CN108058165A - Intelligent plate feeding, discharge conveying robot - Google Patents
Intelligent plate feeding, discharge conveying robot Download PDFInfo
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- CN108058165A CN108058165A CN201810023770.6A CN201810023770A CN108058165A CN 108058165 A CN108058165 A CN 108058165A CN 201810023770 A CN201810023770 A CN 201810023770A CN 108058165 A CN108058165 A CN 108058165A
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- 230000033001 locomotion Effects 0.000 claims abstract description 156
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 239000000463 material Substances 0.000 claims abstract description 42
- 238000003860 storage Methods 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 52
- 238000000034 method Methods 0.000 claims description 20
- 230000003028 elevating effect Effects 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 14
- 230000003139 buffering effect Effects 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000001737 promoting effect Effects 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 3
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 8
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Classifications
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- 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
- B25J9/023—Cartesian coordinate type
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- 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
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- 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
- B25J9/123—Linear actuators
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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Abstract
The present invention relates to a kind of intelligent plate feeding, discharge conveying robot, it is characterized in that including rack, X-axis movement module, Y-axis movement module, Z axis movement module and target storage platform；Wherein, three-axis moving module is mounted in rack, and target storage platform is connected with rack, and X, Y-axis movement module are slided in the horizontal direction by driving stepper motor with encoder, and Z-direction moves module and driven by driving cylinder in vertical direction slip；Three direction of principal axis moves module, measures machine location as coordinates of targets using fixed interval using PLC or NC systems, then carries out axial direction position control to coordinates of targets.Advantage：1）Stepper motor torque is big, and speed governing is convenient, and speed is fast；2）Driving speed of cylinder is fast, and lifting capacity is strong, durable；3）Full-automation reduces manpower consumption；4）Machine three-axis moving mechanism spatial position and material deposit position space coordinates are established using PLC or NC, position control program is write, realizes full automation.
Description
Technical field
The present invention is a kind of intelligent plate feeding, discharge conveying robot, belongs to intelligent automatic control technical field.
Background technology
In view of solid wood furniture production process is labour-intensive as caused by the diversity of wooden furniture production process material shapes
Feature, although intelligent robot is more and more widely used in industrial circle at present, full automatic production line is used in plate
In the majority during formula Furniture manufacturing, fewer and fewer in the application of solid wood furniture production process, solid wood furniture production belongs to a kind of skill
Art is more demanding and work that labor intensity is larger, and the loading and unloading operation of furniture parts process is raw based on hand labour
It is high to produce recruitment cost, determines that solid wood furniture productive manpower cost remains high.
The content of the invention
Proposed by the present invention is a kind of upper and lower work machine of intelligent material, and purpose is intended to mating part processing machine,
It realizes full-automatic feeding, discharge operation, improves production precision and production efficiency.
The technical solution of the present invention：
A kind of intelligence plate feeding, discharge conveying robot, including rack 1, X-axis movement module, Y-axis movement module, Z axis movement module
With target storage platform 5；Wherein, X-axis movement module, Y-axis movement module, Z axis movement module are mounted in rack 1, target storage
Platform 5 is connected with rack 1, X-axis movement module, Y-axis movement module respectively by driving stepper motor with encoder in the horizontal direction
Upper slip, Z-direction move module and are slided in vertical direction by the drive of driving cylinder；The X-direction movement module, Y-axis
Direction move module and Z-direction movement module, by the use of PLC or NC systems at regular intervals time measurement machine location as
Coordinates of targets, then coordinates of targets progress axial direction position control.
