CN105643617A - Servo stacking system - Google Patents

Servo stacking system Download PDF

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Publication number
CN105643617A
CN105643617A CN201610196519.0A CN201610196519A CN105643617A CN 105643617 A CN105643617 A CN 105643617A CN 201610196519 A CN201610196519 A CN 201610196519A CN 105643617 A CN105643617 A CN 105643617A
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CN
China
Prior art keywords
jig arm
bearing
unit
rod
servo
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
Application number
CN201610196519.0A
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Chinese (zh)
Other versions
CN105643617B (en
Inventor
叶伟
汪旭光
魏峰
董田江
柳东
方炜明
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Ningbo Haitian Precision Machinery Co Ltd
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Ningbo Haitian Precision Machinery Co Ltd
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Priority to CN201610196519.0A priority Critical patent/CN105643617B/en
Publication of CN105643617A publication Critical patent/CN105643617A/en
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Publication of CN105643617B publication Critical patent/CN105643617B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Abstract

The invention discloses a servo stacking system which comprises a base unit, a stand column unit, a clamping arm unit, a material trolley and an electrical control unit. The servo stacking system is high in automation degree, high in controllability, capable of achieving two-axis servo movement, capable of completing automatic material grabbing after the material trolley is manually pushed to any position in a designated area, and capable of automatically recognizing and grabbing material trays in any layer within the stroke range, thereby greatly shortening manual operation time and lowering labor intensity. The servo stacking system can be widely suitable for automatically grabbing material trays or material frames on an automatic production line and can meanwhile lift up or put down material trays or material frames to a designated position, parts on material trays can be conveniently grabbed by mechanical arms and the like on the automatic production line, automatic feed and discharge are achieved, and the system can be suitable for grabbing, stacking, conveying and other operation on the automatic production line.

Description

A kind of servo palletizing system
Technical field
The present invention relates to automatic producing technology field, specifically a kind of servo palletizing system.
Background technology
Along with the proposition of German Industrial 4.0, within 2015, China is analyzing on the basis of domestic market, it then follows industrial upgrading and the objective law of transition, has promulgated made in China 2025, and its main direction is to advance intelligence manufacture. Along with the megatrend in intelligent market, and the labor cost constantly risen, machine substitution is the Important Action promoting traditional manufacture to realize industrial transformation upgrading. At present in automatic production line, loading and unloading are completed by a dead lift mostly, and the loading and unloading time is long, and labor strength is big.
Summary of the invention
The technical problem to be solved is: provide the servo palletizing system that a kind of automaticity is high, controllability is good.
This invention address that the technical scheme that above-mentioned technical problem adopts is: a kind of servo palletizing system, including base unit, column unit, clamping arm unit, truck and electric control unit, described base unit includes base, article two, First Line rail, tooth bar and some contact switches, two described First Line rails and described tooth bar are installed in the upper surface of described base, two described First Line rails are parallel to Y-axis and arrange, described some contact switches are arranged on the front side of described base, described some contact switches are for determining that the X of truck sends corresponding signal to position and to described electric control unit, described column unit includes column, article two, the second line rail, leading screw, first driving mechanism, synchronous pulley driving mechanism and non-contact switch, two described the second line rails and described non-contact switch are arranged on the front side of described column, described non-contact switch is for determining the Y-direction position of the charging tray on truck and sending corresponding signal to described electric control unit, two described the second line rails are parallel to Z axis and arrange, described column is arranged on the slide block of described two First Line rail, described leading screw is arranged on the middle part of described column, the outfan of the first described driving mechanism is connected to gear, described gear is meshed with described tooth bar, described synchronous pulley driving mechanism includes the first servomotor, small synchronous pulley, big synchronous pulley and Timing Belt, the first described servomotor is arranged on the top of described column, described small synchronous pulley is coaxially mounted to the outfan of the first described servomotor, described big synchronous pulley is coaxially mounted on the axle of described leading screw, described small synchronous pulley is connected by described Timing Belt swelling with described big synchronous pulley,Described clamping arm unit is arranged on the slide block of described two the second line rail and is connected with the nut of described leading screw, described clamping arm unit is provided with two far infrared transceiver, two described far infrared transceiver are for determining the position of the charging tray that has that it's too late of charging tray on truck and sending corresponding signal to described electric control unit, described clamping arm unit is for gripping the charging tray on truck, described electric control unit is for controlling the movement along Y-axis of the described column unit, described clamping arm unit is along the movement of Z axis and the gripping to charging tray of the described clamping arm unit.
