CN108423214B - Intelligent boxing robot - Google Patents
Intelligent boxing robot Download PDFInfo
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- CN108423214B CN108423214B CN201810418046.3A CN201810418046A CN108423214B CN 108423214 B CN108423214 B CN 108423214B CN 201810418046 A CN201810418046 A CN 201810418046A CN 108423214 B CN108423214 B CN 108423214B
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- portal frame
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- 238000000034 method Methods 0.000 claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 17
- 238000005303 weighing Methods 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 19
- 239000002699 waste material Substances 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000002203 pretreatment Methods 0.000 claims 1
- 229910000831 Steel Inorganic materials 0.000 abstract description 127
- 239000010959 steel Substances 0.000 abstract description 127
- 238000004519 manufacturing process Methods 0.000 abstract description 31
- 230000008569 process Effects 0.000 abstract description 8
- 238000012216 screening Methods 0.000 abstract description 2
- 238000005520 cutting process Methods 0.000 description 16
- 230000002950 deficient Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 239000002994 raw material Substances 0.000 description 3
- 229910052709 silver Inorganic materials 0.000 description 3
- 239000004332 silver Substances 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010924 continuous production Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 229910000971 Silver steel Inorganic materials 0.000 description 1
- 229910000746 Structural steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by 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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- 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
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an intelligent boxing robot, which comprises a portal frame; the device also comprises a grabbing manipulator arranged on the portal frame, a receiving manipulator arranged on the portal frame, a queuing plate arranged on a route of the receiving manipulator and a control system; the material grabbing mechanical arm comprises a first horizontal transverse moving system arranged on the portal frame, a first horizontal longitudinal moving system arranged on the first horizontal transverse moving system, a first vertical moving system arranged on the first horizontal longitudinal moving system and a first grabbing hand arranged on the first vertical moving system; the material receiving manipulator comprises a second horizontal transverse moving system arranged on the portal frame, a second vertical moving system arranged on the second horizontal transverse moving system and a second gripper arranged on the second vertical moving system. The invention can realize full-automatic production of the processes of screening, weighing, boxing and the like of the round steel sections, has high working speed and high production efficiency, and can effectively reduce the production cost and the operation cost.
Description
Technical Field
The invention relates to the field of automatic production, in particular to an intelligent boxing robot.
Background
The silver bright steel or the polishing steel is a steel with polished or polished surface, and also is made by polishing. The surface is bright and therefore called. Silver steel is used as machine structural steel for various special purposes such as for strongly worn bolts, and in addition, machining of spindles, piston rods, spokes and the like is also used.
The production raw materials of bolts, spindles, piston rods, spokes, similar parts and the like are generally round steel, and the steel is manufactured through the production procedures of peeling, polishing, flaw detection, segmentation, screening, rolling or cutting in sequence. The suppliers of round steel are local steel manufacturers, the product length is about 6-12 m, and the production quality of each round steel with the product length is difficult to ensure, so that the raw materials need to be subjected to flaw detection before formal processing, and the defect parts are removed.
At present, most manufacturers of the machine parts still rely on manual operation. The specific production process is as follows: the raw materials are respectively conveyed to the cutting machine by a crown block or a ground ox by workers, then the working procedures of fixing, parameter setting and the like are carried out, and after the working procedures are finished, the cutting machine starts working, and the working procedures of feeding, cutting, discharging and the like are finished. In the process, workers need to put the cut round steel sections into the feed box in order at any time on the other side of the cutting machine. If a marked round steel section is encountered, it needs to be rejected. If the weight of the round steel sections is required, workers are required to weigh the round steel sections one by one, and unqualified round steel sections are removed. This production process was used by most manufacturers, and as the age progresses and technology advances, it has become increasingly difficult to meet the requirements, specifically for the following reasons:
1. in the long-time single repeated work of workers, the accuracy is rapidly reduced, and the rejection rate is increased;
2. the high rejection rate can lead to repeated work, production waste and a large number of defective products in the subsequent production process;
3. work manufacturers with low technical content are reluctant to provide high salary and have conflict with worker's appeal;
4. the labor intensity is high, and the error rate of workers after fatigue is obviously increased;
5. labor force is reduced, so that manufacturers are difficult to recruit enough workers, and production plans need to be frequently adjusted;
6. the profit margin of the processing industry is difficult to support the substantial hard expenditures of wages, training and production consumables;
7. the fluidity of workers is increased, and manufacturers need frequent adjustment and mobilization personnel.
