CN105108740B - A kind of portable handling wheel robot - Google Patents
A kind of portable handling wheel robot Download PDFInfo
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- CN105108740B CN105108740B CN201510622559.2A CN201510622559A CN105108740B CN 105108740 B CN105108740 B CN 105108740B CN 201510622559 A CN201510622559 A CN 201510622559A CN 105108740 B CN105108740 B CN 105108740B
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- 238000005516 engineering process Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000012546 transfer Methods 0.000 claims description 11
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims 1
- 230000005693 optoelectronics Effects 0.000 claims 1
- 238000004891 communication Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000005622 photoelectricity Effects 0.000 description 1
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Abstract
The invention discloses a kind of portable handling wheel robot, by setting carrying platform in robot, operationally carrying platform can be docked with the pipeline of a upper board, I-beam wheel is transported in robot automatically；The I-beam wheel of full line on carrying platform is moved on board by setting grabbing device, or move in robot the empty I-beam wheel on board, realize the automation of handling transport, without manually operating, effectively reduce workload, operating efficiency is improved, prevents the potential safety hazard of factory, save cost of human resources.By being provided with the navigation positioning system based on AGV technologies in moving cart, calling system is provided with board, navigation positioning system can realize radio communication with calling system.The calling key that need to only press on board when board needs handling, dolly will drive towards calling website, carries out automatic loading and unloading wheel, conveys on demand automatically, raising operating efficiency.
Description
Technical field
The invention belongs to the handling technical field of transportation of I-beam wheel, and in particular to a kind of portable handling wheel robot.
Background technology
Existing I-beam wheel by an operation when being transported to subsequent processing, it is necessary to be loaded and unloaded, I-beam wheel in conventional art
Handling be artificial operation, or use power-assisted mechanical handling, single I-beam wheel after full line weight up to up to a hundred kilograms,
Generally require multiple workmans to carry together, the amount of labour is big, and inefficiency increased labour intensity, and there is larger peace
Full hidden danger, automaticity is relatively low.
When workshop is transported generally using AGV dollies as transportation media, AGV dollies are automatical pilot transportation vehicles, refer to
It is equipped with electricity and magnetically or optically waits homing guidance device, can be travelled along the guide path of regulation, with safeguard protection and various
The transport vehicle of transfer function, carries out transport I-beam wheel and effectively reduces cost of labor using AGV transport vehicles, improves work effect
Rate, makes working environment safer.Although AGV dollies can realize automatic transportation, the handling of I-beam wheel still need people
Work is operated, and still there is the amount of labour greatly, ineffective problem.
And, the system mutually echoed is not set between dolly and board, it is impossible to according to sending on time the need for board
Up to, it is necessary to artificial operation.
Therefore, in view of problem above, it is necessary to propose a kind of full-automatic handling and conveying arrangement, realize handling transport from
Dynamicization, without artificial operation, effectively reduces workload, improves operating efficiency, prevents the potential safety hazard of factory, saves human resources
Cost.
The content of the invention
In view of this, the invention provides a kind of portable handling wheel robot, carry flat by being set in robot
Platform, operationally docks carrying platform with board pipeline, and I-beam wheel is transported in robot automatically, by setting crawl dress
Put and move on board the I-beam wheel of full line on carrying platform, or the empty I-beam wheel on board is moved in robot, realize dress
The automation of transport is unloaded, without artificial operation, workload is effectively reduced, operating efficiency is improved, prevents the potential safety hazard of factory, saved
Human-saving resources costs.
The portable handling wheel robot of one kind that purpose of the invention is proposed, in two boards of different station
Between transport I-beam wheel, the portable handling wheel robot includes moving cart, is fixedly installed in the moving cart
Frame, the multiple carrying platforms in frame and the grabbing device being arranged above the carrying platform, each described carrying
Multiple I-beam wheels are placed with platform, the grabbing device includes telescopic manipulator, with entering of driving telescopic manipulator to move
To mechanism, the feed mechanism includes adjustment manipulator X, the transverse feed mechanism and longitudinal feed mechanism of Y-direction displacement.
Preferably, the moving cart is walked on Motionless electromagnetic track, is set on the electromagnetic path corresponding to board position
The ground magnetic for being equipped with to position moving cart is followed closely.
Preferably, the navigation positioning system based on AGV technologies is provided with moving cart, calling system is provided with board
System, the navigation positioning system realizes radio communication with the calling system.
Preferably, each carrying platform is set by the transfer roller that multiple be arranged in parallel and is formed, and transfer roller is rotated and is arranged at machine
On frame.
