CN109761056A - A kind of oxidant intelligence transportation system - Google Patents
A kind of oxidant intelligence transportation system Download PDFInfo
- Publication number
- CN109761056A CN109761056A CN201811609016.7A CN201811609016A CN109761056A CN 109761056 A CN109761056 A CN 109761056A CN 201811609016 A CN201811609016 A CN 201811609016A CN 109761056 A CN109761056 A CN 109761056A
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- Prior art keywords
- robot
- oxidant
- conveying device
- truss
- truss robot
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Abstract
The invention discloses a kind of oxidant intelligence transportation systems, it include robot palletizer, conveying device, camera system, truss robot feeding tilting device and control system, charging basket is put by the robot palletizer and is moved in conveying device, position precision information is provided by the camera system for robot palletizer, the material in conveying device charging barrel is poured into vibrating screen by the truss robot feeding tilting device, the robot palletizer, conveying device, camera system, truss robot feeding tilting device is controlled by the control system；Intelligent conveying is carried out to charging basket by being provided with robot palletizer, conveying device, camera system, truss robot feeding tilting device and control system.
Description
Technical field
The present invention relates to spherical oxidizing agent intelligence transportation systems more particularly to a kind of use truss robot and machine to regard
Feel that the spherical oxidizing agent production of intelligentization of cooperation conveys tele-control system.
Background technique
With society development, automate industry rise and human cost by liter, automation equipment is widely used
It can not replace, and wideling popularize for this important tool of automation equipment, a large amount of people can be saved to every profession and trade
Power and material resources.Oxidant charging basket is transported near production line from warehouse by operator in the production process of oxidant at present,
Artificial scene carries out de-stacking processing, is transported in production line and tear open lid processing.The production process needs a large amount of artificial
Turnover is carried, by the record for specially manually carrying out creation data.To the existing production model low efficiency of production flow analysis discovery
And carrying turnover there are oxidant and manual operation it is careless caused by safety accident.As cost of labor constantly increases and people
Therefore the problems such as work the limited time, the influence ever more important of the above problem solve the problems, such as this kind of be particularly important.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of oxidant intelligence transportation systems, by being provided with code
Pile robot, conveying device, camera system, truss robot feeding tilting device and control system to carry out charging basket intelligent
Conveying.
In order to realize above-mentioned technical proposal, it to include stacking that the present invention provides a kind of oxidant intelligence transportation systems
Robot, conveying device, camera system, truss robot feeding tilting device and control system, will by the robot palletizer
Charging basket is put and is moved in conveying device, position precision information is provided by the camera system for robot palletizer, by institute
It states truss robot feeding tilting device the material in conveying device charging barrel is poured into vibrating screen, the stacking machine
People, conveying device, camera system, truss robot feeding tilting device are controlled by the control system.
Further improvement lies in that: the robot palletizer includes bracket, movable plate and mechanical hand, and the upper end of the bracket is set
It is equipped with symmetrical sliding slot to be used to that movable plate is installed, Mobile base is provided on the movable plate and is used to that mechanical hand, the movement are installed
Plate carries out X-axis movement on the chute, and the Mobile base does Y-axis movement on movable plate, is provided with fixture on the mechanical hand, by
The machine hand-motion fixture does Z axis movement, and pallet is provided with below the bracket and is used to place charging basket.
Further improvement lies in that: the truss robot feeding tilting device include symmetrical column, sliding rail with
And the truss robot special fixture of adjustable angle, the upper end of the column is provided with sliding rail and is used to install sliding block, described
Truss robot special fixture is provided on sliding block, the sliding block does X-axis movement, the truss robot exclusive clamps on the slide rail
It is mobile that tool does Z axis on sliding block.
Further improvement lies in that: each axis driving of robot palletizer is all made of alternating current asynchronous fire-proof motor and by same
Step band realizes transmission, and the robot palletizer motion mode is controlled using alternating current asynchronous fire-proof motor plus frequency converter and encoder
Mode, control precision reach ± 3mm.
Further improvement lies in that: each axis driving of truss robot adds encoder control using alternating current asynchronous fire-proof motor
System is realized by synchronous belt and is driven.
Further improvement lies in that: the conveying device includes conveyer belt, is provided with parastat on the conveyer belt；
The middle section of the conveyer belt is provided with manual processing region, and end is to topple over feeding area, is provided in the side of the feeding area
Empty barrel material waiting section, it is described topple over telescopic guide rod is provided on feeding area.