For the above reasons, manufacturers have begun to resort to more automated production methods, which solve various problems encountered in production by mechanical automated production.
Disclosure of Invention
The invention aims to provide an intelligent boxing robot which has high automation degree and can carry out continuous production.
The invention adopts the following technical scheme:
an intelligent boxing robot comprises a portal frame; the device also comprises a grabbing manipulator arranged on the portal frame, a receiving manipulator arranged on the portal frame, a queuing plate arranged on a route of the receiving manipulator and a control system;
the material grabbing mechanical arm comprises a first horizontal transverse moving system arranged on the portal frame, a first horizontal longitudinal moving system arranged on the first horizontal transverse moving system, a first vertical moving system arranged on the first horizontal longitudinal moving system and a first grabbing hand arranged on the first vertical moving system;
the material receiving manipulator comprises a second horizontal transverse moving system arranged on the portal frame, a second vertical moving system arranged on the second horizontal transverse moving system and a second gripper arranged on the second vertical moving system.
As a further solution: the system also comprises a pre-processing system;
the pretreatment system comprises a conveyor belt, a receiving groove arranged at one end of the conveyor belt, a horizontal positioning plate arranged at the other end of the conveyor belt and a positioning baffle arranged behind the horizontal positioning plate.
As a further solution: and a deceleration electromagnet is arranged above the material receiving groove.
As a further solution: guide baffles are symmetrically arranged on two sides of the conveyor belt.
As a further solution: the first grab hand comprises a flat plate fixed on the first vertical moving system, an electromagnet A arranged on the flat plate and a V-shaped groove A arranged on the electromagnet A.
As a further solution: the second grab hand comprises a bottom plate fixed on a second vertical moving system, an electromagnet B which is arranged on the bottom plate in a rectangular array and a V-shaped groove B which is arranged on the electromagnet B.
As a further solution: the automatic weighing system is also included;
the automatic weighing system comprises an electronic scale and a limiting block arranged on the electronic scale;
the electronic scale is positioned on one side of the conveyor belt;
the electronic scale is connected with the control system.
As a further solution: and a waste bin is arranged on one side of the electronic scale.
As a further solution: the queuing plate comprises a horizontal plate and a linear array of slots on the horizontal plate.
As a further solution: the system also comprises an identification system;
the identification system comprises an identification camera; and the output end of the identification camera is connected with the control system.
The invention has the following positive effects:
the invention adopts an automatic production mode, can automatically complete the charging process, and greatly improves the continuity and the automation degree of production. The invention is arranged behind the output end of the cutting machine, the input end of the receiving groove is connected with the output end of the cutting machine, the cutting machine cuts round steel into round steel sections, then pushes the round steel sections out of the output end of the cutting machine, the round steel sections slide towards the driving belt along the receiving groove, then move forward under the driving of the driving belt, scrap iron attached to the round steel sections is removed when the round steel sections pass through the blowing device, and finally the round steel sections move to the horizontal positioning plate. The first gripper picks up round steel sections under the drive of the first horizontal transverse moving system, the first horizontal longitudinal moving system and the first vertical moving system, the round steel sections are sequentially placed on the queuing plate, and after the round steel sections are fully placed, the round steel sections on the queuing plate are transferred into the material box by the second gripper. The process adopts automatic control, the whole process does not need manual participation, uninterrupted continuous production can be carried out, the degree of automation is very high, and the production efficiency can be greatly improved.
