CN109455488A - A kind of material floor truck and materials conveying system - Google Patents
A kind of material floor truck and materials conveying system Download PDFInfo
- Publication number
- CN109455488A CN109455488A CN201811523902.8A CN201811523902A CN109455488A CN 109455488 A CN109455488 A CN 109455488A CN 201811523902 A CN201811523902 A CN 201811523902A CN 109455488 A CN109455488 A CN 109455488A
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- Prior art keywords
- manipulator
- vehicle frame
- floor truck
- material floor
- control system
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- 239000000463 material Substances 0.000 title claims abstract description 115
- 238000001514 detection method Methods 0.000 claims description 13
- 238000003491 array Methods 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- B65G35/00—Mechanical conveyors 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of material floor truck and materials conveying systems.The material floor truck includes vehicle frame, manipulator, pulley assembly, image capture module and control system, and manipulator is set to the bottom of vehicle frame, for grabbing material；Pulley assembly is set on vehicle frame, and is connect with manipulator, is gone up and down for driving manipulator；Image capture module is set to the bottom of vehicle frame, for obtaining the image information of material；Control system is connect with manipulator, pulley assembly and image capture module respectively.Material floor truck passes through setting image capture module, the image information of material can be acquired, the image information includes the shape and location information of material, control system controls elevating mechanism and robot work by the shape and location information obtained, the accuracy of material crawl can be improved, guarantee the fixed effect of material in carrying, material is avoided to fall off, to guarantee the safety of staff and workshop appliance, be conducive to improve working efficiency.
Description
Technical field
The present invention relates to materials to carry technical field more particularly to a kind of material floor truck and materials conveying system.
Background technique
In the development process of modern manufacturing industry, in order to improve the production efficiency, time and cost, the positive court of manufacturing equipment are saved
Intelligent, integrated direction develop.
Need to carry the material of various shape, specification, in the workshop of steel industry field to carry out different processing.Mesh
Before, the equipment for carrying steel material is mostly crane, has a little semi-automatic haulage equipment in large-scale steel mill, existing carrying is set
Standby intelligence degree is low, higher cost, and to the crawl poor accuracy of material, and it is de- that shaking, material are easy to appear in handling process
The problems such as falling, reliability is low, endangers the safety of staff and workshop appliance.
Summary of the invention
An object of the present invention is to provide a kind of material floor truck, material crawl is more acurrate, and carrying stablizes and can
By property height.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of material floor truck includes:
Vehicle frame；
Manipulator is set to the bottom of the vehicle frame, for grabbing material；
Pulley assembly is set on the vehicle frame, and is connect with the manipulator, for driving the manipulator to go up and down；
Image capture module is set to the bottom of the vehicle frame, for obtaining the image information of material；And
Control system, the control system respectively with the manipulator, the pulley assembly and described image acquisition module
Connection.
Wherein, the pulley assembly includes:
Fixed pulley, the fixed pulley are set on the vehicle frame；
Reel group, the reel group are set on the vehicle frame；
Rope, described rope one end are connect with the manipulator, and the other end is wrapped in the volume after bypassing the fixed pulley
In cylinder group.
Wherein, the reel group includes:
Motor；And
Reel, the motor are connect with the reel, for driving the spool turns.
Wherein, the material floor truck further include:
Hoisting rack, the manipulator are fixed on the bottom of the hoisting rack, and the pulley assembly is connect with the hoisting rack,
The hoisting rack is slidably connected with the vehicle frame.
Wherein, the vehicle frame is provided with the sliding slot extended along the vertical direction, and the hoisting rack is set in the sliding slot, and
The first directive wheel is provided on the side wall of the hoisting rack.
Wherein, the material floor truck further include:
Damper, one end of the damper are connect with the hoisting rack, and the other end is connect with the manipulator.
Wherein, the material floor truck further include:
Detection components, the detection components are connect with the control system, and the detection components are for detecting the machinery
The weight information of the material of hand crawl.