Preferably, detecting element for detecting I-beam wheel position is provided with the frame and according to detecting element
Signal eject the lifting body for separating adjacent two I-beam wheel upwards.
Preferably, the detecting element is photoelectric sensor, before the lifting body includes electric cylinder and is located at electric cylinder
The fixed gauge block at end, after jack-up, between the fixed gauge block is stuck in two I-beam wheel bottom margins.
Preferably, the feed mechanism includes stepper motor, screw-nut body.
Preferably, the telescopic manipulator be one group or be arranged side by side it is multigroup, the telescopic manipulator include electricity
Dynamic cylinder and the pick-up head positioned at the electric cylinder front end.
Preferably, the pick-up head is absorption disk.
Preferably, the pick-up head middle position is provided with locating shaft, and during crawl I-beam wheel, the locating shaft stretches into work
Positioning is realized in character wheel endoporus.
Compared with prior art, the advantage of portable handling wheel robot disclosed by the invention is：
By setting carrying platform in robot, operationally can be with the pipeline pair of a upper board by carrying platform
Connect, I-beam wheel is transported in robot automatically；The I-beam wheel of full line on carrying platform is moved into machine by setting grabbing device
On platform, or the empty I-beam wheel on board is moved in robot, realize the automation of handling transport, operated without artificial, effectively
Workload is reduced, operating efficiency is improved, prevents the potential safety hazard of factory, save cost of human resources.
By being provided with the navigation positioning system based on AGV technologies in moving cart, calling system is provided with board
System, navigation positioning system can realize radio communication with calling system.Board needs the calling key that need to be only pressed on board during handling,
Dolly will drive towards calling website automatically, carry out automatic loading and unloading wheel, convey on demand, improve operating efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the front view of robot disclosed by the invention.
Fig. 2 is the left view of robot disclosed by the invention.
Fig. 3 is the diagrammatic perspective view of robot disclosed by the invention.
Fig. 4 is the front view of conveying device.
Fig. 5 is the left view of conveying device.
Fig. 6 is the front view of grabbing device.
Fig. 7 is the left view of grabbing device.
Fig. 8 is the top view of grabbing device.
The title of the digital or alphabetical representative corresponding component in figure：
100th, dolly 200, conveying device 300, grabbing device 400, I-beam wheel 500, Bunching machine
201st, frame 202, transfer roller 203, photoelectric sensor 204, electric cylinder 205, fixed gauge block 206, motor 207, hold
Carrying platform 301, manipulator 302, pick-up head 303, absorption disk 304, locating shaft 305, horizontal slide rail 306, longitudinal slide rail 307,
Stepper motor 308, screw-nut body
Specific embodiment
Existing I-beam wheel by a upper operation when being transported to subsequent processing, it is necessary to be loaded and unloaded, I-shaped in conventional art
The handling of wheel are artificial operation, or use power-assisted mechanical handling, single I-beam wheel after full line weight up to public affairs up to a hundred
Jin, generally requires multiple workmans and carries together, and the amount of labour is big, and inefficiency increased labour intensity, and exist larger
Potential safety hazard, automaticity is relatively low.
The present invention is directed to deficiency of the prior art, there is provided a kind of portable handling wheel robot, by robot
Upper setting carrying platform, operationally docks carrying platform with board pipeline, and I-beam wheel is transported in robot automatically, leads to
Cross setting grabbing device to move on board the I-beam wheel of full line on carrying platform, or the empty I-beam wheel on board is moved into machine
On people, the automation of handling transport is realized, without artificial operation, effectively reduce workload, improve operating efficiency, prevent factory
Potential safety hazard, saves cost of human resources.
Technical scheme will be clearly and completely described by specific embodiment below.Obviously, retouched
The embodiment stated is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.
Please be a kind of referring to Fig. 1 to Fig. 3, as illustrated, a kind of movable type loads and unloads wheel robot, in two different stations
Board between transport I-beam wheel, the movable type handling wheel robot include moving cart 100, be fixedly installed on moving cart
Frame 201 on 100, the multiple carrying platforms 207 in frame 201, with the grabbing device being arranged above carrying platform
300, I-beam wheel 400 is located on carrying platform, is used to move to the I-beam wheel of full line on Bunching machine, or by the empty work on Bunching machine
Character wheel is moved in robot, and the ground magnetic nail to positioning robot is provided with the electromagnetic path corresponding to board position.It is logical
Cross ground magnetic nail and be positioned at the mode that board installs Auxiliary Track, realize being accurately positioned between robot and fixed board, be
A kind of low cost and reliability positioning method high.
