CN101973033A - Single-arm palletizing robot control system and method - Google Patents
Single-arm palletizing robot control system and method Download PDFInfo
- Publication number
- CN101973033A CN101973033A CN 201010274521 CN201010274521A CN101973033A CN 101973033 A CN101973033 A CN 101973033A CN 201010274521 CN201010274521 CN 201010274521 CN 201010274521 A CN201010274521 A CN 201010274521A CN 101973033 A CN101973033 A CN 101973033A
- Authority
- CN
- China
- Prior art keywords
- folder case
- plc
- roller shutter
- axis
- servo controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000009471 action Effects 0.000 claims abstract description 21
- 238000012544 monitoring process Methods 0.000 claims description 16
- 235000008331 Pinus X rigitaeda Nutrition 0.000 claims description 4
- 235000011613 Pinus brutia Nutrition 0.000 claims description 4
- 241000018646 Pinus brutia Species 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000005096 rolling process Methods 0.000 abstract 4
- 230000001276 controlling effect Effects 0.000 abstract 2
- 230000001105 regulatory effect Effects 0.000 abstract 2
- 230000003028 elevating effect Effects 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000013024 troubleshooting Methods 0.000 description 3
- 235000013405 beer Nutrition 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 229920000297 Rayon Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000009931 harmful effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
Images
Landscapes
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to a palletizing robot control system comprises a man-machine control panel, a regulating system and a grasping system, wherein the man-machine control panel is connected with the regulating system after sequentially passing through a PLC (Programmable Logic Controller) and a servo controller, the man-machine control panel is connected with the grasping system by the PLC, and the grasping system comprises a clamp box cylinder, a clamp box magnet switch, a rolling motor and a rolling approach switch and a rolling curtain. A palletizing robot control method comprises the following steps of: when a layer of boxes pushed by a front end device is received, judging the height of the layer by a controller, and controlling the actions of translating an X axis, elevating a Y axis and rotating an R axis by the servo controller to place the boxes in an appointed position; lifting the rolling curtain; palletizing the boxes; then, returning a gripping device to an initial position; waiting for processing the next layer of boxes; controlling X, Y and R axis servo motors to cooperatively work by the man-machine control panel; transporting the boxes in place once; and palletizing the boxes. The invention has the advantages of simple structure, high speed, low cost, and the like.
Description
Technical field
The present invention relates to stacking machine, especially to the equipment that chest is organized into groups of industries such as beer, beverage, packaging for foodstuff.
Background technology
Stacking machine is mechanical, electrical integrated new high-tech product.In, the Low Level Code stack machine can satisfy in low-producing production needs.The organizational systems and the number of plies that can be as requested finished the piling to various products such as pocket, blob of viscose, casings.When using stacking machine, the problem that needs to consider be utilize stacking machine self motion how the time article of piling neat, be not easy down, the direction of each article can satisfy the demands.Present stacking machine control system generally has only two directions of motion: the X-axis direction of motion and the Y-axis direction of motion, operating personnel make stacking machine can carry chest and chest is stacked by the action of control X-axis and y-axis motor respectively.Existing this control system bad adaptability, piling speed is slow; And when carrying out piling, between every layer of chest out-of-flatness can appear, and so just need manually repair or increase extra mechanism every layer of chest put neatly, this not only makes structure more complicated, and operation is many, and production efficiency is low.
Summary of the invention
One of technical problem to be solved by this invention provides a kind of single-arm stacker crane device people control system, has advantage simple in structure, that control rate is fast, cost is low.
Two of technical problem to be solved by this invention provides a kind of single-arm stacker crane device people control method, has advantage easy and simple to handle, that control rate is fast, cost is low.