Wherein, the manipulator includes:
Multiple electromagnet, multiple electromagnet are arranged in arrays, and multiple electromagnet work independently, and with the control
System connection processed, the control system control the electromagnet according to described image information and are opened and closed.
Wherein, the material floor truck further include:
Run guide rail；And
Walking mechanism, the walking mechanism are set to the top of the vehicle frame, the walking mechanism and the operation guide rail
Connection, for driving the relatively described operation guide rail of the vehicle frame to roll.
Wherein, the second directive wheel is provided at the top of the vehicle frame, second directive wheel can be along the operation guide rail
Surface sliding.
Wherein, the walking mechanism is provided with buffer along the both ends of direction of travel.
It is another object of the present invention to propose a kind of materials conveying system, material crawl is more acurrate, carry stablize and
High reliablity avoids the occurrence of security risk.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of materials conveying system, including material floor truck as described above.
The utility model has the advantages that the present invention provides a kind of material floor truck and materials conveying systems.Material floor truck passes through
The image capture module connecting with control system is set, the image information of material can be acquired, which includes material
Shape and location information, control system control elevating mechanism and robot work by the shape and location information obtained, can be with
Improve material crawl accuracy, guarantee carry in material fixed effect, avoid material from falling off, thus guarantee staff and
The safety of workshop appliance is conducive to improve working efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram one of material floor truck provided by the invention；
Fig. 2 is the structural schematic diagram two of material floor truck provided by the invention；
Fig. 3 is the structural schematic diagram of walking mechanism provided by the invention and operation guide rail；
Fig. 4 is the partial structure diagram of material floor truck provided by the invention.
Wherein:
11, vehicle frame；111, the second directive wheel；112, hoisting rack；1121, second baffle；113, the first directive wheel；114,
One baffle；12, guide rail is run；13, manipulator；14, image capture module；151, fixed pulley；152, reel group；153, rope；
16, walking mechanism；161, buffer；162, driving wheel；163, driven wheel；164, driving motor；17, damper；18, turn-around machine
Structure；181, turning motor；182, revolving meber；183, swiveling gear；19, detection components.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
In conjunction with attached drawing and pass through specific embodiment to further illustrate the technical scheme of the present invention.
A kind of materials conveying system is present embodiments provided, for realizing the required biography of material between the different positions is processed
It send, instead of manual handling, improves the intelligence of product processing and manufacturing process, improve handling efficiency.Material is carried in the present embodiment
System includes supply line and material floor truck, and supply line is used for transported material, and material floor truck is for material to be carried to
Other positions are carried on supply line or by supply line.Wherein, supply line can be passed using belt-type transmission, chain transmission or idler wheel
Send band.
As shown in Figure 1, material floor truck is suspension type trolley body, including operation guide rail 12, vehicle frame 11, manipulator
13, elevating mechanism and control system, control system are connect with manipulator 13 and elevating mechanism.Vehicle frame 11 is set to operation guide rail 12
Bottom, and with operation guide rail 12 be slidably connected.Specifically, vehicle frame 11 is connect with operation guide rail 12 by walking mechanism 16, row
Mechanism 16 is walked to connect with control system.Manipulator 13 is set to the bottom of vehicle frame 11, for grabbing material.Elevating mechanism is set to
It on vehicle frame 11, and is connect with manipulator 13, elevating mechanism is gone up and down for driving manipulator 13.
When work, control system controls walking mechanism 16 and works, so that 11 relative motion guide rail 12 of vehicle frame slides, is moved to
Above material to be handled, rear lifting mechanism driving manipulator 13 move down, to grab material.After grabbing material, vehicle
Frame 11 continue operation guide rail 12 on slide, so that material is carried to designated position, rear lifting mechanism adjust manipulator 13
To proper height, manipulator 13 unclamps material, completes material and carries.
In the prior art, manipulator 13 and the position precision of material to be grabbed are poor, are easy to appear deviation, lead to manipulator 13
Material can not be grabbed securely, and material is easy to fall off, and there are security risks.
