CN105345808A - Heavy-load robot palletizer system with double cooperative robot palletizers - Google Patents
Heavy-load robot palletizer system with double cooperative robot palletizers Download PDFInfo
- Publication number
- CN105345808A CN105345808A CN201510893583.XA CN201510893583A CN105345808A CN 105345808 A CN105345808 A CN 105345808A CN 201510893583 A CN201510893583 A CN 201510893583A CN 105345808 A CN105345808 A CN 105345808A
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- Prior art keywords
- robot palletizer
- robot
- heavy
- heavily loaded
- palletizer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0223—Heavy
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a heavy-load robot palletizer system with double cooperative robot palletizers. The system comprises the first heavy-load robot palletizer and the second heavy-load robot palletizer, wherein the two heavy-load robot palletizers are identical in structure and size. The first heavy-load robot palletizer and the second heavy-load robot palletizer are fixed to two parallel bottom plates of the same size respectively. The system further comprises a controller which is connected with the first heavy-load robot palletizer and the second heavy-load robot palletizer at the same time. Each heavy-load robot palletizer comprises a robot body and tongs, and each robot body comprises a base and an arm component. According to the heavy-load robot palletizer system, adopting the structure, with the double cooperative robot palletizers, the two heavy-load robot palletizers which are completely identical in specification cooperate with each other, super-huge type heavy-load plates can be well carried and palletized, the controller controls the two heavy-load robot palletizers so as to achieve completely synchronous work, and the system is convenient and easy to operate and wider in application range.
Description
Technical field
The present invention relates to Industrial Robot Technology field, particularly relate to heavily loaded robot palletizer technical field, specifically refer to a kind of double computer cooperation heavy duty robot palletizer system.
Background technology
Robot replaces manpower transport's piling, can production efficiency be increased substantially, ensure stability, reduce labour intensity, can serious accident be prevented, therefore be widely used in glass handling piling, steel plate carrying piling, the level of sheet material or vertical carrying piling etc.Along with the development of industry, realize that safety is carried out to super-huge heavily loaded sheet material, stablize, reliably carry and piling, become the demand that all conglomeraties are urgent.But because the load capacity of robot limit, be only difficult to carrying and the piling of super-huge heavily loaded sheet material with a robot.Under this background, just expedite the emergence of the application demand of Liao Liangtai robot Synchronization Control, work compound.
Summary of the invention
The object of the invention is the shortcoming overcoming above-mentioned prior art, provide and a kind ofly can realize by Liang Tai robot coordinated, the carrying carrying out super-huge heavily loaded sheet material well and piling, there is the double computer cooperation heavy duty robot palletizer system of broader applications scope.
To achieve these goals, double computer cooperation heavy duty robot palletizer system of the present invention has following formation:
This double computer cooperation heavy duty robot palletizer system, its main feature is, described system comprises structure and the measure-alike first heavily loaded robot palletizer and the second heavily loaded robot palletizer, and the described first heavily loaded robot palletizer and the second heavily loaded robot palletizer are individually fixed on two pieces of parallel to each other and measure-alike base plates.
Preferably, described system also comprises a controller, and described controller is connected with the second heavily loaded robot palletizer with the described first heavily loaded robot palletizer simultaneously.
Preferably, described heavily loaded robot palletizer comprises robot body and handgrip, described robot body comprises pedestal and arm assembly, Shoulder components is provided with between described arm assembly and pedestal, the end of described arm assembly is connected with described handgrip, is provided with wrist assembly between described arm assembly and handgrip.
More preferably, described robot body also comprises pedestal mounting plate, and described pedestal is mounted on described base plate by described pedestal mounting plate.
More preferably, described arm assembly comprises large arm, ancon and forearm, and described ancon is connected between described large arm and forearm, and described large arm is connected with described Shoulder components, and described forearm is connected with described wrist assembly.
Further, described heavily loaded robot palletizer also comprises bascule, and described bascule is arranged at the side of described large arm and described bascule is relative with described Shoulder components.
More preferably, described handgrip comprises fixed support and is arranged at the sucker on described fixed support, and described sucker is rectangular being distributed on described fixed support.
