CN109319477B - Lifting type high-speed material taking and discharging platform and working method - Google Patents
Lifting type high-speed material taking and discharging platform and working method Download PDFInfo
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- CN109319477B CN109319477B CN201811200430.2A CN201811200430A CN109319477B CN 109319477 B CN109319477 B CN 109319477B CN 201811200430 A CN201811200430 A CN 201811200430A CN 109319477 B CN109319477 B CN 109319477B
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000007599 discharging Methods 0.000 title abstract description 31
- 238000004519 manufacturing process Methods 0.000 claims abstract description 26
- 230000002950 deficient Effects 0.000 claims abstract description 5
- 208000026817 47,XYY syndrome Diseases 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a lifting type high-speed material taking and placing platform which comprises a production line and a lifting platform arranged above the production line, wherein a material taking and placing module capable of transversely moving along the production line is arranged on the lifting platform, and a material placing and stacking module, a material tray station to be tested, a defective material tray station and a material collecting and stacking module are sequentially arranged on the production line. The invention provides a hoisting type high-speed material taking and discharging platform and a working method thereof. Meanwhile, the Y-axis motion module is subjected to structural innovation design, so that the structure is simplified, the parts are reduced, the weight is reduced, the material taking and discharging speed and precision are effectively improved, the stability and the actual production efficiency of the machine are greatly improved, the labor cost is saved, and the enterprise competitiveness is improved.
Description
Technical Field
The invention relates to the field of automatic material taking and discharging equipment, in particular to a hoisting type high-speed material taking and discharging platform and a working method.
Background
With the development of industrial automation, higher demands are put on the automation degree of equipment. At present, a large number of manipulators for automatically taking and placing materials are used for replacing manual operation on the automatic production lines of a plurality of factories in China, so that the labor intensity of human beings is reduced. However, due to the limitation of the conventional technology, on a production line requiring high-precision production, the existing material taking and discharging equipment has the defects that if precision is pursued, the speed is not high, and the production efficiency is affected; if the speed is increased, the accuracy is reduced, and the material can not be accurately taken and discharged, so that the failure rate of the production line is increased and the like.
The automatic material taking and discharging system is characterized in that an XY axis movement module moves in the X and Y directions and drives a ZU axis movement module to move in the Z and U directions, and material taking and discharging actions of a specified position are completed according to the position obtained by a vision system, so that the machine replaces a manual material taking and discharging function. In the prior art, the X-axis movement module is firstly arranged on a platform, and then the Y-axis movement module is fixed on the X-axis, so that after a suction nozzle sucks materials, the X-axis movement needs to drive the Y-axis integral structure to move to an appointed accurate area for placing the materials, and at the moment, the Y-axis has large weight due to the integral structure, if the movement is too fast, the vibration of the machine is large, and the precision is poor.
Disclosure of Invention
In order to solve the technical problems, the invention provides a hoisting type high-speed material taking and discharging platform and a working method thereof, so as to improve production efficiency.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a hoist and mount formula high-speed material platform of getting, includes the assembly line, sets up the hoist and mount platform in the assembly line top, be equipped with on the hoist and mount platform and get the module of putting along assembly line lateral shifting's material, set gradually on the assembly line and put material stack module, material tray station, the defective material tray station of awaiting measuring, receive material stack module, the material is got and is put the module and is included vision system, X axle electronic lead screw, two Y axle electronic lead screw, is connected the material taking head on two Y axle electronic lead screws, vision system is used for the material of awaiting measuring on the accurate location assembly line, and the material taking head is used for getting the material of putting.
Preferably, the material taking and placing module further comprises a frame, the frame is arranged at the bottom of the lifting platform and moves transversely along the assembly line through an X-axis electric screw rod, the double Y-axis electric screw rod is arranged on the frame, a movable shaft sliding seat is arranged on the double Y-axis electric screw rod, and the material taking head is arranged on the double Y-axis electric screw rod through the shaft sliding seat.
Preferably, three groups of material taking heads are arranged on the shaft sliding seat in parallel.
