CN107009378A - Palletizing mechanical arm based on radio-frequency technique - Google Patents
Palletizing mechanical arm based on radio-frequency technique Download PDFInfo
- Publication number
- CN107009378A CN107009378A CN201710369061.9A CN201710369061A CN107009378A CN 107009378 A CN107009378 A CN 107009378A CN 201710369061 A CN201710369061 A CN 201710369061A CN 107009378 A CN107009378 A CN 107009378A
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- China
- Prior art keywords
- controller
- information
- sent
- weighing
- cleft hand
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses the palletizing mechanical arm based on radio-frequency technique, including handgrip type frame, the two ends of the handgrip type frame are respectively arranged with cleft hand, a parcel for posting RF tag is provided between the cleft hand, a weighing sensor is provided with each cleft hand, the handgrip type frame bottom is additionally provided with a radio frequency label read-write machine, and controller, data storage are also equipped with handgrip type frame, wherein：Radio frequency label read-write machine：RF tag is scanned, package information is sent to controller；The weight information of controller transmission is received, and weight information is sent to RF tag；Weighing sensor：The weight information wrapped up between the instruction of weighing that controller is sent, collection cleft hand is received, and weight information is sent to controller.The present invention is solved before logistics transportation distribution, and parcel progress is weighed the problem of there is low efficiency, labor intensive using prior art.
Description
Technical field
The present invention relates to a kind of palletizing mechanical, and in particular to the palletizing mechanical arm based on radio-frequency technique.
Background technology
It is efficiently, quickly the main task of production technology with the development in epoch.For liberation surplus labour force, life is improved
Efficiency is produced, production cost is reduced, shortens the production cycle, Intelligent transfer robot is just arisen at the historic moment, it can replace artificial progress
The classification of goods, is carried and loading and unloading or replacement mankind's carrying dangerous goods, such as radioactive substance, noxious material, reduction
The labor intensity of workman, improves production and operating efficiency, it is ensured that the personal safety of workman, realize automation, it is intelligent, nobody
Change.
Robot palletizer be it is a kind of to carton, packed, canned, beer case, the variously-shaped finished product such as bottled packed, removed
Fortune and the industrial robot in good order put, great welcome is also received in logistics transportation industry.
In logistics transportation industry, in order to realize the reasonable control to package shipment and the management of transport parcel, in entrucking
Before entrucking package weight is weighed.Weighed in the prior art frequently with weigher, conveyer belt and the mode of hand fit,
This kind of weighting manner is less efficient, and needs to expend substantial amounts of manual labor.
The content of the invention
It is an object of the invention to provide the palletizing mechanical arm based on radio-frequency technique, solve before logistics transportation distribution, adopt
The problem of there is low efficiency, labor intensive of weighing is carried out to parcel with prior art.
The present invention is achieved through the following technical solutions：
Palletizing mechanical arm based on radio-frequency technique, including handgrip type frame, the two ends of the handgrip type frame are respectively arranged with pawl
A parcel for posting RF tag is provided between hand, the cleft hand, a weighing and sensing is provided with each cleft hand
Device, the handgrip type frame bottom is additionally provided with a radio frequency label read-write machine, and controller, data are also equipped with handgrip type frame
Memory, wherein：
Radio frequency label read-write machine：RF tag is scanned, package information is sent to controller；Receive the weight of controller transmission
Information, and weight information is sent to RF tag；
Weighing sensor：The weight information wrapped up between the instruction of weighing that controller is sent, collection cleft hand is received, and will weight
Amount information is sent to controller；
Controller：The package information that radio frequency label read-write machine is sent is received, transmission, which weighs to instruct, arrives weighing sensor；Receive
The weight information that weighing sensor is sent, and weight information is transferred to radio frequency label read-write machine, by package information, weighing information
It is sent to data storage；
Data storage：Package information, weighing information that controller is sent are received, and is stored.Further, present invention profit
The process carried with robot palletizer is weighed to parcel, and process is reduced compared with prior art, improves transport distribution effect
Rate.Concrete structure is as noted above, weighing sensor is installed on each cleft hand, two weighing sensors are all by weighing data
Controller is passed to, controller is handled the data of weighing sensor, then the weight information after being processed utilizes radio frequency
The mode of read-write writes weight information in the RF tag superscribed, with upper type without manually operating, improves work effect
Rate.Radio frequency label read-write machine can also read the information superscribed in RF tag simultaneously, and the parcel weighed easily is recorded with this
Information, and its package information and weighing information are stored.
