A delivery device and a control method for a delivery device
By introducing a frame, stator guide rail, transfer module, and sensor system into the conveying device, the problem of insufficient positioning accuracy in the existing technology is solved, and efficient and high-speed material transfer and positioning are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI TOFFLON SCI & TECH CO LTD
- Filing Date
- 2023-12-28
- Publication Date
- 2026-06-09
AI Technical Summary
Existing conveying devices cannot meet the requirements for high positioning accuracy, especially for material transfer between multiple fixed workstations.
It adopts a combination of frame, stator guide rail, transfer module, multiple sensors and control system. The sensor obtains the initial position and displacement increment signal, controls the directional movement and anti-collision operation of the transfer module, and realizes high-precision material clamping and transportation.
It enables efficient and high-speed material transfer between multiple fixed workstations, improving work efficiency and positioning accuracy.
Smart Images
Figure CN117699373B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of material conveying, and in particular to a conveying device and a control method for the conveying device. Background Technology
[0002] Existing conveying devices are typically used for transferring products between conveyor belts, and cannot solve the problem of fixed-point conveying. While some existing technologies use synchronous belt drives for material transport, the transfer accuracy of synchronous belt drives cannot meet the requirements for high positioning accuracy.
[0003] Therefore, it is urgent to propose a conveying device and a control method for the conveying device to solve the above problems. Summary of the Invention
[0004] The purpose of this invention is to provide a conveying device and a control method for the conveying device, which can transfer materials between multiple fixed workstations, has high operating speed and high positioning accuracy, and improves work efficiency.
[0005] To solve the above-mentioned technical problems, the present invention provides a conveying device, including a frame, a stator guide rail, a control system, multiple transfer modules, multiple first sensors and multiple third sensors;
[0006] The stator guide rail is mounted on the frame; the transfer module is slidably mounted on the stator guide rail for clamping and three-axis transport of the workpiece; both the transfer module and the first sensor are mounted on the frame; the first sensor is positioned between two adjacent transfer modules to obtain an initial position signal characterizing one of the transfer modules and transmit the initial position signal to the control system; a third sensor is arranged on each transfer module to characterize the displacement increment signal of the transfer module and transmit the displacement increment signal to the control system.
[0007] The transfer module is connected to the control system via a signal; the control system is used to control the directional movement of the transfer module, and controls the transfer module to clamp and transport the workpiece based on the initial position signal from a first sensor corresponding to one of the transfer modules and the displacement increment signal from a third sensor corresponding to the same module.
[0008] Furthermore, it also includes multiple second sensors installed on the transfer module; the second sensors are connected to the control system and are used to perform anti-collision operations on the transfer module, obtain anti-collision signals characterizing the transfer module, and transmit them to the control system; the second sensors are also used to automatically set the initial position of the transfer module. When automatically setting the initial position of the transfer module, if the movement direction of the transfer module is incorrect, the transfer module will automatically change direction by triggering the anti-collision signals of the second sensors to find the directional position of the first sensors.
[0009] Furthermore, the transfer module includes a moving element sliding module, a lifting module, a connecting seat, and multiple clamping components; the moving element sliding module is slidably mounted on the stator guide rail; the control system is connected to the moving element sliding module and is used to control the moving element sliding module to slide left and right on the stator guide rail; the lifting module is disposed between the moving element sliding module and the connecting seat; the control system is connected to the lifting module and is also used to control the lifting module to drive the connecting seat to move up and down; the multiple clamping components are respectively mounted on both sides of the connecting seat; the control system is connected to the clamping components and is also used to control the clamping components to clamp or release the workpiece.
[0010] Furthermore, the lifting module includes a driving device and a guide assembly; the fixed end of the driving device is mounted on the moving part sliding module, and the telescopic end is connected to the connecting seat; both ends of the guide assembly are respectively connected to the moving part sliding module and the connecting seat; the connecting seat moves up and down in the vertical direction through the guide assembly.
