CN105947662A - Multipurpose self-checking formula hacking machine - Google Patents
Multipurpose self-checking formula hacking machine Download PDFInfo
- Publication number
- CN105947662A CN105947662A CN201610535967.9A CN201610535967A CN105947662A CN 105947662 A CN105947662 A CN 105947662A CN 201610535967 A CN201610535967 A CN 201610535967A CN 105947662 A CN105947662 A CN 105947662A
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- rotary shaft
- mechanical hand
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- 238000012544 monitoring process Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 4
- 230000005856 abnormality Effects 0.000 claims description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000005022 packaging material Substances 0.000 description 1
Classifications
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Emergency Alarm Devices (AREA)
- Indication And Recording Devices For Special Purposes And Tariff Metering Devices (AREA)
Abstract
The invention provides a multipurpose self-checking stacker crane, which comprises a controller, a base, a rotating shaft and a manipulator, wherein a printed circuit board is arranged inside the controller, a motion controller is arranged inside the base, a vibration sensor is arranged on the outer surface of the base, the rotating shaft is arranged above the base, a supporting seat is connected above the rotating shaft, the rotating shaft is connected with a lower working arm and an adjusting arm through an X-axis servo motor, a Y-axis servo motor and a Z-axis servo motor, the upper working arm is connected above the lower working arm and the adjusting arm, a mounting seat is installed on the right side of the upper working arm, and the manipulator is installed below the mounting seat; compared with the prior art, the invention has the following beneficial effects: the stacking robot can complete object grabbing and placing and can also complete workpiece counting, the cost is reduced, automatic alarm can be given when abnormal conditions exist, and the safety is improved; the invention has simple structure, can replace manual operation, can reduce labor intensity and improve working efficiency.
Description
Technical field
The present invention is a kind of multipurpose self-monitoring stacking machine, belongs to chucking device field.
Background technology
Stacking machine is to have been charged into the carton of container, by certain arranging and piling on pallet, pallet (wooden, plastic cement), carries out automatic stacking, can pile multilamellar, then release, it is simple to fork truck is transported to warehouse storage.This equipment uses PLC+ touch screen to control, it is achieved intellectualized operation manages, easy, easily grasp.Labour force can be greatly reduced and reduce labor intensity.Stacking machine is that pocket, carton or other packaging material that conveyer conveying comes are stacked into buttress automatically according to the working method that customer process requires, and the material becoming buttress carries out the equipment carried.
Stacking machine of the prior art does not has the most too many improvement, detection generally for its protection driving motor itself, is all the quality by manually removing detection driving motor, but manual detection not only inefficiency, and the situation of survey by mistake easily occurs.
Stacking machine function singleness of the prior art, can only be simple transport goods, it is impossible to the number transported goods is counted, extremely affects use.
Summary of the invention
The deficiency existed for prior art, it is an object of the present invention to provide a kind of multipurpose self-monitoring stacking machine, and to solve the problem proposed in above-mentioned background technology, the present invention is easy to use, it is simple to operation, good stability, and reliability is high.
nullTo achieve these goals，The present invention is to realize by the following technical solutions: a kind of multipurpose self-monitoring stacking machine，Including controller、Base、Rotary shaft and mechanical hand，The outer surface of described controller is provided with display screen，Described display screen be arranged above siren，Described controller be internally provided with printed circuit board，It is welded with central processing unit on described printed circuit board、Bin、Relay and information transmission unit，Described controller connects base by being electrically connected with line，Described base be internally provided with motion controller，Described base outer surface is provided with shaking sensor，Described base be provided above rotary shaft，The internally installed of described rotary shaft has rotary shaft servomotor，Described rotary shaft servomotor be internally provided with rotary shaft servo-driver，Described rotary shaft be connected above support seat，Working arm and adjustment arm under being connected above of described support seat，Described rotary shaft passes through X-axis servomotor、Y-axis servomotor and Z axis servomotor connect lower working arm and adjust arm，Described X-axis servomotor is internally provided with X-axis servo-driver，Described Y-axis servomotor is internally provided with Y-axis servo-driver，Described Z axis servomotor is internally provided with Z axis servo-driver，Described lower working arm and adjust arm be connected above working arm，The right side of described upper working arm is provided with mounting seat，Mechanical hand motor is