CN110104426A - A kind of efficient stacking machine based on double handgrip truss robots - Google Patents
A kind of efficient stacking machine based on double handgrip truss robots Download PDFInfo
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- CN110104426A CN110104426A CN201910465603.1A CN201910465603A CN110104426A CN 110104426 A CN110104426 A CN 110104426A CN 201910465603 A CN201910465603 A CN 201910465603A CN 110104426 A CN110104426 A CN 110104426A
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- linear motion
- stacking
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of efficient stacking machines based on double handgrip truss robots, mainly include truss handling system, material-transporting system, control system, security protection system；Material-transporting system is made of five strip transmission lines, is divided into two roller pipelines, two right-angled bend pipelines, a straight pipeline；For truss handling system using the double handgrip truss robots of separate unit, double handgrip truss robots are equipped with eight kinematic axis, and the double handgrip truss robots of separate unit are arranged on the two sides of two roller pipelines by two X linear motion axis；Each Y linear motion axis, Z linear motion axis, R rotary shaft constitute one group of movement shaft assembly, and a robot gripper is respectively provided on every group of movement shaft assembly, is respectively provided with a stop gauge in front of robot gripper, stop gauge is located on truss crossbeam.The stacking of stacking machine of the present invention is high-efficient, and implementation cost is lower.
Description
Technical field
The present invention relates to logistics assembly equipment technical fields, are specifically related to a kind of height based on double handgrip truss robots
Imitate stacking machine.
Background technique
Stacking machine is the carton that will have been charged into container, by certain arranging and piling on pallet, pallet (wooden, plastic cement), into
Row automatic stacking, can pile multilayer, then release, be transported to warehouse storage convenient for fork truck, labour and drop can be greatly reduced
Low labor intensity.Stacking machine is conveyer conveying next material bag, carton or other packaging materials according to customer process requirement
Working method is stacked into pile, and a kind of sophisticated equipment that will be conveyed at the material of pile automatically.
And in existing stacking machine in palletizing operation, we encounter some problems, the case where according to transfer robot
Under: for the beat for meeting 4s/ bags, it is desirable that the 7th axis of robot band.In the case where pneumatic gripping device, robot single cycle beat
Greater than 4s, two bags or more (8s) need to be grabbed simultaneously and are just able to satisfy beat requirement.Robot requires arm exhibition to be greater than 3m, and weight bearing is greater than
150KG.Considering vehicle width factor, single machine people, which needs upside-down mounting or side to fill, can meet the requirements (the more large arm exhibition of ground installation requirements),
Comprehensive cost is high, and being opened up and being loaded using Liang Tai robot demand arm can reduce, but cost is higher, does not consider；According to list
Another spare working method of robot work, then truss single cycle beat is 8s, if completing circulation in regulation beat,
Driving mechanism power requirement is excessive, Structural strength calls increase and electrical control requires more harshness, and it is more to increase cost.
Truss can be used to carry to solve these problems, but existing truss cannot be completed under existence conditions in 4s
Circulation, while existing robot gripper crawl efficiency is not able to satisfy our demand, therefore, now needs a kind of novel stacking machine
To solve above-mentioned these problems, the stacking efficiency and cost of Lai Tigao stacking machine.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of efficient stacking machines based on double handgrip truss robots.
The technical scheme is that a kind of efficient stacking machine based on double handgrip truss robots, mainly includes truss
Handling system, material-transporting system, control system, security protection system；
The material-transporting system is made of five strip transmission lines, is divided into two roller pipelines, two right-angled bend conveyings
Line, a straight pipeline；Two rules roller pipeline is arranged in parallel at left and right sides of truck, first roller pipeline
Rear end is connect with straight pipeline, and the straight pipeline is equipped with feed separation platform, and Article 2 roller conveys line back end and the
One right-angled bend pipeline connection, Article 2 right-angled bend pipeline and first right-angled bend conveying splicing and and material
Separating table connection；
The truss handling system is equipped with eight using the double handgrip truss robots of separate unit, double handgrip truss robots
Kinematic axis, is divided into two X linear motion axis, two Y linear motion axis, two Z linear motion axis, two R rotary shafts；It is described
The double handgrip truss robots of separate unit are arranged on the two sides of two roller pipelines by two X linear motion axis, X linear motion
Axis is fixed by multiple brackets with ground；Each Y linear motion axis, Z linear motion axis, R rotary shaft constitute one group of kinematic axis
Component, Y linear motion axis are located on truss crossbeam, and Z linear motion axis is located on Y linear motion axis, and Z linear motion axis lower end
One robot gripper of axis connection is rotated by R, a stop gauge, the backgauge dress are respectively provided in front of the robot gripper
It is set on truss crossbeam；
The stacking machine is additionally provided with a series of detection devices and system feedback device, the detection device and system feedback dress
It sets and is connect by data line, remote transmission etc. with control system, security protection system；The control system is removed for controlling truss
Fortune system carries out stacking work, and the security protection system is used to monitor the working condition and emergency processing of stacking machine.