The servo palletizing system of the present invention, drives column unit along moving horizontally that Y-axis moves by the first driving mechanism, realizes clamping arm unit vertically moving along Z axis by leading screw. The operation principle of this servo palletizing system and process be: 1) under original state, clamping arm unit is in the highest order of Z axis and is in full open mode, manually will be equipped with the truck of charging tray and empty truck is pushed into the appointment scope before being positioned at base, be confirmed whether to exist truck by some contact switches and determine that the X of truck is sent to electric control unit with signal form to position and by result; 2) after the signal that puts in place of truck is confirmed, electric control unit requires that column unit carries out Y-axis together with clamping arm unit and moves, identify the Y-direction position equipped with the charging tray on the truck of charging tray by non-contact switch, to determine the coordinate position of charging tray simultaneously; 3) after Y-direction location confirmation, clamping arm unit begins at Z-direction and moves down, the position of charging tray that the first floor can capture is determined by far infrared transceiver, after determining, clamping arm unit by the clamping of first floor charging tray and on move to correct position, to coordinate the production needs of the automatic production line of concrete application; 4) after first floor charging tray has used, column unit is moved into contact with, along Y-axis, the empty skip position that switch confirms together with first floor charging tray with clamping arm unit, clamping arm unit declines, and determines behind the position that can place charging tray on sky truck until far infrared transceiver, puts down charging tray; 5) step 2 is repeated)-step 4), until all charging trays are all transferred to sky truck by charging tray truck, now, electric control unit sends cue, and notice is patrolled pipe personnel and carried out subsequent operation.
The servo piling system automation degree of the present invention is high, controllability is good, it is capable of two axle servos to move, only need the artificial optional position being pushed into by truck and specifying in region, automatic material grasping can be completed, carry out the charging tray of any number of plies automatically identifying and capturing in stroke range, thus significantly shortening handling time and reducing hand labor intensity. Servo palletizing system of the present invention is widely portable to the automatic crawl of automatic production line loading plate or material frame, charging tray or material frame can be promoted or drop to appointment position simultaneously, it is easy to the devices such as the mechanical hand part to capture on charging tray on automatic production line, realize automatization's loading and unloading, it is possible to other crawl, stacking, carryings etc. suitable in automatic production line operate.
Described clamping arm unit includes left jig arm, right jig arm, jig arm bearing, article four, the 3rd line rail, synchronization link mechanism and cylinder, described jig arm bearing is fixed on the slide block of described two the second line rail, described jig arm bearing is connected with the nut of described leading screw, four article of the 3rd described line rail is symmetrically mounted on the both sides of described jig arm bearing, four article of the 3rd described line rail is parallel to Y-axis and arranges, described left jig arm and described right jig arm are symmetrical arranged and are separately fixed on the slide block of the 3rd line rail two articles described, the cylinder body of described synchronization link mechanism and described cylinder is arranged on described jig arm bearing, described synchronization link mechanism is connected with described left jig arm and described right jig arm simultaneously, described synchronization link mechanism for realize described left jig arm and described right jig arm along Y-axis synchronization in opposite directions or synchronize move dorsad, the piston of described cylinder is connected with described left jig arm or described right jig arm, two described far infrared transceiver are separately mounted in described left jig arm and described right jig arm, described left jig arm and described right jig arm are for gripping the charging tray on truck.
Described synchronization link mechanism includes rotating disk, support axle, angular contact bearing, bearing internal gland, bearing outer press cover, left connecting rod and right connecting rod, described one end supporting axle is arranged on described jig arm bearing, described angular contact bearing is arranged on the described outside supporting axle, described bearing internal gland is arranged on the described other end supporting axle, described bearing outer press cover is arranged on the outside of described bearing internal gland, described bearing outer press cover is fixed on described rotating disk, described left connecting rod and one end of described right connecting rod are hingedly connected at the both sides of described rotating disk respectively, the other end of described left connecting rod and described left jig arm chain connection, the other end of described right connecting rod and described right jig arm chain connection.
