‧‧Corner
4‧‧‧滾動件4‧‧‧Rolling parts
5‧‧‧擋止單元5‧‧‧stop unit
51‧‧‧下擋止板51‧‧‧ Lower stop plate
52‧‧‧第一側擋板52‧‧‧First side baffle
53‧‧‧第二側擋板53‧‧‧Second side baffle
6‧‧‧感測器6‧‧‧ sensor
61‧‧‧發射部61‧‧‧ Launching Department
62‧‧‧接收部62‧‧‧ Receiving Department
7‧‧‧支撐機構7‧‧‧Support institutions
71‧‧‧底座71‧‧‧Base
72‧‧‧第一直桿72‧‧‧first straight rod
73‧‧‧第一滑動組73‧‧‧First sliding group
731‧‧‧第一滑塊731‧‧‧First slider
732‧‧‧第一固定件732‧‧‧First fixture
733‧‧‧第一夾制臂733‧‧‧First clamping arm
734‧‧‧第二夾制臂734‧‧‧Second clamping arm
735‧‧‧第一螺孔735‧‧‧First screw hole
736‧‧‧第一套孔736‧‧‧First set of holes
737‧‧‧第一開口737‧‧‧ first opening
738‧‧‧第二螺孔738‧‧‧Second screw hole
739‧‧‧第二套孔739‧‧‧Second set of holes
741‧‧‧第二開口741‧‧‧ second opening
75‧‧‧橫桿75‧‧‧crossbar
76‧‧‧第二滑動組76‧‧‧Second sliding group
761‧‧‧第二滑塊761‧‧‧second slider
762‧‧‧第二固定件762‧‧‧Second fixture
763‧‧‧第三夾制臂763‧‧‧third clamping arm
764‧‧‧第四夾制臂764‧‧‧4th clamping arm
765‧‧‧第三螺孔765‧‧‧ third screw hole
766‧‧‧第三套孔766‧‧‧ third set of holes
767‧‧‧第三開口767‧‧‧ third opening
768‧‧‧第四螺孔768‧‧‧4th screw hole
769‧‧‧第四套孔769‧‧‧4th hole
771‧‧‧第四開口771‧‧‧fourth opening
78‧‧‧第二直桿78‧‧‧Second straight
781‧‧‧穿孔781‧‧‧Perforation
79‧‧‧樞接件79‧‧‧ pivotal parts
791‧‧‧連接板791‧‧‧Connecting plate
792‧‧‧樞接板792‧‧‧ pivot board
793‧‧‧通孔793‧‧‧through hole
81‧‧‧樞軸81‧‧‧ pivot
9‧‧‧工件9‧‧‧Workpiece
本發明之其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中： 圖1是本發明自動定位設備的一實施例的一立體圖，用於說明輸送裝置和定位裝置之間的位置關係； 圖2是該實施例的定位裝置的一立體圖，說明該傾斜板與該支撐機構的位置關係； 圖3是該實施例的定位裝置的一局部立體分解圖，說明定位裝置的細部元件； 圖4是該實施例的定位裝置的支撐機構的立體分解圖，說明支撐機構的細部元件；及 圖5至圖6是該實施例的運作流程圖。Other features and advantages of the present invention will be apparent from the embodiments of the present invention, wherein: Figure 1 is a perspective view of an embodiment of the automatic positioning apparatus of the present invention for illustrating between the delivery device and the positioning device Figure 2 is a perspective view of the positioning device of the embodiment, illustrating the positional relationship between the inclined plate and the supporting mechanism; Figure 3 is a partial exploded perspective view of the positioning device of the embodiment, illustrating the details of the positioning device 4 is an exploded perspective view of the support mechanism of the positioning device of the embodiment, illustrating the detailed components of the support mechanism; and FIGS. 5 to 6 are operational flowcharts of the embodiment.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106130571A TW201912543A (en) | 2017-09-07 | 2017-09-07 | Automatic positioning apparatus and positioning device thereof which can fast position the workpiece and reduce the damage of workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106130571A TW201912543A (en) | 2017-09-07 | 2017-09-07 | Automatic positioning apparatus and positioning device thereof which can fast position the workpiece and reduce the damage of workpiece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW201912543A true TW201912543A (en) | 2019-04-01 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW106130571A TW201912543A (en) | 2017-09-07 | 2017-09-07 | Automatic positioning apparatus and positioning device thereof which can fast position the workpiece and reduce the damage of workpiece |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TW201912543A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116859320A (en) * | 2023-08-04 | 2023-10-10 | 无锡市恒通电器有限公司 | Test fixture device that three-phase intelligent ammeter performance was used |
-
2017
- 2017-09-07 TW TW106130571A patent/TW201912543A/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116859320A (en) * | 2023-08-04 | 2023-10-10 | 无锡市恒通电器有限公司 | Test fixture device that three-phase intelligent ammeter performance was used |
| CN116859320B (en) * | 2023-08-04 | 2023-11-28 | 无锡市恒通电器有限公司 | Test fixture device that three-phase intelligent ammeter performance was used |
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