According to the invention, the speed reducing electromagnet is particularly added on the receiving groove, the speed reducing electromagnet can reduce the sliding speed of the round steel section through magnetic force in the process of sliding down the round steel section along the receiving groove, so that collision between the round steel section and the receiving groove and collision between the round steel section and the driving belt are avoided, collision damage of the round steel section can be avoided on one hand, collision damage of the receiving groove, the driving belt and other parts can be avoided, and the service life of the round steel section is prolonged.
According to the invention, an automatic weighing system is added, so that the weight of the round steel section can be detected, and unqualified products can be removed. After the cut round steel section moves to the horizontal positioning plate, the first gripper picks up the round steel section under the drive of the first horizontal transverse moving system, the first horizontal longitudinal moving system and the first vertical moving system, places the round steel section on a limiting block on the electronic scale, detects the weight of the round steel section by the electronic scale and transmits a detection result back to the control system. The control system compares the return data of the electronic scale with the set data, when the return data is located in the set data range, the first gripper transfers the round steel section on the limiting block to the queuing plate, and when the return data is located outside the set data range, the first gripper transfers the round steel section to the waste barrel. Therefore, round steel sections with excessive weight or substandard weight are removed, and the product quality can be effectively improved.
The invention also adds an identification system, and can remove the defective round steel section. The steel section is subjected to flaw detection after peeling, and a detector can stroke a finished circle on the outer surface of the steel section by using marks at the place where the internal flaw exists. After the round steel is cut into round steel sections, which round steel section is marked with a circle, the round steel section needs to be removed. The circle mark is black, and can form chromatic aberration with the bright silver color on the surface of the round steel section, so that the recognition camera can recognize the circle mark, and after the recognition camera detects the circle mark, the first gripper can directly transfer the round steel section into the waste barrel.
The first and second handles of the invention are specially designed, so that the round steel section can be quickly grasped and moved. The first grip and the second grip adopt a mode of combining and working of a V-shaped groove and an electromagnet, and the size of the V-shaped groove is designed according to the size of the round steel section and can be completely attached to the round steel section; when the two are attached, the electromagnet works, the first handle sucks the round steel section into the V-shaped groove through magnetic force, and when the work needs to be separated, the electromagnet stops working, and the round steel section falls from the V-shaped groove. The V-shaped groove and the electromagnet work in a combined mode, rapid grabbing and separating of round steel sections can be achieved, the structure is simple and practical, and the working efficiency is high.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic view of the structure of the first gripper;
FIG. 5 is a schematic view of the structure of the second gripper;
FIG. 6 is a cross-sectional view of a horizontal plate;
FIG. 7 is a cross-sectional view of a stop block;
FIG. 8 is a top view of a pretreatment system;
wherein: 1 portal frame, 21 conveyer belt, 22 material receiving groove, 23 horizontal positioning plate, 24 positioning baffle, 25 decelerating electromagnet, 26 guiding baffle, 31 flat plate, 32 electromagnet A, 33V type groove A, 41 bottom plate, 42 electromagnet B, 43V type groove B, 51 electronic scale, 52 limiting block, 6 waste material barrel, 71 horizontal plate, 72 groove, 8 identification camera.
Detailed Description
The invention is further described below in connection with fig. 1-8.
The invention adopts the following technical scheme:
an intelligent boxing robot comprises a portal frame 1; the device also comprises a grabbing manipulator arranged on the portal frame 1, a receiving manipulator arranged on the portal frame 1, a queuing plate arranged on a wire of the receiving manipulator and a control system;
the material grabbing mechanical arm comprises a first horizontal transverse moving system arranged on the portal frame 1, a first horizontal longitudinal moving system arranged on the first horizontal transverse moving system, a first vertical moving system arranged on the first horizontal longitudinal moving system and a first grabbing hand arranged on the first vertical moving system;
the receiving manipulator comprises a second horizontal transverse moving system arranged on the portal frame 1, a second vertical moving system arranged on the second horizontal transverse moving system and a second gripper arranged on the second vertical moving system.