Further, the kinematic axis direction definition of double handgrip truss robots is as follows:
X linear motion axis: vehicle commander direction；
Y linear motion axis: vehicle width direction；
Z linear motion axis: overall height direction；
R rotary shaft: the horizontal rotation in X/Y plane.
Further, the security protection system can be connected by way of communication with external device, configured and passed between program
Sensor detection operation signal, and interlocking to program behavior sequence can be with by cooperating the detection device, system feedback device
Simultaneously autostop is sounded an alarm when there is something special.The stacking safety of the present apparatus can be improved by the way that security protection system is arranged
Property, while situations such as device is collided can effectively prevent to the interlocking of program behavior sequence, work operation is safer.
Further, the robot gripper includes handgrip link block, support plate, the first grasping mechanism, the second grasping mechanism；
First grasping mechanism includes main drive gear, bottom plate, auxiliary clamping plate, claw-plate；
The main drive gear includes moving leader, fixed plate, revolving part, ball-screw, first bevel gear, the second cone tooth
Wheel, master bevel gear, driving motor；The driving motor has motor brake function, there are two the moving leader is set, position respectively
It being slidably connected at left and right sides of the fixed plate and with it, the master bevel gear is connect by drive shaft with fixed plate middle part, and described the
One bevel gear, second bevel gear are respectively provided at the left and right sides of master bevel gear and engage, first bevel gear, second bevel gear
It is connect respectively by a right angle fixing axle with fixed plate, the ball-screw is equipped with two groups, before being located at master bevel gear
Side and rear, ball-screw described in two groups passes through pair of nut respectively and the rotation of support plate bottom surface is fixed, two groups of ball-screw difference
Tooth engagement transmission is bored by pair of nut and first bevel gear, second bevel gear, two groups of ball-screws pass through lead screw pair distal end respectively
It is rotatablely connected with revolving part one end, the revolving part other end is connect with the moving leader upper end；The main drive gear is logical
The fixed block that fixed plate front and back sides are equipped with is crossed to connect with support plate, the drive shaft upper end through support plate and with the driving motor
Output axis connection, driving motor is fixed on support plate upper surface；
It there are two the bottom plate is set, is connect respectively with a moving leader lower end, there are two the auxiliary clamping plate is set, respectively
It is located on a bottom plate medial surface, auxiliary clamping plate medial surface is connect by multiple groups lateral cylinder with bottom plate, and bottom plate lower end is set
There is the claw-plate, is rotatablely connected in the middle part of claw-plate by shaft and bottom plate, the claw-plate top passes through multiple groups longitudinal cylinder and master
Clamping plate connection, the longitudinal cylinder are located on bottom plate；
The auxiliary clamping plate lateral surface left and right ends are respectively provided with a driving compression bar, and the driving compression bar passes through multiple drive rods
It is connect through auxiliary clamping plate and with the tail portion of auxiliary side pawl, reset spring is arranged on the drive rod, the auxiliary side pawl passes through shaft
It is rotatablely connected with auxiliary clamping plate；
First grasping mechanism is identical as the second grasping mechanism structure, is disposed side by side on support plate bottom by fixed plate
Face, the first grasping mechanism, the second grasping mechanism are additionally provided with pressure boxboard in its fixed plate lower end respectively, and the pressure boxboard passes through pressure case
Plate cylinder is connect with fixed plate；The handgrip link block is located at end face center on support plate, for connecting with the movement shaft assembly.