Preferably, the discharging stacking module comprises vertical flange strips arranged at four corners, a discharging area jacking cylinder arranged at the bottom, discharging area clamping cylinders distributed at two ends and discharging area clamping blocks, and a material taking disc door is arranged on two vertical flange strips positioned at one side of the discharging stacking module.
Preferably, the station of the material tray to be tested comprises a clamping cylinder of a zone to be tested, clamping blocks of the zone to be tested and jacking cylinders of the zone to be tested, wherein the clamping cylinders of the zone to be tested and the jacking cylinders of the zone to be tested are arranged at the left end and the right end of the station.
Preferably, the material receiving and stacking module comprises vertical baffle strips arranged at four corners, a material receiving area jacking cylinder arranged at the bottom and two spring material tray clamping blocks distributed on a production line.
Preferably, the vision system comprises a top vision system arranged on a double Y-axis electric screw rod and a bottom vision system fixed below the hoisting platform.
Preferably, the material taking head comprises a driving cylinder arranged at the top, a guide rod arranged on the cylinder and a suction nozzle fixedly connected at the bottom of the guide rod.
A working method of a hoisting type high-speed material taking and placing platform comprises the following steps:
step a, a material tray in a material placing stacking module is moved to a material tray station to be tested by a production line and clamped;
b, moving the material taking and placing module to the upper part of the material tray, photographing the material to be tested in the material tray by a top vision system positioned on the material taking and placing module, and calculating the position of the material to be tested;
step c, the material taking and placing module sucks the material to be measured in the material taking disc through the material taking head and moves the material to be measured to the position above a bottom vision system positioned below the hoisting platform, the bottom vision system photographs the material to be measured and calculates the position, and the angle of the material taking head rotating the material to be measured meets the angle requirement of a feeding position clamp;
step d, the positioning vision system photographs the material loading level and calculates the position, if the material loading is material-free, the material to be detected on the material taking head is directly placed on the material loading level, if the material loading level is material to be detected, the material to be detected is sucked by the other material taking head, and the material to be detected is placed on the material loading level for detection;
step c, according to the test result, the material taking head puts unqualified tested materials into a station of a defective material tray, and puts the qualified tested materials back into the material tray;
and d, after all the materials in the material tray are tested, the assembly line drives the material tray to the material receiving stack.
Preferably, when the trays are recycled into the material receiving stack, the material receiving area jacking cylinder jacks up the trays in the material bin, the tray spring clamping blocks support the bottom tray, the recycling trays are moved to the bottom of the bottom tray, and stacking of the trays is completed.
The beneficial effects of the invention are as follows:
1) The invention provides a lifting type high-speed material taking and discharging platform, which is characterized in that an X-axis movement module is lifted below a lifting platform, a Y-axis movement module is fixed below the X-axis movement module, and the influence of the dead weight of the Y-axis on the taking and discharging precision is reduced in a lifting mode. Meanwhile, the Y-axis motion module is subjected to structural innovation design, so that the structure is simplified, the parts are reduced, the weight is reduced, the material taking and discharging speed and precision are effectively improved, the stability and the actual production efficiency of a machine are greatly improved, the labor cost is saved, and the enterprise competitiveness is improved;
2) According to the invention, the assembly line transportation operation of the trays is realized by the jacking cylinder, so that the assembly line operation of stacking the trays is rapidly and accurately realized, the production efficiency is greatly improved, and the production cost is reduced.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is an overall structural view of a preferred embodiment of the present invention;
FIG. 2 is a front view of a lifting platform of a preferred embodiment of the present invention;
FIG. 3 is a bottom view of a lifting platform of a preferred embodiment of the present invention;
FIG. 4 is a front view of a pipeline of a preferred embodiment of the present invention;
fig. 5 is an isometric view of a pipeline of a preferred embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the concept, specific structure and technical effects thereof will be clearly and completely described below in connection with the embodiments and the drawings so as to fully understand the objects, features and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention.