The navigation positioning system based on AGV technologies is provided with moving cart, calling system is provided with Bunching machine board,
Navigation positioning system realizes radio communication with calling system.Bunching machine needs the calling key that need to be only pressed on board during handling, small
Car will drive towards calling website automatically, carry out automatic loading and unloading wheel, convey on demand, improve operating efficiency.Other machines may also set up exhales
System is, it is convenient to realize communicating with moving cart.
Please also refer to Fig. 4, Fig. 5, as illustrated, each carrying platform sets shape by the transfer roller that multiple be arranged in parallel
Into transfer roller is rotated and is arranged in frame.Transfer roller 202 is driven by motor 206, is driven transfer roller to rotate by motor and is realized
The conveying of I-beam wheel.Carrying platform sets 4 in the application, wherein 3 are used to be docked full line with the pipeline of previous operation
I-beam wheel transport to carrying platform.Another reserves and, when so carrying out handling wheel, can first by the sky in Bunching machine
Wheel takes out and is put on a reserved emptying wheel position, then takes out the full wire I-shape reel wheel on car, is put into the frame basket of Bunching machine, it
It is put on the carrying platform for soaring a part of sky I-beam wheel is taken out afterwards, so circulation, I-beam wheel takes quantity according to machine
Depending on platform needs.Wherein carrying platform can be specifically limited also using conveyer belt or transmission chain etc..
Be provided with frame 201 detecting element for detecting I-beam wheel position and according to the signal of detecting element to
Upper ejection separates the lifting body of adjacent two I-beam wheel.The position of I-beam wheel is detected by setting detecting element, when reach I-shaped
Take turns when in place, corresponding detecting element detects the signal, and protrudes upward the latter I-beam wheel of stop by lifting body, by after
One I-beam wheel is separated with previous I-beam wheel, it is ensured that the centre-to-centre spacing between adjacent two I-beam wheels, is that subsequent processing is prepared.
Wherein detecting element is photoelectric sensor, and photoelectric sensor may be disposed at lower section, top or the side of carrying platform,
Detectable I-beam wheel, is not limited herein.
Lifting body includes electric cylinder 204 and is located at the fixed gauge block 205 of electric cylinder front end, after jack-up, fixed gauge block card
In between two I-beam wheel bottom margins.The size of fixed gauge block is set on demand, it is ensured that the centre-to-centre spacing between two I-beam wheels.
Please also refer to Fig. 6 to Fig. 8, as illustrated, grabbing device includes telescopic manipulator 301, with driving manipulator
Mobile feed mechanism, feed mechanism includes adjustment manipulator X, the transverse feed mechanism and longitudinal feed mechanism of Y-direction displacement.
Wherein transverse feed mechanism includes the horizontal slide rail 305 being arranged in frame, and longitudinal feed mechanism includes being arranged in frame
Longitudinal slide rail 306.Wherein longitudinal slide rail is telescopic drawer type slide rail, convenient by docking between robot and board, Fig. 2 with
Fig. 7 is state when longitudinal slide rail is stretched out.
Wherein, feed mechanism includes stepper motor 307 and screw-nut body 308.
In the application, manipulator is located in horizontal slide rail, and the sliding block that can be moved in horizontal slide rail is provided with manipulator
(not shown), drives screw-nut body 308 to operate by stepper motor 307, realizes manipulator movement in the X direction, adjusts
The lateral displacement of whole manipulator.Horizontal slide rail is located in longitudinal slide rail, and being provided with horizontal slide rail can move in longitudinal slide rail
Sliding block (not shown), moved by driving stepper motor screw-nut body so that horizontal slide rail realizes X in longitudinal slide rail
Movement on direction, then ensures the movement in manipulator X-direction.Manipulator can adjust in z-direction from as telescopic
It is mobile.
Manipulator 301 be one group or be arranged side by side it is multigroup, manipulator includes electric cylinder and positioned at electric cylinder front end
Pick-up head 301.Manipulator is three groups for being arranged side by side, three groups of manipulators I-beam wheel of movement pickup simultaneously, adjacent two in the application
Centre-to-centre spacing between manipulator is identical with centre-to-centre spacing between I-beam wheel.
Wherein, pick-up head is absorption disk.Also chuck etc. can be grabbed for three, be not limited specifically.
The middle position of pick-up head 302 is provided with locating shaft 304, and during crawl I-beam wheel, locating shaft 304 is stretched into I-beam wheel
Positioning is realized in hole.