[0011] Furthermore, the guide assembly includes a sleeve and a guide rod; the sleeve is mounted on the connecting seat; the guide rod is slidably connected to the interior of the sleeve; and one end of the guide rod away from the sleeve is connected to the moving part sliding module.
[0012] Furthermore, the number of the guiding components is multiple.
[0013] Furthermore, the clamping assembly includes a side extension drive, a side extension movable seat, and a clamp; the side extension drive is mounted on the side wall of the connecting seat and is slidably connected to the side extension movable seat; the side extension drive is used to drive the side extension movable seat to extend and retract within the side extension drive; the clamp is connected to the end of the side extension movable seat away from the side extension drive.
[0014] Furthermore, the clamp is mounted on the connecting seat via a telescopic component.
[0015] Furthermore, the present invention also proposes a control method for a conveying device, used for semi-automatic initialization settings of the conveying device as described above, specifically including the following steps:
[0016] The transfer module is placed between two adjacent first sensors. The multiple transfer modules arranged in a straight line are moved sequentially to the initial position of the first sensor that is closest to the first sensor with a single orientation, and the detection of the first sensor is triggered to obtain the initial position signal characterizing the transfer module. At the same time, the detection of the third sensor is also triggered to obtain the displacement increment signal characterizing the transfer module.
[0017] The control system controls the transfer module to clamp and transport the workpiece based on the initial position signal and the displacement increment signal.
[0018] Furthermore, it also includes multiple second sensors installed on the transfer module. When the transfer module moves in the wrong direction, the transfer module automatically reverses direction by triggering the anti-collision signal of the second sensor to find the directional position of the first sensor.
[0019] Through the above technical solution, the present invention has the following beneficial effects:
[0020] The device comprises a frame, stator guide rails, a control system, multiple transfer modules, and multiple first sensors. The stator guide rails are mounted on the frame. Transfer modules are slidably mounted on the stator guide rails for clamping and three-axis transport of workpieces. Both the transfer modules and the first sensors are mounted on the frame. The first sensors are positioned between adjacent transfer modules to obtain an initial position signal representing one of the transfer modules and transmit this signal to the control system. Each transfer module is equipped with a third sensor to represent the displacement increment signal, which is also transmitted to the control system. The transfer modules are signal-connected to the control system. The control system controls the directional movement of the transfer modules, clamping and transporting workpieces based on the initial position signal from one of the first sensors and the displacement increment signal from the corresponding third sensor. This device enables inter-station forced transfer, offering high operating speed and high positioning accuracy, thus improving work efficiency. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the overall structure of the conveying device in one embodiment of the present invention;
[0022] Figure 2 This is a schematic diagram of the structure of the first sensor and the second sensor in the conveying device according to an embodiment of the present invention;
[0023] Figure 3 This is a schematic diagram of the moving part sliding module in a conveying device according to an embodiment of the present invention;
[0024] Figure 4This is a flowchart of a control method for a conveying device in one embodiment of the present invention.
[0025] In the diagram, 1 is the frame; 2 is the stator guide rail; 3 is the transfer module; 30 is the mover sliding module; 301 is the mover motor; 302 is the slider; 31 is the lifting module; 311 is the guide assembly; 3110 is the sleeve; 3111 is the guide rod; 32 is the connecting seat; 33 is the clamping assembly; 330 is the side extension drive; 331 is the side extension moving seat; 332 is the clamp; 333 is the telescopic component; 4 is the first sensor; 5 is the second sensor; 6 is the limit sensor; and 7 is the third sensor. Detailed Implementation
[0026] The following description, in conjunction with the accompanying drawings, provides a more detailed account of a conveying device and a control method for the conveying device according to the present invention, which illustrates preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.
[0027] The invention is described more specifically by way of example in the following paragraphs with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.
[0028] like Figure 1-2 As shown in the figure, an embodiment of the present invention proposes a conveying device, including a frame 1, a stator guide rail 2, a control system, multiple transfer modules 3, multiple first sensors 4 and multiple third sensors 7.
