CN106938767A - Intelligent multi-node cluster combined type workpiece pickup handling device and method - Google Patents

Intelligent multi-node cluster combined type workpiece pickup handling device and method Download PDF

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Publication number
CN106938767A
CN106938767A CN201710299321.XA CN201710299321A CN106938767A CN 106938767 A CN106938767 A CN 106938767A CN 201710299321 A CN201710299321 A CN 201710299321A CN 106938767 A CN106938767 A CN 106938767A
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CN
China
Prior art keywords
node
workpiece
track
dolly
main orbit
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Pending
Application number
CN201710299321.XA
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Chinese (zh)
Inventor
郑灵
吴德华
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郑灵
吴德华
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Priority to CN201710299321.XA priority Critical patent/CN106938767A/en
Publication of CN106938767A publication Critical patent/CN106938767A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B65G35/00Mechanical conveyors not otherwise provided for
    • 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
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • 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
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • 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
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/92Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers

Abstract

The invention discloses a kind of intelligent multi-node cluster combined type workpiece pickup handling device and method, including multiple node dollies, node track, node track driving car, main orbit, main orbit lifting device, column and control system.The present invention realizes program-controlled combination of nodes, it is adaptable to the workpiece of any geometry by clustered node, without special special fixture during crawl;For workpiece of different sizes, the number that node can be captured by increasing and decreasing is adapted, and the cluster combination of crawl node is controlled by grid, and flexibility is strong;Highly versatile, critical piece is the crawl node of modularized design, and the versatility unrelated with being crawled workpiece geometries can be achieved;Convenient maintenance, modules can be replaced mutually;Occupancy machine exterior operating space is few, convenient implementation and conventional maintenance and the operation of user;Travel distance is wider than robotic arm scope, and the streamline transmission of inter process can be achieved.

