CN109132583A - A kind of intelligence manufacture workshop automatic stacking is got on the bus robot - Google Patents
A kind of intelligence manufacture workshop automatic stacking is got on the bus robot Download PDFInfo
- Publication number
- CN109132583A CN109132583A CN201810983707.7A CN201810983707A CN109132583A CN 109132583 A CN109132583 A CN 109132583A CN 201810983707 A CN201810983707 A CN 201810983707A CN 109132583 A CN109132583 A CN 109132583A
- Authority
- CN
- China
- Prior art keywords
- bus
- robot
- automatic stacking
- pivoting support
- intelligence manufacture
- 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
- 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
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
- B65G57/24—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
-
- 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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
Abstract
It gets on the bus robot, including pedestal the invention discloses a kind of intelligence manufacture workshop automatic stacking；Cargo transportation system is arranged in the chassis left side, and flat car is arranged in right side；Pivoting support is set 1. above the pedestal；1. top connects swing arm to the pivoting support；The swing arm upper end connects lift arm；Connecting cross beam is set below the lift arm front end；Infrared camera is arranged in the connecting cross beam front end, and pivoting support is arranged 2. in lower section；2. 2., 2. right side is positioned proximate to switch to upper left-hand setting servo motor to the pivoting support, lower section connecting sucker assembly；1. intelligent controller is arranged in upper left-hand to the pivoting support；The present invention measures the distance of flat car by setting laser range finder, intelligent controller controls swing arm and lift arm drives magnetic suction disc will be on the article automatic stacking to flat car in cargo transportation system, mechanical movement stable action is reliable, reduce artificial participate in, reduce operational risk, operating cost is saved, stacking efficiency is improved.
Description
Technical field
The present invention relates to a kind of intelligent manufacturing equipment, specifically a kind of intelligence manufacture workshop automatic stacking is got on the bus robot.
Background technique
With the continuous propulsion of 2025 strategy of China's intelligence manufacture, intelligence manufacture flourishes in various industries, especially
It is in field of industrial production；In industrial processes, the cargo produced is delivered to finished product goods yard, need by artificial or
The mode of person's mechanical transfer carries out entrucking transhipment, generally requires a large amount of artificial during transhipment or utilizes the transhipment such as fork truck
Tool is completed, but certainly exists large labor intensity by man-handling of materials, operation process the problems such as there are security risk, and
With rising steadily for China wage for workmen, the mode of traditional artificial carrying is increasingly not suitable for the production of existing integrated mill
Mode；Although the transfer tools such as fork truck exist even if realizing that transhipment reduces the intensity of labour by transfer tool
Professional operator is recruited, oil consumption is big, and operating cost is high, the problems such as maintenance expense height.
Summary of the invention
It gets on the bus robot the purpose of the present invention is to provide a kind of intelligence manufacture workshop automatic stacking, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of intelligence manufacture workshop automatic stacking is got on the bus robot, including pedestal；The chassis left side setting cargo conveys
Flat car is arranged in system, right side；Pivoting support is set 1. above the pedestal；1. top connects swing arm to the pivoting support；
The swing arm upper end connects lift arm；Connecting cross beam is set below the lift arm front end；The connecting cross beam front end setting is red
Pivoting support is arranged 2. in outer camera, lower section；2. 2., right side is positioned proximate to upper left-hand setting servo motor the pivoting support
It switchs 2., lower section connecting sucker assembly.
As a further solution of the present invention: 1. servo motor is arranged 1. in lower left side to the pivoting support, on the right side of lower part
It is positioned proximate to switch 1., intelligent controller is arranged in upper left-hand, and laser range finder is arranged in upper right；The intelligent control type
Number use S7-300.
As a further solution of the present invention: the swing arm and the transmission of lift arm use hydraulic control system.
As a further solution of the present invention: range sensor is set inside the sucker assembly, and several magnetic are arranged in lower section
Power sucker.
As a further solution of the present invention: if the cargo transportation system includes dry cargo conveyer belt.
As a further solution of the present invention: 2. lower section connects gripper assembly to the pivoting support；Under the gripper assembly
Several stacking grippers are arranged in side.
As a further solution of the present invention: non-slip mat is arranged in the retaining part of the stacking gripper, and stacking gripper passes through
Clamping cylinder is tensioned.
As a further solution of the present invention: movable motor is arranged in setting walking track, two sides below the pedestal.