To solve the above problems, material floor truck further includes image capture module 14, image capture module may include
Picture pick-up device.The bottom of vehicle frame 11 is arranged in image capture module 14, and is electrically connected to the control system.Image capture module 14 can
It to obtain the image information of material to be grabbed, and is sent in control system, so as to control system control walking mechanism 16, lifting
Mechanism and manipulator 13 work.Wherein, image information includes the location information and shape information of material, and control assembly passes through material
Location information control walking mechanism 16 work so that manipulator 13 is moved to the surface of material；Elevating mechanism is controlled later
Work adjusts the height of manipulator 13, to grab material.Control system is gone up and down by shape and the location information control obtained
Mechanism and manipulator 13 work, and the accuracy of material crawl can be improved, and guarantee the fixed effect of material in carrying, avoid material
It falls off, to guarantee the safety of staff and workshop appliance, is conducive to improve working efficiency.
To enable manipulator 13 preferably to grab the material of different shape and size, to further increase material carrying
Reliability, the manipulator 13 in the present embodiment is by adsorbing fixed material, and the binding domain that manipulator 13 is formed can be with object
The shape of material is adapted.Specifically, by taking material is steel as an example, steel are mostly plate structure, and manipulator 13 may include multiple
Electromagnet, and multiple electromagnet are distributed in matrix, the adsorption plane of multiple electromagnet is in the same plane, and multiple electromagnet are opened
Independent control is closed, control system can start according to electromagnet corresponding in the shape selection matrix of material, so that the electricity of starting
The binding domain that magnet is formed is corresponding with the form and dimension of material, is conducive to the adsorption effect for improving material, and can keep away
Exempt from extra electromagnet suction, avoids waste of energy.
By taking material is L-type as an example, image capture module 14 obtains the image information of material, and image information is sent to control
System processed.After control system control manipulator 13 is moved to above material, the electromagnet by controlling corresponding position is opened, and is made
The L-shaped arrangement of the electromagnet that must be opened improves the secured of absorption fixation to increase manipulator 13 to the adsorption area of material
Property.In other embodiments, electromagnet can also be replaced by sucker, pass through the fixed material of vacuum suction.
Continue to pass through the height that pulley assembly adjusts manipulator 13 as shown in Figure 1, elevating mechanism includes pulley assembly.Tool
Body, pulley assembly includes fixed pulley 151, reel group 152 and rope 153.Fixed pulley 151 and reel group 152 are arranged at vehicle
The one end at the top of frame 11, rope 153 is connect with manipulator 13, and the other end is wrapped in reel group 152 after bypassing fixed pulley 151
On.When needing to adjust the height of manipulator 13, reel group 152 can drive manipulator 13 by winding or payout 153
Lifting.Wherein, reel group 152 includes motor and reel, and motor is connect with reel, and reel can be driven to rotate forward winding rope 153
Or reversion payout 153.When manipulator 13 needs to move up, motor driven reel is rotated forward, so that the winding of rope 153 exists
On reel, rope 153 will drive manipulator 13 to move up.When manipulator 13 needs to move down, as shown in Fig. 2, motor
Reel reversion is driven, so that rope 153 gradually loosens, manipulator 13 will move down under the effect of gravity.
Unstable to avoid the shaking of rope 153 that manipulator 13 is caused to move, material floor truck further includes hoisting rack 1112,
Manipulator 13 is fixed on the bottom of hoisting rack 1112, and hoisting rack 1112 is slidably connected with vehicle frame 11, rope 153 and hoisting rack 1112
Connection, rope 153 adjust the height of manipulator 13 by the height of control hoisting rack 1112.Connected by being set to the sliding of vehicle frame 11
The hoisting rack 1112 connect, it can be ensured that the stability in 13 lifting process of manipulator avoids the shaking of manipulator 13 from colliding with.
Specifically, the sliding slot extended along the vertical direction is provided on vehicle frame 11, hoisting rack 1112 is set in sliding slot, and is risen
Rise and be provided with the first directive wheel 113 on the side wall of frame 1112, the first directive wheel 113 can inner wall along the chute roll.By setting
The first directive wheel 113 is set, frictional force when hoisting rack 1112 slides relatively with vehicle frame 11 is can reduce, reduces opening for pulley assembly
Dynamic loading, manipulator 13 go up and down more flexible, quick.