Referring to fig. 1 to 5 together, the lifting type high-speed material taking and discharging platform is a preferred embodiment, and comprises a workbench 3 and a production line 2 arranged on the workbench 3, wherein a material discharging stack module, a material tray station to be tested, an inferior material tray station and a material collecting stack module are sequentially arranged on the production line 2. The assembly line 2 top is equipped with hoisting platform 1, and hoisting platform 1 fixed mounting is on workstation 3, is equipped with on the hoisting platform 1 and gets the material of can following assembly line 2 top translation and put the module, and assembly line 2 is used for transporting the charging tray that awaits measuring, and the material is got and is put the module and be used for getting the material of putting on assembly line 2. The assembly line 2 can drive the material tray to move through a belt and belt pulley structure.
With further reference to fig. 1 to 3, the material taking and placing module comprises an X-axis electric screw 17 fixedly connected to the bottom of the hoisting platform 1, a double-Y-axis electric screw 14, and a material taking head 15 connected to the double-Y-axis electric screw 14, wherein a frame 11 capable of transversely moving along the assembly line 2 is installed on the X-axis electric screw 17, the double-Y-axis electric screw 14 comprises two ball screws, the two ball screws are respectively installed on two sides of the frame 11, a moving plate capable of moving on the hoisting platform 1 is arranged on one side of the frame 11, the frame 11 moves on the moving plate along the Y-axis through the double-Y-axis electric screw 14, a shaft sliding seat 12 capable of moving along the frame 11 is arranged on the other side of the frame 11, and the material taking head 15 capable of moving up and down is arranged on the shaft sliding seat 12. The material taking head 15 comprises an air cylinder and a suction nozzle which are arranged on the shaft sliding seat 12, the air cylinder drives the suction nozzle to move up and down through a guide rod, and the suction nozzle is used for sucking materials. In the preferred embodiment, the X-axis electric screw 17 is a ball screw, and the X-axis electric screw 17 and the double Y-axis electric screw 14 are driven by motors. The material taking head 15 realizes double-shaft movement through an X-shaft electric screw rod 17 and a double Y-shaft electric screw rod 14.
With further reference to fig. 2, the material taking and placing module is provided with a vision system, the vision system comprises a top vision system 13 arranged at the top of the material taking and placing module and a bottom vision system 16 arranged at the bottom of the material taking and placing module, in the preferred embodiment, the top vision system 13 and the bottom vision system 16 are positioning cameras, the invention also comprises a control system arranged inside or outside the lifting type high-speed material taking device, the control system can be a computer, photographing data transmitted by the top vision system 13 and the top vision system 13 are analyzed through control software on the computer, and the material is accurately positioned.
With further reference to fig. 4 and 5, the station of the tray for materials to be tested includes clamping cylinders 30 and clamping blocks 29 for the areas to be tested, which are distributed on two sides of the production line 2, and a jacking cylinder 26 for the areas to be tested, which is located at the lower end of the production line 2. The to-be-measured area jacking cylinder 26 jacks up the to-be-measured material tray on the production line 2, and the to-be-measured area clamping cylinder 30 drives the to-be-measured area clamping block 29 to clamp the to-be-measured material tray, so that the to-be-measured material tray is fixed on a station of the to-be-measured material tray.
With further reference to fig. 4 and 5, the discharging stack module comprises vertical flange strips 21 arranged at four corners, a discharging bin surrounded by the vertical flange strips 21, four discharging area clamping blocks 25 and discharging area clamping cylinders 24 distributed on two sides of the discharging bin, and a discharging area jacking cylinder 23 positioned at the lower end of the receiving bin, wherein a detachable discharging tray door 28 is arranged on the vertical flange strips 21 on one side of the discharging stack module, and the discharging tray door 28 is used for placing a to-be-tested tray.
With further reference to fig. 4 and 5, the material receiving and stacking module comprises vertical flange strips 21 arranged at four corners, a material receiving bin surrounded by the vertical flange strips 21, spring material tray clamping blocks 22 distributed on two sides of the material receiving bin, and a material receiving area jacking cylinder 27 positioned at the lower end of the material receiving bin, wherein a detachable material receiving tray door 31 is arranged on the vertical flange strips 21 on one side of the material receiving and stacking module, and the material receiving tray door 31 is used for taking out a tested material tray.
