CN109573589A - A kind of all-around intelligent material conveyance equipment and material carry recording method - Google Patents
A kind of all-around intelligent material conveyance equipment and material carry recording method Download PDFInfo
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- CN109573589A CN109573589A CN201811473431.4A CN201811473431A CN109573589A CN 109573589 A CN109573589 A CN 109573589A CN 201811473431 A CN201811473431 A CN 201811473431A CN 109573589 A CN109573589 A CN 109573589A
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- bucket
- chip microcontroller
- manipulator
- rotation bucket
- lifting platform
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Classifications
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- 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
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0258—Weight of the article
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- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of all-around intelligent material conveyance equipments and material to carry recording method, equipment includes load pedestal, load pedestal bottom end is equipped with running gear, load pedestal top is connected with lifting platform by jacking cylinder, lifting platform top is equipped with rotation bucket by mechanism of socializing, on the outside of rotation bucket and inside is separately installed with manipulator and weighs counting device, method include after haulage equipment drives to the specified position for carrying material manipulator material is sandwiched in rotation bucket, it weighs counting device and records weight of material, material quantity is calculated by single-chip microcontroller, single-chip microcontroller is acted to controller transmitting signal to control equipment accordingly, it is high to clamp material efficiencies, material is carried highly-safe, improve the handling efficiency of material, a variety of height can be clamped, multiple orientation, the material of multi-angle, spring is to material Start shock absorbing effect, the weight and quantity of energy metering material ensure that the accurate outbound or processing of material.
Description
Technical field
The present invention relates to intelligent haulage equipment field, specially a kind of all-around intelligent material conveyance equipment and material are carried
Recording method.
Background technique
As factory automation, computer integrated manufacturing system technology gradually develop and flexible manufacturing system, automation
The extensive use of tiered warehouse facility, intelligent material conveying equipment connect its operation as contacting and adjusting discrete type logistic management system
The necessary automated handling handling means of continuousization, application range and technical level have obtained swift and violent development.
Intelligent material conveying equipment includes AGV Intelligent transfer robot and AGV trolley, and main function concentrates on automatic logistics
Transhipment is removed, AGV Intelligent transfer robot is by special ground marker navigation automatically by goods transportation to designated place, most common to draw
It leads mode to guide for magnetic stripe, laser aiming, RFID guidance etc..
Mainly also pooled applications are in the carrying of manufacturing industry material for AGV transfer robot on the market, and AGV is in manufacturing industry application
In with its efficiently, accurately, flexibly complete material carrying task.And can more AGV form logistics handling systems flexible,
Transportation route can adjust in time with the adjustment of the technological process of production, make that ten several productions can be produced on a production line
Product substantially increase the flexibility of production and the competitiveness of enterprise.AGV is deep into machinery as basic handbarrow, the application of AGV
Multiple industries such as processing, household electrical appliances production, micro-electronic manufacturing, cigarette, production and processing field become the most widely used field AGV.
But existing intelligent haulage equipment has the following deficiencies:
(1) only one generally upper manipulator of intelligent carrier, one or several materials can only be clamped by carrying material every time, and
Intelligence carries the material in a region or a direction, therefore it is slow to clamp speed, and then under keeping materials moving efficiency also relatively low；
(2) when material is carried, material can generate the case where falling or not clamping material sometimes, so that carrier be made to do nothing
Hard, the time is wasted, so that the later period calculating of material and record is made troubles, recording material quantity or weight also needs individually
Equipment, higher cost.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provides a kind of all-around intelligent material conveyance equipment and material
Recording method is carried, manipulator can clamp the material of multiple height, and clamping material efficiencies are high, and material carries highly-safe, reduction
The delay time of manipulator withdrawal movement, improve the handling efficiency of material indirectly, can clamp a variety of height, multiple orientation,
The material of multi-angle embodies the function of comprehensive clamping material, and spring starts shock absorbing effect to material, can metering material
Weight and quantity, ensure that the accurate outbound or processing of material, can effectively solve background technique propose the problem of.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of all-around intelligent material conveyance equipment, including load pedestal, load pedestal bottom end are equipped with running gear, institute
It states load pedestal top and is connected with lifting platform by several jacking cylinders, the lifting platform top is installed by mechanism activity of socializing
There is rotation bucket, several manipulators have been mounted equidistant on the outside of the rotation bucket, have been also equipped in the rotation bucket
Weigh counting device.