[0029] Specifically, the stator guide rail 2 is mounted on the frame 1; the transfer module 3 is slidably mounted on the stator guide rail 2 for clamping and three-axis transport of the workpiece; both the transfer module 3 and the first sensor 4 are mounted on the frame 1; the first sensor 4 is positioned between two adjacent transfer modules 3 to obtain an initial position signal characterizing one of the transfer modules 3 and transmit the initial position signal to the control system; each transfer module 3 is equipped with a third sensor 7 to characterize the displacement increment signal of the transfer module 3 and transmit the displacement increment signal to the control system; the transfer module 3 is signal-connected to the control system; the control system controls the directional movement of the transfer module 3, and controls the transfer module 3 to clamp and transport the workpiece based on the initial position signal from one of the first sensors 4 corresponding to one of the transfer modules 3 and the displacement increment signal from one of the third sensors 7 corresponding to one of the transfer modules 3.
[0030] Furthermore, this embodiment also includes multiple second sensors 5 installed on the transfer module 3. Specifically, the second sensors 5 are connected to the control system and are used to perform anti-collision operations on the transfer module 3, obtain anti-collision signals characterizing the transfer module 3, and transmit them to the control system; the second sensors 5 are also used to automatically set the initial position of the transfer module 3. When automatically setting the initial position of the transfer module 3, if the movement direction of the transfer module 3 is incorrect, the transfer module 3 will automatically change direction by triggering the anti-collision signals of the second sensors 5 to find the directional position of the first sensor 4.
[0031] Preferably, the first sensor 4 and the third sensor 7 can be position sensors or distance sensors; the second sensor 5 can be a collision avoidance sensor or a distance sensor. Those skilled in the art will understand that, to achieve the same effect, the first sensor 4, the second sensor 5, and the third sensor 7 can also be other sensors besides those in this embodiment.
[0032] In one embodiment, each first sensor 4 triggers a unique initial position with the transfer module 3, meaning that each first sensor 4 can only serve as the initial position of a transfer module 3.
[0033] In this embodiment, as Figure 1 and Figure 3 As shown, the transfer module 3 includes a moving element sliding module 30, a lifting module 31, a connecting seat 32, and multiple clamping components 33. Specifically, the moving element sliding module 30 is slidably mounted on the stator guide rail 2; the control system is connected to the moving element sliding module 30 and is used to control the moving element sliding module 30 to slide left and right on the stator guide rail 2; the lifting module 31 is disposed between the moving element sliding module 30 and the connecting seat 32; the control system is connected to the lifting module 31 and is also used to control the lifting module 31 to drive the connecting seat 32 to move up and down; the multiple clamping components 33 are respectively mounted on both sides of the connecting seat 32; the control system is connected to the clamping components 33 and is also used to control the clamping components 33 to clamp or release the workpiece. In addition, a second sensor 5 is mounted on the moving element sliding module 30.
[0034] In a specific example, the moving element sliding module 30 includes a moving element motor 301 and a slider 302. The moving element motor 301 is mounted on the stator guide rail 2; the slider 302 is slidably mounted on the stator guide rail 2; the moving element motor 301 and the slider 302 are fixedly connected. The moving element motor 301 is connected to a control system and drives the slider 302 to move left and right under the control of the control system. The lifting module 31 is disposed between the slider 302 and the connecting seat 32.
[0035] In addition, the second sensor 5 is mounted on the slider 302.
[0036] In one embodiment, the lifting module 31 includes a driving device and a guide assembly 311. Specifically, the fixed end of the driving device is mounted on the moving part sliding module 30, and the telescopic end is connected to the connecting seat 32; both ends of the guide assembly 311 are connected to the moving part sliding module 30 and the connecting seat 32, respectively; the connecting seat 32 moves up and down in the vertical direction through the guide assembly 311.
[0037] Furthermore, the guide assembly 311 includes a sleeve 3110 and a guide rod 3111. Specifically, the sleeve 3110 is mounted on the connecting seat 32; the guide rod 3111 is slidably connected to the interior of the sleeve 3110; and one end of the guide rod 3111 away from the sleeve 3110 is connected to the moving part sliding module 30.