In the specific implementation process, the specific working steps of the hoisting type material taking and placing platform are as follows:
1) The to-be-tested material trays in the discharging stacking module are conveyed to a to-be-tested material tray station through the assembly line 2, the to-be-tested area jacking cylinder 26 jacks up the to-be-tested material trays, and the to-be-tested area clamping cylinder 30 drives the clamping block to clamp the to-be-tested material trays, so that the to-be-tested material trays are fixed on the to-be-tested material tray station;
2) The material taking and placing module moves to the upper part of the material tray to be tested, and the top vision system 13 positioned on the material taking and placing module photographs the material to be tested on the material tray to be tested and records the position of the material to be tested;
3) The material taking and placing module sucks the material to be measured in the material taking disc through the material taking head 15 and moves the material to be measured to the position above the bottom vision system 16 positioned below the hoisting platform 1, the bottom vision system 16 shoots the material to be measured and calculates the position, and the material taking head 15 rotates the angle of the material to be measured to meet the angle requirement of the feeding position clamp;
4) The positioning vision system shoots the feeding level and calculates the position, if the feeding is no material, the material to be detected on the feeding head 15 is directly placed on the feeding level, if the feeding level is provided with the material to be detected, the other feeding head 15 sucks the material to be detected, and the material to be detected is placed on the feeding level for detection;
5) According to the test result, the unqualified tested materials are placed into a station of a defective material tray through the material taking head 15, and the qualified tested materials are placed back into the material tray;
6) After all the materials in the material trays are tested, the assembly line 2 drives the material trays to the material receiving stack, the material receiving area jacking cylinder 27 jacks up the material trays in the material receiving stack, the tested material trays on the assembly line 2 are placed at the bottom of the stack, and the material tray stacking in the material receiving stack is completed.
The present invention is not limited to the above embodiments, but is intended to be within the scope of the present invention as long as the technical effects of the present invention can be achieved by any same or similar means.
Claims (5)
1. The utility model provides a hoist and mount formula high-speed material taking and placing platform, its characterized in that, including assembly line, the hoist and mount platform of setting in the assembly line top, hoist and mount platform is last to be equipped with the material of following assembly line lateral shifting and get and put the module, material tray station, inferior product material tray station, the receipts material stack module of having set gradually on the assembly line, the material is got and is put the module and is included vision system, X axle electronic lead screw, two Y axle electronic lead screws, connect the material taking head on two Y axle electronic lead screws, vision system is used for accurate positioning assembly line, and the material taking head is used for getting and puts the material, the material is got and is put the module and still includes the frame, and the frame passes through movable plate slidable mounting in hoist and mount platform bottom, and the frame passes through X axle electronic lead screw and follows assembly line lateral shifting, two Y axle electronic lead screws are installed in the frame, the double Y-axis electric screw rod is provided with a movable shaft sliding seat, the material taking head is arranged on the double Y-axis electric screw rod through the shaft sliding seat, three groups of material taking heads are arranged on the shaft sliding seat in parallel, the material taking head comprises an air cylinder and a suction nozzle which are arranged on the shaft sliding seat, the air cylinder drives the suction nozzle to move up and down through a guide rod, the suction nozzle is used for sucking materials, the double Y-axis electric screw rod comprises two ball screws which are respectively arranged on two sides of a frame, one side of the frame is provided with a movable plate which can move on a hoisting platform, the shaft sliding seat moves on the frame along the Y axis through the double Y-axis electric screw rod, the other side of the frame is provided with a shaft sliding seat which can move along the frame, the shaft sliding seat is provided with the material taking head which can move up and down, the material placing stack module comprises a vertical flange strip arranged at four corners, a material placing area jacking air cylinder arranged at the bottom, a material placing area clamping air cylinder distributed at two ends and a material placing area clamping block, the material taking disc door is arranged on two vertical baffle strips positioned on one side of the material taking stacking module, the material taking disc station comprises a to-be-measured area clamping cylinder and a to-be-measured area clamping block which are arranged at the left end and the right end, and a to-be-measured area jacking cylinder arranged at the bottom, the material taking stacking module comprises vertical baffle strips arranged at the four corners, a material taking area jacking cylinder arranged at the bottom, and two spring material taking disc clamping blocks distributed on two sides of the production line, the material taking disc station comprises a to-be-measured area clamping cylinder and a to-be-measured area clamping block distributed on two sides of the production line, and a to-be-measured area jacking cylinder positioned at the lower end of the production line, and the to-be-measured area clamping cylinder drives the to-be-measured area clamping block to clamp the to-be-measured material taking disc on the production line, so that the to-be-measured material taking disc is fixed on the material taking disc station.