For one of solving the problems of the technologies described above, technical scheme of the present invention is: a kind of single-arm stacker crane device people control system comprises man-machine control panel, Adjustment System, grasping system;
By being connected with Adjustment System behind PLC, the servo controller, described man-machine control panel is connected with grasping system by PLC described man-machine control panel successively;
Described Adjustment System comprises X-axis servo controller, X-axis servomotor, X-axis encoder, and described servo controller signal by feeding back in the servo controller behind X-axis servomotor, the X-axis encoder, forms first closed-loop control system successively;
Described Adjustment System comprises Y-axis servo controller, Y-axis servomotor, Y-axis encoder, and described servo controller signal by feeding back in the servo controller behind Y-axis servomotor, the Y-axis encoder, forms second closed-loop control system successively;
Described Adjustment System comprises R axle servo controller, R axle servomotor, R shaft encoder, and described servo controller signal by feeding back in the servo controller behind R axle servomotor, the R shaft encoder, forms three closed-loop control system successively;
Described grasping system comprises that folder case cylinder, folder case magnetic switch, roller shutter motor, roller shutter are near switch; Folder case cylinder and front and back folder case cylinder about described folder case cylinder comprises; Folder case magnetic switch, front and back folder case magnetic switch about described folder case magnetic switch comprises; Described PLC signal returns PLC by roller shutter motor, roller shutter after near switch successively, described PLC signal successively by about folder case cylinder, about return PLC behind the folder case magnetic switch, described PLC signal is successively by returning PLC behind front and back folder case cylinder, the front and back folder case magnetic switch;
Described X-axis motor is used for controlling the action of grasping system left and right sides translation direction, and described y-axis motor is used for controlling the grasping system direction action that moves up and down, and described R spindle motor is used for controlling grasping system and rotatablely moves.
As improvement, described roller shutter motor is connected with roller shutter, by the roller shutter motor roller shutter is carried out folding and unfolding and forms handgrip.The roller shutter motor is the device that receives chest and release chest, after two row's roller shutters all put down, has just constituted a platform, can receive whole layer chest, and after two row's roller shutters all pumped up, chest just fell under the gravity effect.
As improvement, be equipped with limit switch on described X, Y, the R axle servomotor.Run into limit switch when the motion of servomotor, servo meeting stops automatically, and reports to the police, and prevents to break equipment.
As improvement, described man-machine control panel comprises that touch-screen, control module, parameter are provided with module, monitoring module, alarm module, image module, described control module is connected with PLC, described parameter is provided with module and is connected with PLC, and described monitoring module is connected with described X, Y, R axle servomotor, folder case cylinder, roller shutter motor respectively.Manually control each motor and cylinder by man-machine control panel; By parameter module being set is provided with servo and the box parameter; Check the status information of input, output and equipment operation by monitoring modular; By the alarm module display alarm information; By image module display device operation cartoon scene.
As improvement, be provided with remote control center, described remote control center is connected with PLC by wireless network.Remote control center obtains PLC information by wireless network, can carry out troubleshooting to PLC.
For solve the problems of the technologies described above two, technical scheme of the present invention is: a kind of single-arm stacker crane device people control method comprises man-machine control panel, Adjustment System, grasping system;
By being connected with Adjustment System behind PLC, the servo controller, described man-machine control panel is connected with grasping system by PLC described man-machine control panel successively;
Described Adjustment System comprises X-axis servo controller, X-axis servomotor, X-axis encoder, Y-axis servo controller, Y-axis servomotor, Y-axis encoder, R axle servo controller, R axle servomotor, R shaft encoder; Described grasping system comprises that folder case cylinder, folder case magnetic switch, roller shutter motor, roller shutter are near switch, the roller shutter that is connected with the roller shutter motor;
Control method is as follows:
101) by man-machine control panel initialization system and wait;
102) in the monitoring roller shutter whether chest is arranged, have then to enter next step, otherwise return wait;
103) action of folder case cylinder clamps chest, and the X-axis servomotor advances simultaneously;
104) judge that by folder case magnetic switch whether folder case cylinder puts in place, is then to enter next step, otherwise returns previous step;
105) R axle servomotor rotation, Y-axis servomotor are raised to the highest order of institute's sign indicating number number of plies, and while X-axis servomotor advances;
106) judge that whether X, Y, R axle servomotor all put in place, are then to enter next step, otherwise return previous step;
107) the roller shutter motor action rises and regains roller shutter, and the chest in the roller shutter falls;
108) judge near switch whether the roller shutter motor puts in place, is then to enter next step by roller shutter, otherwise return;
109) folder case cylinder unclamps;
110) whether pine puts in place to have folder case magnetic switch to judge folder case cylinder, is then to enter next step, otherwise returns previous step;
111) X, Y, R servomotor reset simultaneously.