Have employed the double computer cooperation heavy duty robot palletizer system in this invention, by two identical heavily loaded robot palletizer coordinated of specification, carry out carrying and the piling of super-huge heavily loaded sheet material well, by same controller, the work of control realization Complete Synchronization is carried out to two heavily loaded robot palletizers, and simply easy to operate, there is range of application widely.
Accompanying drawing explanation
Fig. 1 ~ 2 are the structural representation of double computer cooperation of the present invention heavy duty robot palletizer system.
Fig. 3 ~ 4 are the structural representation of heavily loaded robot palletizer of the present invention.
Reference numeral:
1 pedestal mounting plate
2 shoulder joint decelerators
3 shoulder joint motors
4 pedestals
5 large arm
6 elbow joint decelerators
7 elbow joint motors
8 forearms
9 wrist joint motors
10 wrist joint decelerators
11 end flange
12 end decelerators
13 wrists
14 end motors
15 forearm limited blocks
16 bascules
17 large arm limited blocks
Detailed description of the invention
In order to more clearly describe technology contents of the present invention, conduct further description below in conjunction with specific embodiment.
Described double computer cooperation heavy duty robot palletizer system, this system is made up of jointly actuating unit and controller.
Described actuating unit comprises the first heavily loaded robot palletizer and the second heavily loaded robot palletizer.Every platform heavy duty robot palletizer mainly comprises the Structure composing such as pedestal 4, large arm 5, forearm 8, wrist 13 and bascule 16.
Wherein,
Described pedestal 4 is for fixing and support robot body;
Described large arm 5, forearm 8, wrist 13 belong to the stressed framework of main carrying of robot;
Described bascule 16 is arranged on large arm 5 and shoulder joint motor 3 place, for controlling main shaft balancing, strengthening the stability of large arm 5, ensureing the stability of robot work;
Described heavily loaded robot palletizer 1 and heavily loaded robot palletizer 2, be arranged on two pieces and be parallel to each other and on the identical base plate of specification.
Described controller, adopts same controller to manipulate 8 of two heavily loaded robot palletizers axles simultaneously, realizes the work compound of the same position axle of two heavily loaded robot palletizers.
To achieve these goals, this double computer cooperation heavy duty robot palletizer comprises structure and the measure-alike first heavily loaded robot palletizer and the second heavily loaded robot palletizer, and the described first heavily loaded robot palletizer and the second heavily loaded robot palletizer are individually fixed on two pieces of parallel to each other and measure-alike base plates.
In one preferably embodiment, described system also comprises a controller, and described controller is connected with the second heavily loaded robot palletizer with the described first heavily loaded robot palletizer simultaneously.
In one preferably embodiment, described heavily loaded robot palletizer comprises robot body and handgrip, described robot body comprises pedestal 4 and arm assembly, Shoulder components is provided with between described arm assembly and pedestal 4, the end of described arm assembly is connected with described handgrip, is provided with wrist assembly between described arm assembly and handgrip.
In a kind of better embodiment, described robot body also comprises pedestal mounting plate 1, and described pedestal 4 is mounted on described base plate by described pedestal mounting plate 1.
In a kind of better embodiment, described arm assembly comprises large arm 5, ancon and forearm 8, described ancon is connected between described large arm 5 and forearm 8, and described large arm 5 is connected with described Shoulder components, and described forearm 8 is connected with described wrist assembly.
In one further embodiment, described heavily loaded robot palletizer also comprises bascule 16, and described bascule 16 is arranged at the side of described large arm 5 and described bascule 16 is relative with described Shoulder components.
In a kind of better embodiment, described handgrip comprises fixed support and is arranged at the sucker on described fixed support, and described sucker is rectangular being distributed on described fixed support.
In the present embodiment, a kind of double computer cooperation heavy duty robot palletizer system provided by the invention, mainly comprises the first heavily loaded robot palletizer, the second heavily loaded robot palletizer and controller.Described first heavily loaded robot palletizer and the second heavily loaded robot palletizer are actuating units, primary responsibility carrying and the completing of piling action; Described controller, completes the task control to two heavily loaded robot palletizer work compounds.First heavily loaded robot palletizer and the second heavily loaded robot palletizer are two heavily loaded robot palletizers of same specification, and just installation site is different.