It is connected each through rotating shaft between described left connecting rod and described right connecting rod and described rotating disk, between described left connecting rod and described left jig arm and between described right connecting rod and described right jig arm, described rotating shaft is provided with self-lubricating bearing, described self-lubricating bearing is arranged on described left connecting rod or described right connecting rod, and the two ends of described rotating shaft are separately installed with packing ring.
The first described driving mechanism includes the second servomotor and reductor, the second described servomotor is arranged on described reductor, described reductor is arranged on described column, the input of described reductor is connected with the outfan of the second described servomotor, and the outfan of described reductor is connected with described gear.
Described reductor is provided with the anti-backlash mechanism for adjusting described gear and the back lash of described tooth bar. Further, described anti-backlash mechanism includes the transition rotating disk of bias, and described reductor is fixed on described transition rotating disk, and described transition rotating disk is arranged on described column. Install and use in process, by rotating transition rotating disk, the back lash of wheel and rack can be adjusted, improve transmission accuracy.
The bottom of described base is provided with multiple burr adjustable tail margin for adjusting base high and low position.
Described charging tray is by the material level up and down of AGV fork truck automatic transporting to truck. In servo piling system work process, with the use of AGV carrying fork truck charging tray, it is achieved automatic loading/unloading dish, replace hand haulage, the automaticity of servo palletizing system can be promoted further.
Compared with prior art, it is an advantage of the current invention that: servo piling system automation degree provided by the invention is high, controllability is good, it is capable of two axle servos to move, only need the artificial optional position being pushed into by truck and specifying in region, automatic material grasping can be completed, carry out the charging tray of any number of plies automatically identifying and capturing in stroke range, thus significantly shortening handling time and reducing hand labor intensity. Servo palletizing system of the present invention is widely portable to the automatic crawl of automatic production line loading plate or material frame, charging tray or material frame can be promoted or drop to appointment position simultaneously, it is easy to the devices such as the mechanical hand part to capture on charging tray on automatic production line, realize automatization's loading and unloading, it is possible to other crawl, stacking, carryings etc. suitable in automatic production line operate. Further, after AGV fork truck, the automaticity of servo palletizing system can be promoted.
Accompanying drawing explanation
Fig. 1 is the outside drawing of the servo palletizing system of embodiment;
Fig. 2 is the front view of the servo palletizing system after removing truck and partial protection;
Fig. 3 is A-A sectional view in Fig. 2;
Fig. 4 is B place enlarged drawing in Fig. 3;
Fig. 5 is the outside drawing of base unit;
Fig. 6 is the outside drawing of column unit;
Fig. 7 is the outside drawing of clamping arm unit;
Fig. 8 is the front view of clamping arm unit;
Fig. 9 is C-C sectional view in Fig. 8;
Figure 10 is E place enlarged drawing in Fig. 9;
Figure 11 is D-D sectional view in Fig. 8;
Figure 12 is F place enlarged drawing in Figure 11.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
The servo palletizing system of embodiment 1, as shown in the figure, including base unit 1, column unit 2, clamping arm unit 3, truck 4 and electric control unit (not shown), base unit 1 includes base 11, article two, First Line rail 12, tooth bar 13 and four contact switches 14, the bottom of base 11 is provided with multiple burr adjustable tail margin 15 for adjusting base 11 high and low position, article two, First Line rail 12 and tooth bar 13 are installed in the upper surface of base 11, article two, First Line rail 12 is parallel to Y-axis setting, four contact switches 14 are arranged on the front side of base 11, four contact switches 14 are for determining that the X of truck 4 sends corresponding signal to position and to electric control unit.
