CN108015754A - A kind of robot palletizer control system - Google Patents
A kind of robot palletizer control system Download PDFInfo
- Publication number
- CN108015754A CN108015754A CN201610952985.7A CN201610952985A CN108015754A CN 108015754 A CN108015754 A CN 108015754A CN 201610952985 A CN201610952985 A CN 201610952985A CN 108015754 A CN108015754 A CN 108015754A
- Authority
- CN
- China
- Prior art keywords
- fixed
- end effector
- waist
- control system
- robot palletizer
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
Abstract
The invention discloses a kind of robot palletizer control system, including end effector and waist, the bottom of the waist rotating device of the waist bottom installation is fixed with base, and base is fixedly connected with the ground by bolt, the upper table wall of the power distributor box of the upper end installation of the waist is connected with large arm, fixed forearm is flexibly connected with long-armed right end and power distributor box respectively by axis pin on the left of the large arm, the inside for the motor fixing device that the long-armed right end is flexibly connected is fixed with the second servomotor, and second the lower end of servomotor pass through flange rotary device and end flange and be rotatablely connected, the bottom of the end flange is fixedly connected with end effector by end effector fixed disk and bolt, the upper end for the clamping jaw that the bottom of the end effector is set is fixedly connected with the sliding block being placed in inside end effector.The configuration of the present invention is simple, easy to operate, stacking is precisely and efficient, and intelligent journey is high, and practicality is higher.
Description
Technical field
The present invention relates to robot device's technical field, is specially a kind of robot palletizer control system.
Background technology
At present, with the development of the times, it is efficiently, quickly the main task of production technology, to liberate surplus labour force, carries
High efficiency, reduces production cost, shortens the production cycle, and Intelligent transfer robot is just come into being, it can replace artificial
Carry out the classification of cargo, carrying and loading and unloading or replace mankind's carrying dangerous goods, such as radioactive substance, noxious material,
Reduce the labor intensity of worker, improve production and work efficiency, ensure that the personal safety of worker, realize automation, it is intelligent,
It is unmanned.
During the manufacturing, these parameters of yield and quality, efficiency and the rate of return on investment of product are manufacturers
All take notice of very much, compared with manually, robot becomes another choosing with its high accuracy, high speed, good stability
Select, and there be more preferable environmental resistance in robot；Just because of robot has the advantages that more, therefore code compared with manually
Pile robot is widely used in the stacking work of product, and very popular.
The content of the invention
It is proposed in the above background technology to solve it is an object of the invention to provide a kind of robot palletizer control system
Problem, possessed beneficial effect are；Easy to operate, stacking is precisely and efficient, and practicality is higher, and intelligence degree is high, pressure
The design of inductor, it is possible to achieve accurate gripping, avoids the phenomenon for occurring cargo damage in stacking.
To achieve the above object, the present invention provides following technical solution：A kind of robot palletizer control system, including end
Actuator and waist, the bottom of the waist rotating device of waist bottom installation are fixed with base, and base by bolt with
Ground is fixedly connected, and the upper table wall of the power distributor box of the upper end installation of the waist is connected with large arm, and large arm is upper
End is flexibly connected by axis pin with long-armed, the forearm of large arm left side fixation by axis pin respectively with long-armed right end and power
Distributor box is flexibly connected, the both ends of described long-armed and large arm activity junction the triangular coupling rod right end with the first balancing pole respectively
Be flexibly connected with the upper end of the second balancing pole by axis pin, and the lower end of the left end of the first balancing pole and the second balancing pole respectively with
Motor fixing device is connected with power distributor box, and the inside of the motor fixing device that the long-armed right end is flexibly connected is fixed with the
Two servomotors, and the lower end of the second servomotor is rotatablely connected by flange rotary device and end flange, the end method
Blue bottom is fixedly connected with end effector by end effector fixed disk and bolt, and the bottom of the end effector is set
The upper end for the clamping jaw put is fixedly connected with the sliding block being placed in inside end effector.
Preferably, the front end of the power distributor box is provided with the first servomotor.
Preferably, second balancing pole is fixed on the right side of forearm.
Preferably, the cylinder that the internal symmetry of the end effector is placed is fixedly connected with a slide block by piston rod,
Position sensor is installed in the bottom of the end effector, and position sensor is fixed on what end effector bottom opened up
The both sides of sliding slot.