As a further solution: the system also comprises a pre-processing system;
the pretreatment system comprises a conveyor belt 21, a material receiving groove 22 arranged at one end of the conveyor belt 21, a horizontal positioning plate 23 arranged at the other end of the conveyor belt 21 and a positioning baffle 24 arranged behind the horizontal positioning plate 23.
As a further solution: a deceleration electromagnet 25 is arranged above the material receiving groove 22.
As a further solution: guide baffles 26 are symmetrically arranged on two sides of the conveyor belt 21.
As a further solution: the first gripper includes a plate 31 fixed to the first vertical movement system, an electromagnet a32 provided on the plate 31, and a V-shaped groove a33 opened on the electromagnet a 32.
As a further solution: the second gripper includes a base plate 41 fixed to the second vertical movement system, an electromagnet B42 rectangular-arrayed on the base plate 41, and a V-shaped groove B43 opened on the electromagnet B42.
As a further solution: the automatic weighing system is also included;
the automatic weighing system comprises an electronic scale 51 and a limiting block 52 arranged on the electronic scale 51;
the electronic scale 51 is located at one side of the conveyor belt 21;
the electronic scale 51 is connected to a control system.
As a further solution: a waste bin 6 is placed on one side of the electronic scale 51.
As a further solution: the queuing plate includes a horizontal plate 71 and a linear array of slots 72 in the horizontal plate 71.
As a further solution: the system also comprises an identification system;
the recognition system comprises a recognition camera 8; the output end of the identification camera 8 is connected with a control system.
The invention will be further described in connection with actual production processes.
The invention is customized according to the actual conditions of a production vehicle workshop and production equipment, is arranged behind the round steel cutting machine, and the heights of all parts are specifically determined according to the actual conditions of the production vehicle workshop and the dimensions of the round steel cutting machine. After the manufacture is finished, the steel sheet is conveyed to a production workshop and is directly arranged at the rear of the round steel cutting machine.
The round steel required for production is finally sent to a round steel cutting machine after peeling, primary inspection, flaw detection, marking and other procedures, is cut into round steel sections with a certain length, and then falls onto a collecting trough 22 from the round steel cutting machine. The round steel sections slide along an inclined receiving trough 22 onto a conveyor belt 21.
The receiving groove 22 is composed of a bottom plate and side plates fixedly connected with two sides of the bottom plate, the round steel section slides along the bottom plate of the receiving groove 22, and the side plates can prevent the round steel section from sliding off. The inclined arrangement of the receiving chute 22 is intended to increase the adaptation range of the invention. Considering that the cutting equipment is different for each production shop, it is impossible to make for each equipment in the manufacturing process, so some adjustable structure is needed to match. The material receiving groove 22 is simple in structure and easy to manufacture, and as a transition part between the round steel cutting machine and the conveyor belt 21, the size of the material receiving groove can be changed at will, so that the design and manufacturing cost can be effectively reduced.
The round steel section slides along the inclined receiving groove 22 to obtain a certain initial speed, so that the blocking of a channel can be avoided. The speed at which the round steel sections are obtained may be excessive, taking into account the actual inclination of the collecting channel 22. A deceleration electromagnet 25 is mounted on the receiving tank 22. The speed reducing electromagnets 25 work at intervals, when the round steel section approaches to the speed reducing electromagnets 25, the round steel section is directly grabbed by the magnetic force of the speed reducing electromagnets 25, so that the sliding speed of the round steel section is reduced to zero, after the round steel section is released, the round steel section freely slides down by 10-20 mm, the impact of the round steel section on the conveyor belt 21 is greatly reduced, and the service life of the conveyor belt 21 is prolonged.