As improvement, be equipped with limit switch on described X, Y, the R axle servomotor.Run into limit switch when the motion of servomotor, servo meeting stops automatically, and reports to the police, and prevents to break equipment.
As improvement, folder case cylinder and front and back folder case cylinder about described folder case cylinder comprises; Folder case magnetic switch, front and back folder case magnetic switch about described folder case magnetic switch comprises; Described PLC signal returns PLC by roller shutter motor, roller shutter after near switch successively, described PLC signal successively by about folder case cylinder, about return PLC behind the folder case magnetic switch, described PLC signal is successively by returning PLC behind front and back folder case cylinder, the front and back folder case magnetic switch.Folder case and front and back folder case cylinder about these folder case cylinders comprise, clamping action by these cylinders, can clamp whole layer chest, prevent shift position in the handgrip motion, when putting case, can allow current one deck case accurately overlap, so simultaneously with following one deck case, the chest of sign indicating number is just attractive in appearance, is difficult for falling.
As improvement, described man-machine control panel comprises that touch-screen, control module, parameter are provided with module, monitoring module, alarm module, image module, described control module is connected with PLC, described parameter is provided with module and is connected with PLC, and described monitoring module is connected with described X, Y, R axle servomotor, folder case cylinder, roller shutter motor respectively.Manually control each motor and cylinder by man-machine control panel; By parameter module being set is provided with servo and the box parameter; Check the status information of input, output and equipment operation by monitoring modular; By the alarm module display alarm information; By image module display device operation cartoon scene.
As improvement, be provided with remote control center, described remote control center is connected with PLC by wireless network.Remote control center obtains PLC information by wireless network, can carry out troubleshooting to PLC.
The beneficial effect that the present invention is compared with prior art brought is:
By man-machine control panel control X, Y, the collaborative work simultaneously of R axle servomotor, the disposable rotation that the chest carrying is put in place and carries out piling then and pass through the R axle, the chest of the different numbers of plies can stagger and put, chest is put more stable, be difficult for falling down, simple in structure, and can enhance productivity;
The setting of various encoders and limit switch can prevent effectively that motor action excessively and harmful effects such as the bottle explosion that produces, position deviation;
Be provided with remote control center, can carry out troubleshooting PLC.
Description of drawings
Fig. 1 is a control system frame diagram of the present invention.
Fig. 2 is the motor status flow chart.
Fig. 3 is a control method flow chart of the present invention.
Fig. 4 is a stacking machine structural representation of the present invention.
The specific embodiment
The invention will be further described below in conjunction with Figure of description.
Shown in Fig. 1,4, a kind of single-arm stacker crane device people control system comprises man-machine control panel, Adjustment System, grasping system.By being connected with Adjustment System behind PLC, the servo controller, described man-machine control panel is connected with grasping system by PLC described man-machine control panel successively.
Described Adjustment System comprises X-axis servo controller, X-axis servomotor 2, X-axis encoder, and described servo controller signal by feeding back in the servo controller behind X-axis servomotor 2, the X-axis encoder, forms first closed-loop control system successively;
Described Adjustment System comprises Y-axis servo controller, Y-axis servomotor 1, Y-axis encoder, and described servo controller signal by feeding back in the servo controller behind Y-axis servomotor 1, the Y-axis encoder, forms second closed-loop control system successively;
Described Adjustment System comprises R axle servo controller, R axle servomotor 3, R shaft encoder, and described servo controller signal by feeding back in the servo controller behind R axle servomotor 3, the R shaft encoder, forms three closed-loop control system successively.
Described grasping system comprises that folder case cylinder, folder case magnetic switch, roller shutter motor 4, roller shutter are near switch, the roller shutter that is connected with roller shutter motor 4; Folder case cylinder 6 and front and back folder case cylinder 5 about described folder case cylinder comprises; Folder case magnetic switch, front and back folder case magnetic switch about described folder case magnetic switch comprises; Described PLC signal returns PLC by roller shutter motor 4, roller shutter after near switch successively, described PLC signal successively by about folder case cylinder 6, about return PLC behind the folder case magnetic switch, described PLC signal is successively by returning PLC behind front and back folder case cylinder 5, the front and back folder case magnetic switch.