arranged on the top of mounting seat，Mechanical hand is arranged on the lower section of mounting seat，Described mechanical hand motor be internally provided with mechanical hand step actuator，Described X-axis servomotor、Y-axis servomotor、Z axis servomotor、The outer surface of rotary shaft servomotor and rotary shaft servomotor is mounted on temperature sensor；nullThe outfan of described motion controller is connected with the input of X-axis servo-driver，The outfan of described X-axis servo-driver is connected with the input of X-axis servomotor，The outfan of described motion controller is connected with the input of Y-axis servo-driver，The outfan of described Y-axis servo-driver is connected with the input of Y-axis servomotor，The outfan of described motion controller is connected with the input of Z axis servo-driver，The outfan of described Z axis servo-driver is connected with the input of Z axis servomotor，Described X-axis servomotor、The outfan of Y-axis servomotor and Z axis servomotor is connected with input and the adjustment arm input of lower working arm，The outfan of described motion controller is connected with the input of rotary shaft servo-driver，The outfan of described rotary shaft servo-driver is connected with the input of rotary shaft servomotor，The described outfan of rotary shaft servomotor is connected with the input of rotary shaft，The outfan of described motion controller is connected with the input of mechanical hand step actuator，The outfan of described mechanical hand step actuator is connected with the input of mechanical hand motor，The described outfan of mechanical hand motor is connected with the input of mechanical hand；The outfan of described temperature sensor is connected with the input of central processing unit, the input of described central processing unit is also connected with the input of shaking sensor and the input of motion controller, the outfan of described central processing unit is connected with the input of relay, the outfan of described relay is connected with the input of siren, the outfan of described central processing unit is connected with the input of information transmission unit, and the outfan of described information transmission unit is connected with the input of display screen.
Further, being arranged on the siren above display screen is a kind of Buzzing type alarm elements, and described siren is worked by Control, the alarm under abnormality.
Further, described X-axis servomotor is arranged on the left side supporting seat, described Y-axis servomotor is arranged on the right side supporting seat, described Z axis servomotor is arranged on the inside supporting seat, and described X-axis servomotor, Y-axis servomotor and Z axis servomotor are for lower working arm and adjust offer power when arm position is moved.
Further, described mechanical hand motor connects mechanical hand by mounting seat, and described mechanical hand motor power when robot work provides, and the action of crawl is put down or drawn in the expansion completing mechanical hand.
Further, described central processing unit is bi-directionally connected with bin, and described bin is used for storing vibration amplitude marginal value and temperature threshold value, and described bin is used for and central processing unit bidirectional data exchange.
Beneficial effects of the present invention: a kind of multipurpose self-monitoring stacking machine of the present invention, makes robot palletizer both can complete article and captures and put, it is also possible to complete the counting of workpiece, advantageously reduce cost, when having abnormal conditions, meeting auto-alarm-signal keying device, improves safety；Present configuration is simple, can replace manual operation, it is possible to decrease labor intensity, improves work efficiency.
Accompanying drawing explanation
The detailed description with reference to the following drawings, non-limiting example made by reading, the other features, objects and advantages of the present invention will become more apparent upon:
Fig. 1 is the structural representation of the present invention a kind of multipurpose self-monitoring stacking machine；
Fig. 2 is the robot manipulator structure schematic diagram of the present invention a kind of multipurpose self-monitoring stacking machine；
Fig. 3 is the printed circuit board structural representation of the present invention a kind of multipurpose self-monitoring stacking machine；
Fig. 4 is the operation principle block diagram that transports goods of the present invention a kind of multipurpose self-monitoring stacking machine；
Fig. 5 is the detection operation principle block diagram of the present invention a kind of multipurpose self-monitoring stacking machine；
nullIn figure: 1-controller、2-display screen、3-connection wiring line、4-base、5-rotary shaft、6-supports seat、7-X axle servomotor、8-Z axle servomotor、9-Y axle servomotor、Working arm under 10-、11-adjusts arm、The upper working arm of 12-、13-mechanical hand motor、14-mounting seat、15-mechanical hand、16-X axle servo-driver、17-Y axle servo-driver、18-Z axle servo-driver、19-rotary shaft servo-driver、20-mechanical hand step actuator、21-temperature sensor、22-shaking sensor、23-motion controller、24-siren、25-printed circuit board、26-central processing unit、27-bin、28-relay、29-information transmission unit、30-rotary shaft servomotor.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with detailed description of the invention, the present invention is expanded on further.