In embodiment 1, column unit 2 includes column 21, article two, the second line rail 22, leading screw 23, first driving mechanism, synchronous pulley driving mechanism and non-contact switch 24, article two, the second line rail 22 and non-contact switch 24 are arranged on the front side of column 21, non-contact switch 24 is for determining the Y-direction position of the charging tray 41 on truck 4 and sending corresponding signal to electric control unit, article two, the second line rail 22 is parallel to Z axis setting, column 21 is arranged on the slide block of two First Line rails 12, leading screw 23 is arranged on the middle part of column 21, the outfan of the first driving mechanism is connected to gear 16, gear 16 is meshed with tooth bar 13, synchronous pulley driving mechanism includes the first servomotor 51, small synchronous pulley 52, big synchronous pulley 53 and Timing Belt 54, first servomotor 51 is arranged on the top of column 21, small synchronous pulley 52 is coaxially mounted to the outfan of the first servomotor 51, big synchronous pulley 53 is coaxially mounted on the axle of leading screw 23, small synchronous pulley 52 is connected by Timing Belt 54 swelling with big synchronous pulley 53, clamping arm unit 3 is arranged on the slide block of two the second line rails 22 and is connected with the nut 17 of leading screw 23, clamping arm unit 3 is provided with two far infrared transceiver 8, two far infrared transceiver 8 are for determining the position of the charging tray 41 that has that it's too late of charging tray 41 on truck 4 and sending corresponding signal to electric control unit, clamping arm unit 3 is for gripping the charging tray 41 on truck 4, and electric control unit is for controlling column unit 2 along the movement of Y-axis, clamping arm unit 3 along the movement of Z axis and the clamping arm unit 3 gripping to charging tray 41.
In embodiment 1, clamping arm unit 3 includes left jig arm 31, right jig arm 32, jig arm bearing 33, article four, the 3rd line rail 34, synchronization link mechanism and cylinder 35, jig arm bearing 33 is fixed on the slide block of two the second line rails 22, jig arm bearing 33 is connected with the nut 17 of leading screw 23, article four, the 3rd line rail 34 is symmetrically mounted on the both sides of jig arm bearing 33, article four, the 3rd line rail 34 is parallel to Y-axis setting, left jig arm 31 and right jig arm 32 are symmetrical arranged and are separately fixed on the slide block of two article of the 3rd line rail 34, the cylinder body of synchronization link mechanism and cylinder 35 is arranged on jig arm bearing 33, synchronization link mechanism is connected with left jig arm 31 and right jig arm 32 simultaneously, synchronization link mechanism for realize left jig arm 31 and right jig arm 32 along Y-axis synchronization in opposite directions or synchronize move dorsad, the piston 36 of cylinder 35 is connected with left jig arm 31, two far infrared transceiver 8 are separately mounted in left jig arm 31 and right jig arm 32, left jig arm 31 and right jig arm 32 are for gripping the charging tray 41 on truck 4.
In embodiment 1, synchronization link mechanism includes rotating disk 61, supports axle 62, angular contact bearing 63, bearing internal gland 65, bearing outer press cover 64, left connecting rod 66 and right connecting rod 67, support axle 62 and be fixed on jig arm bearing 33, bearing internal gland 65 is fixed on support axle 62, bearing outer press cover 64 is fixed on rotating disk 61, one end of left connecting rod 66 and right connecting rod 67 is hingedly connected at the both sides of rotating disk 61 respectively, the other end of left connecting rod 66 and left jig arm 31 chain connection, the other end of right connecting rod 67 and right jig arm 32 chain connection.