Preferably, pressure inductor is fixed with the inside of the clamping jaw, and the end of clamping jaw is provided with anti-skidding right angle hook.
Compared with prior art, the beneficial effects of the invention are as follows：The device structure is simple, easy to operate, stacking precisely and
Efficiently, practicality is higher, the design of pressure inductor, it is possible to achieve accurate gripping, avoids and occur cargo damage in stacking
The phenomenon of wound；The design of position sensor, provides more accurately positional information for robot palletizer, avoids because of position not
Phenomenon that is accurate and that gripping cargo failure occur；The use of balancing pull rod, ensures the robot palletizer in whole palletization
Overall stability；The design of anti-skidding right angle hook uses, and can effectively avoid gripping cargo or showing of sliding of cargo in rotation
As；This practical information stability is good, simple to operate, stacking is efficient, it is possible to achieve accurate stacking, has from dynamic deviation school
Orthofunction, intelligence degree is higher, can be very good meet the needs of user and market.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the end effector structures schematic diagram of the present invention；
Fig. 3 is the flow chart of the present invention.
In figure：The first balancing poles of 1-；2- is long-armed；3- triangular coupling rods；4- axis pins；5- forearms；The second balancing poles of 6-；7- is big
Arm；8- power distributor boxes；The first servomotors of 9-；The second servomotors of 10-；11- motor fixing devices；12- flange rotaries fill
Put；13- end flanges；14- end effectors；15- sliding slots；16- clamping jaws；17- bases；18- waist rotating devices；19- waists；
20- piston rods；21- end effector fixed disks；22- position sensors；23- cylinders；24- sliding blocks；25- pressure inductors；26-
Anti-skidding right angle hook.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
- 3 are please referred to Fig.1, a kind of embodiment provided by the invention：A kind of robot palletizer control system, including end are held
Row device 14 and waist 19, the bottom of the waist rotating device 18 of 19 bottom of waist installation is fixed with base 17, and base 17 passes through
Bolt is fixedly connected with the ground, and the upper table wall of the power distributor box 8 of the upper end installation of waist 19 is connected with large arm 7, and greatly
The upper end of arm 7 is flexibly connected by axis pin 4 with long-armed 2, and the fixed forearm 5 in the left side of large arm 7 is by axis pin 4 respectively with long-armed 2
Right end and power distributor box 8 are flexibly connected, long-armed 2 and the movable junction of large arm 7 triangular coupling rod 3 both ends it is flat with first respectively
The right end of weighing apparatus bar 1 and the upper end of the second balancing pole 6 are flexibly connected by axis pin 4, and the left end of the first balancing pole 1 and the second balance
The lower end of bar 6 is connected with motor fixing device 11 and power distributor box 8 respectively, and the motor that long-armed 2 right end is flexibly connected fixes dress
The inside for putting 11 is fixed with the second servomotor 10, and the lower end of the second servomotor 10 passes through flange rotary device 12 and end
Flange 13 is rotatablely connected, and the bottom of end flange 13 is fixed with end effector 14 by end effector fixed disk 21 and bolt
Connection, the upper end of the clamping jaw 16 of the bottom setting of end effector 14 are fixed with the sliding block 24 being placed in inside end effector 14
Connection, the front end of power distributor box 8 are provided with the first servomotor 9, and the second balancing pole 6 is fixed on the right side of forearm 5, and end is held
The cylinder 23 that the internal symmetry of row device 14 is placed is fixedly connected by piston rod 20 with sliding block 24, the bottom of end effector 14
Position sensor 22 is installed, and position sensor 22 is fixed on the both sides for the sliding slot 15 that 14 bottom of end effector opens up, folder
Pressure inductor 25 is fixed with the inside of pawl 16, and the end of clamping jaw 16 is provided with anti-skidding right angle hook 26.