The beneficial effects of the present invention are: intelligent transportation system of the invention is mainly used for dangerous material carrying, system is adopted more
Safety monitoring is carried out with fire-proof motor and in many places increase sensor, safety in production is placed above the other things；The delivery system simultaneously
Charging basket on pallet is transported on conveyer belt by system using robot palletizer combination vision system, greatly improves carrying accuracy rate
And efficiency, charging basket is manually carried out on the conveyor belt to be torn lid open, take out the processes such as plastic bag mouth and increase detection sensor and prevent personnel from missing
Operation causes safety accident；The statistics of control system real-time display production efficiency and the product weight carried, and display
The various information such as working condition, operating status, the malfunction that material is carried greatly facilitate management, operator and maintenance people
Member can check and control in time the operation and maintenance of equipment.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structure chart of robot palletizer of the invention.
Fig. 3 is the structure chart for the conveying device invented substantially.
Fig. 4 is the structure chart of of the invention-truss robot feeding tilting device.
Wherein: 1- robot palletizer, 2- conveying device, 3- truss robot feeding tilting device, 4- charging basket, 5- vibration
Sieve, 6- bracket, 7- movable plate, 8- mechanical hand, 9 sliding slots, 10- Mobile base, 11- fixture, 12- pallet, 13- column, 14- sliding rail,
15- special fixture, 16- sliding block, 17- conveyer belt, 18- parastat, 19- manual processing region, 20- topple over feeding area, and 21- is empty
Bucket material waiting section, 22- guide rod.
Specific embodiment
In order to deepen the understanding of the present invention, the present invention is further described below in conjunction with embodiment, the present embodiment
For explaining only the invention, it is not intended to limit the scope of the present invention..
As Figure 1-Figure 4, a kind of oxidant intelligence transportation system is present embodiments provided, includes robot palletizer
1, conveying device 2, camera system, truss robot feeding tilting device 3 and control system, will material by the robot palletizer 1
Bucket 4 is put to be moved in conveying device 2, is that robot palletizer 1 provides position precision information by the camera system, by institute
It states truss robot feeding tilting device 3 material in 2 charging barrel of conveying device is poured into vibrating screen 5, the stacking machine
Device people 1, conveying device 2, camera system, truss robot feeding tilting device * 3 are controlled by the control system.It is described
Robot palletizer 1 includes bracket 6, movable plate 7 and mechanical hand 8, and the upper end of the bracket 6 is provided with symmetrical sliding slot 9 and is used to pacify
Movable plate 7 is filled, Mobile base 10 is provided on the movable plate 7 and is used to that mechanical hand 8 is installed, the movable plate 7 carries out on sliding slot 9
X-axis is mobile, and the Mobile base 10 does Y-axis movement on movable plate 7, is provided with fixture 11 on the mechanical hand 8, the fixture is adopted
With sucker structure, Z axis movement is done by the machine hand-motion fixture 11, pallet 12 is provided with below the bracket and is used to place
Charging basket.The truss robot feeding tilting device 3 includes symmetrical column 13, sliding rail 14 and adjustable angle
Truss robot special fixture 15, the upper end of the column 13 is provided with sliding rail 16 and is used to install sliding block 16, in the sliding block 16
On be provided with truss robot special fixture 15, the sliding block 16 does that X-axis is mobile, and the truss robot is dedicated on sliding rail 16
It is mobile that fixture 15 does Z axis on sliding block 16.The conveying device 2 includes conveyer belt 17, is provided on the conveyer belt 17
Parastat 18；The middle section of the conveyer belt 17 is provided with manual processing region 19, and end is to topple over feeding area 20, on described
The side in material area is provided with empty barrel material waiting section 21, it is described topple over telescopic guide rod 22 is provided on feeding area.
Charging basket 4 is placed on 1.1 meters * 1.1 meters of pallet, and every layer of charging basket has been put 3*3 charging basket, is divided two layers and is put；It is logical
It crosses worker and puts to specify to tear open and stamp zone position.The dismantling of charging basket 4 on pallet is put conveyer belt 17 by stacking truss robot 1
On.Due to manually will lead to charging basket position during putting charging basket pallet, there are certain deviations, pass through the intelligence of camera system
Camera identifies that charging basket realizes precise positioning.Pallet there are two putting is set, is switched to after a pallet charging basket has been carried another
On a pallet, so that reducing 1 waiting time of robot palletizer improves production efficiency.1 end of robot palletizer is equipped with fixture 11
And smart camera.It is torn open and is stamped using robot palletizer, three degree of freedom is needed to realize the transfer of space material, be pallet below bracket.