It is preferred that, the communication module being connected with controller, the communication module and bag are additionally provided with the handgrip type frame
Administrative center's connection is wrapped up in, wherein：
Controller：Send package information, weighing information to communication module；
Communication module：Package information, weighing information that controller is sent are received, and package information, weighing information are transmitted
Give parcel administrative center.Further, parcel administrative center removes daily for monitoring and managing all robot palletizers in workshop
The parcel of fortune, communication module is installed on the manipulator of each robot palletizer, can easily gather each Manipulator Transportation
Goods information, is easy to management, reduces the workload for using artificial acquisition and recording in the prior art.
Several plastic suckers are installed, centerline direction of the plastic suckers along cleft hand is uniformly set on the cleft hand
Put.Further, plastic suckers, which are arranged on cleft hand, can fill the gap between cleft hand and parcel, play bumper and absorbing shock work
With the air-flow that the moment of parcel formed can also be caught to be fitted in using cleft hand and superscribed, make the absorption of parcel tightly in pawl
Be connected on hand and between cleft hand closer and be difficult to drop.
It is preferred that, two installing plates and pawl arm, one end of the pawl arm and installing plate are additionally provided with handgrip type frame bottom
Coordinated by rotating shaft connection, the other end and cleft hand by bolt, nut and fixed.Further, cleft hand is in use often
Collide with parcel, ground or conveyer belt, and cleft hand is very easy to deformation and damaged, and turnover rate is higher, and cleft hand of the prior art is usual
Directly it is connected for integral type with handgrip type frame, this make it that the cost that cleft hand is changed is higher, causes waste of material, uneconomical environmental protection.
The present invention will be designed to bipartial structure for the handgrip for catching parcel, and pawl arm can share the bearing capacity of cleft hand, extension cleft hand
Service life, and pawl arm and cleft hand can easily change cleft hand by bolt, nut connection；Compared with prior art, only need
Change the cleft hand of half, more economical environmental protection.
The present invention compared with prior art, has the following advantages and advantages：
Palletizing mechanical arm of the invention based on radio-frequency technique, is installed weighing sensor on each cleft hand, is read using radio frequency
The mode write writes weight information in the RF tag superscribed, realizes unmanned weighing operation, reduces process, and
Operating efficiency is improved, there is high economic value to enterprise；Add pawl arm and plastic suckers be installed, protect cleft hand,
Its service life is extended, it is economic and environment-friendly, with higher social value.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is Electronic Control structural representation of the present invention.
Mark and corresponding parts title in accompanying drawing：
1- handgrip type frame, 2- cleft hands, 3- weighing sensors, 4- radio frequency label read-write machines, 5- installing plates, 6- plastic suckers,
7- pawl arms, 8- rotating shafts.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment and its explanation of the invention is only used for explaining the present invention, does not make
For limitation of the invention.
Embodiment
As shown in Figure 1, 2, the palletizing mechanical arm of the invention based on radio-frequency technique, including handgrip type frame 1, the handgrip type frame
1 two ends, which are respectively arranged between cleft hand 2, the cleft hand 2, is provided with a parcel 8 for posting RF tag, in each cleft hand 2
On be provided with a weighing sensor 3, the bottom of handgrip type frame 1 is additionally provided with a radio frequency label read-write machine 4, in handgrip
Controller, data storage are also equipped with type frame 1, wherein：
Radio frequency label read-write machine 4：RF tag is scanned, package information is sent to controller；Receive the weight of controller transmission
Information is measured, and weight information is sent to RF tag；
Weighing sensor 3：The weight information of parcel 8 between the instruction of weighing that controller is sent, collection cleft hand 2 is received, and
Weight information is sent to controller；
Controller：The package information that radio frequency label read-write machine 4 is sent is received, transmission, which weighs to instruct, arrives weighing sensor 3；Connect
The weight information that weighing sensor 3 is sent is received, and weight information is transferred to radio frequency label read-write machine 4, by package information, is weighed
Information is sent to data storage；
Data storage：Package information, weighing information that controller is sent are received, and is stored.