Operation principle；In use, by exterior controller, i.e. teaching machine, led to the PLC of 19 placed inside of waist
News, and the action for carrying out by teaching machine robot palletizer is set, PLC control driver controls servomotor rotates during work,
And the corner of servomotor, rotating speed etc. are fed back into driver, driver is corrected accordingly, later ensure stacking when
Accuracy, when the cargo location of gripping required for position sensor 22 senses has been in the position of setting, cylinder 23 starts
Drive clamping jaw 16 to act, realize the action of clamping, when stepping up, the pressure inductor 25 installed on 16 inner wall of clamping jaw can be by pressure
Information sends PLC to, and PLC control cylinders 23 are acted, to ensure that clamping pressure is unlikely to damage that is excessive and causing cargo, clamped
After cargo, PLC controls the action of each servomotor to complete the action such as the rotation of robot palletizer, stacking, Posterior circle actuating code
Pile acts.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Claims (5)
1. a kind of robot palletizer control system, including end effector (14) and waist (19), it is characterised in that：The waist
(19) bottom of the waist rotating device (18) of bottom installation is fixed with base (17), and base (17) is consolidated by bolt and ground
Fixed connection, the upper table wall of the power distributor box (8) of the upper end installation of the waist (19) are connected with large arm (7), and large arm
(7) upper end is flexibly connected by axis pin (4) with long-armed (2), and fixed forearm (5) passes through axis pin (4) on the left of the large arm (7)
It is flexibly connected respectively with the right end and power distributor box (8) of long-armed (2), the three of long-armed (2) and large arm (7) activity junction
The both ends of angle connecting rod (3) pass through axis pin (4) activity with the right end of the first balancing pole (1) and the upper end of the second balancing pole (6) respectively
Connection, and the lower end of the left end of the first balancing pole (1) and the second balancing pole (6) is divided with motor fixing device (11) and power respectively
Connected with case (8), the inside for the motor fixing device (11) that long-armed (2) right end is flexibly connected is fixed with the second servomotor
(10), and the lower end of the second servomotor (10) is rotatablely connected by flange rotary device (12) and end flange (13), described
The bottom of end flange (13) is fixedly connected with end effector (14) by end effector fixed disk (21) and bolt, described
The upper end for the clamping jaw (16) that the bottom of end effector (14) is set and the sliding block (24) for being placed in end effector (14) inside
It is fixedly connected.
A kind of 2. robot palletizer control system according to claim 1, it is characterised in that：The power distributor box (8)
Front end the first servomotor (9) is installed.
A kind of 3. robot palletizer control system according to claim 1, it is characterised in that：Second balancing pole (6)
It is fixed on the right side of forearm (5).
A kind of 4. robot palletizer control system according to claim 1, it is characterised in that：The end effector (14)
The cylinder (23) placed of internal symmetry be fixedly connected with sliding block (24) by piston rod (20), in the end effector
(14) bottom is provided with position sensor (22), and position sensor (22) is fixed on end effector (14) bottom and opens up
The both sides of sliding slot (15).
A kind of 5. robot palletizer control system according to claim 1, it is characterised in that：The inside of the clamping jaw (16)
On be fixed with pressure inductor (25), and the end of clamping jaw (16) is provided with anti-skidding right angle hook (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952985.7A CN108015754A (en) | 2016-11-03 | 2016-11-03 | A kind of robot palletizer control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610952985.7A CN108015754A (en) | 2016-11-03 | 2016-11-03 | A kind of robot palletizer control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108015754A true CN108015754A (en) | 2018-05-11 |
Family
ID=62070164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610952985.7A Pending CN108015754A (en) | 2016-11-03 | 2016-11-03 | A kind of robot palletizer control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108015754A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108496494A (en) * | 2018-06-08 | 2018-09-07 | 江苏省农业科学院 | Transplanter and mechanization transplanting, picker system and method based on six shaft mechanical arms |