Mainly a point the following aspects is explained specific embodiment below:
1, install
Adopted by mounting base tempering bolt to be installed to ground, then adopt mixed earth to pour into an integrated entity, then robot is installed to substrate, adopt bolt to fix.Will ensure the upper surface level of two pieces of base plates in installation and be parallel to each other, namely two heavily loaded robot palletizers are parallel to each other relative to the movement locus of crawled sheet material, and the pedestal mounting plate setting height(from bottom) of two heavily loaded robot palletizers is equal.Then the connection of control circuit is carried out.
2, main composition and installation
A kind of double computer cooperation heavy duty robot palletizer system provided by the invention, mainly comprises the first heavily loaded robot palletizer, the second heavily loaded robot palletizer and controller.The specification of two heavily loaded robot palletizers is identical:
Described heavily loaded robot palletizer unit comprises robot body, bascule 16 and sucker gripper, and namely whole system comprises two robot bodies, and the main shaft in Mei Tai robot is all provided with bascule; And on the end flange 11 of robot, adopt hexagon socket head cap screw that the handgrip of band sucker structure is housed, ensure that two handgrips are at two machine man-hours, are parallel to each other at same position;
Described each joint part (as shown in Figure 3) such as joint motor and reductor etc. are all adopt hex screw group to carry out installation to be connected, each association part be connected and installed position as described in Figure 3, assembling sequence from left to right, from the bottom to top;
All cables of described Liang Tai robot are all connected on the serial ports of same controller in same switch board, and this controller carries out Collaborative Control to Liang Tai robot;
Described Liang Tai robot is when installation site, when must ensure that sheet material to be crawled captures, handgrip crawl position is in the center of the sheet material left and right sides, and the height ensureing pedestal mounting plate distance sheet material moving surface (i.e. roller-way upper surface) is more than 850mm, to ensure crawl scope.
The working method of double computer cooperation heavy duty robot palletizer provided by the invention, particular content is as follows:
A working cycles comprises: standby, capture, carrying and piling Four processes.
Standby: Liang Tai robot after the power-up, after carrying out associated control procedures editor, two robot arm cooperative motions, until two handgrip suckers capture plane and sheet material plane of movement horizontal parallel, and handgrip is on the downside of sheet material, as the position of accompanying drawing 3, wait for that sheet material arrives crawl position, in motion process, two handgrips remain parallel, and the movement locus of Liang Tai robot is identical, also parallel all the time between arm;
Capture: after sheet material arrives robot gripper crawl position, by ambient light electric induction signal, robot enters stage of gripping, two handgrips move to sucker and web contact place simultaneously, after all suckers are drawn simultaneously, the each axle of Liang Tai robot links, and level vertically departs from roller-way after being captured by sheet material, completes crawl;
Carrying: namely enter the carrying stage after having captured, movement locus along programming moves by robot accordingly, sheet material is transported to the position of needs, as shown in Figure 2, the same position axle of motion Zhong Liangtai robot remains synchronous, to remain parallel between identical arm;
Piling: after arrival assigned address, the sucker on two handgrips stops drawing simultaneously, is discharged on the carrying object of assigned address by sheet material, and then synchronously turns back to crawl position, carry out standby.
Have employed the double computer cooperation heavy duty robot palletizer system in this invention, by two identical heavily loaded robot palletizer coordinated of specification, carry out carrying and the piling of super-huge heavily loaded sheet material well, by same controller, the work of control realization Complete Synchronization is carried out to two heavily loaded robot palletizers, and simply easy to operate, there is range of application widely.
In this description, the present invention is described with reference to its specific embodiment.But, still can make various amendment and conversion obviously and not deviate from the spirit and scope of the present invention.Therefore, description and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (7)
1. a double computer cooperation heavy duty robot palletizer system, it is characterized in that, described system comprises structure and the measure-alike first heavily loaded robot palletizer and the second heavily loaded robot palletizer, and the described first heavily loaded robot palletizer and the second heavily loaded robot palletizer are individually fixed on two pieces of parallel to each other and measure-alike base plates.