Description

Intelligent multi-node cluster combined type workpiece pickup handling device and method
Technical field
Patent of the present invention is related to industrial automation production technical field, more particularly to a kind of intelligent multi-node cluster combination Formula workpiece picks up handling device and method.
Background technology
In the industrial production, it is related to and substantial amounts of workpiece to be processed is picked up at one and the phase of process equipment is positioned over Station is answered, and after the processing that equipment completes to the workpiece, the action taken out in slave unit.In existing industrial process stream, This generic operation is still largely using artificial operation.Artificial operation can cause high production cost, long-term duplication of labour precision and can Decline by property, and a series of problems, such as safety, labour protection.
For in the automatic updating modification scheme of this generic operation, having the problem of common:First, using the machinery of various forms The corresponding actions of arm analog manual operation, the apparatus adaptability of this scheme is strong, but cost is high, and maintenance maintenance is professional to be required Height, user can not independently overhaul, and be limited by mechanical arm running space, its pick up carry distance it is limited, it is necessary to using Side provides larger equipment and installed and running space;2nd, using the mechanical pick-up means specially designed, the specificity that it is designed is very By force, can not often be applied to other application scenarios for the pickup handling device of certain application design, can so cause design, Manufacture and the significant increase for installing maintenance cost.
Above scheme, is both needed to the frock clamp according to each special design specialized of geometry for being picked workpiece, flexibly Property poor, high cost, especially for small lot order, it is desirable to frequently change frock clamp and calibration, labor intensity is big, production efficiency It is low, and to emerging workpiece after equipment investment operation, still need to individually designed corresponding frock clamp.
The content of the invention
To solve the above problems, the present invention provide a kind of intelligent multi-node cluster combined type workpiece pickup handling device and Method.
The present invention realizes above-mentioned purpose by following technical proposal:
Intelligent multi-node cluster combined type workpiece picks up handling device, including multiple node dollies, node track, node track Drive car, main orbit, main orbit lifting device, column and control system;
The lower section of the node dolly is provided with telescopic arm, and workpiece grabbing head is provided with the end of arm;Node dolly exists Under the control of control system, it can be moved by its internal travel driving unit set along node track;
The node track is vertically arranged with respect to main orbit, and node track is on node track driving car;Node track drives Car under control of the control system, can be moved along main orbit;
The main orbit is by guiding mechanism on column;Main orbit lifting device under control of the control system, drives master Track rises or falls along column.
Further, it is provided with the node dolly on position detecting module one, node track driving car and position is installed Detection module two is put, also including the position detecting module three for detecting main orbit position, position detecting module one, position detection Module two and the connection control system of position detecting module three.
Further, the telescopic arm is telescopic rigid arm or collapsible soft arm, by node The flexible or winding drive mechanism that car interior is set completes the folding and unfolding to rigid arm or soft arm.
Further, the workpiece grabbing head be clipping grasping mechanism, magnechuck, vacuum cup or magnechuck with The combination of vacuum cup.
The corresponding workpiece of handling device, which is picked up, with intelligent multi-node cluster combined type workpiece picks up method for carrying:
Microcomputer modelling is carried out according to the geometry of workpiece, its centroid position is calculated, and calculate to keep grasp handling Balance required for crawl points and its position on workpiece;
The node dolly of respective amount is allocated according to crawl points and its position on workpiece, each node dolly is moved to The surface of its correspondence crawl position;According to the height of crawl position, the workpiece grabbing head of each dolly is set to drop to correspondence height Spend at position, grabbing workpiece surface;
Synchronous lifting respectively participates in the gripping head of the node dolly of workpiece grabbing, slings workpiece balance;Node track drives car band Dynamic node track is moved horizontally to above predetermined carry position together with the workpiece that node dolly and lower section are sling along main orbit;
The gripping head of each node dolly for participating in workpiece grabbing synchronously declines, and workpiece is down to predetermined carry position;Crawl is released, i.e., Complete the pickup of workpiece and carry work.
Beneficial effects of the present invention:
1st, the present invention realizes program-controlled combination of nodes, it is adaptable to the workpiece of any geometry, without spy by clustered node Special fixture processed;
2nd, for workpiece of different sizes, the number that node can be captured by increasing and decreasing is adapted, the cluster combination of crawl node By grid control, flexibility is strong;
3rd, highly versatile, critical piece is the crawl node of modularized design, be can be achieved unrelated with being crawled workpiece geometries Versatility;
4th, convenient maintenance, modules can be replaced mutually;When safeguarding, malfunctioning node can be directly replaced, has what is standardized on a small quantity Capture node, you can ensure regular maintenance, maintenance hastens soon, without professional skill;
5th, each crawl node only undertakes the related work of single crawl point, and mechanism is simple;The motion of node dolly mainly overcomes The frictional force produced during motion, torque driving is not related to, and driving power is small;
6th, using collapsible rigid or soft arm, the volume of integrated model is effectively reduced, can be placed in narrow space, should It is wide with scope;
7th, node light weight is captured, inertia is small, is run on trapped orbit, the speed of service is fast, production efficiency is high;
8th, using modularized design, the difference of each application is mainly reflected in the layout and size of track, and other parts have higher Versatility, for the mounting design fast and easy of application side;
9th, machine exterior operating space is taken few, convenient implementation and conventional maintenance and the operation of user;
10th, travel distance is wider than robotic arm scope, and the streamline transmission of inter process can be achieved;
11st, with position and workpiece dimension detection feedback, high precision, long-term work is stable.
Brief description of the drawings
Fig. 1 is the horizontal structure arrangement schematic diagram of main orbit of the present invention, node track and node dolly;
Fig. 2 is the view of node dolly picking up work piece;
Fig. 3 is node dolly and located at arm below and the structural scheme of mechanism of workpiece grabbing head;
Fig. 4 is two kind setting schematic diagrames of the node dolly on node track;
Fig. 5 is setting schematic diagram of the main orbit on column.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Embodiment:Intelligent multi-node cluster combined type workpiece pickup handling device and method, as shown in Fig. 1 ~ 5, including Multiple node dollies 1, node track 2, node track driving car 3, main orbit 4, main orbit lifting device 5, column 6 and control system System.
The lower section of node dolly 1 is provided with telescopic arm 11, and workpiece grabbing first 12 is provided with the end of arm 11.Node Dolly 1 under control of the control system, can be horizontal along node track 2 by its internal travel driving unit 13 set(X-axis) It is mobile.Node track 2 is vertically arranged with respect to main orbit 4, and node track 2 is on node track driving car 3;Node track drives Car 3 under control of the control system, can be along the longitudinal direction of main orbit 4(Y-axis)It is mobile.Main orbit 4 is located at column 6 by guiding mechanism On.Main orbit lifting device 5 under control of the control system, drives main orbit 4 to be risen or fallen along column 6.
It is provided with node dolly 1 on position detecting module 1, node track driving car 3 and position detecting module is installed Two, also including the position detecting module three for detecting the position of main orbit 4, position detecting module 1, position detecting module two Pass through wired or wireless network connection control system with position detecting module three.
Wherein, the telescopic arm 11 located at the lower section of node dolly 1 is telescopic rigid arm or collapsible soft Property arm, the flexible or winding drive mechanism 15 set by the inside of node dolly 1 completes the receipts to rigid arm or soft arm Put.Workpiece grabbing first 12 is the combination of clipping grasping mechanism, magnechuck, vacuum cup or magnechuck and vacuum cup.
Lower mask body introduces the course of work and the work side of intelligent multi-node cluster combined type workpiece pickup handling device Method:
Before use, microcomputer modelling is carried out according to the geometry of workpiece in advance, its centroid position is calculated, and calculate to protect Crawl required for holding the balance of grasp handling is counted and its position on workpiece, typing control system.
On main orbit 4 can multiple node tracks 2 side by side, multiple node dollies 1 can be set on each node track 2, each Node dolly 1 can independently move and stretch out workpiece grabbing head according to the height of correspondence crawl position under control of the control system 12.During work, control system allocates one or more nodes according to the crawl points and its position on workpiece of advance typing Track 2 is along main orbit 4(Y direction)It is moved to above workpiece to be handled, one or more node dollies on allotment node track 2 1 along node track 2(X-axis)It is moved to the top of workpiece grabbing position.Then, according to each crawl point position of correspondence of advance typing Height(Or using detection falling head in real time)Gripping head is fallen respectively, and gripping head is touched behind the surface of workpiece 7, holds workpiece 7。
Then, Synchronous lifting respectively participates in the workpiece grabbing first 12 of the node dolly 1 of workpiece grabbing, slings workpiece balance. Node track driving car 3 drives the workpiece 7 that node track 2 is sling together with node dolly 1 and lower section along main orbit(Y direction)Water It is flat to be moved to above predetermined carry position(If transverse shifting need to be carried out, moved up by control node dolly 1 in node track 2 Move to complete).After workpiece 7 is reached directly over predetermined carry position, the workpiece grabbing head of each node dolly 1 for participating in workpiece grabbing 12 synchronous declines, workpiece 7 is down to predetermined carry position, releases crawl, that is, completes the pickup of workpiece and carry work.
By main orbit lifting device 5 along column 6(Z axis short transverse)Lifting or reduction main orbit 4, can meet a variety of The need for different height workbench.
Non-elaborated part of the present invention belongs to techniques known, within the spirit and principles of the invention, Any modifications, equivalent substitutions and improvements made etc., should be included within the scope of the present invention.