nullRefer to Fig. 1、Fig. 2、Fig. 3、Fig. 4 and Fig. 5，The present invention provides a kind of technical scheme: a kind of multipurpose self-monitoring stacking machine，Including controller 1、Base 2、Rotary shaft 5 and mechanical hand 15，The outer surface of controller 1 is provided with display screen 2，Display screen 2 be arranged above siren 24，Controller 1 be internally provided with printed circuit board 25，Central processing unit 26 it is welded with on printed circuit board 25、Bin 27、Relay 28 and information transmission unit 29，Controller 1 connects base 4 by being electrically connected with line 3，Base 4 be internally provided with motion controller 23，Base 4 outer surface is provided with shaking sensor 22，Base 4 be provided above rotary shaft 5，The internally installed of rotary shaft 5 has rotary shaft servomotor 30，Rotary shaft servomotor 30 be internally provided with rotary shaft servo-driver 19，Rotary shaft 5 be connected above support seat 6，Support working arm 10 and adjustment arm 11 under being connected above of seat 6，Rotary shaft 5 is by X-axis servomotor 7、Y-axis servomotor 9 and Z axis servomotor 8 connect lower working arm 10 and adjust arm 11，X-axis servomotor 7 is internally provided with X-axis servo-driver 16，Y-axis servomotor 9 is internally provided with Y-axis servo-driver 17，Z axis servomotor 8 is internally provided with Z axis servo-driver 18，Lower working arm 10 and adjust arm 11 be connected above working arm 12，The right side of upper working arm 12 is provided with mounting seat 14，Mechanical hand motor 13 is arranged on the top of mounting seat 14，Mechanical hand 15 is arranged on the lower section of mounting seat 14，Mechanical hand motor 13 be internally provided with mechanical hand step actuator 20，X-axis servomotor 7、Y-axis servomotor 9、Z axis servomotor 8、The outer surface of rotary shaft servomotor 30 and rotary shaft servomotor 30 is mounted on temperature sensor 21.
nullThe outfan of motion controller 23 is connected with the input of X-axis servo-driver 16，The outfan of X-axis servo-driver 16 is connected with the input of X-axis servomotor 7，The outfan of motion controller 23 is connected with the input of Y-axis servo-driver 17，The outfan of Y-axis servo-driver 17 is connected with the input of Y-axis servomotor 9，The outfan of motion controller 23 is connected with the input of Z axis servo-driver 18，The outfan of Z axis servo-driver 18 is connected with the input of Z axis servomotor 8，X-axis servomotor 7、The outfan of Y-axis servomotor 9 and Z axis servomotor 8 is connected with input and adjustment arm 11 input of lower working arm 10，The outfan of motion controller 23 is connected with the input of rotary shaft servo-driver 19，The outfan of rotary shaft servo-driver 19 is connected with the input of rotary shaft servomotor 30，The outfan of rotary shaft servomotor 30 is connected with the input of rotary shaft，The outfan of motion controller 23 is connected with the input of mechanical hand step actuator 20，The outfan of mechanical hand step actuator 20 is connected with the input of mechanical hand motor 13，The outfan of mechanical hand motor 13 is connected with the input of mechanical hand.
The outfan of temperature sensor 21 is connected with the input of central processing unit 26, the input of central processing unit 26 is also connected with the input of shaking sensor 22 and the input of motion controller 23, the outfan of central processing unit 26 is connected with the input of relay 28, the outfan of relay 28 is connected with the input of siren 24, the outfan of central processing unit 26 is connected with the input of information transmission unit 29, and the outfan of information transmission unit 29 is connected with the input of display screen 2.
nullBeing arranged on the siren 24 above display screen 2 is a kind of Buzzing type alarm elements，Siren 24 controls work by relay 28，Alarm under abnormality，X-axis servomotor 7 is arranged on the left side supporting seat 6，Y-axis servomotor 9 is arranged on the right side supporting seat 6，Z axis servomotor 8 is arranged on the inside supporting seat 6，X-axis servomotor 7、Y-axis servomotor 9 and Z axis servomotor 8 for lower working arm 10 and adjust offer power when arm 11 position is moved，Mechanical hand motor 13 connects mechanical hand 15 by mounting seat，The mechanical hand motor 13 power when mechanical hand 15 works provides，The action of crawl is put down or is drawn in the expansion completing mechanical hand 15，Central processing unit 26 is bi-directionally connected with bin 27，Bin 27 is used for storing vibration amplitude marginal value and temperature threshold value，Bin 27 is used for and central processing unit 26 bidirectional data exchange.