Beneficial effects of the present invention：
1）Stepper motor torque is big, and speed governing is convenient, by belt motion is driven to move, speed is fast, can meet feeding, discharge pair
The requirement of rapidity；
2）Vertical direction is driven with cylinder, not only ensure that requirement of the Z-direction lifting heavy to rapidity, but also has been met Z axis side
To the requirement to lifting capacity, while cylinder is durable；
3）With reference to PLC control program, automatically the planar substance on target roller-way can be transported on workbench, simultaneously also
The object machined can be smoothly removed from workbench, is put neatly according to certain order, reduces manpower consumption；
4）This operation module motion process is easier to balance, beneficial to extension service life of equipment；
5）The design establishes machine three-axis moving mechanism spatial position and material deposit position space coordinates using PLC, writes
The position control program of each shaft movement mechanism in unified three-dimensional system of coordinate realizes the full automation of machine movement；
6）With learning functionality, for the requirement of different process equipment material stowed locations, machine movement locus can be manually operated,
After determining moving line, machine completes carrying action according to the operating path of study automatically；
7）For the board-like material put according to regulation direction with position into stacking, length and width, think gauge are inputted by man-machine interface
Afterwards, machine can be completed to draw according to certain order is transported to same target location, substitutes artificial loading；
8）After determining target stowed location, material from processing table top can be taken away automatically, be deposited into fixation as requested
Position.
Description of the drawings
Attached drawing 1 is intelligent plate feeding, discharge conveying robot isometric side view
Attached drawing 2 is intelligent plate feeding, discharge conveying robot top view（Z-direction is downward）
Attached drawing 3 is intelligent plate feeding, discharge conveying robot front view（X-direction is backward）
In figure, 1 is rack, and 2 drive synchronous belt for X-direction, and 3 be sliding block mounting platform, and 4 be roller-way, and 5 target storage platforms, 6 be X
Direction drives synchronous belt, and 7 be stepper motor with encoder, and 8 be sliding block mounting platform, and 9 be lifting cylinder, and 10 be band encoder
Stepper motor, 11 be Y direction motion platform, 12 for X-direction drive synchronizing wheel, 13 be driven synchronizing wheel installation axle
Seat is fastened, 14 move one of slide for X-direction, and 15 be one of Y direction slide, and 16 be X-direction synchronizing shaft, and 17 be Y direction
Synchronous belt is driven, 18 drive synchronizing wheel for Y direction, and 19 be Z-direction line of motion bearing, and 20 be Z-direction motion guide
Axis, 21 be elevating mechanism bracket fixing plate, and 22 be heavy-load type sucker, and 23 buffer sucker mounting bracket for heavy-load type band, and 24 be driving
Cylinder piston, 25 be that sucking disc mechanism picking-up plate 25,26,27 and 28 is synchronizing wheel installation rolling bearing units, and 29 is same for Y direction driving
Step wheel, 30 move slide for Y-direction.
Specific embodiment
A kind of intelligence plate feeding, discharge conveying robot, including rack 1, X-axis movement module, Y-axis movement module, Z axis movement
Module and target storage platform 5；Wherein, X-axis movement module, Y-axis movement module, Z axis movement module are mounted in rack 1, target
Lodging bench 5 is connected with rack 1, and X-axis movement module, Y-axis move module respectively by driving stepper motor with encoder in level
Square upward sliding, Z-direction move module and are slided in vertical direction by the drive of driving cylinder；The X-direction movement module,
Y direction moves module and Z-direction movement module, utilizes PLC or NC systems time measurement machine location at regular intervals
As coordinates of targets, then coordinates of targets progress axial direction position control.
The rack 1 includes cantilever structure and supporting rack；Wherein, cantilever structure is connected with supporting rack, cantilevered
Structure includes two cantilevers in left and right, cantilever structure support X-axis movement module, Y-axis movement module and Z axis movement module, support
More roller-ways 4 are installed on frame, material can directly from material transportation machine or roller-way by roller-way transport to upper discharge position and from
It is transported on roller-way.