As further scheme of the invention: being dragged when the movable motor is walked by being laid on the cable-pulling chain on ground
To cable.
Compared with prior art, the beneficial effects of the present invention are:
The present invention measures the distance of flat car by setting laser range finder, and intelligent controller controls swing arm and lift arm
In the article stacking to flat car for driving magnetic suction disc to carry out the conveying of cargo transportation system, realize that cargo automatic stacking is got on the bus,
Mechanical movement stable action is reliable, reduces artificial participation, reduces operational risk, save operating cost, improves stacking efficiency.
Detailed description of the invention
Fig. 1 is that intelligence manufacture workshop automatic stacking is got on the bus the structural schematic diagram of robotic embodiment one.
Fig. 2 is that intelligence manufacture workshop automatic stacking is got on the bus the structural schematic diagram of robotic embodiment two.
Fig. 3 is that intelligence manufacture workshop automatic stacking is got on the bus the structural schematic diagram of robotic embodiment three.
In figure: 1- pedestal, 2- laser range finder, 3- intelligent controller, 4- pivoting support 1., 5- servo motor 1., 6- connects
Nearly switch 1., 7- swing arm, 8- lift arm, 9- connecting cross beam, 10- pivoting support 2., 11- servo motor 2., 12- is close to switch
2., 13- infrared camera, 14- range sensor, 15- sucker assembly, 16- magnetic suction disc, 17- flat car, 18- cargo it is defeated
System, 19- gripper assembly, 20- stacking gripper, 21- clamping cylinder, 22- walking track, 23- movable motor, 24- cable is sent to drag
Chain.
Specific embodiment
The technical solution of the patent is explained in further detail With reference to embodiment.
The embodiment of this patent is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining this patent, and cannot be understood as a limitation of this patent.
In the description of this patent, it is to be understood that term " center ", "upper", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on the figure
Orientation or positional relationship, be merely for convenience of description this patent and simplify description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to this patent.
In the description of this patent, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection ", " setting " shall be understood in a broad sense, for example, it may be being fixedly linked, being arranged, may be a detachable connection, set
It sets, or is integrally connected, is arranged.For the ordinary skill in the art, above-mentioned art can be understood as the case may be
The concrete meaning of language in this patent.
Embodiment one
The robot referring to Fig. 1, a kind of intelligence manufacture workshop automatic stacking is got on the bus, including pedestal 1, laser range finder 2, intelligence
Can control device 3, pivoting support 1. 4, servo motor 1. 5, close to switch 1. 6, swing arm 7, lift arm 8, connecting cross beam 9, revolution branch
Hold 2. 10, servo motor 2. 11, close to switch 2. 12, infrared camera 13, range sensor 14, sucker assembly 15；The bottom
Cargo transportation system 18 is arranged in 1 left side of seat, and flat car 17 is arranged in right side；Pivoting support 1. 4 is set above the pedestal 1；Institute
Stating pivoting support, 1. 4 tops connect swing arm 7；7 upper end of swing arm connects lift arm 8；Setting connects below 8 front end of lift arm
Connect crossbeam 9；9 front end of connecting cross beam is arranged infrared camera 13, and pivoting support 2. 10 is arranged in lower section；The pivoting support is 2.
10 upper left-hands are arranged servo motor 2. 11, and right side is positioned proximate to switch 2. 12, lower section connecting sucker assembly 15；The Laser Measuring
Distance meter 2 accurately measures the distance between pedestal 1 and flat car 17；The pivoting support 1. 4, servo motor 1. 5, close to switch
1. 6 control swing arms 7 carry out fine rotational；The pivoting support 1. 4 lower left sides setting servo motor 1. 5, setting on the right side of lower part
Close to switch 1. 6, intelligent controller 3 is arranged in upper left-hand, and laser range finder 2 is arranged in upper right；3 type of intelligent controller
Number use S7-300；The swing arm 7 and the transmission of lift arm 8 use hydraulic control system；The infrared camera 13 and distance
Sensor 14 cooperates the accurate movement of the progress mechanical arm of intelligent controller 3；The pivoting support 2. 10, servo motor 2. 11, connect
2. nearly switch 12 accurately controls 15 fine rotational of sucker assembly；Range sensor 14, lower section are set inside the sucker assembly 15
Several magnetic suction discs 16 are set, and magnetic suction disc is used to for the article that the conveying of cargo transportation system 18 comes being sucked, and accurate stacking
To flat car 17；If the cargo transportation system 18 includes dry cargo conveyer belt.