Claims (5)

1. intelligent multi-node cluster combined type workpiece pickup handling device, it is characterised in that:Including multiple node dollies, node Track, node track driving car, main orbit, main orbit lifting device, column and control system;
The lower section of the node dolly is provided with telescopic arm, and workpiece grabbing head is provided with the end of arm;Node dolly exists Under the control of control system, it can be moved by its internal travel driving unit set along node track;
The node track is vertically arranged with respect to main orbit, and node track is on node track driving car;Node track drives Car under control of the control system, can be moved along main orbit;
The main orbit is by guiding mechanism on column;Main orbit lifting device under control of the control system, drives master Track rises or falls along column.
2. intelligent multi-node cluster combined type workpiece pickup handling device according to claim 1, it is characterised in that:Institute State and position detecting module one is installed on node dolly, position detecting module two is installed on node track driving car, also included Position detecting module three for detecting main orbit position.
3. intelligent multi-node cluster combined type workpiece pickup handling device according to claim 1, it is characterised in that:Institute Telescopic arm is stated for telescopic rigid arm or collapsible soft arm, by set flexible of node car interior or Wind folding and unfolding of the drive mechanism completion to rigid arm or soft arm.
4. intelligent multi-node cluster combined type workpiece pickup handling device according to claim 1, it is characterised in that:Institute State combination of the workpiece grabbing head for clipping grasping mechanism, magnechuck, vacuum cup or magnechuck and vacuum cup.
5. it is corresponding with the intelligent multi-node cluster combined type workpiece pickup handling device described in any one of claim 1 ~ 4 Workpiece picks up method for carrying, it is characterised in that:
Microcomputer modelling is carried out according to the geometry of workpiece, its centroid position is calculated, and calculate to keep grasp handling Balance required for crawl points and its position on workpiece;
The node dolly of respective amount is allocated according to crawl points and its position on workpiece, each node dolly is moved to The surface of its correspondence crawl position;According to the height of crawl position, the workpiece grabbing head of each dolly is set to drop to correspondence height Spend at position, grabbing workpiece surface;
Synchronous lifting respectively participates in the gripping head of the node dolly of workpiece grabbing, slings workpiece balance;Node track drives car band Dynamic node track is moved horizontally to above predetermined carry position together with the workpiece that node dolly and lower section are sling along main orbit;
The gripping head of each node dolly for participating in workpiece grabbing synchronously declines, and workpiece is down to predetermined carry position;Crawl is released, i.e., Complete the pickup of workpiece and carry work.
CN201710299321.XA 2017-05-02 2017-05-02 Intelligent multi-node cluster combined type workpiece pickup handling device and method Pending CN106938767A (en)