Further, the running gear includes four wheel shafts that four side of load pedestal bottom end is mounted on by bearing, institute
It states and traveling wheel is installed on the outside of wheel shaft one end, and the wheel shaft other end is connected with servo motor by gear drive.
Further, the load pedestal, the center of gravity of lifting platform and rotation bucket three, axis are vertical in same
On line, several jacking cylinder axisymmetricals about load pedestal, and the rising of several jacking cylinders between any two
Or lowering action is consistent.
Further, mounting groove is equipped with inside the lifting platform, the mechanism of socializing includes being mounted on installation by bearing
Hopper shaft in slot, the hopper shaft top are pierced by mounting groove and are fixedly connected on one with the bottom center of rotation bucket
It rises, the hopper shaft Basolateral is equipped with from gear, described to be engaged with master gear, the master gear connection from gear side
It socializes motor.
Further, the rotation bucket bottom end and end shape distinguish cylindrical and truncated cone-shaped, the lifting platform
Plane bearing is installed between top and rotation bucket.
Further, the lifting platform apical lateral is equipped with the annulus shield being trapped among on the outside of rotation bucket, the annulus
Several balls are uniformly installed, the Basolateral of ball and rotation bucket is affixed on the inside of shield.
Further, the rotation bucket top and bottom end are respectively equipped with rotary table sliding slot and cylinder hopper, rotary table sliding slot
It is connected with cylinder hopper, the weighing counting device includes the weighing balance for being mounted on cylinder hopper bottom end, and the weighing balance connects
Be connected to single-chip microcontroller, and weighing balance top is connected with charge plate by several buffer springs, the charge plate in cylinder hopper on
Lower slider, the single-chip microcontroller are connected with controller.
In addition, the present invention also provides the recording methods that a kind of all-around intelligent material is carried, it is characterised in that: material
Recording method is carried to include the following steps:
S100, haulage equipment drive to the specified position for carrying material, and then manipulator sandwiches material in rotation bucket；
S200, counting device record weight of material is weighed, material quantity is calculated by single-chip microcontroller, then single-chip microcontroller will control signal
It is sent to controller, controller controls equipment and carries out corresponding actions.
Further, material carrying includes the following steps:
S101, running gear starting make haulage equipment walking to specified carrying place, then haulage equipment pause walking；
S102, jacking cylinder starting, make lifting platform rise to suitable position, distance of the manipulator apart from material is most short at this time, so
Wherein several manipulators start to grab material afterwards, and the material of crawl is put into rotation bucket；
After S103, a part of manipulator complete itself crawl task, mechanism of socializing starting, it is right that rotation bucket rotates an angle
After suspend, another part manipulator grabs material again and is put into rotation bucket；
S104, counting device weightometer amount weight of material is weighed, after reaching the predetermined weight limit, manipulator stops crawl material,
Rotation bucket no longer rotates, and lifting platform drops to extreme lower position, and running gear drives entire haulage equipment to be transported to material
Material conveys destination.