The X-direction movement module, including A stepper motors with encoder（10）, X-direction synchronizing shaft（16）, two
X-direction driving synchronous belt, four X-directions driving synchronizing wheels, two X-direction slides and two sliding block mounting platforms；
Wherein, two X-direction slides are respectively arranged on the cantilever of left and right two of the cantilever structure in rack 1, two X-directions
Driving synchronous belt is respectively arranged on the cantilever of left and right two of the cantilever structure in rack 1, and four X-directions drive synchronizing wheel
The both ends of 1 both sides cantilever of rack are respectively arranged in, drive the both ends of synchronous belt positioned at two X-directions respectively, A is with encoder
Stepper motor（10）With four X-directions the active synchronization wheel 12 in synchronizing wheel is driven to be connected, two sliding block mounting platforms (3,8）
It is separately mounted on two X-direction slides, driving sliding block mounting platform (3,8）Two X-directions driving synchronous belt（2、6）
For open loop structure, two ends of every synchronous belt are fixed on the sliding block of the left and right sides two by synchronous belt compact heap respectively and install
On platform, the synchronizing wheel of X-direction driving synchronous belt movement is driven（27、28）Between connected by X-direction synchronizing shaft 16, ensure
Two side slide mounting platforms drive elevating mechanism synchronizing moving under motor driving, Y-axis movement module and Z axis movement module installation
It among the sliding block mounting platform of the left and right sides, is only loaded between slide and sliding block by vertical direction, ensure that Y direction moves
The stationarity that module and Z-direction movement module are moved in X-direction.
The Y direction movement module includes 7, two Y direction slides of B stepper motors with encoder, Y direction is driven
Dynamic 17, two Y direction driving synchronizing wheels of synchronous belt, beam structure, Y direction motion platform 11 and Y direction driving
Synchronous belt 17, beam structure are installed between two sliding block mounting platforms in X-direction movement module, and two Y directions are slided
Rail is mounted on beam structure, and Y direction driving synchronous belt 17 is open loop structure, on beam structure, two Y directions
Synchronizing wheel is driven to be located at the both ends of Y direction driving synchronous belt 17, B stepper motors 7 with encoder and two Y directions respectively
Active synchronization wheel 18 in driving synchronizing wheel connects, and Y direction driving synchronizing wheel drives Y direction driving synchronous belt 17 to move, Y
Direction of principal axis motion platform 11 is connected with Y direction driving synchronous belt 17, and Z axis movement module is put down with Y direction motion
Platform 11 connects, and Y direction driving synchronous belt 17 drives Y-axis movement module and Z axis movement module movement.
Z-direction movement module include two Z-direction line of motion bearings, two Z-direction motion guide axis,
Elevating mechanism bracket fixing plate 21, drives cylinder 9, and sucking disc mechanism holds up plate 25, heavy-load type sucker 22, heavy-load type band buffering sucker
Mounting bracket 23；Wherein, the driving cylinder 9 is mounted on elevating mechanism bracket fixing plate 21, heavy-load type sucker 22 and heavy-load type
Band buffering sucker mounting bracket 23 is connected, and heavy-load type band buffering sucker mounting bracket 23 is mounted on sucking disc mechanism and holds up on plate 25, sucker
Mechanism holds up plate 25 with the piston 24 of cylinder 9 is driven to be connected, and two Z-direction motion guide axis hold up plate 25 with sucking disc mechanism
It is connected, two Z-direction line of motion bearings are respectively sleeved on two Z-direction motion guide axis, and two Z-direction movements are straight
Spool is held to be connected respectively with 21 left and right sides of elevating mechanism bracket fixing plate；In use, when driving cylinder 9 declines, heavy-load type is inhaled
Disk 22 sends activation signal when touching object plane, driving cylinder 9 stops declining, and piston is retracted after completing sucker suction action
It is promoted, is translated after promoting specified altitude, by material transportation to target processing work platform, in Z-direction motion process,
Two groups of Z-direction line of motion bearings and Z-direction motion guide axis drive heavy-load type sucker 22 to move up and down, and ensure movement essence
The stability of degree and material movement process.
The sucker 22 can change sucker center automatically according to the physical dimension of material and cut off extra sucker automatically,
The sucker can carry out, from traversed by mistake, stacking being carried out according to certain rule using cylinder.
Elevating mechanism in Z-direction movement module is ball screw screw mechanism and mobile platform, the ball
Screw screw mechanism includes screw, screw affixed side rolling bearing units, support-side rolling bearing units and screw；Two end difference of screw
Fixed by screw affixed side rolling bearing units and support-side rolling bearing units, mobile platform with and screw cooperation screw be connected, sucker
Component is installed on a mobile platform, and stepper motor with encoder is connected by shaft coupling with screw, stepping electricity with encoder
Machine rotates, and screw is moved along screw, and mobile platform will drive Suction cup assembly to move up and down, and encoder is in motor rotation process
In send reaction screw displacement distance umber of pulse, measurement Suction cup assembly lifting distance, feed back to control centre complete it is various
Automatically control action.