The robot gripper being arranged using the present invention, makes robot gripper one by the setting of the first grasping mechanism, the second grasping mechanism
Secondary to grab 2 packets, making adjusting bottom plate by the main drive gear of setting, it is only necessary to single driving motors can meet master
The clamping of clamping plate drives, while driving motor is located at support plate upper surface, is easy and fast to ground maintenance maintenance, improves the maintenance effect of device
Rate can be improved the precision that clamping is adjusted by ball-screw-transmission, while be provided with auxiliary clamping plate and the work of clamping can be improved
Efficiency is driven in two sides when auxiliary clamping plate clamping stacking material by squeezing using the cooperation of driving compression bar, drive rod, auxiliary side pawl
Compression bar collapses auxiliary side pawl, improves the stability of clamping；Cooperation, Ke Yiti are clamped by the gradient of bottom plate, auxiliary clamping plate simultaneously
The working efficiency of height reply same pieces stacking, when clamping fixing piece, the good main folder plate spacing of Primary regulation passes through the folder of auxiliary clamping plate
The quick clamping for carrying out short stroke is taken, working efficiency is improved.
Further, the feed separation platform includes discharge partition plate, the first gas chamber, the second gas chamber, air bag group；The material
Separating table front end is equipped with feed inlet, and rear portion is divided into the first discharge port, the second discharging by the discharge partition plate in feed separation platform
Mouthful, the air bag group is equipped with multiple groups air bag post, and the air bag post successively increases from outside to inside, there are two air bag group is set, and respectively
The left and right sides inner wall of feed separation platform front is set, first gas chamber, the second gas chamber be respectively provided at feed separation platform with
Air bag group position corresponding position lateral wall, the first gas chamber, the second gas chamber distinguish corresponding air bag post connection, and pass through material point
Be equipped with two groups of destage upper surface interconnect communicating pipe, and described two groups are respectively equipped with the first air guide pump, the second air guide communicating pipe
Pump；The air bag post, discharge partition plate front end be equipped with roller bearing.Pass through the cooperation of the first gas chamber, the second gas chamber and air bag group, benefit
The inflated condition that autogenous cutting changes two sides air bag group is pumped back and forth with the first air guide pump, the second air guide pump, using the air bag post of gradient to code
Pile material is shunted, using such design not easy damaged stacking material, avoid damage to stacking material cause material to damage with
And shape changes, and causes subsequent clamping the situation of inaccuracy occur, influences stacking efficiency.
Further, the stop gauge includes connecting plate, backgauge buffer board, six pawl buffer bars；The backgauge buffer board
It is connect by six pawl buffer bars described in multiple groups with connecting plate；
The six pawls buffer bar includes buffering mobile jib, buffering strut, sliding shoe, and the buffering mobile jib and connecting plate pass through master
Spring connection, the buffering mobile jib left end are circumferentially with 6 buffering struts, and buffering strut one end and buffering mobile jib are by turning
Axis rotation connection, the buffering strut other end is corresponding with 6 sliding grooves being arranged with on connecting plate plate, and sliding shoe and sliding groove are logical
Cross auxiliary spring connection；
The backgauge buffer board is built-in with cushion chamber, is filled with multiple buffering balls in the cushion chamber.What the present invention was arranged
Stop gauge can effectively play the role of backgauge, while avoid damage to stacking material, using the design of six pawl buffer bars, benefit
High efficiency buffer is carried out with the mating reaction for buffering mobile jib, buffering strut, keeps buffering effect more stable effectively, while slow in backgauge
Setting is filled with the cushion chamber of buffering ball in punching, can mitigate damage of the backgauge buffer board to stacking material.
Further, buffering ball score meter by weight is received by 8-12 parts of EVA foams, 3-7 parts of polyester fibers, 4-5 parts
Rice titanium dioxide, 1-2 parts of Ultra-fine Bentonites, 9-15 parts of epoxy resin are mixed.Delayed made of proportional components configuration
Ball is rushed, cushion performance is excellent, and six pawl buffer bars of cooperation can effectively improve the buffering effect to stacking material.
Further, the stacking machine is equipped with emergency stop switch, fault alarm indicator light, the fault alarm instruction
Lamp is equipped with three kinds of fault alarm instructions of red, yellow, and green.