The servo palletizing system of embodiment 2, as shown in the figure, including base unit 1, column unit 2, clamping arm unit 3, truck 4 and electric control unit, base unit 1 includes base 11, article two, First Line rail 12, tooth bar 13 and four contact switches 14, the bottom of base 11 is provided with multiple burr adjustable tail margin 15 for adjusting base 11 high and low position, article two, First Line rail 12 and tooth bar 13 are installed in the upper surface of base 11, article two, First Line rail 12 is parallel to Y-axis setting, four contact switches 14 are arranged on the front side of base 11, four contact switches 14 are for determining that the X of truck 4 sends corresponding signal to position and to electric control unit, column unit 2 includes column 21, article two, the second line rail 22, leading screw 23, first driving mechanism, synchronous pulley driving mechanism and non-contact switch 24, article two, the second line rail 22 and non-contact switch 24 are arranged on the front side of column 21, non-contact switch 24 is for determining the Y-direction position of the charging tray 41 on truck 4 and sending corresponding signal to electric control unit, article two, the second line rail 22 is parallel to Z axis setting, column 21 is arranged on the slide block of two First Line rails 12, leading screw 23 is arranged on the middle part of column 21, the outfan of the first driving mechanism is connected to gear 16, gear 16 is meshed with tooth bar 13, synchronous pulley driving mechanism includes the first servomotor 51, small synchronous pulley 52, big synchronous pulley 53 and Timing Belt 54, first servomotor 51 is arranged on the top of column 21, small synchronous pulley 52 is coaxially mounted to the outfan of the first servomotor 51, big synchronous pulley 53 is coaxially mounted on the axle of leading screw 23, small synchronous pulley 52 is connected by Timing Belt 54 swelling with big synchronous pulley 53, clamping arm unit 3 is arranged on the slide block of two the second line rails 22 and is connected with the nut 17 of leading screw 23, clamping arm unit 3 is provided with two far infrared transceiver 8, two far infrared transceiver 8 are for determining the position of the charging tray 41 that has that it's too late of charging tray 41 on truck 4 and sending corresponding signal to electric control unit, clamping arm unit 3 is for gripping the charging tray 41 on truck 4, and electric control unit is for controlling column unit 2 along the movement of Y-axis, clamping arm unit 3 along the movement of Z axis and the clamping arm unit 3 gripping to charging tray 41.
In embodiment 2, clamping arm unit 3 includes left jig arm 31, right jig arm 32, jig arm bearing 33, article four, the 3rd line rail 34, synchronization link mechanism and cylinder 35, jig arm bearing 33 is fixed on the slide block of two the second line rails 22, jig arm bearing 33 is connected with the nut 17 of leading screw 23, article four, the 3rd line rail 34 is symmetrically mounted on the both sides of jig arm bearing 33, article four, the 3rd line rail 34 is parallel to Y-axis setting, left jig arm 31 and right jig arm 32 are separately fixed on the slide block of four article of the 3rd line rail 34, the cylinder body of synchronization link mechanism and cylinder 35 is arranged on jig arm bearing 33, synchronization link mechanism is connected with left jig arm 31 and right jig arm 32 simultaneously, synchronization link mechanism for realize left jig arm 31 and right jig arm 32 along Y-axis synchronization in opposite directions or synchronize move dorsad, the piston 36 of cylinder 35 is connected with left jig arm 31 or right jig arm 32, two far infrared transceiver 8 are separately mounted in left jig arm 31 and right jig arm 32, left jig arm 31 and right jig arm 32 are for gripping the charging tray 41 on truck 4.
In embodiment 2, synchronization link mechanism includes rotating disk 61, support axle 62, angular contact bearing 63, bearing internal gland 65, bearing outer press cover 64, left connecting rod 66 and right connecting rod 67, the one end supporting axle 62 is arranged on jig arm bearing 33, angular contact bearing 63 is arranged on the outside supporting axle 62, bearing internal gland 65 is arranged on the other end supporting axle 62, bearing outer press cover 64 is arranged on the outside of bearing internal gland 65, bearing outer press cover 64 is fixed on rotating disk 61, one end of left connecting rod 66 and right connecting rod 67 is hingedly connected at the both sides of rotating disk 61 respectively, the other end of left connecting rod 66 and left jig arm 31 chain connection, the other end of right connecting rod 67 and right jig arm 32 chain connection, specifically, between left connecting rod 66 and right connecting rod 67 and rotating disk 61, it is connected each through rotating shaft 71 between left connecting rod 66 with left jig arm 31 and between right connecting rod 67 with right jig arm 32, rotating shaft 71 is provided with self-lubricating bearing 72, self-lubricating bearing 72 is arranged on left connecting rod 66 or right connecting rod 67, the two ends of rotating shaft 71 are separately installed with packing ring 73.
In embodiment 2, first driving mechanism includes the second servomotor 91 and reductor 92, second servomotor 91 is arranged on reductor 92, reductor 92 is arranged on column 21, the input of reductor 92 and the outfan of the second servomotor 91 are connected, and the outfan of reductor 92 is connected with gear 16. Being provided with the anti-backlash mechanism for adjusting gear 16 and the back lash of tooth bar 13 on reductor 92, anti-backlash mechanism includes the transition rotating disk 93 of bias, and reductor 92 is fixed on transition rotating disk 93, and transition rotating disk 93 is arranged on column 21.