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CN201710299321.XA CN106938767A (en) 2017-05-02 2017-05-02 Intelligent multi-node cluster combined type workpiece pickup handling device and method

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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109129409A (en) * 2018-08-28 2019-01-04 苏州柯牛智能装备有限公司 A kind of intelligence handling equipment
CN110921323A (en) * 2019-12-10 2020-03-27 中车长江车辆有限公司 Material delivery device and method
CN110963310A (en) * 2019-12-18 2020-04-07 济南永信新材料科技有限公司 Bar code and stacking integrated system and method
CN112340447A (en) * 2020-10-21 2021-02-09 苏州创轩激光科技有限公司 Combined sucker device

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CN102976118A (en) * 2012-12-11 2013-03-20 大元建业集团股份有限公司 Spatial two-moment distribution hoisting method of overweight body with partial gravity centre
CN203237948U (en) * 2013-05-13 2013-10-16 贾可良 Trackless gantry crane
CN104150353A (en) * 2014-07-25 2014-11-19 袁建华 Liftable and detachable bridge crane
CN205471624U (en) * 2016-03-08 2016-08-17 佳马机械涂覆科技(苏州)有限公司 Window glass handling device
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Publication number Priority date Publication date Assignee Title
DE3430099A1 (en) * 1984-08-16 1986-02-27 Jünemann, Reinhardt, Prof.Dr.-Ing., 4600 Dortmund Apparatus for transporting small parts
US5252024A (en) * 1991-11-04 1993-10-12 General Motors Corporation Transfer method for various sizes of assemblies
CN2626966Y (en) * 2003-07-11 2004-07-21 郑州铁路局工务机械厂 Hydraulic crane
CN200992418Y (en) * 2006-12-26 2007-12-19 奇瑞汽车有限公司 Multifunction logistic technology small cart
CN202193564U (en) * 2011-08-25 2012-04-18 肖观水 Simple and convenient bridge crane
CN202643144U (en) * 2012-05-10 2013-01-02 上海增欣机电设备制造有限公司 Hydraulic four-column telescopic gantry crane
CN102976118A (en) * 2012-12-11 2013-03-20 大元建业集团股份有限公司 Spatial two-moment distribution hoisting method of overweight body with partial gravity centre
CN203237948U (en) * 2013-05-13 2013-10-16 贾可良 Trackless gantry crane
CN104150353A (en) * 2014-07-25 2014-11-19 袁建华 Liftable and detachable bridge crane
CN205471624U (en) * 2016-03-08 2016-08-17 佳马机械涂覆科技(苏州)有限公司 Window glass handling device
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109129409A (en) * 2018-08-28 2019-01-04 苏州柯牛智能装备有限公司 A kind of intelligence handling equipment
CN110921323A (en) * 2019-12-10 2020-03-27 中车长江车辆有限公司 Material delivery device and method
CN110921323B (en) * 2019-12-10 2021-08-17 中车长江车辆有限公司 Material delivery device and method
CN110963310A (en) * 2019-12-18 2020-04-07 济南永信新材料科技有限公司 Bar code and stacking integrated system and method
CN110963310B (en) * 2019-12-18 2021-04-20 济南永信新材料科技有限公司 Bar code and stacking integrated system and method
CN112340447A (en) * 2020-10-21 2021-02-09 苏州创轩激光科技有限公司 Combined sucker device

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