nullAs one embodiment of the present of invention: before actual use，Staff is first by mechanical hand 15 initial spatial location coordinate figure、Mechanical hand 15 works time space position coordinate value、Mechanical hand 15 end-of-job time space position coordinate value and lower working arm 10、The locus coordinate figure adjusting arm 11 and upper working arm 12 correspondence inputs to motion controller 23，After motion controller 23 further calculates and processes，Pointwise can take out each taught point locus coordinate figure，Actually used when，Motion controller 23 carries out straight line or circular interpolation computing by defeated each taught point locus coordinate figure pre-to staff，Generation respective paths is planned，It is then added to X-axis servo-driver 16、Y-axis servo-driver 17、Z axis servo-driver 18、In rotary shaft servo-driver 19 and mechanical hand step actuator 20，Then X-axis servomotor 7 is controlled、Y-axis servomotor 9 and the downward working arm 10 of Z axis servomotor 8、Adjust arm 11 and upper working arm provides power，And control rotary shaft servomotor 30 to rotary shaft offer rotary power，And mechanical hand motor 13 provides power when mechanical hand 15 works，Mechanical hand 15 is according to predetermined some motion，The action of crawl is put down or is drawn in the expansion completing mechanical hand 15，Thus complete the step of carry an object.
Carry an object when, whenever mechanical hand 15 moves to mechanical hand 15 end-of-job time space position coordinate value from initial spatial location coordinate figure, motion controller 23 all can feed back a signal to central processing unit 26, central processing unit 26 often receives this signal, one will be counted as, by that analogy, completing the step of counting, the information of counting can be transmitted to display screen 2 by information transmission unit 29.
As an alternative embodiment of the invention: before actual use, staff can input the marginal value of a vibration amplitude and the marginal value of temperature in bin 27, actually used when, temperature sensor 21 can detect X-axis servomotor 7, Y-axis servomotor 9, Z axis servomotor 8, rotary shaft servomotor 30 and the surface temperature information of rotary shaft servomotor 30, this temperature information can transmit to central processing unit 26, central processing unit 26 is after further calculating and processing, by contrasting with the temperature threshold value being stored in bin 27, if higher than this marginal value, then central processing unit 26 is by controlling relay 28, then control siren 24 to work, sound the alarm, staff is reminded to check in time with this.
As an alternative embodiment of the invention: actually used when, shaking sensor 22 can detect the vibration amplitude of base, this vibration amplitude information can be transmitted to central processing unit 26, central processing unit 26 is after further calculating and processing, by contrasting with the vibration amplitude marginal value being stored in bin 27, if higher than this marginal value, then central processing unit 26 is by controlling relay 28, then control siren 24 to work, sound the alarm, remind staff to check in time with this.
The ultimate principle of the present invention and principal character and advantages of the present invention have more than been shown and described, to those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and without departing from the spirit or essential characteristics of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is limited by claims rather than described above, it is intended that all changes fallen in the implication of equivalency and scope of claim included in the present invention.Should not be considered as limiting involved claim by any reference in claim.
In addition, it is to be understood that, although this specification is been described by according to embodiment, but the most each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should can also be formed, through appropriately combined, other embodiments that it will be appreciated by those skilled in the art that as an entirety, the technical scheme in each embodiment by those skilled in the art.