Further, the step of single-chip microcontroller controls haulage equipment movement by controller is as follows:
S201, single-chip microcontroller are run to the servo motor of servomotor controller transmitting signal control running gear first, make to carry
Equipment is walked to the carrying point of material, and then single-chip microcontroller makes lifting platform to the transmitting signal control jacking cylinder starting of oil cylinder controller
Rise to suitable position；
It is put if S202, single-chip microcontroller make several manipulators of bucket side first grab dry material to Manipulator Controller transmitting signal
Enter bucket, then single-chip microcontroller, which controls electric motor starting of socializing to electric machine controller transmitting signal, makes bucket rotate an angle,
The manipulator of the bucket other side grabs material again and is put into bucket；
Weight of material signal is transmitted in single-chip microcontroller by S203, weighing balance, and single-chip microcontroller records the weight of article, calculates article number
It measures, after the weight of material or the quantity that then reach predetermined set, single-chip microcontroller is believed to Manipulator Controller and electric machine controller transmitting
Number, make manipulator and bucket pause motion；
S204, single-chip microcontroller successively emit signal to oil cylinder controller and electric machine controller, and equipment is successively made to generate bucket height
Material is transported to the movement of carrying destination by decline, haulage equipment, thus the complete movement of one for completing haulage equipment.
Compared with prior art, the beneficial effects of the present invention are:
(1) bucket and manipulator can be raised or lowered to multiple height by jacking cylinder of the invention, and manipulator can clamp more
The material of a height, and clamp manipulator again close to material and be put into bucket, clamping stroke is short, and clamping material efficiencies are high,
When handling material, jacking cylinder decline declines the material center of gravity in bucket, so as to avoid material because jolting and material
Too high etc. reasons of height and the danger for pouring out bucket, improve material and carry safety and stability.
(2) mechanism of socializing of the invention can drive the rotation of rotation bucket periodic breaks and pause, to make bucket
Each manipulator in outside can be utilized, when several manipulators for rotating bucket side have just clamped material
It waits, mechanism of socializing can drive bucket rotation that several manipulators not worked in the bucket other side is made to clamp material again, together
When clamping material manipulator material is put into bucket within the time that bucket rotates, thus greatly reduce manipulator
The delay time of withdrawal movement, and multiple manipulator behaviors are different, share out the work and help one another, substantially increase the clamping efficiency of material, from
And the handling efficiency of material is improved indirectly.
(3) manipulator up and down and can revolve in the horizontal plane under the driving of oil cylinder and mechanism of socializing in vertical plane
Turn, therefore the material of a variety of height, multiple orientation angles can be clamped, embodies the function of comprehensive clamping material, practicability is more
It is high.
(4) spring of the invention can play buffering and damping effect, spring energy dispersion when material enters bucket
Material falls the impact force in bucket, so that material and weighing balance be made all not to damage because of collision, and transports in haulage equipment
On the way, when haulage equipment slows down because jolting or turning, because of the damping effect of spring, the vibration and collision for making material are significantly for defeated material
Reduce, to ensure that the safety of material transportation and the integrity of quality of material.
(5) metering of the invention, which is held, to weigh to material, weighing balance cooperate monolithic function calculate material weight and
Quantity, after containing the material of certain amount or weight in bucket, single-chip microcontroller controls manipulator and stops crawl material, to protect
Protection scope of the material in bucket without departing from bucket has been demonstrate,proved, ensure that material safety, and can precisely record material
Handling process and quantity, to provide guarantee for precisely processing and accurate transport.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the flow diagram that haulage equipment of the invention carries material process.
Figure label:
1- load pedestal；2- jacking cylinder；3- lifting platform；4- socializes mechanism；5- rotates bucket；6- manipulator；7- weightometer
Counting apparatus；8- running gear；9- controller；
31- mounting groove；32- annulus shield；33- ball；
41- hopper shaft；42- is from gear；43- master gear；45- plane bearing；
51- rotary table sliding slot；52- cylinder hopper；
71- weighing balance；72- single-chip microcontroller；73- buffer spring；74- charge plate；
81- wheel shaft；82- traveling wheel；83- servo motor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, the present invention provides a kind of all-around intelligent material conveyance equipment, including load pedestal 1,
1 bottom end of load pedestal is equipped with running gear 8, and running gear 8 includes four that 1 bottom end of load pedestal, four side is mounted on by bearing
A wheel shaft 81,81 one end of wheel shaft outside is equipped with traveling wheel 82, and 81 other end of wheel shaft is connected with by gear drive and is watched
Take motor 83.Gear drive refers to the driving gear of motor connection and the driven gear of 81 side of wheel shaft installation, main
Moving gear and driven gear intermeshing.