| CN108818114A (en) * | 2018-07-28 | 2018-11-16 | 宁国市金优机械配件有限公司 | Clamping device is used in a kind of production of mechanical fitting |
| CN108839052A (en) * | 2018-08-31 | 2018-11-20 | 无锡百禾工业机器人有限公司 | Multifunctional gravity manipulator |
| CN108942674A (en) * | 2018-07-28 | 2018-12-07 | 宁国市金优机械配件有限公司 | A kind of mechanical fitting production clamping device with remote manipulator |
| CN110281227A (en) * | 2019-06-27 | 2019-09-27 | 江苏超人智能科技有限公司 | A kind of mechanical arm for loading and unloading crawl |
| CN111573262A (en) * | 2020-06-03 | 2020-08-25 | 何志彦 | Stacking device with staggered stacking structure for H steel production |
| CN111776735A (en) * | 2020-07-03 | 2020-10-16 | 广州国智机电设备有限公司 | Heavy-load manipulator |
| CN111792361A (en) * | 2020-07-03 | 2020-10-20 | 广州国智机电设备有限公司 | Grabbing and releasing type machine |
| CN111941396A (en) * | 2020-08-17 | 2020-11-17 | 广东万合新材料科技有限公司 | Rotary manipulator |
| CN111993405A (en) * | 2020-08-27 | 2020-11-27 | 马鞍山贺辉信息科技有限公司 | Grabbing equipment of industrial intelligent robot and grabbing method thereof |
| CN114029969A (en) * | 2021-10-09 | 2022-02-11 | 安徽集萃智造机器人科技有限公司 | Robot is checked to stack based on weight detects |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
| CN114474008A (en) * | 2022-03-23 | 2022-05-13 | 浙江东亘金属科技有限公司 | Intelligent stacking robot and control system |
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| CN104842373A (en) * | 2015-05-20 | 2015-08-19 | 江苏牧羊控股有限公司 | Collision safeguard unit of stacking robot |
| CN204748652U (en) * | 2015-05-18 | 2015-11-11 | 安徽新境界自动化技术有限公司 | Pile up neatly machine people goods position correction system based on visual identification |
| CN205184762U (en) * | 2015-11-16 | 2016-04-27 | 广东伊雪松机器人设备有限公司 | Underload pile up neatly machine people |
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| CN201253847Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN101817452A (en) * | 2010-04-02 | 2010-09-01 | 大连佳林设备制造有限公司 | Packing and palletizing robot |
| CN202379474U (en) * | 2011-12-31 | 2012-08-15 | 常州市常衡精工自动化设备有限公司 | Gripper for stacking robot |
| ES2409459A1 (en) * | 2013-01-28 | 2013-06-26 | Teknics Packaging & Logistics, S.L. | Automated system to classify and pallet merchandise boxes and procedure for palletizing boxes of different sizes in the same pallet (Machine-translation by Google Translate, not legally binding) |
| CN204036465U (en) * | 2014-08-18 | 2014-12-24 | 青岛宝佳自动化设备有限公司 | A kind of robot palletizer box handgrip |
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| CN104842373A (en) * | 2015-05-20 | 2015-08-19 | 江苏牧羊控股有限公司 | Collision safeguard unit of stacking robot |
| CN205184762U (en) * | 2015-11-16 | 2016-04-27 | 广东伊雪松机器人设备有限公司 | Underload pile up neatly machine people |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108496494B (en) * | 2018-06-08 | 2024-04-23 | 江苏省农业科学院 | Transplanting machine based on six-axis mechanical arm, and mechanized transplanting and picking system and method |
| CN108496494A (en) * | 2018-06-08 | 2018-09-07 | 江苏省农业科学院 | Transplanter and mechanization transplanting, picker system and method based on six shaft mechanical arms |
| CN108818114A (en) * | 2018-07-28 | 2018-11-16 | 宁国市金优机械配件有限公司 | Clamping device is used in a kind of production of mechanical fitting |
| CN108942674A (en) * | 2018-07-28 | 2018-12-07 | 宁国市金优机械配件有限公司 | A kind of mechanical fitting production clamping device with remote manipulator |
| CN108839052A (en) * | 2018-08-31 | 2018-11-20 | 无锡百禾工业机器人有限公司 | Multifunctional gravity manipulator |
| CN110281227A (en) * | 2019-06-27 | 2019-09-27 | 江苏超人智能科技有限公司 | A kind of mechanical arm for loading and unloading crawl |
| CN111573262A (en) * | 2020-06-03 | 2020-08-25 | 何志彦 | Stacking device with staggered stacking structure for H steel production |
| CN111776735A (en) * | 2020-07-03 | 2020-10-16 | 广州国智机电设备有限公司 | Heavy-load manipulator |
| CN111792361A (en) * | 2020-07-03 | 2020-10-20 | 广州国智机电设备有限公司 | Grabbing and releasing type machine |
| CN111941396A (en) * | 2020-08-17 | 2020-11-17 | 广东万合新材料科技有限公司 | Rotary manipulator |
| CN111993405A (en) * | 2020-08-27 | 2020-11-27 | 马鞍山贺辉信息科技有限公司 | Grabbing equipment of industrial intelligent robot and grabbing method thereof |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
| CN114029969A (en) * | 2021-10-09 | 2022-02-11 | 安徽集萃智造机器人科技有限公司 | Robot is checked to stack based on weight detects |
| CN114474008A (en) * | 2022-03-23 | 2022-05-13 | 浙江东亘金属科技有限公司 | Intelligent stacking robot and control system |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180511 |
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