The X-axis movement module, Y-axis movement module and Z axis movement module can form a constant current by learning motion path
The control method and control model of journey.
The stepper motor with encoder can be servomotor.
The intelligence plate feeding, discharge conveying robot can combine material physical dimension and material stock roller-way geometric position is automatic
Stacking is carried out according to certain order.
Technical solution of the present invention is further illustrated below in conjunction with the accompanying drawings
As shown in Figure 1, a kind of intelligent plate feeding, discharge conveying robot, it is characterized in that including rack 1, X-axis movement module, Y-axis
Move module, Z axis movement module and target storage platform 5；Wherein, X-axis movement module, Y-axis movement module, Z axis movement module peace
In rack 1, target storage platform 5 is connected with rack 1.
The rack 1 includes cantilever structure and supporting rack；Wherein, cantilever structure is connected with supporting rack, cantilevered
Structural support X-axis movement module, Y-axis movement module and Z axis move module, and more roller-ways 4 are equipped on supporting rack.
X-direction moves module, including A stepper motors with encoder（10）, X-direction synchronizing shaft（16）, two X-axis sides
To driving synchronous belt（2 and 6）, four X-direction driving synchronizing wheel, two X-direction slides（15 be one of them）With two
Sliding block mounting platform（3 and 8）, two X-direction slides are respectively arranged in the left and right ends of the cantilever structure in rack 1, drive
Synchronizing wheel of dynamic X-direction synchronous belt 2 and 6 or so is separately mounted to the both ends of 1 both sides cantilever of rack per each two of side, and A bands are compiled
The stepper motor of code device（10）With four X-directions the active synchronization wheel 12 in synchronizing wheel is driven to be connected, synchronous belt 2 and 6 is to open
Mouth formula, this two synchronous belt ends connect respectively with sliding block mounting platform 3 and 8, and it is same at four that motor rotates then synchronous belt 2 and 6
Two sliding block mounting platforms are driven under the action of step wheel and synchronizing shaft 16 along X-direction slide synchronizing moving.Y-axis move module and
Z axis movement module is mounted among the sliding block mounting platform of the left and right sides.
As shown in Figure 2, Y direction movement module includes B stepper motors with encoder 7, two Y direction slides, Y
17, two Y direction driving synchronizing wheels of direction of principal axis driving synchronous belt, beam structure, Y direction motion platform 11 and Y-axis
Direction drives synchronous belt 17, and beam structure is installed between two sliding block mounting platforms in X-direction movement module, two Y
Direction of principal axis slide is mounted on beam structure, and two Y direction driving synchronous belts 17 are open loop structure, mounted on beam structure
On, two Y direction driving synchronizing wheels are located at the both ends of Y direction driving synchronous belt 17, B stepper motors with encoder respectively
7 drive the active synchronization wheel 18 in synchronizing wheel to be connected with two Y directions, and Y direction driving synchronizing wheel drives Y direction driving
Synchronous belt 17 moves, and Y direction motion platform 11 is connected with Y direction driving synchronous belt 17, Z axis movement module and Y-axis
Direction motion platform 11 connects, and Y direction driving synchronous belt 17 drives Y-axis movement module and Z axis movement module movement.