The servo palletizing system of above-described embodiment is widely portable to the automatic crawl of automatic production line loading plate or material frame, charging tray or material frame can be promoted or drop to appointment position simultaneously, it is easy to the devices such as the mechanical hand part to capture on charging tray on automatic production line, realize automatization's loading and unloading, it is possible to other crawl, stacking, carryings etc. suitable in automatic production line operate. Carrying out the application of automatization's loading and unloading, the operation principle of this servo palletizing system and process for the servo palletizing system utilizing embodiment 2 is:
1) under original state, clamping arm unit 3 is in the highest order of Z axis and is in full open mode (left jig arm 31 and right jig arm 32 move dorsad to range), manually will be equipped with on charging tray 41(charging tray 41 equipped with multiple part blanks 42) truck 4 and empty truck 4 be pushed into the appointment scope before being positioned at base 11, be confirmed whether to exist truck 4 by four contact switches 14 and determine that the X of truck 4 is sent to electric control unit with signal form to position and by result;
2) after the signal that puts in place of truck 4 is confirmed, electric control unit requires that the second servomotor 91 works, make column unit 2 carry out Y-axis together with clamping arm unit 3 to move, identify the Y-direction position equipped with the charging tray 41 on the truck 4 of charging tray 41 by non-contact switch 24, to determine the coordinate position of charging tray 41 simultaneously;
3) after Y-direction location confirmation, electric control unit makes the first servomotor 51 work, leading screw 23 rotates, clamping arm unit 3 begins at Z-direction and moves down, the position of charging tray 41 that the first floor can capture is determined by far infrared transceiver 8, after determining, electric control unit controls cylinder 35 and works, left jig arm 31 and right jig arm 32 first floor charging tray 41 is clamped and on move to correct position, wait that mechanical hand (not shown) captures part blank 42 and places fabricated part (not shown) on charging tray 41, a mobile material grasping position after pick-and-place one row, until the part blank 42 on first floor charging tray 41 is all replaced by fabricated part,
4) the second servomotor 91 works, column unit 2 moves to 1 along Y-axis with clamping arm unit 3 together with first floor charging tray 41) in empty truck 4 position that confirms of contact switch 14, clamping arm unit 3 declines, determine behind the position that can place charging tray 41 on sky truck 4 until far infrared transceiver 8, left jig arm 31 and right jig arm 32 move dorsad and put down charging tray 41, and this charging tray 41 is now bottom charging tray 41;
5) step 2 is repeated)-step 4), until all charging trays 41 are all transferred to sky truck 4 by charging tray truck 4, now, electric control unit sends cue, and notice is patrolled pipe personnel and carried out subsequent operation. Owing to the position of two trucks 4 is firmly established, follow-up can with the use of AGV fork truck automatic loading/unloading dish on truck 4, replace hand haulage, to promote the automaticity of servo palletizing system.

Claims (9)

1. a servo palletizing system, it is characterized in that including base unit, column unit, clamping arm unit, truck and electric control unit, described base unit includes base, article two, First Line rail, tooth bar and some contact switches, two described First Line rails and described tooth bar are installed in the upper surface of described base, two described First Line rails are parallel to Y-axis and arrange, described some contact switches are arranged on the front side of described base, described some contact switches are for determining that the X of truck sends corresponding signal to position and to described electric control unit, described column unit includes column, article two, the second line rail, leading screw, first driving mechanism, synchronous pulley driving mechanism and non-contact switch, two described the second line rails and described non-contact switch are arranged on the front side of described column, described non-contact switch is for determining the Y-direction position of the charging tray on truck and sending corresponding signal to described electric control unit, two described the second line rails are parallel to Z axis and arrange, described column is arranged on the slide block of described two First Line rail, described leading screw is arranged on the middle part of described column, the outfan of the first described driving mechanism is connected to gear, described gear is meshed with described tooth bar, described synchronous pulley driving mechanism includes the first servomotor, small synchronous pulley, big synchronous pulley and Timing Belt, the first described servomotor is arranged on the top of described column, described small synchronous pulley is coaxially mounted to the outfan of the first described servomotor, described big synchronous pulley is coaxially mounted on the axle of described leading screw, described small synchronous pulley is connected by described Timing Belt swelling with described big synchronous pulley, described clamping arm unit is arranged on the slide block of described two the second line rail and is connected with the nut of described leading screw, described clamping arm unit is provided with two far infrared transceiver, two described far infrared transceiver are for determining the position of the charging tray that has that it's too late of charging tray on truck and sending corresponding signal to described electric control unit, described clamping arm unit is for gripping the charging tray on truck, described electric control unit is for controlling the movement along Y-axis of the described column unit, described clamping arm unit is along the movement of Z axis and the gripping to charging tray of the described clamping arm unit.