The quantity of servo motor 83 is four, and servo motor 83 drives four wheel shafts 81 to rotate respectively when starting, to make
Traveling wheel 82 rotates.When electric machine controller four 83 revolving speeds of servo motor of control are identical, intelligent haulage equipment is along straight path row
It walks, when needing to turn, when such as reducing the revolving speed for the servo motor 83 that right traveling wheel 82 connects on front side of haulage equipment, haulage equipment
The right-hand bend when moving forward, similarly, when reducing the revolving speed of left traveling wheel 82 on front side of haulage equipment haulage equipment traveling when
It waits, therefore the revolving speed of each servo motor 83 can be controlled by single-chip microcontroller and controller precision, to accurately control
The run trace of haulage equipment keeps haulage equipment track route more accurate and safety, guarantees efficient carrying of the equipment to material.
1 top of load pedestal is connected with lifting platform 3 by several jacking cylinders 2, is lower than material in manipulator crawl position
Stack height when, starting jacking cylinder 2 can be such that lifting platform 3 and bucket rises, to make manipulator 6 closer to material,
The stroke that clamping material is put into bucket is shorter, improves loading efficiency, after material installs, before haulage equipment transported material,
The piston rod of jacking cylinder 2 is first set to shorten to decline bucket height, the center of gravity decline of material, reduces material and incline at this time
Risk out improves material and carries safety and stability.
3 top of lifting platform is movably installed with rotation bucket 5, load pedestal 1, lifting platform 3 and rotation by mechanism 4 of socializing
The center of gravity of 5 three of bucket, axis are unified in the center of gravity of three on same vertical axis on same vertical line,
Haulage equipment will not rock or topple over when transport, to keep the transport of material more stable.2 liang of several jacking cylinder
Axisymmetrical between two about load pedestal 1, and several jacking cylinders 2 rise or fall movement it is consistent, make material,
The weight of lifting platform 3 and rotation bucket 5 is evenly distributed on each jacking cylinder 2, reduces axial endurance, also significantly
The non-axial force of oil cylinder receiving is reduced, to ensure that stablizing for oil cylinder works normally, jacking cylinder 2 is embodied with rising with drop
Synchronism, also makes the lifting of material more stable and quick.
It rotates 5 bottom end of bucket and end shape distinguishes cylindrical and truncated cone-shaped, the floor space of the truncated conical shape of bottom end
Smaller than top area, i.e., the side section of the rotary table sliding slot 51 inside rotary table and the angle of horizontal plane are 60-80 °, in rotary table sliding slot 51
The inclined-plane of side can be such that material is slid into cylinder hopper 52 automatically.The height ratio of rotary table sliding slot 51 and cylinder hopper 52 is 1:5, material
The measured title 71 of cylinder hopper 52 can be entered and weigh its weight, without resting in rotary table sliding slot 51, to guarantee that material claims
Amount and the accuracy counted.
Plane bearing 45 is installed between 3 top of lifting platform and rotation bucket 5,45 one side of plane bearing undertakes one
On the other hand the gravity for dividing bucket reduces the frictional force between bucket and lifting platform 3, rotate the main heavy of bucket 5
Power is taken by lifting platform 3, reduces the axial compressive force of hopper shaft 41, improves socialize mechanism operating pressure and stability.