After described servo controller receives the control signal of PLC, the action of control servomotor, carry out position correction by the signal that receives encoder feedback on the motor simultaneously, constitute closed-loop control system, can realize the rapid movement and accurate location of servomotor, specifically comprise following several servo controller:
X-axis servo controller: be used for controlling the left and right sides translation motion of grasping system.
Y-axis servo controller: be used for controlling grasping system lifting action, the lifting action of grasping system and X and the co-operating of R axle.
R axle servo controller: be used for controlling that the roller shutter handgrip rotatablely moves, it has two stop positions, and one is home position, and one is the position of revolving after turning 90 degrees, meeting the case place is home position, whether needs to rotate that sign indicating number case mode in being to be provided with by parameter determines putting the case place.
Described X-axis motor is used for controlling the action of grasping system left and right sides translation direction, and described y-axis motor is used for controlling the grasping system direction action that moves up and down, and described R spindle motor is used for controlling grasping system and rotatablely moves.
PLC receives the input signal from man-machine control panel or remote control center, by the computing of innernal CPU, produces output, the action of the executing agencies such as servomotor of control folder case cylinder 5,6, roller shutter motor 4, all directions motion.Be equipped with limit switch on described X, Y, the R axle servomotor 2,1,3, run into limit switch when the motion of servomotor, servo meeting stops automatically, and reports to the police, and prevents to break equipment.Described man-machine control panel comprises that touch-screen, control module, parameter are provided with module, monitoring module, alarm module, image module, described control module is connected with PLC, described parameter is provided with module and is connected with PLC, and described monitoring module is connected with described X, Y, R axle servomotor 2,1,3, folder case cylinder, roller shutter respectively; Manually control each motor and cylinder by man-machine control panel; By parameter module being set is provided with servo and the box parameter; Check the status information of input, output and equipment operation by monitoring modular; By the alarm module display alarm information; By image module display device operation cartoon scene.Folder case magnetic switch is mounted on the folder case cylinder, and whether the action that is used for detecting folder case cylinder puts in place, and each group folder case cylinder all has two magnetic switch, detects respectively whether to clip to the position and whether pine puts in place.Roller shutter motor 4 is the device that receives chest and release chest, after two row's roller shutters all put down, has just constituted a platform, can receive whole layer chest, and after two row's roller shutters all pumped up, chest just fell under the gravity effect.Because roller shutter motor 4 right and wrong are servo, do not have the encoder feedback positional information, feed back the several ad-hoc locations that push away case so just use near switch, have 4 near switch, detecting respectively advances put in place, advance decelerations, retreat deceleration and retreat and put in place.
Shown in Fig. 2,3, the concrete control method of single-arm stacker crane robot control system of the present invention is as follows:
101) by man-machine control panel initialization system and wait;
102) in the monitoring roller shutter whether chest is arranged, have then to enter next step, otherwise return wait;
103) action of folder case cylinder clamps chest, and X-axis servomotor 2 advances simultaneously;
104) judge that by folder case magnetic switch whether folder case cylinder puts in place, is then to enter next step, otherwise returns previous step;
105) R axle servomotor 3 rotation, Y-axis servomotor 1 are raised to the highest order of institute's sign indicating number number of plies, and while X-axis servomotor 2 advances;
106) judge that whether X, Y, R axle servomotor 2,1,3 all put in place, are then to enter next step, otherwise return previous step;
107) 4 actions of roller shutter motor are risen and are regained roller shutter, and the chest in the roller shutter falls;
108) judge that near switch whether roller shutter motor 4 puts in place, is then to enter next step, otherwise returns by roller shutter;
109) folder case cylinder unclamps;
110) whether pine puts in place to have folder case magnetic switch to judge folder case cylinder, is then to enter next step, otherwise returns previous step;
111) X, Y, R axle servomotor 2,1,3 reset simultaneously.
By man-machine control panel control X, Y, 2,1,3 collaborative works simultaneously of R axle servomotor, the disposable chest carrying is put in place carried out piling then.Single-arm stacker crane device people be applied to industries such as beer, beverage, packaging for foodstuff the chest of stratification is carried out the equipment of piling, compare traditional stacking machine, the advantage that the present invention has is simple in structure, speed is fast, cost is low.