The communication module being connected with controller is additionally provided with the handgrip type frame 1, the communication module is managed with parcel
Center is connected, wherein：
Controller：Send package information, weighing information to communication module；
Communication module：Package information, weighing information that controller is sent are received, and package information, weighing information are transmitted
Give parcel administrative center.Several plastic suckers 6, center line of the plastic suckers 6 along cleft hand 2 are installed on the cleft hand 2
Direction is uniformly arranged.Two installing plates 5 and pawl arm 7, one end of the pawl arm 7 and installation are additionally provided with the bottom of handgrip type frame 1
Plate 5 is connected by rotating shaft 8, the other end and cleft hand 2 coordinate fixation by bolt, nut.Handgrip type frame 1 is a rectangle or ellipse
The support frame of shape, is made of steel.Controller of the present invention is the controller that manipulator is carried, in handgrip type frame
1 two ends are also equipped with two pawl arm drive modules, and pawl arm drive module is connected with controller, are driven by controller driving claw arm
Module carrys out the activity of control claw arm 7.Radio frequency label read-write machine 4 is wireless type, together with the RF tag with wireless write-in functions
Communication, the RF tag has its unique non-rewritable UID.Weighing sensor 3 uses matt SA03 weighing sensors.Bag
Wrap up in the workshop where administrative center is built up in robot palletizer, using Windows operating system, communication module can be used
Zigbee wireless communication modules realize short-range communication, cheap.By being solved with upper type before logistics transportation distribution,
Parcel progress is weighed the problem of there is low efficiency, labor intensive using prior art
Above-described embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. all should be included
Within protection scope of the present invention.
Claims (4)
1. the palletizing mechanical arm based on radio-frequency technique, including handgrip type frame (1), the two ends of the handgrip type frame (1) are set respectively
Have and be provided with a parcel for posting RF tag (8) between cleft hand (2), the cleft hand (2), it is characterised in that in each pawl
A weighing sensor (3) is provided with hand (2), handgrip type frame (1) bottom is additionally provided with a RF tag read-write
Device (4), controller, data storage are also equipped with handgrip type frame (1), wherein：
Radio frequency label read-write machine (4)：RF tag is scanned, package information is sent to controller；Receive the weight of controller transmission
Information, and weight information is sent to RF tag；
Weighing sensor (3)：The weight information that (8) are wrapped up between the instruction of weighing that controller is sent, collection cleft hand (2) is received,
And weight information is sent to controller；
Controller：The package information that radio frequency label read-write machine (4) is sent is received, transmission, which weighs to instruct, arrives weighing sensor (3)；Connect
Receive the weight information that weighing sensor (3) is sent, and weight information be transferred to radio frequency label read-write machine (4), by package information,
Weighing information is sent to data storage；
Data storage：Package information, weighing information that controller is sent are received, and is stored.
2. the palletizing mechanical arm according to claim 1 based on radio-frequency technique, it is characterised in that the handgrip type frame (1)
On be additionally provided with the communication module being connected with controller, the communication module is connected with parcel administrative center, wherein：
Controller：Send package information, weighing information to communication module；
Communication module：Package information, weighing information that controller is sent are received, and package information, weighing information are transferred to bag
Wrap up in administrative center.
3. the palletizing mechanical arm according to claim 1 based on radio-frequency technique, it is characterised in that pacify on the cleft hand (2)
Equipped with several plastic suckers (6), centerline direction of the plastic suckers (6) along cleft hand (2) is uniformly arranged.