Mounting groove 31 is equipped with inside lifting platform 3, mechanism of socializing 4 includes that the hopper being mounted in mounting groove 31 by bearing turns
Axis 41,41 top of hopper shaft are pierced by mounting groove 31 and are fixed together with the bottom center of rotation bucket 5, and hopper turns
41 Basolateral of axis is equipped with from gear 42, is engaged with master gear 43 from 42 side of gear, master gear 43 is connected with motor of socializing
44.It is big from 43 radius of radius ratio master gear of gear 42, it is 8:1, such master gear from the gear ratio of gear 42 and master gear 43
43 when rotate a circle, and only rotates 45 ° from gear 42 and bucket, to achieve the effect that deceleration, improves bucket rotation
Turn stability, material is avoided to hit bucket because centrifugal force is excessive.
The principle that mechanism of socializing 4 rotates bucket is as follows:
Motor 44 of socializing starting, master gear 43 are rotated with from gear 42, are rotated from gear 42 with hopper shaft 41, to make
It rotates bucket 5 to rotate, to make the 6 face material of manipulator of another side, motor 44 of then socializing temporarily is braked, and waits this face
After several manipulators 6 grab material, motor 44 of socializing is again started up, until material reaches motor of socializing when bucket contains the limit
44 do not restart.
3 apical lateral of lifting platform is equipped with the annulus shield 32 for being trapped among 5 outside of rotation bucket, and 32 inside of annulus shield is uniformly
Several balls 33 are installed, ball 33 and the Basolateral of rotation bucket 5 are affixed.Annulus shield 32 can protect rotation bucket
5, it shake bucket will not when rotation, ball 33 reduces the spin friction resistance of bucket, makes motor 44 of socializing
Driving force it is stronger.
Several manipulators 6 are mounted equidistant on the outside of rotation bucket 5,6 quantity of manipulator is at least four, and manipulator 6 is logical
The apical lateral that mounting base is mounted on rotation bucket 5 is crossed, rotating to be additionally provided with inside bucket 5 allows manipulator 6 to control route
With the electric power mounting groove of chip array, the controller of manipulator 6 is also mounted in electric power mounting groove.
Manipulator 6 uses six axis robot, and first joint of six axis robot can be as four axis robots in horizontal plane
It rotates freely, latter two joint can be mobile in vertical plane.In addition, six axis robot has one " arm ", two " wrist " joints,
This ability for allowing it to have the arm of the mankind similar with wrist can be such that wrist rotates in the horizontal plane, also can be in vertical plane
It inside spins upside down, so as to grab the material of different angle, is put into after also grabbing material in rotation bucket 5, moreover it is possible to will
Material is caught out of rotation bucket 5, can complete unloading movement.
The more joints of six axis robot mean to pick up the component of any direction on horizontal plane, with special angle
It is put into bucket, many operations that could be completed by experienced operator can also be performed in manipulator 6.
Rotation 5 top of bucket and bottom end are respectively equipped with rotary table sliding slot 51 and cylinder hopper 52, and 51 inside of rotary table sliding slot is empty
Between in the bottom surface truncated cone-shaped smaller than top surface area, the floor space of rotary table sliding slot 51 is identical as the floor space of cylinder hopper 52,
Rotary table sliding slot 51 is connected with cylinder hopper 52.
It is noted that can stop grabbing material into bucket when material fills up cylinder hopper 52 every time, because
When being stacked on rotary table 51 inside of sliding slot for material, the skew back face of rotary table sliding slot 51 can take the gravity of a part of material, because
This can cause error to the measuring and calculating of weight of material and measurement and quantity, therefore the material top surface being located inside bucket does not exceed
The bottom surface of rotary table sliding slot 51 just can maximally reduce material measurement error.
It is also equipped in rotation bucket 5 and weighs counting device 7.Weighing counting device 7 includes being mounted on rotary table sliding slot 51
The weighing balance 71 of bottom end, and 71 top of weighing balance is connected with charge plate 74 by several buffer springs 73, charge plate 74 is in cylinder
It is slided up and down in hopper 52, single-chip microcontroller 72 is connected with controller 9.