When to avoid manipulator 13 from moving down, the minimum altitude of limit mechanical hand 13 avoids hoisting rack 1112 from being detached from and slides
Slot is provided with second on the side wall of hoisting rack 1112 as shown in Fig. 2, the lower end of sliding slot is also provided with first baffle 114
Baffle 11121, when manipulator 13 is moved downward to minimum altitude, first baffle 114 is abutted with second baffle 11121, limitation
Manipulator 13 continues to move down, so that manipulator 13 be avoided to fall damage of colliding with.
To reduce collision impact, it is provided on the upper surface of first baffle 114 and/or the lower surface of second baffle 11121
Buffer layer, buffer layer can be made of sponge, rubber or silica gel elastomeric material.
As shown in Figures 2 and 3, the top of vehicle frame 11 is provided with walking mechanism 16, and walking mechanism 16 and operation guide rail 12 connect
It connects, for driving vehicle frame 11 to slide along operation guide rail 12, to realize the carrying of material.To keep the sliding of vehicle frame 11 more smooth,
The top of vehicle frame 11 is provided with the second directive wheel 111, and the second directive wheel 111 can be along the surface scrolls of operation guide rail 12, favorably
Frictional force when reducing the sliding of 11 relative motion guide rail 12 of vehicle frame, so that the movement of vehicle frame 11 is more flexible, light.
Walking mechanism 16 is provided with buffer 161 along the both ends of direction of travel, and buffer 161 can be to avoid walking mechanism 16
It collides in operational process with other structures damage, reduces the vibratory impulse of material floor truck.
As shown in figure 3, operation guide rail 12 can be I-shaped guide rail, walking mechanism 16 includes driving motor 164 and gear
Component.Gear assembly includes the driving wheel 162 and driven wheel 163 of engaged transmission, and driving wheel 162 is connect with driving motor 164, and
The two is fixed on vehicle frame 11.Driven wheel 163 is rotated coaxially with traveling wheel, and traveling wheel and operation guide rail 12 cooperate, and can edge
Guide rail 12 is run to roll.When driving motor 164 works, drives driving wheel 162 to rotate, pass through driving wheel 162 and driven wheel 163
Engaged transmission, drive driven wheel 163 rotate, thus drive vehicle frame 11 along operation guide rail 12 move.In the present embodiment, a master
Driving wheel 162 can simultaneously with two driven wheels, 163 engaged transmission.
As shown in figure 4, for the angle of adjustment manipulator 13, so that the shape of the binding domain and material that are formed on manipulator 13
Shape matches or material according to certain orientation is placed into specified location by manipulator 13, manipulator 13 and hoisting rack 1112
Between be additionally provided with swing mechanism 18.Swing mechanism 18 includes turning motor 181, connector and revolving meber 182.Specifically, originally
In embodiment, connector is the swiveling gear 183 connecting with turning motor 181, and revolving meber 182 is provided with and swiveling gear 183
The inner toothed surface of engagement, revolving meber 182 and hoisting rack 1112 are rotatablely connected, and manipulator 13 is set to the bottom surface of revolving meber 182.
When turning motor 181 rotates, swiveling gear 183 is rotated, and passes through engaging for swiveling gear 183 and revolving meber 182
Transmission drives revolving meber 182 to rotate around center line, to realize the adjustment of 13 angle of manipulator.
For the vibration for reducing material floor truck, it is additionally provided with damper 17 between swing mechanism 18 and manipulator 13, subtracts
One end of shake device 17 is connect with hoisting rack 1112, and the other end is connect with manipulator 13.Damper 17 can pass through the slow of elastic component
The purpose of damping is realized in punching effect.Damper 17 can use any damper 17 in the prior art, and specific structure is not
It repeats again.