Further, the work step of the stacking machine are as follows:
S1: vehicle in place, artificial teaching anchor point；
S2: all mobile devices are moved to the starting point of control system calculating, and compartment is close to vehicle head part；
S3: material reaches backgauge position, and robot gripper grabs the material stopped on roller pipeline by stop gauge, grabs
It takes material to reach stacking position and starts stacking；
S4: the stacking stage completes, and X-axis starts to move while robot gripper backhaul, and starting traveling time point is the
Two robot grippers complete stacking, and first robot gripper reaches above crawl position at this time；
S5:X axis pushes truss and stop gauge to move to new specified point together, repeats, and completes vehicle operation.
The working method of apparatus of the present invention are as follows:
Vehicle location is realized: vehicle drives into tag slot, and tag slot can limit vehicle location, prevents vehicle and manipulator from sending out
Raw collision；
Stacking function is realized: artificial teaching anchor point, system automatic path planning, stop gauge are mobile with handgrip；Entrucking
Direction is from headstock to the tailstock, if may cause slit at headstock, shadow because of the system failure or deviation accumulation since tail portion
It rings traffic safety or causes to do over again；
Troubleshooting: production line beat is very fast, and institute is faulty can not to be excluded to finish in 1min, therefore equipment fault will stop
The only all devices including packing machine, if packing machine can not stop, material will be skidded off from artificial runner, not by shunting
Pipeline；
Robot gripper: when robot gripper marches to when grabbing material, drive shaft is passed through by driving motor and is driven
Master bevel gear rotates clockwise, by the transmission respectively of first bevel gear, second bevel gear, for positive direction, to make from left to right
First bevel gear rotates clockwise, and second bevel gear rotates counterclockwise, and the rolling for making rear side is then respectively corresponded by cone tooth transmission
The pair of nut of ballscrew rotates counterclockwise, the pair of nut of the ball-screw of front side rotates clockwise, then make rear side lead screw pair to
Left movement, front side lead screw pair move right, and are offset rotary force by revolving part, realize that two sides moving leader is inwardly gathered；Instead
It, external diffusion under the moving leader of two sides；Meanwhile pushing auxiliary clamping plate to clamp stacking material by lateral cylinder effect, when clamping,
Driving compression bar, which is squeezed, pushes auxiliary side pawl tail portion by drive rod, so that auxiliary side pawl front end is clamped stacking material by shaft effect
Two sides, while longitudinal cylinder work so that claw-plate is held stacking material bottom；
Feed separation platform: the first air guide of setting pump, the second air guide pump work intermittent time, the first air guide pump is for first
Air-chamber pump gas, the second air guide pump to the second air-chamber pump gas by the first air guide pump, the alternating action of the second air guide pump for being made
The corresponding air bag group alternating action of first gas chamber, the second gas chamber makes stacking material alternately from the first discharge port, the second discharging
Mouth outflow；
Stop gauge: when stacking material reaches at stop gauge, stacking material squeezes backgauge buffer board, six pawl buffer bars
Buffering mobile jib inwardly squeezes main spring, while the buffering strut being arranged by six sides is slided to corresponding sliding groove, and squeezes secondary bullet
Spring, to rapidly buffer the impact force of stacking material.
The beneficial effects of the present invention are:
(1) stacking machine of the invention is carried using truss, and solving truss cannot complete to follow in 4s under existence conditions
Ring, therefore need double cleft hands, each handgrip grabs 2 packets every time, then truss grabs beat more than or equal to 16s every time, the time it is more abundant and
Implementation cost is lower.
(2) robot gripper of setting of the invention makes machine by the setting of the first grasping mechanism, the second grasping mechanism
People's handgrip can once grab 2 packets, by the main drive gear of setting make adjust bottom plate it is only necessary to single driving motors i.e.
The clamping driving that bottom plate can be met clamps cooperation by the gradient of bottom plate, auxiliary clamping plate, reply same pieces stacking can be improved
Working efficiency, when clamping fixing piece, the good main folder plate spacing of Primary regulation, by auxiliary clamping plate clamping carry out short stroke it is fast
Speed clamping, improves working efficiency.
(3) feed separation platform of the invention shunts stacking material by the air bag post using gradient, using in this way
Design not easy damaged stacking material, avoid damage to stacking material and cause that material damages and shape changes, cause subsequent clamping
There is the situation of inaccuracy, influences stacking efficiency.
(4) stop gauge that the present invention is arranged can effectively play the role of backgauge, while avoid damage to stacking material,
Buffering effect is made more using the mating reaction progress high efficiency buffer for buffering mobile jib, buffering strut using the design of six pawl buffer bars
Add and stablizes effectively.