The driving of each axis of robot palletizer 1 is all made of alternating current asynchronous fire-proof motor and is realized by synchronous belt and is driven, and robot palletizer is pressed
It requires to design according to explosive-proof grade.1 motion mode of robot palletizer is using alternating current asynchronous fire-proof motor+frequency converter+encoder control
Mode, control precision reach ± 3mm.
Conveying device 2 topples over feeding area 20 for charging basket to be transferred to by stacking area, and artificial material is arranged in conveying device
Bucket tears lid open, takes out the processes such as plastic bag mouth, while machine operation region and manual work region being separated.Conveyer belt charging barrel it
Between distance be set dynamically according to the diameter of charging basket, height is designed in order to manual operation；Simultaneously in conveyer belt 17
End centering of the adjustable guide rod for charging basket is set, to be applicable in a variety of charging baskets, for after manual work, charging basket position to become
Correction after change, convenient for the processing of subsequent handling charging basket.The system of conveying device uses alternating current asynchronous fire-proof motor+frequency control
Mode.Increase static eliminator in the front of conveyer belt and tail portion, prevents harm caused by electrostatic.Using its speed of Frequency Converter Control
Degree, beat require to adjust according to work on the spot.
Camera system positions the position for determining pallet charging basket using machine vision, and positioning accuracy reaches ± 0.5mm, due to
There is deviation in the position that pallet charging barrel is put, and corresponding bilayer disposing way determines charging basket using vision before taking every layered material bucket
Position after waiting until nine barrels, carries out second and shoots, completes the second layer with regard to the positioning of charging basket.
Truss robot feeding tilting device has two-freedom, realizes X-axis and Z axis movement, and X-axis stroke is 2.4 meters, Z axis
Stroke is 3300 meters (the minimum 400mm of highest 3700mm-).Each axis driving of truss robot uses alternating current asynchronous fire-proof motor+volume
Code device control, is realized by synchronous belt and is driven, special fixture is installed in truss robot end.Its Z axis motion range is larger, adopts
With two axis stretching structures.
Control system is controlled using computer program, and computer interface monitors each work step running state parameter in real time, and can
Parameter setting is carried out, has the function of that real-time recording information, simultaneity factor have manual, automatic operation mode and emergency stop, suspend, open
Dynamic function.Control system is made of industrial computer system and SIEMENS PLC system.It include the data of smart camera on industrial computer system
Processing and IFIX remote control interface；Data processing software is mainly used for handling the data of vision collecting, obtains charging basket
Location parameter, calculate specific stacking location parameter；Customer parameter setting, number may be implemented in IFIX remote control interface
According to library create with modify, production process real time monitoring etc. functions simultaneously IFIX configuration interface have real-time display material carry
The various information such as working condition, operating status, malfunction, convenient for management, operator and maintenance personal look into time, easily
See and control the operation and maintenance of equipment.
Truss robot cooperation smart camera can be realized visual identity positioning, realize that material is transferred to conveyer belt by pallet
On.The deformation of charging basket can be applicable in using sucker mode to the crawl of charging basket, while using normally closed cylinder mode, effectively
Control causes charging basket to fall off due to surprisingly dying or powering off, while increasing clamping jaw structure in existing sucker structure periphery, is using
It is held while vacuum chuck is drawn using clamping jaw, into one during stacking truss robot equipment fast moves
Step improves the stability of equipment, and the probability that charging basket falls off from sucker caused by reducing because of object of which movement inertia runs equipment
It is safer.Conveying device installation detection switch is used to detect the presence of charging basket and whether bung opens and whether empty barrel clears up
Safety detection.Working condition, the operating status, event of upper configuration software man-machine interface real-time display material carrying based on IFIX
Barrier state records the various information such as charging basket in real time, while having the function of manual, automatic operation mode and emergency stop, pause, recovery,
Convenient for managing the operation and maintenance of in time, easily checking and control equipment with maintenance personal.Reserved internet communication, gives
Develop intelligent workshop afterwards and reserves communication port.