Embodiment two
The robot referring to Fig. 2, a kind of intelligence manufacture workshop automatic stacking is got on the bus, on the basis of example 1 by sucker
Assembly 15 and magnetic suction disc 16 replace with gripper assembly 19 and stacking gripper 20；2. 10 lower section connection grippers are total for the pivoting support
At 19；Several stacking grippers 20 are set below the gripper assembly 19；Non-slip mat is arranged in the retaining part of the stacking gripper 20,
Stacking gripper 20 is tensioned by clamping cylinder 21.
Embodiment three
The robot referring to Fig. 3, a kind of intelligence manufacture workshop automatic stacking is got on the bus increases row on the basis of example 2
Walk track 22, movable motor 23, cable-pulling chain 24；Movable motor is arranged in setting walking track 22, two sides below the pedestal 1
23, it is dragged to cable by being laid on the cable-pulling chain 24 on ground when movable motor 23 is walked, so that entire robot is in orbit
It walks, reduces the accuracy that flat car 17 is stopped, increase the accumulation scope of clamping article.
The working principle of the invention is: laser range finder 2 accurately measures the distance between pedestal 1 and flat car 17, goods
Object transportation system 18 conveys the article for needing stacking, and intelligent controller 3 controls servo motor 1. 5, the 1. 6 control revolution of close switch
1. bearing 4 drives swing arm 7 to carry out fine rotational, intelligent controller 3 controls servo motor 2. 11, the 2. 12 accurate control of close switch
2. pivoting support 10 drives connecting cross beam 9 and 15 fine rotational of sucker assembly, the article for needing stacking is sucked in magnetic suction disc 16, red
Outer camera 13 and range sensor 14 cooperate intelligent controller 3 to guarantee that magnetic suction disc 16 accurately piles up cargo to plate goods
On vehicle 17, entire automatic stacking process is completed；Sucker assembly 15 and magnetic suction disc 16 are further replaced with into 19 He of gripper assembly
Non-slip mat is arranged in stacking gripper 20, the retaining part of stacking gripper 20, and stacking gripper 20 is tensioned by clamping cylinder 21, energy
Enough clampings for preferably carrying out article, it is ensured that cargo transfer process is steady；The further setting walking track below pedestal 1
22, movable motor 23 is arranged in two sides, is dragged to cable by being laid on the cable-pulling chain 24 on ground when movable motor 23 is walked, so that
Entire robot walks in orbit, reduces the accuracy that flat car 17 is stopped, and increases the accumulation scope of clamping article.
Better embodiment of the invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment party
Formula within the knowledge of one of ordinary skill in the art can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (9)
- The robot 1. a kind of intelligence manufacture workshop automatic stacking is got on the bus, including pedestal (1)；It is characterized in that, the pedestal (1) is left Cargo transportation system (18) are arranged in side, and flat car (17) are arranged in right side；Pivoting support is set 1. (4) above the pedestal (1)； 1. (4) top connects swing arm (7) to the pivoting support；Swing arm (7) upper end connects lift arm (8)；Before the lift arm (8) Connecting cross beam (9) are arranged in end lower section；Infrared camera (13) are arranged in connecting cross beam (9) front end, and pivoting support is arranged in lower section ②(10)；2. 2. (11), 2. (12) right side is positioned proximate to switch to (10) upper left-hand setting servo motor to the pivoting support, under Square connecting sucker assembly (15).
- The robot 2. intelligence manufacture workshop according to claim 1 automatic stacking is got on the bus, which is characterized in that the revolution branch It holds 1. (4) lower left side setting servo motor and 1. (5), switch is positioned proximate on the right side of lower part 1. (6), upper left-hand setting intelligence control Laser range finder (2) are arranged in device (3) processed, upper right；Intelligent controller (3) model uses S7-300.
- The robot 3. intelligence manufacture workshop according to claim 1 automatic stacking is got on the bus, which is characterized in that the swing arm (7) and the transmission of lift arm (8) uses hydraulic control system.
- The robot 4. intelligence manufacture workshop according to claim 1 automatic stacking is got on the bus, which is characterized in that the sucker is total Range sensor (14) are set inside (15), several magnetic suction discs (16) are arranged in lower section.