Present invention employs telescopic drawer type slide rail, when I-beam wheel is loaded and unloaded can with driving mechanical hand stretch out body it
Outward, when usual mobile, it is retracted in machine frame again, it is ensured that the safety of walking.
After the present invention is implemented, workman can be freed from heavy manual labor, improve the production effect of factory
Rate, prevents the potential safety hazard of factory.
One portable handling wheel robot can be responsible for ten handling wheel work of Bunching machine, improve the economic effect of factory
Benefit.
One portable handling wheel robot split run can at least substitute 4 workmans, reduce cost of human resources.
Automatic loading and unloading wheel robot needs automatic running to I-beam wheel accumulating area, I-beam wheel is transported and is exchanged.Specific steps
It is as follows：
Automatic carriage process, automatic loading and unloading wheel robot sails workshop I-beam wheel accumulating area into, and robot passes through photoelectricity first
Whether inductor differentiates there is free I-beam wheel in itself conveying device, there is wheel, then Kong Lun areas are first sailed into, by photoelectric sensor pair
Level is postponed, and the empty wheel of itself is sent into Kong Lun accumulatings area.Then Man Lun accumulatings area is driven to, it is accurate by photoelectric sensor
After positioning, start transfer roller, full wire I-shape reel wheel is transported in robot automatically.
Wheel process is loaded and unloaded to Bunching machine, when Bunching machine needs to change wheel, Bunching machine is come to a complete stop by operator, open protection cabin
Door, presses the calling key of board itself, then coherent signal is transmitted by way of wireless transmission, and mobile robot receives letter
After number, then the good loading condition of itself is checked, calling board is driven towards automatically after the completion of loading.Machine is positioned at by ground magnetic fourth
Platform is installed on Auxiliary Track.Robot stretches out manipulator first, takes out the empty wheel in Bunching machine and is put into the reserved turnover of itself
On room, the full wire I-shape reel wheel of itself institute's band is then captured, be transplanted on the relevant position of Bunching machine.Then manipulator withdraws, machine
Device people moves to next station and works on.
All control actions and algorithm, are completed by the micro computer of institute of robot itself band.
The invention discloses a kind of portable handling wheel robot, by setting carrying platform in robot, in work
When carrying platform can be docked with the pipeline of a upper board, I-beam wheel is transported in robot automatically；Captured by setting
Device moves on board the I-beam wheel of full line on carrying platform, or the empty I-beam wheel on board is moved in robot, realizes
The automation of transport is loaded and unloaded, without artificial operation, workload is effectively reduced, operating efficiency is improved, prevents the potential safety hazard of factory,
Save cost of human resources.
By being provided with the navigation positioning system based on AGV technologies in moving cart, calling system is provided with board
System, navigation positioning system can realize radio communication with calling system.Board needs the calling key that need to be only pressed on board during handling,
Dolly will drive towards calling website automatically, carry out automatic loading and unloading wheel, convey on demand, improve operating efficiency.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (9)
1. a kind of movable type loads and unloads wheel robot, and to transport I-beam wheel between two boards of different station, its feature exists
In the portable handling wheel robot includes moving cart, is fixedly installed on frame in the moving cart, positioned at frame
On multiple carrying platforms and the grabbing device that is arranged above the carrying platform, be placed with multiple on each described carrying platform
I-beam wheel, the grabbing device includes telescopic manipulator, with the feed mechanism for driving telescopic manipulator to move, the feeding
Mechanism includes adjustment manipulator X, the transverse feed mechanism and longitudinal feed mechanism of Y-direction displacement；
The longitudinal feed mechanism include longitudinal slide rail, the longitudinal slide rail be telescopic drawer type slide rail, by robot with
Docked between board, during docking, longitudinal slide rail extend out to board top；
The I-beam wheel is vertical placement, and detecting element, the Yi Jigen for detecting I-beam wheel position are provided with the frame
The lifting body for separating adjacent two I-beam wheel is ejected upwards according to the signal of detecting element, after lifting body protrudes upward stop
One I-beam wheel, it is latter I-beam wheel is separated with previous I-beam wheel, it is ensured that the centre-to-centre spacing between adjacent two I-beam wheels；Telescopic machine
Tool hand is the centre-to-centre spacing and work between multigroup, the multigroup manipulator I-beam wheel of movement pickup simultaneously being arranged side by side, adjacent two manipulator
Centre-to-centre spacing is identical between character wheel.
2. movable type as claimed in claim 1 loads and unloads wheel robot, it is characterised in that the moving cart walks in fixed electricity
On magnetic orbital, it is provided with to position the ground magnetic nail of moving cart on the electromagnetic path corresponding to board position.