The setting of buffer spring 73 can not only reduce the friction of weighing balance 71, because material is not contacted with weighing balance 71, institute
Ensure that the neat and tidy and accurate counting of weighing balance, when carrying material and pinching material, material can first drop to Sheng
On flitch 74, the power buffering that then spring can slide material is fallen, so that material and weighing balance be made all not to damage because of collision
It is bad, and haulage equipment transported material on the way, haulage equipment because jolt or turn slow down when, because of the buffering effect of spring, make object
The vibration and collision of material greatly reduce, to ensure that the safety of material transportation and the integrity of quality of material.
Weighing balance 71 is connected with single-chip microcontroller 72, and weighing balance 71 is claimed using digital metering, after metering material weight, passes through signal
Signal is passed to single-chip microcontroller 72 by converter, and single-chip microcontroller 72 is made preferably to receive the weight signal of the transmitting of weighing balance 71.Single-chip microcontroller
After 72 receive weight signal, weight signal can immediately be calculated, material quantity=material total weight/material list
A weight, calculation is simple and fast, can quickly calculate and record material quantity, when contained in bucket certain quantity or
When the material of weight, bucket no longer contains material, and at this moment single-chip microcontroller 72 starts to control each controller to control oil cylinder and electricity
Machine, so that haulage equipment be made to start for material to be transported to specified destination.
Preferably, single-chip microcontroller 71 can not only calculate single material clamp access amount, i.e., the material quantity of splendid attire in bucket,
It is grabbed or is suspended according to the material quantity control manipulator in bucket, bucket rotation or static, and will can carry every time object
The quantity and weight of material adds up, and then calculates total weight of material and quantity, so that whether clear quality of material changes, root
Whether weight and quantitative comparison according to material can also judge material according to the total weight of material it can be seen that whether material is complete
Carrying finishes, it is ensured that the accuracy of material carrying quantity.
It need to remark additionally, due to not being directly connected between electric machine controller and single-chip microcontroller 72, and single-chip microcontroller 72 is also
It can rotate, therefore control signal is transmitted to two electric machine controllers by way of wireless signal transmission by single-chip microcontroller 72, thus
Limit control by space or conducting wire.
In addition, the present invention also provides the recording method that a kind of all-around intelligent material is carried, the carrying record side of material
Method includes the following steps:
Step 1, haulage equipment drive to the specified position for carrying material, and then manipulator sandwiches material in rotation bucket；
Step 2 weighs counting device record weight of material, calculates material quantity by single-chip microcontroller, then single-chip microcontroller believes control
It number is sent to controller, controller controls equipment and carries out corresponding actions.
Material carrying includes the following steps:
Step 11, running gear starting make haulage equipment walking to specified carrying place, then haulage equipment pause walking；
Step 12, jacking cylinder starting, make lifting platform rise to suitable position, and distance of the manipulator apart from material is most short at this time,
Then wherein several manipulators start to grab material, and the material of crawl is put into rotation bucket；
After step 13, a part of manipulator complete itself crawl task, mechanism of socializing starting, rotation bucket rotates an angle
Then suspend, another part manipulator grabs material again and is put into rotation bucket；
The above this mode is that each manipulator completes crawl material, puts material in bucket into, and then bucket just rotates
Angle, this mode material placement location is more steady, material will not be kept at random because bucket rotates, and material stacking is more neat,
Therefore make that more materials can be contained in bucket, substantially increase materials moving efficiency.
It is the problem for not considering material can be at random because of bucket rotation when being put into, i.e., each charge there are also a kind of mode
When one angle of bucket rotation takes time out to, the manipulator close to material grabs material immediately, and manipulator is grabbed into after material, contains
Hopper rotates again, while material is put into bucket, and charge during bucket rotation by the manipulator for grabbing material
For bucket when again pausing for rotation, several manipulators of the other side grab material again, and the time of such bucket pause is very
It is short, and material is put by manipulator within the time that bucket rotates, therefore saves material standing time, when having saved a large amount of
Between, energy manipulator quickly grabs material, and the time that multiple manipulators pause is shorter, therefore can also greatly improve grabbing for material
Efficiency is taken, to improve materials moving efficiency indirectly.