As shown in Figure 3, Z-direction movement module includes two Z-direction line of motion bearings, two Z-direction fortune
Action-oriented axis, elevating mechanism bracket fixing plate 21, drive cylinder 9, and sucking disc mechanism holds up plate 25, heavy-load type sucker 22, heavy-load type
Band buffering sucker mounting bracket 23；Wherein, the driving cylinder 9 is mounted on elevating mechanism bracket fixing plate 21, heavy-load type sucker
22 are connected with heavy-load type band buffering sucker mounting bracket 23, and heavy-load type band buffering sucker mounting bracket 23 is mounted on sucking disc mechanism and holds up plate
On 25, sucking disc mechanism holds up plate 25 with the piston 24 of cylinder 9 is driven to be connected, two Z-direction motion guide axis and sucker machine
Structure holds up plate 25 and is connected, and two Z-direction line of motion bearings are respectively sleeved on two Z-direction motion guide axis, two Z axis
Direction line of motion bearing is connected respectively with 21 left and right sides of elevating mechanism bracket fixing plate；In use, when under driving cylinder 9
Drop, heavy-load type sucker 22 send activation signal when touching object plane, driving cylinder 9 stops declining, and completes sucker suction and moves
Piston, which is retracted, after work is promoted, and is translated after promoting specified altitude, by material transportation to target processing work platform, Z axis side
Into motion process, two groups of Z-direction line of motion bearings and Z-direction motion guide axis drive heavy-load type sucker to be transported about 22
It is dynamic.
Embodiment 1
A kind of intelligence plate feeding, discharge conveying robot, including machine 1, X-axis movement module, Y motion module, Suction cup assembly, roller-way
Frame.Rack 1 supports the module operation of tri- directions of motion of X, Y, Z, wherein X-axis Y-axis in the horizontal direction, Z axis in vertical direction,
The movement of X-axis and Y direction respectively by one driving stepper motor with encoder of band, Z-direction move module by cylinder and
Guide bearing and axis combination are formed.X, Y direction movement drives synchronous belt traction sliding platform movement by stepper motor.
The rack 1 includes cantilever structure and the installation of the rack upper part of support tri- axial movements of X, Y, Z
The supporting rack of the more roller-ways as roller-way 4, two parts are an entirety, and material can be directly from other material transportation machines
Or upper discharge position is transported to by roller-way on roller-way or is transported from feeder roller-way.
The X-direction movement module, including 10（X-direction driving band encoder step stepper motor or servo electricity
Machine）, left and right two synchronous belts（2 be right side synchronous belt）, four synchronizing wheels（12 connect the active synchronization wheel of motor for X-direction）、
Two slides in left and right（14 move right side slide for X-direction）, two sliding block mounting platforms（The left and right sides is respectively 3 and 8）.It is synchronous
Band is open loop, and two ends of every synchronous belt are fixed on corresponding sliding block mounting platform by synchronous belt hold-down mechanism
On, left and right sides sliding block mounting platform drives synchronizing shaft 16 to connect by X-direction or so, ensures that two side slide installing mechanisms are synchronous
Movement, Y-axis motion and Z axis motion are mounted among the sliding block mounting platform of the left and right sides, between slide and sliding block only
It is loaded by vertical direction, without the torque in other directions, it is steady to ensure that Y-axis mechanism and Z-axis mechanism are moved in X-direction
Property.
The X-direction movement module is made using PLC NC systems with measurement of smaller interval time machine location
For coordinates of targets, the control mode that then coordinates of targets is controlled into row position.
The Y direction moves module, including being mounted on two sliding block mounting platforms of X-axis motion or so 3 and 8
Band encoder step stepper motor 7（Or servomotor）, beam structure between two sliding block mounting platforms 3 and 8 and mounted on crossbeam
Slide 15 and 30 in structure, Y direction motion platform 11, Y direction driving synchronous belt 17 and synchronizing wheel 18 and 29, Z
The cylinder of direction of principal axis（Or ball screw screw mechanism）The center of center line and Y-axis motion platform abide by the contract Y direction fortune
Moving platform mechanism is connected.Stepper motor 7 moves, and synchronizing wheel 18 and 19 will drive the synchronous belt 17 of opening to move, belt 17
Two ends are just moved with Y-axis motion platform and Z axis motion, complete Z-axis mechanism with the weight lifted in Y-axis side
To movement.
The Y direction movement module is made using PLC NC systems with measurement of smaller interval time machine location
For the control mode of coordinates of targets, then coordinates of targets progress Y direction position control.