Claims (5)
- null1. a multipurpose self-monitoring stacking machine，Including controller、Base、Rotary shaft and mechanical hand，It is characterized in that: the outer surface of described controller is provided with display screen，Described display screen be arranged above siren，Described controller be internally provided with printed circuit board，It is welded with central processing unit on described printed circuit board、Bin、Relay and information transmission unit，Described controller connects base by being electrically connected with line，Described base be internally provided with motion controller，Described base outer surface is provided with shaking sensor，Described base be provided above rotary shaft，The internally installed of described rotary shaft has rotary shaft servomotor，Described rotary shaft servomotor be internally provided with rotary shaft servo-driver，Described rotary shaft be connected above support seat，Working arm and adjustment arm under being connected above of described support seat，Described rotary shaft passes through X-axis servomotor、Y-axis servomotor and Z axis servomotor connect lower working arm and adjust arm，Described X-axis servomotor is internally provided with X-axis servo-driver，Described Y-axis servomotor is internally provided with Y-axis servo-driver，Described Z axis servomotor is internally provided with Z axis servo-driver，Described lower working arm and adjust arm be connected above working arm，The right side of described upper working arm is provided with mounting seat，Mechanical hand motor is arranged on the top of mounting seat，Mechanical hand is arranged on the lower section of mounting seat，Described mechanical hand motor be internally provided with mechanical hand step actuator，Described X-axis servomotor、Y-axis servomotor、Z axis servomotor、The outer surface of rotary shaft servomotor and rotary shaft servomotor is mounted on temperature sensor；nullThe outfan of described motion controller is connected with the input of X-axis servo-driver，The outfan of described X-axis servo-driver is connected with the input of X-axis servomotor，The outfan of described motion controller is connected with the input of Y-axis servo-driver，The outfan of described Y-axis servo-driver is connected with the input of Y-axis servomotor，The outfan of described motion controller is connected with the input of Z axis servo-driver，The outfan of described Z axis servo-driver is connected with the input of Z axis servomotor，Described X-axis servomotor、The outfan of Y-axis servomotor and Z axis servomotor is connected with input and the adjustment arm input of lower working arm，The outfan of described motion controller is connected with the input of rotary shaft servo-driver，The outfan of described rotary shaft servo-driver is connected with the input of rotary shaft servomotor，The described outfan of rotary shaft servomotor is connected with the input of rotary shaft，The outfan of described motion controller is connected with the input of mechanical hand step actuator，The outfan of described mechanical hand step actuator is connected with the input of mechanical hand motor，The described outfan of mechanical hand motor is connected with the input of mechanical hand；The outfan of described temperature sensor is connected with the input of central processing unit, the input of described central processing unit is also connected with the input of shaking sensor and the input of motion controller, the outfan of described central processing unit is connected with the input of relay, the outfan of described relay is connected with the input of siren, the outfan of described central processing unit is connected with the input of information transmission unit, and the outfan of described information transmission unit is connected with the input of display screen.
- A kind of multipurpose self-monitoring stacking machine the most according to claim 1, it is characterised in that: being arranged on the siren above display screen is a kind of Buzzing type alarm elements, and described siren is worked by Control, the alarm under abnormality.
- A kind of multipurpose self-monitoring stacking machine the most according to claim 1, it is characterized in that: described X-axis servomotor is arranged on the left side supporting seat, described Y-axis servomotor is arranged on the right side supporting seat, described Z axis servomotor is arranged on the inside supporting seat, and described X-axis servomotor, Y-axis servomotor and Z axis servomotor are for lower working arm and adjust offer power when arm position is moved.
- A kind of multipurpose self-monitoring stacking machine the most according to claim 1, it is characterized in that: described mechanical hand motor connects mechanical hand by mounting seat, described mechanical hand motor power when robot work provides, and the action of crawl is put down or drawn in the expansion completing mechanical hand.
- A kind of multipurpose self-monitoring stacking machine the most according to claim 1, it is characterized in that: described central processing unit is bi-directionally connected with bin, described bin is used for storing vibration amplitude marginal value and temperature threshold value, and described bin is used for and central processing unit bidirectional data exchange.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610535967.9A CN105947662B (en) | 2016-07-10 | 2016-07-10 | Multipurpose self-checking formula hacking machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610535967.9A CN105947662B (en) | 2016-07-10 | 2016-07-10 | Multipurpose self-checking formula hacking machine |
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| CN105947662A true CN105947662A (en) | 2016-09-21 |
| CN105947662B CN105947662B (en) | 2017-12-29 |
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| CN201610535967.9A Active CN105947662B (en) | 2016-07-10 | 2016-07-10 | Multipurpose self-checking formula hacking machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672634A (en) * | 2016-12-08 | 2017-05-17 | 广东工业大学 | Aluminum profile automatic stacking system and control method thereof |
| CN107010412A (en) * | 2017-06-21 | 2017-08-04 | 浙江亿诺自动化有限公司 | Logistics transition grasping mechanism |
| CN107444902A (en) * | 2017-07-27 | 2017-12-08 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
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| CN107444902A (en) * | 2017-07-27 | 2017-12-08 | 大连大学 | A kind of automatic guided vehicle with automatic crawl function |
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| CN105947662B (en) | 2017-12-29 |
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Effective date of registration: 20191205 Address after: 221000 north side of 323 provincial road Zhuyuan toll station, Shuangtang Town, Xinyi City, Xuzhou City, Jiangsu Province Patentee after: Xuzhou ou Preiss Industrial Machinery Co., Ltd. Address before: 528445, Zhongshan Guotai dyeing and finishing Co., Ltd., 13 West Gaoping Road, Gaoping industrial district, Guangdong Town, Zhongshan, China Patentee before: Chai Yongpeng |
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