Step 14 weighs counting device weightometer amount weight of material, and after reaching the predetermined weight limit, manipulator stops crawl
Material, rotation bucket no longer rotate, and lifting platform drops to extreme lower position, and running gear drives entire haulage equipment to remove material
Transport to material conveying destination.
The step of single-chip microcontroller controls haulage equipment movement by controller is as follows:
Step 21, single-chip microcontroller are run to the servo motor of servomotor controller transmitting signal control running gear first, make to remove
Equipment walking is transported to the carrying point of material, then single-chip microcontroller makes to go up and down to the transmitting signal control jacking cylinder starting of oil cylinder controller
Platform rises to suitable position；
If step 22, single-chip microcontroller make several manipulators of bucket side first grab dry material to Manipulator Controller transmitting signal
It is put into bucket, then single-chip microcontroller, which controls electric motor starting of socializing to electric machine controller transmitting signal, makes bucket rotate an angle
Degree, the manipulator of the bucket other side grab material again and are put into bucket；
Weight of material signal is transmitted in single-chip microcontroller by step 23, weighing balance, and single-chip microcontroller records the weight of article, calculates article number
It measures, after the weight of material or the quantity that then reach predetermined set, single-chip microcontroller is believed to Manipulator Controller and electric machine controller transmitting
Number, make manipulator and bucket pause motion；
S204, single-chip microcontroller successively emit signal to oil cylinder controller and electric machine controller, and equipment is successively made to generate bucket height
Material is transported to the movement of carrying destination by decline, haulage equipment, thus the complete movement of one for completing haulage equipment.
Each oil cylinder is controlled by single-chip microcontroller and motor is acted, to ensure that the accurate crawl material of haulage equipment
Movement, also ensure the accurate transit route of haulage equipment, maximize the handling efficiency that ensure that material.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of all-around intelligent material conveyance equipment, including load pedestal (1), it is characterised in that: load pedestal (1) bottom
End is equipped with running gear (8), and load pedestal (1) top is connected with lifting platform (3), institute by several jacking cylinders (2)
It states lifting platform (3) top and rotation bucket (5) is movably installed with by mechanism of socializing (4), on the outside of the rotation bucket (5) etc.
Away from being equipped with several manipulators (6), it is also equipped in the rotation bucket (5) and weighs counting device (7).
2. a kind of all-around intelligent material conveyance equipment according to claim 1, it is characterised in that: the running gear
It (8) include four wheel shafts (81) that four side of load pedestal (1) bottom end is mounted on by bearing, peace on the outside of described wheel shaft (81) one end
Equipped with traveling wheel (82), and wheel shaft (81) other end is connected with servo motor (83) by gear drive.
3. a kind of all-around intelligent material conveyance equipment according to claim 1, it is characterised in that: the load pedestal
(1), the center of gravity of lifting platform (3) and rotation bucket (5) three, axis are on same vertical line, several jackings
Oil cylinder (2) axisymmetrical about load pedestal (1) between any two, and several jacking cylinders (2) rise or fall movement
It is consistent.
4. a kind of all-around intelligent material conveyance equipment according to claim 1, it is characterised in that: the lifting platform (3)
Inside is equipped with mounting groove (31), and the mechanism of socializing (4) includes the hopper shaft being mounted in mounting groove (31) by bearing
(41), hopper shaft (41) top is pierced by mounting groove (31) and is fixedly connected on the bottom center of rotation bucket (5)
Together, hopper shaft (41) Basolateral is equipped with from gear (42), described to be engaged with master gear from gear (42) side
(43), the master gear (43) is connected with motor of socializing (44).
5. a kind of all-around intelligent material conveyance equipment according to claim 1, it is characterised in that: the rotation bucket
(5) bottom end and end shape distinguish cylindrical and truncated cone-shaped, pacify between lifting platform (3) top and rotation bucket (5)
Equipped with plane bearing (45).