3. movable type as claimed in claim 1 loads and unloads wheel robot, it is characterised in that be provided with based on AGV in moving cart
The navigation positioning system of technology, is provided with calling system on board, the navigation positioning system realizes nothing with the calling system
Line communicates.
4. movable type as claimed in claim 1 loads and unloads wheel robot, it is characterised in that each carrying platform is set by multiple is parallel
The transfer roller put is set to be formed, and transfer roller is rotated and is arranged in frame.
5. movable type as claimed in claim 1 loads and unloads wheel robot, it is characterised in that the detecting element is optoelectronic induction
Device, the lifting body includes electric cylinder and is located at the fixed gauge block of electric cylinder front end, and after jack-up, the fixed gauge block is stuck in two
Between I-beam wheel bottom margin.
6. movable type as claimed in claim 1 loads and unloads wheel robot, it is characterised in that the feed mechanism includes stepping electricity
Machine, screw-nut body.
7. handling wheel robot as claimed in claim 6 portable, it is characterised in that the telescopic manipulator be one group or
What is be arranged side by side is multigroup, and the telescopic manipulator includes electric cylinder and the pick-up head positioned at the electric cylinder front end.
8. movable type as claimed in claim 7 loads and unloads wheel robot, it is characterised in that the pick-up head is absorption disk.
9. movable type as claimed in claim 7 loads and unloads wheel robot, it is characterised in that the pick-up head middle position is set
There is locating shaft, during crawl I-beam wheel, the locating shaft realizes positioning in stretching into I-beam wheel endoporus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510622559.2A CN105108740B (en) | 2015-09-25 | 2015-09-25 | A kind of portable handling wheel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510622559.2A CN105108740B (en) | 2015-09-25 | 2015-09-25 | A kind of portable handling wheel robot |
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| Publication Number | Publication Date |
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| CN105108740A CN105108740A (en) | 2015-12-02 |
| CN105108740B true CN105108740B (en) | 2017-07-07 |
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| CN201510622559.2A Active CN105108740B (en) | 2015-09-25 | 2015-09-25 | A kind of portable handling wheel robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106094609A (en) * | 2016-06-02 | 2016-11-09 | 芜湖智久机器人有限公司 | A kind of calling system of AGV |
| CN106395403A (en) * | 2016-11-09 | 2017-02-15 | 苏州超群智能科技有限公司 | Cable stacking machine |
| CN106906522A (en) * | 2017-03-17 | 2017-06-30 | 杭州锐冠科技有限公司 | A kind of automatic clear plate system and its automatic clear plate technological process |
| DE102017115281A1 (en) * | 2017-07-07 | 2019-01-10 | SW Automation GmbH | Loading and unloading device and method for operating a loading and unloading device |
| CN108202315A (en) * | 2018-01-30 | 2018-06-26 | 珠海创智科技有限公司 | Material transportation robot |
| CN108147035B (en) * | 2018-03-05 | 2024-03-26 | 菲尼克斯(南京)智能制造技术工程有限公司 | Guiding and positioning device and positioning system and method for AGV conveying system |
| CN108857305B (en) * | 2018-06-05 | 2020-08-14 | 芜湖优能自动化设备有限公司 | Conveying device for assembling pump core |
| CN108840009B (en) * | 2018-08-03 | 2024-06-04 | 苏州艾斯达克智能科技有限公司 | Mobile intelligent warehouse |
| CN109352674B (en) * | 2018-12-25 | 2024-06-07 | 无锡华工大光电智能科技有限公司 | I-shaped wheel double clamping jaw mechanism |
| CN109534100A (en) * | 2018-12-25 | 2019-03-29 | 无锡华工大光电智能科技有限公司 | A kind of coiled strip I-beam wheel automatic conveying device |
| CN113120681A (en) * | 2021-05-17 | 2021-07-16 | 张家港市瑞昌智能机器系统有限公司 | Automatic disc changing system of spool wire winding machine |
| CN113649777B (en) * | 2021-07-15 | 2023-08-15 | 江苏兴达智能制造有限公司 | 800 spool automatic replacement system |
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Effective date of registration: 20200302 Address after: Yangshe shoal Lake Park in Suzhou Branch Chong Hua Chang Lu 215600 cities in Jiangsu city of Zhangjiagang Province Patentee after: Ruichang, Zhangjagang City intelligent machine System Co., Ltd Address before: 215600, room 71, 408 Chengbei Village, Zhangjiagang City, Jiangsu, Suzhou Patentee before: Wang Bo |
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