Detailed description of the invention
Fig. 1 is stacking machine overall structure outside drawing of the present invention.
Fig. 2 is that stacking machine of the present invention overlooks overall structure diagram.
Fig. 3 is double handgrip truss robot structural schematic diagrams of the invention.
Fig. 4 is robot gripper overall structure diagram of the present invention.
Fig. 5 is robot gripper overall structure side view of the present invention.
Fig. 6 is sectional view at the A-A of Fig. 4 of the present invention.
Fig. 7 is that feed separation platform of the present invention overlooks outside drawing.
Fig. 8 is feed separation platform schematic diagram of internal structure of the present invention.
Fig. 9 is the structural schematic diagram of stop gauge of the present invention.
Figure 10 is partial cutaway view at the B-B of Fig. 8 of the present invention.
Wherein, 1- pipeline, 11- roller pipeline, 12- right-angled bend pipeline, 13- is straight pipeline, 2- material point
Destage, 21- discharge partition plate, the first gas chamber of 22-, the second gas chamber of 23-, 24- air bag group, 241- air bag post, 25- feed inlet, 26-
One discharge port, the second discharge port of 27-, 28- communicating pipe, the first air guide of 281- pump, the second air guide of 282- pump, 29- roller bearing, 3- is bis- grabs
Hand truss robot, 31-X linear motion axis, 32-Y linear motion axis, 33-Z linear motion axis, 34-R rotary shaft, 4- kinematic axis
Component, 5- robot gripper, 51- handgrip link block, 52- support plate, the first grasping mechanism of 53-, the second grasping mechanism of 54-, 55- master
Transmission mechanism, 551- moving leader, 552- fixed plate, 5521- fixed block, 553- revolving part, 554- ball-screw, 5541- spiral shell
Female pair, 5542- lead screw pair, 555- first bevel gear, 556- second bevel gear, 557- master bevel gear, 5571- drive shaft, 558-
Driving motor, the right angle 559- fixing axle, 56- bottom plate, the auxiliary clamping plate of 57-, 571- driving compression bar, 572- drive rod, the auxiliary side 573-
Pawl, 574- reset spring, 575- lateral cylinder, 58- claw-plate, 581- longitudinal cylinder, 59- pressure boxboard, 591- press boxboard cylinder, 6-
Stop gauge, 61- connecting plate, 611- sliding groove, 612- auxiliary spring, 62- backgauge buffer board, 621- cushion chamber, 622- buffering ball,
Six pawl buffer bar of 63-, 631- buffering mobile jib, 632- buffer strut, 633- sliding shoe, 634- main spring.
Specific embodiment
A kind of efficient stacking machine based on double handgrip truss robots, which is characterized in that mainly include truss handling system,
Material-transporting system, control system, security protection system；
As illustrated in fig. 1 and 2, material-transporting system is made of five strip transmission lines 1, is divided into two roller pipelines 11, two
12, straight pipelines 13 of right-angled bend pipeline；Two rule roller pipelines 11 are arranged in parallel at left and right sides of truck, the
One 11 rear end of roller pipeline is connect with straight pipeline 13, and straight pipeline 13 is equipped with feed separation platform 2, Article 2 roller
Cylinder 11 rear end of pipeline is connect with first right-angled bend pipeline 12, Article 2 right-angled bend pipeline 12 and first right angle
Turning pipeline 12 splices and connect with feed separation platform 2；
As shown in FIG. 7 and 8, feed separation platform 2 includes discharge partition plate 21, the first gas chamber 22, the second gas chamber 23, air bag group
24；2 front end of feed separation platform is equipped with feed inlet 25, and rear portion is divided into the first discharge port by discharge partition plate 21 in feed separation platform 2
26, the second discharge port 27, air bag group 24 are equipped with multiple groups air bag post 241, and air bag post 241 successively increases from outside to inside, air bag group 24
There are two if, and it is separately positioned on the left and right sides inner wall of 2 front of feed separation platform, the first gas chamber 22, the second gas chamber 23 difference
It is located at feed separation platform 2 and 24 position corresponding position lateral wall of air bag group, the first gas chamber 22, the second gas chamber 23 are distinguished corresponding
Air bag post 241 is connected to, and is interconnected two groups of communicating pipes 28 by what 2 upper surface of feed separation platform was equipped with, two groups of communicating pipes 28
It is respectively equipped with the first air guide and pumps the 281, second air guide pump 282；Air bag post 241, discharge partition plate 21 front end be equipped with roller bearing 29.It is logical
The cooperation for crossing the first gas chamber 22, the second gas chamber 23 and air bag group 24 pumps the 281, second air guide pump 282 using the first air guide and pumps back and forth
Autogenous cutting changes the inflated condition of two sides air bag group 24, is shunted using the air bag post 241 of gradient to stacking material, using such
Not easy damaged stacking material is designed, stacking material is avoided damage to and material damage and shape is caused to change, cause subsequent clamp out
The situation of existing inaccuracy, influences stacking efficiency.