The working current of the deceleration electromagnet 25 is adjusted according to the inclination degree of the material receiving groove 22, when the inclination degree is large, the working current is increased, and when the inclination degree is small, the working current is reduced; when the inclination degree is very small, the deceleration electromagnet 25 can be further arranged at the tail end of the material receiving groove 22, and at the moment, the magnetic force of the deceleration electromagnet 25 on the round steel section is the same as the moving direction of the round steel section, so that the function of accelerating the moving speed of the round steel section can be achieved.
As described above, the installation position and the working current of the deceleration electromagnet 25 need to be adjusted according to the actual production situation, and the purpose is to ensure that the round steel section has a suitable moving speed.
After the round steel section slides onto the conveyor belt 21, the round steel section moves forward under the drive of the conveyor belt 21, and the round steel section moves into the circular arc groove on the horizontal positioning plate 23 at the present time and then slows down, and one end of the round steel section contacts with the positioning baffle 24 and stops moving. The horizontal positioning plate 23 and the positioning baffle 24 limit the round steel section at the same time, so that the round steel section does not move any more.
During the movement on the conveyor belt 21, the round steel section passes in front of the recognition camera 8, and when there is no black mark on the round steel section, a subsequent boxing procedure is entered, and when there is a black mark on the round steel section, a subsequent reject procedure is entered, and these two procedures are described below, respectively.
When no black mark is arranged on the round steel section of the identification camera 8, the first horizontal transverse moving system and the first horizontal longitudinal moving system start to act, the first vertical moving system and the first grab are driven to move to the upper side of the round steel section, then the first vertical moving system acts, the first grab is driven to move towards the direction close to the round steel section, meanwhile, the electromagnet A32 is electrified, the V-shaped groove A34 on the electromagnet A32 is in contact with the round steel section, and then the first vertical moving system acts reversely, so that the first grab and the round steel section are driven to leave the horizontal positioning plate 23 and the positioning baffle 24. Then the first horizontal transverse moving system and the first horizontal longitudinal moving system act to drive the first vertical moving system and the first gripper to move to the upper side of the groove 72 on the horizontal plate 71, and finally the first vertical moving system acts to drive the first gripper and the round steel section to move towards the direction close to the groove 72, when the round steel section contacts with the groove 72, the first vertical moving system stops acting, meanwhile, the electromagnet A32 is powered off, and the round steel section is transferred to the horizontal plate 71.
After the procedure is completed, the first horizontal transverse moving system, the first horizontal longitudinal moving system and the first vertical moving system act to drive the first gripper to return to the initial position.
The second round steel section is then slid out of the round steel cutter. The above-described operation is repeated until the horizontal plate 71 is fully filled. The horizontal plate 71 is uniformly provided with grooves 72, round steel sections are uniformly placed in the grooves 72, and after placement, the round steel sections form an NxN matrix on the horizontal plate 71, wherein the number of N is determined according to the size of the container.
When the recognition camera 8 detects a black mark, a rejection procedure is entered, the specific contents of which are: when the round steel section passes through the front of the identification camera 8, the identification camera 8 detects the color of the surface of the round steel section, the color of the round steel section is bright silver, and the color of the black mark is black. When the recognition camera 8 recognizes black, it is indicated that the round steel section is a defective product, and it is necessary to reject the round steel section. At this time, the recognition camera 8 sends out a signal to the control system to perform the rejection operation. The round steel section is not moved after being moved onto the horizontal positioning plate 23. The first gripper grips the round steel section, which is identical to the content of the boxing procedure and will not be described in detail here. After grabbing, the first gripper moves to the upper side of the waste bucket 6, then the electromagnet A32 stops working, the round steel section falls into the waste bucket 6, the first gripper returns to the initial position, and the rejection procedure is completed.
The control system records the number of times the boxing program is run, and when the recorded number of times is the same as the number of the round steel sections specified to be placed on the horizontal plate 71, the qualified round steel sections on the horizontal plate 71 are fully filled, and boxing is performed at the moment.