2. double computer cooperation heavy duty robot palletizer system according to claim 1, it is characterized in that, described system also comprises a controller, and described controller is connected with the second heavily loaded robot palletizer with the described first heavily loaded robot palletizer simultaneously.
3. double computer cooperation heavy duty robot palletizer system according to claim 1, it is characterized in that, described heavily loaded robot palletizer comprises robot body and handgrip, described robot body comprises pedestal and arm assembly, Shoulder components is provided with between described arm assembly and pedestal, the end of described arm assembly is connected with described handgrip, is provided with wrist assembly between described arm assembly and handgrip.
4. double computer cooperation heavy duty robot palletizer system according to claim 3, it is characterized in that, described robot body also comprises pedestal mounting plate, and described pedestal is mounted on described base plate by described pedestal mounting plate.
5. double computer cooperation heavy duty robot palletizer system according to claim 3, it is characterized in that, described arm assembly comprises large arm, ancon and forearm, described ancon is connected between described large arm and forearm, described large arm is connected with described Shoulder components, and described forearm is connected with described wrist assembly.
6. double computer cooperation heavy duty robot palletizer system according to claim 5, it is characterized in that, described heavily loaded robot palletizer also comprises bascule, and described bascule is arranged at the side of described large arm and described bascule is relative with described Shoulder components.
7. double computer cooperation heavy duty robot palletizer system according to claim 3, it is characterized in that, described handgrip comprises fixed support and is arranged at the sucker on described fixed support, and described sucker is rectangular being distributed on described fixed support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510893583.XA CN105345808A (en) | 2015-12-07 | 2015-12-07 | Heavy-load robot palletizer system with double cooperative robot palletizers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510893583.XA CN105345808A (en) | 2015-12-07 | 2015-12-07 | Heavy-load robot palletizer system with double cooperative robot palletizers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105345808A true CN105345808A (en) | 2016-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510893583.XA Pending CN105345808A (en) | 2015-12-07 | 2015-12-07 | Heavy-load robot palletizer system with double cooperative robot palletizers |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | Multi-robot cooperative transportation method |
| CN111752229A (en) * | 2019-03-27 | 2020-10-09 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
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| CN105034008A (en) * | 2015-09-15 | 2015-11-11 | 南京航空航天大学 | Intelligent flexible production line with double robot cooperative automatic assembling and operation method for same |
| CN205238041U (en) * | 2015-12-07 | 2016-05-18 | 中建材凯盛机器人（上海）有限公司 | Duplex is heavily loaded pile up neatly robot system in coordination |
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Patent Citations (6)
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| JP2013193153A (en) * | 2012-03-19 | 2013-09-30 | Yaskawa Electric Corp | Working system and working method |
| CN104395009A (en) * | 2012-06-15 | 2015-03-04 | Abb技术有限公司 | Stacking line system and method for stacking blanks outputted from a blanking shear or press |
| CN104044133A (en) * | 2013-03-15 | 2014-09-17 | 株式会社安川电机 | Robot System And Method For Producing To-be-worked Material |
| CN104828028A (en) * | 2014-02-12 | 2015-08-12 | 韩磊 | Electric vehicle battery pack replacement system composed of computer, Internet and multiple robots |
| CN105034008A (en) * | 2015-09-15 | 2015-11-11 | 南京航空航天大学 | Intelligent flexible production line with double robot cooperative automatic assembling and operation method for same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106737696A (en) * | 2017-03-11 | 2017-05-31 | 杭州极木科技有限公司 | Multi-robot cooperative transportation method |
| CN111752229A (en) * | 2019-03-27 | 2020-10-09 | 杭州海康机器人技术有限公司 | Control system and control method for AGV cooperative transportation |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Chen Kun Inventor after: Zhang Shaobo Inventor after: Huang Xiang Inventor after: Lu Dingjun Inventor after: Shang Mingzhu Inventor after: Gong Kunyang Inventor after: Wang Wenbin Inventor before: Chen Kun Inventor before: Huang Xiang Inventor before: Lu Dingjun Inventor before: Shang Mingzhu Inventor before: Li Zhichao Inventor before: Gong Kunyang Inventor before: Wang Wenbin |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160224 |
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| RJ01 | Rejection of invention patent application after publication |