As shown in figure 3, truss handling system uses the double handgrip truss robots 3 of separate unit, set on double handgrip truss robots 3
There are eight kinematic axis, is divided into 33, two R of the Z linear motion axis of Y linear motion axis 32, two of two X linear motion axis 31, two
Rotary shaft 34；The double handgrip truss robots 3 of separate unit are arranged in the two of two roller pipelines 11 by two X linear motion axis 31
On side, X linear motion axis 31 is fixed by multiple brackets with ground；Each Y linear motion axis 32, Z linear motion axis 33, R
Rotary shaft 34 constitutes one group of movement shaft assembly 4, and Y linear motion axis 32 is located on truss crossbeam, and it is straight that Z linear motion axis 33 is located at Y
On line kinematic axis 32, and 33 lower end of Z linear motion axis connects a robot gripper 5, robot gripper 5 by R rotary shaft 34
Front is respectively provided with a stop gauge 6, and stop gauge 6 is located on truss crossbeam；
The kinematic axis direction definition of double handgrip truss robots 3 is as follows: X linear motion axis 31: vehicle commander direction；Y straight line fortune
Moving axis 32: vehicle width direction；Z linear motion axis 33: overall height direction；Horizontal rotation in R rotary shaft 34:X/Y plane.
As shown in Figure 4,5, 6, robot gripper 5 includes handgrip link block 51, support plate 52, the first grasping mechanism 53, second
Grasping mechanism 54；First grasping mechanism 53 includes main drive gear 55, bottom plate 56, auxiliary clamping plate 57, claw-plate 58；
Main drive gear 55 includes moving leader 551, fixed plate 552, revolving part 553, the cone tooth of ball-screw 554, first
Take turns 555, second bevel gear 556, master bevel gear 557, driving motor 558；Driving motor 558 has motor brake function, mobile
There are two guide rod 551 is set, it is located at 552 left and right sides of fixed plate and is slidably connected with it, master bevel gear 557 passes through drive shaft
5571 with connected in the middle part of fixed plate 552, first bevel gear 555, second bevel gear 556 are respectively provided at the left and right of master bevel gear 557
Two sides simultaneously engage, and first bevel gear 555, second bevel gear 556 pass through a right angle fixing axle 559 and fixed plate respectively
552 connections, ball-screw 554 are equipped with two groups, are located at the front and back of master bevel gear 557, two groups of ball-screws 554 divide
Not Tong Guo pair of nut 5541 and the rotation of 52 bottom surface of support plate fix, two groups of ball-screws 554 pass through pair of nut 5541 and the respectively
One bevel gear 555, second bevel gear 556 bore tooth engagement transmission, two groups of ball-screws 554 respectively by 5542 distal end of lead screw pair with
The rotation connection of 553 one end of revolving part, 553 other end of revolving part are connect with 551 upper end of moving leader；Main drive gear 55 passes through solid
The fixed block 5521 that 552 front and back sides of fixed board are equipped with is connect with support plate 52,5571 upper end of drive shaft through support plate 52 and with driving
The output axis connection of motor 558, driving motor 558 are fixed on 52 upper surface of support plate；
It there are two bottom plate 56 is set, is connect respectively with 551 lower end of moving leader, there are two auxiliary clamping plate 57 is set, respectively
It is located on 56 medial surface of bottom plate, auxiliary 57 medial surface of clamping plate is connect by multiple groups lateral cylinder 575 with bottom plate 56, main folder
56 lower end of plate is equipped with claw-plate 58, is rotatablely connected in the middle part of claw-plate 58 by shaft and bottom plate 56,58 top of claw-plate is vertical by multiple groups
It is connect to cylinder 581 with bottom plate 56, longitudinal cylinder 581 is located on bottom plate 56；
Auxiliary 57 lateral surface left and right ends of clamping plate are respectively provided with a driving compression bar 571, and driving compression bar 571 passes through multiple drive rods