The second horizontal movement system starts to act, driving the second vertical movement system and the flat plate 31 to move above the horizontal plate 71. Then the second vertical movement system acts to drive the flat plate 31 to move towards the direction close to the horizontal plate 71, meanwhile, the electromagnet B42 is electrified, and the second vertical movement system stops acting after the V-shaped groove B43 on the electromagnet B42 is contacted with the round steel section on the horizontal plate 71. The second vertical movement system then moves in the opposite direction, bringing the plate 31 upwards, and the round steel section on the horizontal plate 71 is sucked into the V-groove a33 and moves together with the plate 31. The second horizontal transverse moving system acts simultaneously to drive the second vertical moving system, the second grab and the round steel section sucked on the second grab to move to the position above the other charging basket, the second horizontal transverse moving system stops moving, meanwhile, the second vertical moving system moves downwards, after the second horizontal transverse moving system reaches the set position, the second vertical moving system stops moving, the electromagnet A32 is powered off, and the round steel section is transferred into the charging basket.
The design dimensions of the basket, the bottom plate 41 and the horizontal plate 71 are matched with the dimensions of the round steel sections, so that a group of round steel sections can be just laid in the basket.
When the weight requirement exists on the round steel section, a weighing process is additionally added, and the specific working process is as follows: the round steel section on the horizontal positioning plate 23 is grabbed by the first grab and placed on the limiting block 52 on the electronic scale 51, and the limiting block 52 can enable the round steel section not to move. After the placement is completed, the first gripper leaves the round steel section, the electronic scale 51 weighs the round steel section and sends data to the control system, the control system compares the round steel section with a set value, and if the actual value is within the error range of the set value, the weight of the round steel section is proved to meet the requirement, otherwise, the round steel section is a defective product.
When the round steel section is qualified, the first handle moves the round steel section into a groove 72 on the horizontal plate 71; when the round steel section is a defective product, the first gripper moves it into the scrap bin 6.
Finally, the structure of the first horizontal movement system, the first vertical movement system, the second horizontal movement system, and the second vertical movement system mentioned in the foregoing will be described. In the invention, the first hand grip and the second hand grip need to move accurately, so a servo driving system is particularly selected.
The servo driving system comprises the following specific mechanisms: the guide rail is installed on the portal frame 1, bearing blocks are installed at the two ends of the guide rail, a lead screw is installed on the bearing blocks, a movable nut is installed on the lead screw, one end of the lead screw is connected with a servo speed reducer, the servo motor is installed on the servo speed reducer, and the movable nut is simultaneously in sliding connection with the guide rail and can do linear motion along the direction of the guide rail. When the servo motor works, the servo motor acts, the screw rod is driven to rotate through the servo speed reducer, and when the screw rod rotates, the movable nut is driven to do reciprocating linear motion along the direction of the guide rail. The servo drive system has the advantages that the servo motor can rotate according to the control signal, and the error is extremely small; the transmission precision of the screw rod and the movable nut is very high, and the error can be controlled within an allowable range.
The first horizontal transverse moving system, the first vertical moving system and the second horizontal transverse moving system all adopt the structure, so that the round steel section can be accurately grabbed and moved.
The first horizontal longitudinal moving system and the second vertical moving system are similar in structure, except that the moving nuts in the first horizontal longitudinal moving system and the second vertical moving system are fixed, the screw rod makes linear reciprocating motion along the axis of the screw rod, and simultaneously, the servo motor and the servo speed reducer slide on the guide rail.
The first horizontal longitudinal movement system is arranged on the first vertical movement system; the second vertical moving system is mounted on the second horizontal lateral moving system, the first and second handles are respectively fixed on the first horizontal longitudinal moving system and the second vertical moving system, and the flat plate 31 and the bottom plate 41 can be directly fixed on the free end of the screw rod, so that the first and second handles can move arbitrarily in the plane.
However, it should be noted that the servo drive system is not limited to this structure, and may be configured in various manners such as a rack-and-pinion drive mechanism, a sprocket-and-chain drive mechanism, and a hydraulic drive mechanism, as far as the accuracy of movement allows.
Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that modifications may be made to the technical solution described in the above embodiments or equivalents may be substituted for some technical features thereof, and these modifications or substitutions do not depart from the spirit and scope of the technical solution of the embodiments of the present invention.
Claims (1)
1. An intelligent boxing robot comprises a portal frame (1); the method is characterized in that: the device also comprises a grabbing manipulator arranged on the portal frame (1), a receiving manipulator arranged on the portal frame (1), a queuing plate arranged on the wiring of the receiving manipulator and a control system; the system also comprises an identification system; the identification system comprises an identification camera (8); the output end of the identification camera (8) is connected with a control system;
the material grabbing mechanical arm comprises a first horizontal transverse moving system arranged on the portal frame (1), a first horizontal longitudinal moving system arranged on the first horizontal transverse moving system, a first vertical moving system arranged on the first horizontal longitudinal moving system and a first grab hand arranged on the first vertical moving system;
the material receiving manipulator comprises a second horizontal transverse moving system arranged on the portal frame (1), a second vertical moving system arranged on the second horizontal transverse moving system and a second gripper arranged on the second vertical moving system;
the servo driving system comprises the following specific mechanisms: the portal frame (1) is provided with a guide rail, the two ends of the guide rail are provided with bearing blocks, the bearing blocks are provided with lead screws, the lead screws are provided with movable nuts, one ends of the lead screws are connected with a servo speed reducer, the servo motor is arranged on the servo speed reducer, and the movable nuts are simultaneously connected with the guide rail in a sliding manner and can do linear motion along the direction of the guide rail;
the system also comprises a pre-processing system;
the pre-treatment system comprises a conveyor belt (21), a receiving groove (22) arranged at one end of the conveyor belt (21), a horizontal positioning plate (23) arranged at the other end of the conveyor belt (21) and a positioning baffle plate (24) arranged behind the horizontal positioning plate (23);
a deceleration electromagnet (25) is arranged above the material receiving groove (22);
guide baffles (26) are symmetrically arranged on two sides of the conveyor belt (21);
the first gripper comprises a flat plate (31) fixed on the first vertical moving system, an electromagnet A (32) arranged on the flat plate (31) and a V-shaped groove A (33) formed on the electromagnet A (32);
the second gripper comprises a bottom plate (41) fixed on a second vertical moving system, an electromagnet B (42) which is rectangular and arrayed on the bottom plate (41) and a V-shaped groove B (43) which is formed on the electromagnet B (42);
the queuing plate comprises a horizontal plate (71) and grooves (72) which are linearly arrayed on the horizontal plate (71);
the bottom plate (41), the horizontal plate (71) and the charging basket are matched in size;
the automatic weighing system is also included;
the automatic weighing system comprises an electronic scale (51) and a limiting block (52) arranged on the electronic scale (51);
the electronic scale (51) is positioned on one side of the conveyor belt (21);
the electronic scale (51) is connected with a control system;
a waste bin (6) is arranged on one side of the electronic scale (51).
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| CN201810418046.3A CN108423214B (en) | 2018-05-04 | 2018-05-04 | Intelligent boxing robot |
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| CN201810418046.3A CN108423214B (en) | 2018-05-04 | 2018-05-04 | Intelligent boxing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7145702B2 (en) * | 2018-09-07 | 2022-10-03 | 株式会社日立物流 | Robot system and its control method |
| CN110708348B (en) * | 2019-08-23 | 2022-03-15 | 北京云科智能科技有限公司 | Interconnected and interlocked online material receiving system and method |
| CN111439417A (en) * | 2020-05-07 | 2020-07-24 | 唐山正丰钢铁有限公司 | Angle steel grabbing and translating device and grabbing and translating method thereof |
| CN117182880B (en) * | 2023-11-07 | 2024-01-26 | 鼎先智能装备科技(宿迁)有限公司 | Manipulator and use method |
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