Claims (10)
1. a single-arm stacker crane device people control system is characterized in that: comprise man-machine control panel, Adjustment System, grasping system;
By being connected with Adjustment System behind PLC, the servo controller, described man-machine control panel is connected with grasping system by PLC described man-machine control panel successively;
Described Adjustment System comprises X-axis servo controller, X-axis servomotor, X-axis encoder, and described servo controller signal by feeding back in the servo controller behind X-axis servomotor, the X-axis encoder, forms first closed-loop control system successively;
Described Adjustment System comprises Y-axis servo controller, Y-axis servomotor, Y-axis encoder, and described servo controller signal by feeding back in the servo controller behind Y-axis servomotor, the Y-axis encoder, forms second closed-loop control system successively;
Described Adjustment System comprises R axle servo controller, R axle servomotor, R shaft encoder, and described servo controller signal by feeding back in the servo controller behind R axle servomotor, the R shaft encoder, forms three closed-loop control system successively;
Described grasping system comprises that folder case cylinder, folder case magnetic switch, roller shutter motor, roller shutter are near switch; Folder case cylinder and front and back folder case cylinder about described folder case cylinder comprises; Folder case magnetic switch, front and back folder case magnetic switch about described folder case magnetic switch comprises; Described PLC signal returns PLC by roller shutter motor, roller shutter after near switch successively, described PLC signal successively by about folder case cylinder, about return PLC behind the folder case magnetic switch, described PLC signal is successively by returning PLC behind front and back folder case cylinder, the front and back folder case magnetic switch;
Described X-axis motor is used for controlling the action of grasping system left and right sides translation direction, and described y-axis motor is used for controlling the grasping system direction action that moves up and down, and described R spindle motor is used for controlling grasping system and rotatablely moves.
2. a kind of single-arm stacker crane device people control system according to claim 1, it is characterized in that: described roller shutter motor is connected with roller shutter, by the roller shutter motor roller shutter is carried out folding and unfolding and forms handgrip.
3. a kind of single-arm stacker crane device people control system according to claim 1 is characterized in that: be equipped with limit switch on described X, Y, the R axle servomotor.
4. a kind of single-arm stacker crane device people control system according to claim 1, it is characterized in that: described man-machine control panel comprises that touch-screen, control module, parameter are provided with module, monitoring module, alarm module, image module, described control module is connected with PLC, described parameter is provided with module and is connected with PLC, and described monitoring module is connected with described X, Y, R axle servomotor, folder case cylinder, roller shutter motor respectively.
5. a kind of single-arm stacker crane device people control system according to claim 1, it is characterized in that: be provided with remote control center, described remote control center is connected with PLC by wireless network.
6. a single-arm stacker crane device people control method is characterized in that: comprise man-machine control panel, Adjustment System, grasping system;
By being connected with Adjustment System behind PLC, the servo controller, described man-machine control panel is connected with grasping system by PLC described man-machine control panel successively;
Described Adjustment System comprises X-axis servo controller, X-axis servomotor, X-axis encoder, Y-axis servo controller, Y-axis servomotor, Y-axis encoder, R axle servo controller, R axle servomotor, R shaft encoder; Described grasping system comprises that folder case cylinder, folder case magnetic switch, roller shutter motor, roller shutter are near switch, the roller shutter that is connected with the roller shutter motor;
Control method is as follows:
101) by man-machine control panel initialization system and wait;
102) in the monitoring roller shutter whether chest is arranged, have then to enter next step, otherwise return wait;
103) action of folder case cylinder clamps chest, and the X-axis servomotor advances simultaneously;
104) judge that by folder case magnetic switch whether folder case cylinder puts in place, is then to enter next step, otherwise returns previous step;
105) R axle servomotor rotation, Y-axis servomotor are raised to the highest order of institute's sign indicating number number of plies, and while X-axis servomotor advances;
106) judge that whether X, Y, R axle servomotor all put in place, are then to enter next step, otherwise return previous step;
107) the roller shutter motor action rises and regains roller shutter, and the chest in the roller shutter falls;
108) judge near switch whether the roller shutter motor puts in place, is then to enter next step by roller shutter, otherwise return;
109) folder case cylinder unclamps;
110) whether pine puts in place to have folder case magnetic switch to judge folder case cylinder, is then to enter next step, otherwise returns previous step;
111) X, Y, R servomotor reset simultaneously.