572 run through auxiliary clamping plate 57 and connect with the tail portion of auxiliary side pawl 573, and reset spring 574, auxiliary side pawl 573 are arranged on drive rod 572
It is rotatablely connected by shaft and auxiliary clamping plate 57；
First grasping mechanism 53 is identical as 54 structure of the second grasping mechanism, is disposed side by side on support plate 52 by fixed plate 552
Bottom surface, the first grasping mechanism 53, the second grasping mechanism 54 are additionally provided with pressure boxboard 59 in its 552 lower end of fixed plate respectively, press case
Plate 59 is by pressing boxboard cylinder 591 to connect with fixed plate 552；Handgrip link block 51 is located at end face center on support plate 52, for
Shaft assembly 4 is moved to connect.The robot gripper 5 being arranged using the present invention, passes through the first grasping mechanism 53, the second grasping mechanism 54
Setting make robot gripper 5 that can once grab 2 packets, by the main drive gear 55 of setting make adjust bottom plate 56 only need
Want single driving motor 558 that can meet the clamping driving of bottom plate 56, while driving motor 558 is located at 52 upper surface of support plate,
It is easy and fast to ground maintenance maintenance, improves the overhaul efficiency of device, the essence that clamping can be improved and adjust is driven by ball-screw 554
Degree, while being provided with auxiliary clamping plate 57 and the working efficiency of clamping can be improved, utilize driving compression bar 571, drive rod 572, auxiliary side pawl
573 cooperation when auxiliary clamping plate 57 clamps stacking material in two sides, is collapsed auxiliary side pawl 573 by squeezing driving compression bar 571, is mentioned
The stability of high clamping；Cooperation is clamped by the gradient of bottom plate 56, auxiliary clamping plate 57 simultaneously, reply same pieces stacking can be improved
Working efficiency, when clamping fixing piece, good 56 spacing of bottom plate of Primary regulation carries out short stroke by the clamping of auxiliary clamping plate 57
Quick clamping, improve working efficiency.
As shown in Figures 9 and 10, stop gauge 6 includes connecting plate 61, backgauge buffer board 62, six pawl buffer bars 63；Backgauge is slow
Punching 62 is connect by six pawl buffer bar 63 of multiple groups with connecting plate 61；
Six pawl buffer bars 63 include buffering mobile jib 631, buffering strut 632, sliding shoe 633, buffer mobile jib 631 and connecting plate
61 are connected by main spring 634, and buffering 631 left end of mobile jib is circumferentially with 6 buffering struts 632, are buffered 632 one end of strut and are delayed
It rushes mobile jib 631 to be rotatablely connected by shaft, with 6 sliding grooves being arranged on buffering 632 other end of strut and 61 plate of connecting plate
611 is corresponding, and sliding shoe 633 is connect with sliding groove 611 by auxiliary spring 612；
Backgauge buffer board 62 is built-in with cushion chamber 621, multiple buffering balls 622 is filled in cushion chamber 621, buffering ball is by weight
Score meter is measured by 10 parts of EVA foams, 6 parts of polyester fibers, 5 parts of nano-titanium dioxides, 1 part of Ultra-fine Bentonite, 13 parts of epoxy resin
It is mixed.The buffering ball made of proportional components configuration, cushion performance is excellent, and six pawl buffer bars 63 of cooperation can be effective
Improve the buffering effect to stacking material.The stop gauge 6 that the present invention is arranged can effectively play the role of backgauge, keep away simultaneously
Exempt to damage stacking material, using the design of six pawl buffer bars 63, using buffer mobile jib 631, buffer the mating reaction of strut 632 into
It is more stable effectively to make buffering effect for row high efficiency buffer, while setting the delaying filled with buffering ball 622 in backgauge buffer board 62
Chamber 621 is rushed, damage of the backgauge buffer board 62 to stacking material can be mitigated.