2. The lifting high-speed pick-and-place platform according to claim 1, wherein the vision system comprises a top vision system arranged on a double-Y-axis electric screw rod and a bottom vision system fixed below the lifting platform.
3. The lifting type high-speed material taking and placing platform according to claim 1, wherein the material taking head comprises a driving cylinder arranged at the top, a guide rod arranged on the cylinder, and a suction nozzle fixedly connected to the bottom of the guide rod.
4. The working method of the hoisting type high-speed material taking and placing platform is characterized by being applied to the hoisting type high-speed material taking and placing platform as claimed in claim 2, and comprises the following steps:
step a, a material tray in a material placing stacking module is moved to a material tray station to be tested by a production line and clamped;
b, moving the material taking and placing module to the upper part of the material tray, photographing the material to be tested in the material tray by a top vision system positioned on the material taking and placing module, and calculating the position of the material to be tested;
step c, the material taking and placing module sucks the material to be measured in the material taking disc through the material taking head and moves the material to be measured to the position above a bottom vision system positioned below the hoisting platform, the bottom vision system photographs the material to be measured and calculates the position, and the angle of the material taking head rotating the material to be measured meets the angle requirement of a feeding position clamp;
step d, the positioning vision system photographs the material loading level and calculates the position, if the material loading is material-free, the material to be detected on the material taking head is directly placed on the material loading level, if the material loading level is material to be detected, the material to be detected is sucked by the other material taking head, and the material to be detected is placed on the material loading level for detection;
step c, according to the test result, the material taking head puts unqualified tested materials into a station of a defective material tray, and puts the qualified tested materials back into the material tray;
and d, after all the materials in the material tray are tested, the assembly line drives the material tray to the material receiving stack.
5. The working method of the lifting type high-speed material taking and placing platform according to claim 4, wherein when the material trays are recycled into a material receiving stack, a material tray in a material bin is jacked by a jacking cylinder of a material receiving area, a bottom material tray is supported by a clamping block of the spring material tray, and the recycling material tray is moved to the bottom of the bottom material tray to complete stacking of the material trays.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200430.2A CN109319477B (en) | 2018-10-16 | 2018-10-16 | Lifting type high-speed material taking and discharging platform and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811200430.2A CN109319477B (en) | 2018-10-16 | 2018-10-16 | Lifting type high-speed material taking and discharging platform and working method |
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| Publication Number | Publication Date |
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| CN109319477A CN109319477A (en) | 2019-02-12 |
| CN109319477B true CN109319477B (en) | 2023-12-12 |
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| CN110406924B (en) * | 2019-07-29 | 2024-06-25 | 博众精工科技股份有限公司 | Two-way transmission type assembly line |
| CN112827851A (en) * | 2021-01-26 | 2021-05-25 | 东莞市磐锐机电科技有限公司 | Sorting and arranging machine with automatic feeding and discharging functions |
| CN115610998A (en) * | 2022-11-14 | 2023-01-17 | 宁波九纵智能科技有限公司 | A fingerprint module detection system and its transmission mechanism |
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| CN209337611U (en) * | 2018-10-16 | 2019-09-03 | 珠海市广浩捷精密机械有限公司 | A kind of lift-on/lift-off type high speed pick-and-place material platform |
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| CN109319477A (en) | 2019-02-12 |
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