7. a kind of single-arm stacker crane device people control method according to claim 6 is characterized in that: be equipped with limit switch on described X, Y, the R axle servomotor.
8. a kind of single-arm stacker crane device people control method according to claim 6 is characterized in that: folder case cylinder and front and back folder case cylinder about described folder case cylinder comprises; Folder case magnetic switch, front and back folder case magnetic switch about described folder case magnetic switch comprises; Described PLC signal returns PLC by roller shutter motor, roller shutter after near switch successively, described PLC signal successively by about folder case cylinder, about return PLC behind the folder case magnetic switch, described PLC signal is successively by returning PLC behind front and back folder case cylinder, the front and back folder case magnetic switch.
9. a kind of single-arm stacker crane device people control method according to claim 6, it is characterized in that: described man-machine control panel comprises that touch-screen, control module, parameter are provided with module, monitoring module, alarm module, image module, described control module is connected with PLC, described parameter is provided with module and is connected with PLC, and described monitoring module is connected with described X, Y, R axle servomotor, folder case cylinder, roller shutter motor respectively.
10. a kind of single-arm stacker crane device people control method according to claim 6, it is characterized in that: be provided with remote control center, described remote control center is connected with PLC by wireless network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102745218A CN101973033B (en) | 2010-09-07 | 2010-09-07 | Single-arm palletizing robot control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102745218A CN101973033B (en) | 2010-09-07 | 2010-09-07 | Single-arm palletizing robot control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101973033A true CN101973033A (en) | 2011-02-16 |
| CN101973033B CN101973033B (en) | 2012-01-18 |
Family
ID=43572954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102745218A Expired - Fee Related CN101973033B (en) | 2010-09-07 | 2010-09-07 | Single-arm palletizing robot control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101973033B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103129975A (en) * | 2013-03-04 | 2013-06-05 | 广州达意隆包装机械股份有限公司 | Stacking robot and control method thereof |
| CN103163721A (en) * | 2012-11-23 | 2013-06-19 | 西安灵境科技有限公司 | Stereo imaging type phantom imaging device and control method thereof |
| CN103252785A (en) * | 2013-04-25 | 2013-08-21 | 东莞市易辉自动化机械有限公司 | Mechanical arm auxiliary mechanism |
| CN103439912A (en) * | 2013-08-23 | 2013-12-11 | 广东鼎湖山泉有限公司 | Stacking control method of bottled water |
| CN103569680A (en) * | 2013-11-06 | 2014-02-12 | 江苏新美星包装机械股份有限公司 | Universal stack arrangement control method for stacker crane |
| CN105302031A (en) * | 2015-11-24 | 2016-02-03 | 镇江天空机器人技术有限公司 | Control device and control method for piling carrying robot |
| CN105773602A (en) * | 2015-07-10 | 2016-07-20 | 石家庄森锐机械科技有限公司 | Control system for palletizing robot |
| CN106406218A (en) * | 2016-12-06 | 2017-02-15 | 大连佳林设备制造有限公司 | Container filling and palletizing robot control system |
| CN106695741A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Method for system state detection and initial work of mobile robot |
| CN107053170A (en) * | 2016-12-23 | 2017-08-18 | 江苏唯侓机器人科技有限公司 | Mobile phone HOME keys automatic setup system and assembly method |
| CN107381063A (en) * | 2017-06-06 | 2017-11-24 | 安徽铜峰电子股份有限公司 | Film packaging case stacking control system based on PLC outputs |