Claims (6)
1. a kind of oxidant intelligence transportation system, it is characterised in that: include robot palletizer (1), conveying device (2), clap
System, truss robot feeding tilting device (3) and control system are taken the photograph, is put charging basket (4) by the robot palletizer (1)
Conveying device is moved on (2), is that robot palletizer (1) provides position precision information by the camera system, by the purlin
Material in conveying device (2) charging barrel is poured into vibrating screen (5) by frame robot feeding tilting device (3), the stacking
Robot (1), conveying device (2), camera system, truss robot feeding tilting device (3) are controlled by the control system
System.
2. a kind of oxidant intelligence transportation system according to claim 1, it is characterised in that: the robot palletizer
It (1) include bracket (6), movable plate (7) and mechanical hand (8), the upper end of the bracket (6) is provided with symmetrical sliding slot (9) and is used to
It installs movable plate (7), Mobile base (10) is provided on the movable plate (7) and are used to install mechanical hand (8), the movable plate (7)
It is mobile that X-axis is carried out on sliding slot (9), the Mobile base (10) does Y-axis movement on movable plate (7), sets on the mechanical hand (8)
Fixture (11) are equipped with, Z axis movement is done by the machine hand-motion fixture (11), pallet (12) use is provided with below the bracket
To place charging basket.
3. a kind of oxidant intelligence transportation system according to claim 1, it is characterised in that: on the truss robot
Material tilting device (3) includes the special of the truss robot of symmetrical column (13), sliding rail (14) and adjustable angle
With fixture (15), the upper end of the column (13) is provided with sliding rail (14) and is used to install sliding block (16), on the sliding block (16)
It is provided with truss robot special fixture (15), the sliding block (16) does X-axis movement, the truss robot on sliding rail (14)
It is mobile that special fixture (15) does Z axis on sliding block (16).
4. a kind of oxidant intelligence transportation system according to claim 2, it is characterised in that: the robot palletizer is each
Axis driving is all made of alternating current asynchronous fire-proof motor and is realized by synchronous belt and is driven, and the robot palletizer motion mode uses
Alternating current asynchronous fire-proof motor adds frequency converter and encoder control mode, and control precision reaches ± 3mm.
5. a kind of oxidant intelligence transportation system according to claim 3, it is characterised in that: the truss robot is each
Axis driving is controlled using alternating current asynchronous fire-proof motor plus encoder, is realized and is driven by synchronous belt.
6. a kind of oxidant intelligence transportation system according to claim 1, it is characterised in that: the conveying device (2)
Include conveyer belt (17), parastat (18) are provided on the conveyer belt (17)；The middle section of the conveyer belt (17) is set
Be equipped with manual processing region (19), end be topple over feeding area (20), it is described topple over telescopic guiding is provided on feeding area
Bar (22) is provided with empty barrel material waiting section (21) in the side of the feeding area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609016.7A CN109761056A (en) | 2018-12-27 | 2018-12-27 | A kind of oxidant intelligence transportation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609016.7A CN109761056A (en) | 2018-12-27 | 2018-12-27 | A kind of oxidant intelligence transportation system |
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| Publication Number | Publication Date |
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| CN109761056A true CN109761056A (en) | 2019-05-17 |
Family
ID=66451115
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811609016.7A Pending CN109761056A (en) | 2018-12-27 | 2018-12-27 | A kind of oxidant intelligence transportation system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113277333A (en) * | 2021-05-14 | 2021-08-20 | 兰溪恒生机床制造有限公司 | Automatic feeding system for solid waste treatment |
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| CN201362511Y (en) * | 2009-02-13 | 2009-12-16 | 江苏智思机械集团有限公司 | Turnover and emptying device for tobacco material |
| CN201634239U (en) * | 2010-03-18 | 2010-11-17 | 贵阳普天物流技术股份有限公司 | Automatic unstacking and conveying device for standard box bodies |
| CN102583044A (en) * | 2012-03-08 | 2012-07-18 | 机械科学研究总院先进制造技术研究中心 | Dye transfer device and dye dissolution equipment |
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| CN113277333A (en) * | 2021-05-14 | 2021-08-20 | 兰溪恒生机床制造有限公司 | Automatic feeding system for solid waste treatment |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190517 |
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| RJ01 | Rejection of invention patent application after publication |