The Z-direction motion includes the elevating mechanism of elevating mechanism bracket fixing plate 21, mounted on elevating mechanism
On driving cylinder 9, the Z-direction fixture being connected with cylinder piston（Fixture in this example refers to sucking disc mechanism）Plate 25 is held up, is inhaled
Disk 22, band buffering sucker 23 grade of installation attachment are formed.Cylinder declines, and suction cup portion sends contact letter when touching object plane
Number, cylinder stops declining, and completes piston retraction after sucker suction acts and is promoted, is translated after promoting specified altitude, by object
Material is transported on target processing work platform, in Z-direction motion process, linear bearing 19 and straight optical axis 20 and therewith center pair
Another group of linear bearing and straight optical axis claimed drives fixture in Z-axis mechanism（It is sucker in this example）It moves up and down, ensures movement
The stability of precision and material movement process.
The lift drive mechanism further includes using band encoder step stepper motor or drives ball screw using servomotor
Screw mechanism carries out the straight-line motion mechanism of Z-direction movement.
X, Y, Z three-axis moving system, feature include forming movement formula by learning motion path（Or flow）
Control method and pattern.
The feeding sucker changes sucker center automatically according to different materials physical dimension, cuts off extra sucker automatically
Self adaptive control mode.
The control centre combines material physical dimension and material stock roller-way geometric position and carries out code according to certain order automatically
The control mode of pile.
The fixture（Sucker）, further include and carry out, from traversed by mistake, stacking being carried out according to certain rule using rotation cylinder
Control mode.
Intelligent loading and unloading machine motor program learning method design：
First, it is band encoder step stepper motor with 3 directions（Or servomotor）Exemplified by driving
1st, technical staff is manually operated machine and follows the prescribed course movement, and control centre is every a 100ms positional number of acquisition
According to and record, etc. after the completion of machine movements, using moving line as a control formula（Flow in other words）Curing is got up, control
Center equally calls these data to be controlled as Place object using the interval of interval 100ms, what machine will be walked according to operation
Route is moved.Movement terminates, and waits repetitive operation after moving condition satisfaction next time.Multiple means of transportation can store multiple
Movement formula, this mode is suitable for material and stacks single material carrying, for example carries the consistent plate of specification with sucker.
2nd, sketched from fixed area feeding principle of program design:
The spatial position of conveying robot fixture and the spatial position of material storage are initialized first, are solidificated in the program of controller
As the benchmark of motion control, in the course of work, operating personnel simply enter the actual geometry of material, machine crawl（Or
When person says absorption plate）It calculates the position in X, Y-coordinate system automatically first, calculates the geometric position of each piece of object, so
Laggard row position control.The center of fixture or sucker is aligned to the center for carrying material and then the suction for carrying out Z-direction automatically
Promotion operation is taken, after object is promoted to the height of formulation, carries and moves to the position specified under weight X, Y plane coordinate system
Top is put, goodbye material is put down.
3rd, the design of blowing program：The physical dimension of carry an object is inputted by man-machine interface（Length and width, thickness）, machine energy
According to the physical dimension of material, the stacking of requirement is piled according to certain rule.For example 1000 will be grown, wide by 120, rear 20 plate
Stack into three one layer of stacking.
The 4th, one 90 degree of rotation cylinder, design control procedure are installed on fixture, machine can automatically put into material
Crisscross material stacking.
2nd, Z-direction by the use of cylinder as lifting driving element apparatus control method
1st, X, Y-axis moving parts can equally utilize the mode of study to determine moving line.Can also not programmed curing movement
Route.
2nd, direction movement is lifted to be controlled by switching signal.After sucker touches plate, signal, lowering action are sent
Stop, enhancing action can start.
Contact plate signal is also used as the job control of vacuum cup electromagnetic valve.
3rd, the self-regulating process at sucker center：
In order to adapt to the requirement of different length and width plate, for example plate width or the length ratio to be promoted connect less than sucker
Scope is touched, according to the dimensions that operating personnel input, machine can automatically switch to suitable sucker as work sucker, will be more
Remaining sucker is cut away, while sucker barycentric coodinates automatically switch to the center of remaining sucker group.Ensure that drawing object is being promoted
The center of process passes through sucker geometric center as far as possible.The physical dimension length range of so sucker absorption weight can be from 200
~1800, width can be from 50~500mm, suitable for the carrying and storage of solid wood furniture material.