| CN108750645A (en) * | 2018-05-30 | 2018-11-06 | 沈阳飞机工业（集团）有限公司 | A kind of steering engine handling device and method suitable for Flying by wire system test |
| CN108750852A (en) * | 2018-08-13 | 2018-11-06 | 艾信智慧医疗科技发展（苏州）有限公司 | The initialization control method of the reciprocating lifting system of logistics |
| CN109623849A (en) * | 2017-10-05 | 2019-04-16 | 发那科株式会社 | Limit the control device of the speed of robot architecture's component |
| CN114035495A (en) * | 2021-10-18 | 2022-02-11 | 奔腾激光(温州)有限公司 | PLC control system, operation method thereof and device for operating PLC control system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0091421A1 (en) * | 1982-04-07 | 1983-10-12 | P.V.B.A. Engineering DE MUYNCK | Method and machine for treating articles |
| JPH0475886A (en) * | 1990-07-16 | 1992-03-10 | Toshiba Corp | Control unit for robot |
| CN201376790Y (en) * | 2009-01-06 | 2010-01-06 | 广州市万世德包装机械有限公司 | Rolling type grippers conveying mechanism of stacker crane |
| CN201415881Y (en) * | 2009-01-22 | 2010-03-03 | 广州市万世德包装机械有限公司 | Palletizer |
| CN201544231U (en) * | 2009-11-17 | 2010-08-11 | 董志军 | Stacking type handling mechanical hand |
-
2010
- 2010-09-07 CN CN2010102745218A patent/CN101973033B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0091421A1 (en) * | 1982-04-07 | 1983-10-12 | P.V.B.A. Engineering DE MUYNCK | Method and machine for treating articles |
| JPH0475886A (en) * | 1990-07-16 | 1992-03-10 | Toshiba Corp | Control unit for robot |
| CN201376790Y (en) * | 2009-01-06 | 2010-01-06 | 广州市万世德包装机械有限公司 | Rolling type grippers conveying mechanism of stacker crane |
| CN201415881Y (en) * | 2009-01-22 | 2010-03-03 | 广州市万世德包装机械有限公司 | Palletizer |
| CN201544231U (en) * | 2009-11-17 | 2010-08-11 | 董志军 | Stacking type handling mechanical hand |
Non-Patent Citations (2)
| Title |
|---|
| 《计算机测量与控制》 20091231 张丰华等 基于PLC的新型工业码垛机器人控制系统设计 2191-2193 第17卷, 第11期 2 * |
| 《起重运输机械》 20081231 黄泳波 码垛机吊臂连杆机构的运动分析与优化设计 15-17 , 第3期 2 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103163721A (en) * | 2012-11-23 | 2013-06-19 | 西安灵境科技有限公司 | Stereo imaging type phantom imaging device and control method thereof |
| CN103129975B (en) * | 2013-03-04 | 2015-12-23 | 广州达意隆包装机械股份有限公司 | A kind of robot palletizer and control method thereof |
| CN103129975A (en) * | 2013-03-04 | 2013-06-05 | 广州达意隆包装机械股份有限公司 | Stacking robot and control method thereof |
| CN103252785A (en) * | 2013-04-25 | 2013-08-21 | 东莞市易辉自动化机械有限公司 | Mechanical arm auxiliary mechanism |
| CN103252785B (en) * | 2013-04-25 | 2015-07-22 | 东莞市易辉自动化机械有限公司 | Mechanical arm auxiliary mechanism |
| CN103439912A (en) * | 2013-08-23 | 2013-12-11 | 广东鼎湖山泉有限公司 | Stacking control method of bottled water |
| CN103439912B (en) * | 2013-08-23 | 2016-01-27 | 广东鼎湖山泉有限公司 | A kind of piling control method of bottled water |
| CN103569680A (en) * | 2013-11-06 | 2014-02-12 | 江苏新美星包装机械股份有限公司 | Universal stack arrangement control method for stacker crane |
| CN105773602A (en) * | 2015-07-10 | 2016-07-20 | 石家庄森锐机械科技有限公司 | Control system for palletizing robot |
| CN105302031A (en) * | 2015-11-24 | 2016-02-03 | 镇江天空机器人技术有限公司 | Control device and control method for piling carrying robot |
| CN106406218A (en) * | 2016-12-06 | 2017-02-15 | 大连佳林设备制造有限公司 | Container filling and palletizing robot control system |
| CN107053170A (en) * | 2016-12-23 | 2017-08-18 | 江苏唯侓机器人科技有限公司 | Mobile phone HOME keys automatic setup system and assembly method |
| CN106695741A (en) * | 2017-02-10 | 2017-05-24 | 中国东方电气集团有限公司 | Method for system state detection and initial work of mobile robot |
| CN106695741B (en) * | 2017-02-10 | 2019-11-29 | 中国东方电气集团有限公司 | A kind of method of mobile-robot system state-detection and initial work |
| CN107381063A (en) * | 2017-06-06 | 2017-11-24 | 安徽铜峰电子股份有限公司 | Film packaging case stacking control system based on PLC outputs |
| CN109623849A (en) * | 2017-10-05 | 2019-04-16 | 发那科株式会社 | Limit the control device of the speed of robot architecture's component |