4. the palletizing mechanical arm according to claim 1 based on radio-frequency technique, it is characterised in that at handgrip type frame (1) bottom
Portion is additionally provided with two installing plates (5) and pawl arm (7), one end of the pawl arm (7) is connected with installing plate (5) by rotating shaft (8),
The other end is coordinated with cleft hand (2) by bolt, nut to be fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710369061.9A CN107009378A (en) | 2017-05-23 | 2017-05-23 | Palletizing mechanical arm based on radio-frequency technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710369061.9A CN107009378A (en) | 2017-05-23 | 2017-05-23 | Palletizing mechanical arm based on radio-frequency technique |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107009378A true CN107009378A (en) | 2017-08-04 |
Family
ID=59450747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710369061.9A Pending CN107009378A (en) | 2017-05-23 | 2017-05-23 | Palletizing mechanical arm based on radio-frequency technique |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107009378A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627321A (en) * | 2017-11-01 | 2018-01-26 | 衢州艾尚工业设计有限公司 | A kind of gripping structure of intelligent stacking robot |
| CN108039333A (en) * | 2018-01-12 | 2018-05-15 | 常州市杰洋精密机械有限公司 | Silicon chip of solar cell cleans gaily decorated basket fixture and its control method |
| CN108621182A (en) * | 2018-06-15 | 2018-10-09 | 王正才 | The manipulator fixture and its application method of inflatable automated cleaning |
| CN108927822A (en) * | 2018-08-22 | 2018-12-04 | 中科新松有限公司 | A kind of end effector of robot and robot |
| CN112061654A (en) * | 2020-08-12 | 2020-12-11 | 久恒理树 | Sorting robot, sorting device, sorting system and sorting method |
| CN112390005A (en) * | 2020-11-06 | 2021-02-23 | 深圳市拓野智能股份有限公司 | Novel transfer upset device |
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| CN101634585A (en) * | 2009-08-06 | 2010-01-27 | 威海北洋电气集团股份有限公司 | Electronic scale and working method thereof |
| CN102582883A (en) * | 2011-01-11 | 2012-07-18 | 方先其 | Robot palletizer gripper with weight checking function |
| CN203237666U (en) * | 2013-03-12 | 2013-10-16 | 北京普罗格集成科技有限公司 | Automatic shuttling vertical-type warehouse |
| CN203254434U (en) * | 2013-05-23 | 2013-10-30 | 河南职业技术学院 | Glass substrate conveying mechanical arm |
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Patent Citations (5)
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| KR20070046682A (en) * | 2005-10-31 | 2007-05-03 | 엘지.필립스 엘시디 주식회사 | Transferring system of cassette including piezoelectric sensor |
| CN101634585A (en) * | 2009-08-06 | 2010-01-27 | 威海北洋电气集团股份有限公司 | Electronic scale and working method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107627321A (en) * | 2017-11-01 | 2018-01-26 | 衢州艾尚工业设计有限公司 | A kind of gripping structure of intelligent stacking robot |
| CN108039333A (en) * | 2018-01-12 | 2018-05-15 | 常州市杰洋精密机械有限公司 | Silicon chip of solar cell cleans gaily decorated basket fixture and its control method |
| CN108039333B (en) * | 2018-01-12 | 2023-09-26 | 常州市杰洋精密机械有限公司 | Clamp for cleaning flower basket of solar cell silicon wafer and control method thereof |
| CN108621182A (en) * | 2018-06-15 | 2018-10-09 | 王正才 | The manipulator fixture and its application method of inflatable automated cleaning |
| CN108927822A (en) * | 2018-08-22 | 2018-12-04 | 中科新松有限公司 | A kind of end effector of robot and robot |
| CN112061654A (en) * | 2020-08-12 | 2020-12-11 | 久恒理树 | Sorting robot, sorting device, sorting system and sorting method |
| CN112061654B (en) * | 2020-08-12 | 2022-04-01 | 久恒理树 | Sorting robot, sorting device, sorting system and sorting method |
| CN112390005A (en) * | 2020-11-06 | 2021-02-23 | 深圳市拓野智能股份有限公司 | Novel transfer upset device |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170804 |
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| WD01 | Invention patent application deemed withdrawn after publication |