3rd, used as pusher machine
Coordinate escalator, machine can push material into Work machine using the movement of X, Y-direction, for example, working as material
When being highly higher than work top, Y direction drives pusher plate that can push material in equipment and is processed.
Claims (10)
1. a kind of intelligence plate feeding, discharge conveying robot, it is characterized in that including rack, X-axis movement module, Y-axis movement module, Z
Axis moves module and target storage platform；Wherein, X-axis movement module, Y-axis movement module, Z axis movement module are mounted in rack,
Target storage platform is connected with rack, and X-axis movement module, Y-axis move module respectively by driving stepper motor with encoder in water
Square upward sliding, Z-direction move module and are slided in vertical direction by the drive of driving cylinder；The X-direction moves mould
Group, Y direction movement module and Z-direction movement module, utilize PLC or NC systems time measurement machine position at regular intervals
It puts as coordinates of targets, axial direction position control then is carried out to coordinates of targets.
2. intelligence plate feeding, discharge conveying robot according to claim 1, it is characterized in that the rack includes cantilevered
Structure and supporting rack；Wherein, cantilever structure is connected with supporting rack, and cantilever structure includes two cantilevers in left and right, cantilevered knot
Structure support X-axis movement module, Y-axis movement module and Z axis movement module, are equipped with more roller-ways on supporting rack, material directly from
Upper discharge position is transported to by roller-way on material transportation machine or roller-way and is transported from roller-way.
3. intelligence plate feeding, discharge conveying robot according to claim 1, it is characterized in that the X-direction movement mould
Group, including A stepper motors with encoder, X-direction synchronizing shaft, two X-direction driving synchronous belts, four X-direction drivings
Synchronizing wheel, two X-direction slides and two sliding block mounting platforms；Wherein, two X-direction slides are respectively arranged in rack
Cantilever structure the cantilever of left and right two on, two X-directions driving synchronous belts are respectively arranged in the cantilevered knot in rack
On the cantilever of left and right two of structure, four X-direction driving synchronizing wheels are respectively arranged in the two of two cantilevers in left and right of arm type structure
End, respectively positioned at the both ends of two X-direction driving synchronous belts, A stepper motors with encoder and four X-direction drivings are same
Active synchronization wheel connection in step wheel, two sliding block mounting platforms are separately mounted on two X-direction slides, driving sliding block peace
Two X-directions driving synchronous belt of assembling platform is open loop structure, and two ends of every synchronous belt are respectively by synchronous with pressure
Tight block is fixed on the two sliding block mounting platforms in the left and right sides, wherein, the first X-direction driving synchronizing wheel and the second X-direction
By X-direction synchronization axis connection between driving synchronizing wheel, ensure that two side slide mounting platforms drive elevating mechanism to be driven in motor
Lower synchronizing moving, Y-axis movement module and Z axis movement module are mounted among the sliding block mounting platform of the left and right sides, slide and sliding block
Between only loaded by vertical direction, ensure that Y direction movement module and Z-direction movement module X-direction move put down
Stability.
4. intelligence plate feeding, discharge conveying robot according to claim 1, it is characterized in that the Y direction moves module
It is synchronous including B stepper motors with encoder, two Y direction slides, Y direction driving synchronous belt, two Y direction drivings
Wheel, beam structure, Y direction motion platform and Y direction driving synchronous belt；Wherein, beam structure is installed on X-direction
Between moving two sliding block mounting platforms in module, two Y direction slides are separately mounted at left and right sides of beam structure, Y
Direction of principal axis driving synchronous belt is open loop structure, and on beam structure, two Y direction driving synchronizing wheels are located at Y-axis respectively
Direction drives the both ends of synchronous belt, and B is mounted on the sliding block mounting platform in X-direction movement module with encoder step stepper motor
On, B stepper motors with encoder drive the active synchronization wheel in synchronizing wheel to be connected with two Y directions, and Y direction driving is same
Step wheel drives Y direction driving synchronous belt movement, Y direction motion platform and the synchronous band connection of Y direction driving, Z axis
Movement module is connected with Y direction motion platform, and Y direction driving synchronous belt drives Y-axis movement module and Z axis movement mould
Group movement.