| CN108750645A (en) * | 2018-05-30 | 2018-11-06 | 沈阳飞机工业（集团）有限公司 | A kind of steering engine handling device and method suitable for Flying by wire system test |
| CN108750852A (en) * | 2018-08-13 | 2018-11-06 | 艾信智慧医疗科技发展（苏州）有限公司 | The initialization control method of the reciprocating lifting system of logistics |
| CN114035495A (en) * | 2021-10-18 | 2022-02-11 | 奔腾激光(温州)有限公司 | PLC control system, operation method thereof and device for operating PLC control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101973033B (en) | 2012-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101973033B (en) | Single-arm palletizing robot control system and method | |
| CN101920846B (en) | Truss robot box-sorting control system and method | |
| CN102411871A (en) | Modular manufacture training unit device and modular combined manufacture training system | |
| CN207468125U (en) | A kind of super-high piler by Dual-Servo Motor Synchronization Control high-speed cruising | |
| CN107350374A (en) | A kind of automatic manipulator | |
| CN102909754A (en) | Automatic plate reversing-sawing device and sawing method thereof | |
| CN202988291U (en) | Stacker crane | |
| CN103213849A (en) | Automatic stacking device of concrete blocks and stacking process thereof | |
| CN202878890U (en) | Automatically printed production line | |
| CN203197080U (en) | Motor punching automatic notching system | |
| CN205797786U (en) | A kind of horizontal intersection separator | |
| CN204584097U (en) | A kind of automatic manipulator | |
| CN111113421A (en) | Robot intelligence snatchs sequencing system | |
| CN203781336U (en) | Anti-falling structure and two-unit off-line stacking machine | |
| CN203793672U (en) | Semi-automatic encasement device | |
| CN110161988A (en) | A kind of carpenter's Furniture manufacturing line based on customer personalized customization | |
| CN106966181B (en) | Thin and flat plate separating and stacking unit for stamping sheet metal factory | |
| CN102689710B (en) | Automatic packaging machine | |
| CN204643184U (en) | Magnetic shoe pusher | |
| CN104555472A (en) | Simple mechanical arm stacking machine | |
| CN210365987U (en) | Stacking control system based on PLC | |
| CN112978258A (en) | Unstacking and stacking workstation combining AGV transportation and automatic production, unstacking and stacking method and application | |
| CN202934651U (en) | Full-automatic plate reversing and sawing device | |
| CN203568543U (en) | Intelligent control cloth storage mechanism | |
| CN207142320U (en) | A kind of automatic docking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: GUANGZHOU VANTA INTELLIGENT EQUIPMENT TECHNOLOGY C Free format text: FORMER NAME: GUANGZHOU WANSHIDE PACKING MACHINERY CO., LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 510800, Huaxing Road, Huaxing Industrial Zone, Xinhua Street, Huadu District, Guangdong, Guangzhou, 3 Patentee after: GUANGZHOU VANTA INTELLIGENT EQUIPMENT TECHNOLOGY Co.,Ltd. Address before: 510800, Huaxing Road, Huaxing Industrial Zone, Xinhua Street, Huadu District, Guangdong, Guangzhou, 3 Patentee before: Guangzhou Vanta Packing Machinery Co.Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Single-arm palletizing robot control system and method Effective date of registration: 20181126 Granted publication date: 20120118 Pledgee: Jiahe Branch of Guangzhou Bank Co.,Ltd. Pledgor: GUANGZHOU VANTA INTELLIGENT EQUIPMENT TECHNOLOGY Co.,Ltd. Registration number: 2018440000336 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210420 Granted publication date: 20120118 Pledgee: Jiahe Branch of Guangzhou Bank Co.,Ltd. Pledgor: GUANGZHOU VANTA INTELLIGENT EQUIPMENT TECHNOLOGY Co.,Ltd. Registration number: 2018440000336 |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120118 |