2. a kind of servo palletizing system according to claim 1, it is characterized in that described clamping arm unit includes left jig arm, right jig arm, jig arm bearing, article four, the 3rd line rail, synchronization link mechanism and cylinder, described jig arm bearing is fixed on the slide block of described two the second line rail, described jig arm bearing is connected with the nut of described leading screw, four article of the 3rd described line rail is symmetrically mounted on the both sides of described jig arm bearing, four article of the 3rd described line rail is parallel to Y-axis and arranges, described left jig arm and described right jig arm are symmetrical arranged and are separately fixed on the slide block of the 3rd line rail two articles described, the cylinder body of described synchronization link mechanism and described cylinder is arranged on described jig arm bearing, described synchronization link mechanism is connected with described left jig arm and described right jig arm simultaneously, described synchronization link mechanism for realize described left jig arm and described right jig arm along Y-axis synchronization in opposite directions or synchronize move dorsad, the piston of described cylinder is connected with described left jig arm or described right jig arm, two described far infrared transceiver are separately mounted in described left jig arm and described right jig arm, described left jig arm and described right jig arm are for gripping the charging tray on truck.
3. a kind of servo palletizing system according to claim 2, it is characterized in that described synchronization link mechanism includes rotating disk, support axle, angular contact bearing, bearing internal gland, bearing outer press cover, left connecting rod and right connecting rod, described one end supporting axle is arranged on described jig arm bearing, described angular contact bearing is arranged on the described outside supporting axle, described bearing internal gland is arranged on the described other end supporting axle, described bearing outer press cover is arranged on the outside of described bearing internal gland, described bearing outer press cover is fixed on described rotating disk, described left connecting rod and one end of described right connecting rod are hingedly connected at the both sides of described rotating disk respectively, the other end of described left connecting rod and described left jig arm chain connection, the other end of described right connecting rod and described right jig arm chain connection.
4. a kind of servo palletizing system according to claim 3, it is characterized in that being connected each through rotating shaft between described left connecting rod and described right connecting rod and described rotating disk, between described left connecting rod and described left jig arm and between described right connecting rod and described right jig arm, described rotating shaft is provided with self-lubricating bearing, described self-lubricating bearing is arranged on described left connecting rod or described right connecting rod, and the two ends of described rotating shaft are separately installed with packing ring.
5. a kind of servo palletizing system according to any one of claim 1-4, it is characterized in that the first described driving mechanism includes the second servomotor and reductor, the second described servomotor is arranged on described reductor, described reductor is arranged on described column, the input of described reductor is connected with the outfan of the second described servomotor, and the outfan of described reductor is connected with described gear.
6. a kind of servo palletizing system according to claim 5, it is characterised in that be provided with the anti-backlash mechanism for adjusting described gear and the back lash of described tooth bar on described reductor.
7. a kind of servo palletizing system according to claim 6, it is characterised in that described anti-backlash mechanism includes the transition rotating disk of bias, and described reductor is fixed on described transition rotating disk, and described transition rotating disk is arranged on described column.
8. a kind of servo palletizing system according to claim 1, it is characterised in that the bottom of described base is provided with multiple burr adjustable tail margin for adjusting base high and low position.
9. a kind of servo palletizing system according to claim 1, it is characterised in that described charging tray is by the material level up and down of AGV fork truck automatic transporting to truck.
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