[0038] Preferably, the number of guide components 311 is multiple or plural.
[0039] In one embodiment, the clamping assembly 33 includes a side extension drive 330, a side extension movable seat 331, and a clamp 332. Specifically, the side extension drive 330 is mounted on the side wall of the connecting seat 32 and is slidably connected to the side extension movable seat 331; the side extension drive 330 is used to drive the side extension movable seat 331 to extend and retract within the side extension drive 330; the clamp 332 is connected to the end of the side extension movable seat 331 away from the side extension drive 330.
[0040] Among them, there are multiple side extension drive components 330 and clamps 332.
[0041] Preferably, the clamp 332 is mounted on the connecting seat 32 via a telescopic member 333.
[0042] In addition, a limit sensor 6 is provided at the beginning of the end of the frame 1 to limit the movement of the transfer module 3.
[0043] In this embodiment, the control system includes a main controller (PLC) and slave controllers. Each slave controller corresponds to a plurality of moving-element sliding modules 30 and performs auxiliary control. The main controller (PLC) controls the slave controllers; the main controller is a dual-port PLC, with the external port connected to a switch for interaction with the slaves, and the internal port connected to a servo driver. The slave controllers are associated with the drive devices, side-extension drive components 330, first sensor 4, and second sensor 5 installed on the moving-element sliding modules 30, and are controlled using I / O outputs.
[0044] In addition, such as Figure 4As shown, this embodiment also proposes a control method for a conveying device, used for semi-automatic initialization settings of the conveying device as described above, specifically including the following steps:
[0045] S1. Place the transfer module 3 between two adjacent first sensors 4. According to the multiple transfer modules 3 arranged in a straight line, move them sequentially to the initial position of the first sensor 4 that is closest to the first sensor 4 with a single orientation, and trigger the detection of one of the first sensors 4 to obtain the initial position signal representing the transfer module 3; at the same time, the detection of the third sensor 7 will also be triggered to obtain the displacement increment signal representing the transfer module 3.
[0046] S2. The control system controls the transfer module 3 to clamp and transport the workpiece according to the initial position signal and the displacement increment signal.
[0047] Furthermore, this embodiment also includes a plurality of second sensors 5 installed on the transfer module 3. When the transfer module 3 moves in the wrong direction, the transfer module 3 automatically reverses direction by triggering the anti-collision signal of the second sensor 5 to find the directional position of the first sensor 4.
[0048] In a specific example, five position sensors are distributed on the stator guide rail 2, and three anti-collision sensors are installed on the transfer module 3 (anti-collision sensors are not required for the end transfer module 3). When initializing the equipment, follow these steps:
[0049] according to Figure 2 As shown, the sequence of transfer module 3, first sensor 4, and second sensor 5 is ordered from right to left, with the position of limit sensor 6 as the first position. Specifically, a limit sensor 6 is also provided at the initial position of transfer module 3. The limit sensor 6 is mounted on the frame 1 to limit the movement of transfer module 3. By moving a transfer module 3 that has found its initial position a fixed distance toward an adjacent transfer module 3 that has not found its initial position, it is determined whether the adjacent transfer module 3 is outside the corresponding movement stroke (e.g., within the movement stroke of the transfer module 3 that has found its initial position). For example, when transfer module 3 is between limit sensor 6 and position sensor 1 (i.e., first sensor 4, and so on), transfer module 3 is between position sensor 1 and position sensor 2, transfer module 3 is between position sensor 2 and position sensor 3, and transfer module 3 is between position sensor 3 and position sensor 4.