6. a kind of all-around intelligent material conveyance equipment according to claim 5, it is characterised in that: the lifting platform (3)
Apical lateral is equipped with the annulus shield (32) being trapped among on the outside of rotation bucket (5), uniformly installation on the inside of the annulus shield (32)
Have several balls (33), ball (33) and the Basolateral of rotation bucket (5) are affixed.
7. a kind of all-around intelligent material conveyance equipment according to claim 1, it is characterised in that: the rotation bucket
(5) top and bottom end are respectively equipped with rotary table sliding slot (51) and cylinder hopper (52), rotary table sliding slot (51) and cylinder hopper (52) phase
Connection, described weigh counting device (7) include the weighing balance (71) for being mounted on cylinder hopper (52) bottom end, the weighing balance (71)
It is connected with single-chip microcontroller (72), and weighing balance (71) top is connected with charge plate (74), the Sheng by several buffer springs (73)
Flitch (74) slides up and down in cylinder hopper (52), and the single-chip microcontroller (72) is connected with controller (9).
8. the recording method that a kind of all-around intelligent material is carried, it is characterised in that: the carrying recording method of material includes as follows
Step:
S100, haulage equipment drive to the specified position for carrying material, and then manipulator sandwiches material in rotation bucket；
S200, counting device record weight of material is weighed, material quantity is calculated by single-chip microcontroller, then single-chip microcontroller will control signal
It is sent to controller, controller controls equipment and carries out corresponding actions.
9. the recording method that a kind of all-around intelligent material according to claim 8 is carried, it is characterised in that: material is carried
Include the following steps:
S101, running gear starting make haulage equipment walking to specified carrying place, then haulage equipment pause walking；
S102, jacking cylinder starting, make lifting platform rise to suitable position, distance of the manipulator apart from material is most short at this time, so
Wherein several manipulators start to grab material afterwards, and the material of crawl is put into rotation bucket；
After S103, a part of manipulator complete itself crawl task, mechanism of socializing starting, it is right that rotation bucket rotates an angle
After suspend, another part manipulator grabs material again and is put into rotation bucket；
S104, counting device weightometer amount weight of material is weighed, after reaching the predetermined weight limit, manipulator stops crawl material,
Rotation bucket no longer rotates, and lifting platform drops to extreme lower position, and running gear drives entire haulage equipment to be transported to material
Material conveys destination.
10. the recording method that a kind of all-around intelligent material according to claim 8 is carried, it is characterised in that: single-chip microcontroller
The step of controlling haulage equipment movement by controller is as follows:
S201, single-chip microcontroller are run to the servo motor of servomotor controller transmitting signal control running gear first, make to carry
Equipment is walked to the carrying point of material, and then single-chip microcontroller makes lifting platform to the transmitting signal control jacking cylinder starting of oil cylinder controller
Rise to suitable position；
It is put if S202, single-chip microcontroller make several manipulators of bucket side first grab dry material to Manipulator Controller transmitting signal
Enter bucket, then single-chip microcontroller, which controls electric motor starting of socializing to electric machine controller transmitting signal, makes bucket rotate an angle,
The manipulator of the bucket other side grabs material again and is put into bucket；
Weight of material signal is transmitted in single-chip microcontroller by S203, weighing balance, and single-chip microcontroller records the weight of article, calculates article number
It measures, after the weight of material or the quantity that then reach predetermined set, single-chip microcontroller is believed to Manipulator Controller and electric machine controller transmitting
Number, make manipulator and bucket pause motion；
S204, single-chip microcontroller successively emit signal to oil cylinder controller and electric machine controller, and equipment is successively made to generate bucket height
Material is transported to the movement of carrying destination by decline, haulage equipment, thus the complete movement of one for completing haulage equipment.
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Application publication date: 20190405 |