Cause security risk to avoid the material of the carrying of manipulator 13 overweight, material floor truck further includes overload protection
Module.Overload protection module includes detection components 19, and detection components 19 are electrically connected to the control system, and detection components 19 are for detecting
The weight information for the material that manipulator 13 grabs.When work, the weight of the material of 19 inspecting manipuator 13 of detection components crawl, to
It is sent in control system, the weight of control system contrasting detection and preset rated weight, when weight is beyond preset specified
When weight, control system sends overweight alarm signal, avoids that security risk occurs.Wherein, detection components 19 can pass for pressure
Sensor.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention
Limitation.
Claims (10)
1. a kind of material floor truck characterized by comprising
Vehicle frame (11)；
Manipulator (13), is set to the bottom of the vehicle frame (11), for grabbing material；
Pulley assembly is set on the vehicle frame (11), and is connect with the manipulator (13), for driving the manipulator
(13) it goes up and down；
Image capture module (14), is set to the bottom of the vehicle frame (11), for obtaining the image information of material；And
Control system, the control system respectively with the manipulator (13), the pulley assembly and described image acquisition module
(14) it connects.
2. material floor truck as described in claim 1, which is characterized in that the pulley assembly includes:
Fixed pulley (151), the fixed pulley (151) are set on the vehicle frame (11)；
Reel group (152), the reel group (152) are set on the vehicle frame (11)；
Rope (153), described rope (153) one end are connect with the manipulator (13), and the other end bypasses the fixed pulley (151)
After be wrapped on the reel group (152).
3. material floor truck as described in claim 1, which is characterized in that the material floor truck further include:
Hoisting rack (1112), the manipulator (13) are fixed on the bottom of the hoisting rack (1112), the pulley assembly and institute
Hoisting rack (1112) connection is stated, the hoisting rack (1112) is slidably connected with the vehicle frame (11).
4. material floor truck as claimed in claim 3, which is characterized in that the vehicle frame (11) is provided with prolongs along the vertical direction
The sliding slot stretched, the hoisting rack (1112) are set in the sliding slot, and is provided on the side wall of the hoisting rack (1112)
One directive wheel (113).
5. material floor truck as claimed in claim 3, which is characterized in that the material floor truck further include:
One end of damper (17), the damper (17) is connect with the hoisting rack (1112), the other end and the manipulator
(13) it connects.
6. material floor truck according to any one of claims 1 to 5, which is characterized in that the material floor truck also wraps
It includes:
Detection components (19), the detection components (19) connect with the control system, and the detection components (19) are for detecting
The weight information of the material of manipulator (13) crawl.
7. material floor truck according to any one of claims 1 to 5, which is characterized in that the manipulator (13) includes:
Multiple electromagnet, multiple electromagnet are arranged in arrays, and multiple electromagnet work independently, and are with the control
System connection, the control system control the electromagnet according to described image information and are opened and closed.
8. material floor truck according to any one of claims 1 to 5, which is characterized in that the material floor truck also wraps
It includes:
It runs guide rail (12)；And
Walking mechanism (16), the walking mechanism (16) are set to the top of the vehicle frame (11), the walking mechanism (16) with
Operation guide rail (12) connection, for driving relatively described operation guide rail (12) sliding of the vehicle frame (11).
9. material floor truck as claimed in claim 8, which is characterized in that be provided with second at the top of the vehicle frame (11) and lead
To wheel (111), second directive wheel (111) can be along the surface scrolls of operation guide rail (12).
10. a kind of materials conveying system, which is characterized in that carried including material as claimed in any one of claims 1-9 wherein small
Vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811523902.8A CN109455488A (en) | 2018-12-13 | 2018-12-13 | A kind of material floor truck and materials conveying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811523902.8A CN109455488A (en) | 2018-12-13 | 2018-12-13 | A kind of material floor truck and materials conveying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109455488A true CN109455488A (en) | 2019-03-12 |
Family
ID=65613144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811523902.8A Pending CN109455488A (en) | 2018-12-13 | 2018-12-13 | A kind of material floor truck and materials conveying system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109455488A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113282109A (en) * | 2021-07-23 | 2021-08-20 | 季华实验室 | Unmanned aerial vehicle and human cooperative operation system |
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