[0050] The first step involves the first transfer module 3 moving directionally. If the limit sensor 6 is triggered, it stops and reverses direction to the left. If the first anti-collision sensor (i.e., the second sensor 5, and so on) or the second position sensor is triggered, it stops and reverses direction to the right until it reaches the first position sensor and stops, recording the origin (the initial position of the first transfer module 3). Simultaneously, the directional current of all transfer modules 3 is recorded. The second step involves the first transfer module 3 moving a fixed distance towards the second position sensor and then returning to its initial position. Based on the triggering of the first anti-collision sensor, the program determines whether the second transfer module 3 is between the first and second position sensors. If so, the second transfer module 3 moves to the left; otherwise, it moves to the right, stopping after triggering the second position sensor and recording the origin (the initial position of the second transfer module 3). The third step involves the second transfer module... After moving a fixed distance towards position sensor 3, group 3 returns to the initial position of transfer module 2 3. Based on the triggering of position sensor 2, the program determines whether transfer module 3 is between position sensors 2 and 3. If so, transfer module 3 moves to the left; otherwise, it moves to the right. After triggering position sensor 3, it stops and records the origin (the initial position of transfer module 3). In the fourth step, after moving a fixed distance towards position sensor 4, transfer module 3 returns to its initial position. Based on the triggering of position sensor 3, the program determines whether transfer module 4 is between position sensors 3 and 4. If so, transfer module 3 moves to the left; otherwise, it moves to the right. After triggering position sensor 4, it stops and records the origin (the initial position of transfer module 3).
[0051] In this embodiment, a limit sensor 6 is installed on the frame 1 at the initial position of the first transfer module 3, and the adjacent transfer module 3 is moved a fixed distance from the transfer module 3 that has found its initial position to the adjacent transfer module 3 that has not found its initial position to determine whether the adjacent transfer module 3 is outside the corresponding movement stroke.
[0052] First, the first transfer module 3 moves in a directional direction. If the limit sensor 6 is triggered, it stops and changes direction to the left. If the second sensor 5 or the farthest first sensor 4 is triggered (here, the farthest refers to another first sensor 4 adjacent to the first sensor 4 closest to the transfer module 3), it stops and changes direction to the right until it moves to the nearest first sensor 4 and stops and records the origin. At the same time, the directional current of all transfer modules 3 is recorded.
[0053] Secondly, after the first transfer module 3 moves a fixed distance to the farthest first sensor 4, it returns to the first sensor 4 at its initial position. Based on the triggering of the second sensor 5, the program determines whether the next transfer module 3 is between the two first sensors 4 outside the corresponding movement stroke. If so, the next transfer module 3 moves to the left; otherwise, it moves to the right, triggering the first sensor 4 farthest from the previous transfer module 3 and stopping, recording the origin (since each first sensor 4 triggers a unique initial position with the transfer module 3, meaning each first sensor 4 can only serve as the initial position of one transfer module 3, the first sensor 4 farthest from the first transfer module 3 becomes the origin of the next transfer module 3; that is, except for the first transfer module 3, the origin of each subsequent transfer module 3 is the first sensor 4 farthest from the previous transfer module 3), and so on.
[0054] In summary, the conveying device and its control method proposed in this invention have the following advantages:
[0055] The device comprises a frame, stator guide rails, a control system, multiple transfer modules, and multiple first sensors. The stator guide rails are mounted on the frame. Transfer modules are slidably mounted on the stator guide rails for clamping and three-axis transport of workpieces. Both the transfer modules and the first sensors are mounted on the frame. The first sensors are positioned between adjacent transfer modules to obtain an initial position signal representing one of the transfer modules and transmit this signal to the control system. Each transfer module is equipped with a third sensor to represent the displacement increment signal, which is also transmitted to the control system. The transfer modules are signal-connected to the control system. The control system controls the directional movement of the transfer modules, clamping and transporting workpieces based on the initial position signal from one of the first sensors and the displacement increment signal from the corresponding third sensor. This device enables inter-station forced transfer, offering high operating speed and high positioning accuracy, thus improving work efficiency.
[0056] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.