- The robot 5. intelligence manufacture workshop according to claim 1 automatic stacking is got on the bus, which is characterized in that the cargo is defeated System (18) is sent if comprising dry cargo conveyer belt.
- The robot 6. intelligence manufacture workshop according to claim 1 automatic stacking is got on the bus, which is characterized in that the revolution branch It holds and connects gripper assembly (19) below 2. (10)；Several stacking grippers (20) are set below the gripper assembly (19).
- The robot 7. intelligence manufacture workshop according to claim 6 automatic stacking is got on the bus, which is characterized in that the stacking is grabbed Non-slip mat is arranged in the retaining part of pawl (20), and stacking gripper (20) is tensioned by clamping cylinder (21).
- The robot 8. intelligence manufacture workshop according to claim 1 automatic stacking is got on the bus, which is characterized in that the pedestal (1) movable motor (23) are arranged in lower section setting walking track (22), two sides.
- The robot 9. intelligence manufacture workshop according to claim 8 automatic stacking is got on the bus, which is characterized in that the walking electricity Cable is dragged to by being laid on the cable-pulling chain (24) on ground when machine (23) is walked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810983707.7A CN109132583A (en) | 2018-08-27 | 2018-08-27 | A kind of intelligence manufacture workshop automatic stacking is got on the bus robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810983707.7A CN109132583A (en) | 2018-08-27 | 2018-08-27 | A kind of intelligence manufacture workshop automatic stacking is got on the bus robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109132583A true CN109132583A (en) | 2019-01-04 |
Family
ID=64828460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810983707.7A Pending CN109132583A (en) | 2018-08-27 | 2018-08-27 | A kind of intelligence manufacture workshop automatic stacking is got on the bus robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109132583A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986766A (en) * | 2019-12-06 | 2020-04-10 | 北京科技大学 | Detection device and method for tile laying position based on machine vision |
| CN114933174A (en) * | 2022-05-25 | 2022-08-23 | 安徽玉发塑业有限公司 | Intelligent stacking equipment for processing MPP (modified Polypropylene) power pipe |
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| CN205820415U (en) * | 2016-06-22 | 2016-12-21 | 安徽松科信息科技有限公司 | A kind of automatic loading robot |
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| CN108190528A (en) * | 2018-02-02 | 2018-06-22 | 苏州瓦泊特智能科技有限公司 | A kind of stacking industrial robot of intelligence manufacture |
| CN208828862U (en) * | 2018-08-27 | 2019-05-07 | 大连理工高邮研究院有限公司 | A kind of intelligence manufacture workshop automatic stacking is got on the bus robot |
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2018
- 2018-08-27 CN CN201810983707.7A patent/CN109132583A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20180148279A1 (en) * | 2013-01-20 | 2018-05-31 | Wynright Corporation | Automated Truck Unloader for Unloading/Unpacking Product from Trailers and Containers |
| CN103395638A (en) * | 2013-07-26 | 2013-11-20 | 哈尔滨博实自动化股份有限公司 | Single-robot simple automatic loading unit |
| CN104149088A (en) * | 2014-07-21 | 2014-11-19 | 大连创奇科技有限公司 | Series-parallel four-degree-of-freedom transferring and stacking robot |
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| CN106395430A (en) * | 2016-11-24 | 2017-02-15 | 南京景曜智能科技有限公司 | 3D stereoscopic vision auxiliary car loading and unloading system |
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| CN108190528A (en) * | 2018-02-02 | 2018-06-22 | 苏州瓦泊特智能科技有限公司 | A kind of stacking industrial robot of intelligence manufacture |
| CN208828862U (en) * | 2018-08-27 | 2019-05-07 | 大连理工高邮研究院有限公司 | A kind of intelligence manufacture workshop automatic stacking is got on the bus robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110986766A (en) * | 2019-12-06 | 2020-04-10 | 北京科技大学 | Detection device and method for tile laying position based on machine vision |
| CN114933174A (en) * | 2022-05-25 | 2022-08-23 | 安徽玉发塑业有限公司 | Intelligent stacking equipment for processing MPP (modified Polypropylene) power pipe |
| CN114933174B (en) * | 2022-05-25 | 2023-11-14 | 安徽玉发塑业有限公司 | MPP power tube processing is with intelligent pile up neatly equipment |
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