5. the intelligent plate feeding, discharge conveying robot according to claim 1, it is characterized in that the Z-direction moves module
Including elevating mechanism, driving cylinder and Suction cup assembly, the elevating mechanism includes two linear bearings, two straight optical axis and liter
Descending mechanism bracket fixing plate, the Suction cup assembly include sucking disc mechanism and hold up plate, sucker and heavy-load type band buffering sucker mounting bracket；
Wherein, cylinder is driven to be mounted on elevating mechanism bracket fixing plate, sucker is connected with heavy-load type band buffering sucker mounting bracket, heavy duty
Type band buffering sucker mounting bracket is mounted on sucking disc mechanism and holds up on plate, and sucking disc mechanism holds up plate with the piston of cylinder is driven to be connected
It connects, two straight optical axis hold up plate with sucking disc mechanism and are connected, and two linear bearings are respectively sleeved on two straight optical axis, and two straight
Spool is held respectively with being connected at left and right sides of elevating mechanism bracket fixing plate；In use, when cylinder declines, sucker touches object and puts down
Activation signal is sent during face, cylinder stops declining, and completes piston retraction after sucker suction acts and is promoted, after promoting specified altitude
It is translated, by material transportation to target processing work platform, in Z-direction motion process, two groups of linear bearings and line light
Axis drives sucker to move up and down, and ensures the stability of kinematic accuracy and material movement process.
6. the intelligent plate feeding, discharge conveying robot according to claim 5, it is characterized in that the sucker can be according to material
Physical dimension change sucker center automatically and cut off extra sucker automatically, the sucker is carried out using cylinder from traversed by
Mistake carries out stacking according to rule.
7. intelligence plate feeding, discharge conveying robot according to claim 5, it is characterized in that the Z-direction moves module
In elevating mechanism be ball screw screw mechanism and mobile platform, driving cylinder is stepper motor with encoder；The rolling
Ballscrew screw mechanism includes screw, screw affixed side rolling bearing units, support-side rolling bearing units and screw；Stepping with encoder
Motor is mounted on elevating mechanism bracket fixing plate, and two ends of screw are respectively by screw affixed side rolling bearing units and support-side band
Seat bearing fix, mobile platform with and screw coordinate screw be connected, Suction cup assembly installation on a mobile platform, it is with encoder
Stepper motor is connected by shaft coupling with screw, and stepper motor with encoder rotates, and screw is moved along screw, mobile platform
Suction cup assembly will be driven to move up and down, encoder sends the umber of pulse of reaction screw displacement distance in motor rotation process,
The distance of Suction cup assembly lifting is measured, control centre is fed back to and completes various to automatically control action.
8. intelligence plate feeding, discharge conveying robot according to claim 1, it is characterized in that X-axis movement module, Y-axis
Module and Z axis movement module are moved, the control method and control model of flow are formed by learning motion path.
9. the intelligent plate feeding, discharge conveying robot according to claim 1,3,4 or 7, it is characterized in that the band encoder
Stepper motor be servomotor.
10. intelligence plate feeding, discharge conveying robot according to claim 1, it is characterized in that the intelligence plate feeding, discharge
Conveying robot combination material physical dimension and material stock roller-way geometric position carry out stacking in sequence automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810023770.6A CN108058165A (en) | 2018-01-10 | 2018-01-10 | Intelligent plate feeding, discharge conveying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810023770.6A CN108058165A (en) | 2018-01-10 | 2018-01-10 | Intelligent plate feeding, discharge conveying robot |
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| Publication Number | Publication Date |
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| CN108058165A true CN108058165A (en) | 2018-05-22 |
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| CN201810023770.6A Pending CN108058165A (en) | 2018-01-10 | 2018-01-10 | Intelligent plate feeding, discharge conveying robot |
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| CN (1) | CN108058165A (en) |
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| CN114161433B (en) * | 2021-04-28 | 2023-11-21 | 郑州轻工业大学 | Automatic marking robot and marking method after package security inspection |
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Application publication date: 20180522 |