Claims
1. A conveying device, characterized in that, It includes a frame, stator rails, control system, multiple transfer modules, multiple first sensors, and multiple third sensors; The stator guide rail is mounted on the frame; the transfer module is slidably mounted on the stator guide rail for clamping and three-axis transport of the workpiece; both the transfer module and the first sensor are mounted on the frame; the first sensor is positioned between two adjacent transfer modules, and the transfer module moves sequentially to the initial position of the first sensor closest to it in a single orientation, triggering the detection of the first sensor to obtain an initial position signal characterizing the transfer module, and transmitting the initial position signal to the control system; each transfer module is equipped with a third sensor to characterize the displacement increment signal of the transfer module, and the displacement increment signal is transmitted to the control system; The transfer module is connected to the control system via a signal; the control system is used to control the directional movement of the transfer module, and controls the transfer module to clamp and transport the workpiece based on the initial position signal from a first sensor corresponding to one of the transfer modules and the displacement increment signal from a third sensor corresponding to the same module.
2. The conveying device as described in claim 1, characterized in that, It also includes multiple second sensors installed on the transfer module; the second sensors are connected to the control system and are used to perform anti-collision operation on the transfer module, obtain anti-collision signals characterizing the transfer module, and transmit them to the control system; The second sensor is also used to automatically set the initial position of the transfer module. When the initial position of the transfer module is automatically set, if the direction of movement of the transfer module is wrong, the transfer module will automatically change direction by triggering the anti-collision signal of the second sensor to find the direction position of the first sensor.
3. The conveying device as described in claim 1, characterized in that, The transfer module includes a moving element sliding module, a lifting module, a connecting seat, and multiple clamping components. The moving element sliding module is slidably mounted on the stator guide rail. The control system is connected to the moving element sliding module and is used to control the moving element sliding module to slide left and right on the stator guide rail. The lifting module is disposed between the moving element sliding module and the connecting seat. The control system is connected to the lifting module and is also used to control the lifting module to drive the connecting seat to move up and down. The multiple clamping components are respectively mounted on both sides of the connecting seat. The control system is connected to the clamping components and is also used to control the clamping components to clamp or release the workpiece.
4. The conveying device as described in claim 3, characterized in that, The lifting module includes a driving device and a guide assembly; the fixed end of the driving device is mounted on the moving part sliding module, and the telescopic end is connected to the connecting seat; both ends of the guide assembly are connected to the moving part sliding module and the connecting seat respectively; the connecting seat moves up and down in the vertical direction through the guide assembly.
5. The conveying device as described in claim 4, characterized in that, The guide assembly includes a sleeve and a guide rod; the sleeve is mounted on the connecting seat; the guide rod is slidably connected to the inside of the sleeve; one end of the guide rod away from the sleeve is connected to the moving part sliding module.
6. The conveying device as described in claim 5, characterized in that, The number of guide components is multiple.
7. The conveying device as described in claim 3, characterized in that, The clamping assembly includes a side extension drive, a side extension movable seat, and a clamp; the side extension drive is mounted on the side wall of the connecting seat and is slidably connected to the side extension movable seat; the side extension drive is used to drive the side extension movable seat to extend and retract within the side extension drive; the clamp is connected to the end of the side extension movable seat away from the side extension drive.
8. The conveying device as described in claim 7, characterized in that, The clamp is mounted on the connecting seat via a telescopic component.
9. A control method for a conveying device, used for semi-automatic initialization setting of the conveying device as described in any one of claims 1-8, characterized in that, Specifically, the steps include the following: The transfer module is placed between two adjacent first sensors. The multiple transfer modules arranged in a straight line are moved sequentially to the initial position of the first sensor that is closest to the first sensor with a single orientation, and the detection of the first sensor is triggered to obtain the initial position signal characterizing the transfer module. At the same time, the detection of the third sensor is also triggered to obtain the displacement increment signal characterizing the transfer module. The control system controls the transfer module to clamp and transport the workpiece based on the initial position signal and the displacement increment signal.
10. The control method for the conveying device as described in claim 9, characterized in that, It also includes multiple second sensors installed on the transfer module. When the transfer module moves in the wrong direction, the transfer module automatically reverses direction by triggering the anti-collision signal of the second sensor to find the directional position of the first sensor.