Stacking machine is additionally provided with a series of detection devices and system feedback device, and detection device and system feedback device pass through number
It is connect according to line, remote transmission etc. with control system, security protection system；Control system carries out code for controlling truss handling system
Pile work, security protection system are used to monitor the working condition and emergency processing of stacking machine.Stacking machine is opened equipped with emergent stopping
It closes, fault alarm indicator light, fault alarm indicator light is equipped with three kinds of fault alarm instructions of red, yellow, and green.Security protection system can lead to
The mode for crossing communication is connected with external device, sensors configured detection operation signal between program, and interlocks to program behavior sequence,
By cooperating detection device, system feedback device, simultaneously autostop can be sounded an alarm when there is something special.Pacified by setting
The stacking safety of the present apparatus can be improved in full protection system, while can effectively prevent device to the interlocking of program behavior sequence
Situations such as collision, work operation are safer.
The work step of above-mentioned stacking machine are as follows:
S1: vehicle in place, artificial teaching anchor point；
S2: all mobile devices are moved to the starting point of control system calculating, and compartment is close to vehicle head part；
S3: material reaches backgauge position, and robot gripper grabs the material stopped on roller pipeline by stop gauge,
(material detection by stop gauge is arranged to penetrate switch complete), crawl material arrival stacking position start stacking；
S4: the stacking stage completes, and X-axis starts to move while robot gripper backhaul, and starting traveling time point is the
Two robot grippers complete stacking, and first robot gripper reaches above crawl position at this time；
S5:X axis pushes truss and stop gauge to move to new specified point together, repeats, and completes vehicle operation.
The working method of above-mentioned apparatus are as follows:
Vehicle location is realized: vehicle drives into tag slot, and tag slot can limit vehicle location, prevents vehicle and manipulator from sending out
Raw collision；
Stacking function is realized: artificial teaching anchor point, system automatic path planning, stop gauge are mobile with handgrip；Entrucking
Direction is from headstock to the tailstock, if may cause slit at headstock, shadow because of the system failure or deviation accumulation since tail portion
It rings traffic safety or causes to do over again；
Troubleshooting: production line beat is very fast, and institute is faulty can not to be excluded to finish in 1min, therefore equipment fault will stop
The only all devices including packing machine, if packing machine can not stop, material will be skidded off from artificial runner, not by shunting
Pipeline；
Robot gripper 5: when robot gripper 5 marches to when grabbing material, drive shaft is passed through by driving motor 558
5571 drive master bevel gears 557 rotate clockwise, by the transmission respectively of first bevel gear 555, second bevel gear 556, with from
From left to right is positive direction, rotates clockwise first bevel gear 555, and second bevel gear 556 rotates counterclockwise, and then passes through cone tooth
Transmission, which respectively corresponds, rotates counterclockwise the pair of nut 5541 of the ball-screw 554 of rear side, the nut of the ball-screw 554 of front side
Pair 5541 rotates clockwise, and then moves downward rear side lead screw pair 5542, front side lead screw pair 5542 moves right, and passes through rotation
Part 553 offsets rotary force, realizes that two sides moving leader 551 is inwardly gathered；Conversely, the lower external diffusion of two sides moving leader 551；Together
When, push auxiliary clamping plate 57 to clamp stacking material by the effect of lateral cylinder 575, when clamping, driving compression bar 571 is squeezed logical
It crosses drive rod 572 and pushes auxiliary 573 tail portion of side pawl, the two sides for making auxiliary 573 front end of side pawl clamp stacking material are acted on by shaft, together
When longitudinal cylinder 581 work so that claw-plate 58 is held stacking material bottom；
Feed separation platform 2: the first air guide of setting pumps the 281, second air guide and pumps 282 work interval times, the first air guide pump 281
For pumping gas to the first gas chamber 22, the second air guide pump 282 passes through the first air guide pump 281, second for pumping gas to the second gas chamber 23
The alternating action of air guide pump 282, makes the first gas chamber 22, corresponding 24 alternating action of air bag group of the second gas chamber 23, makes stacking
Material is alternately flowed out from the first discharge port 26, the second discharge port 27；
Stop gauge 6: when stacking material reaches at stop gauge 6, stacking material squeezes backgauge buffer board 62, six pawls buffering
The buffering mobile jib 631 of bar 63 inwardly squeezes main spring 634, while the buffering strut 632 being arranged by six sides is to corresponding sliding groove
611 slidings, and auxiliary spring 612 is squeezed, so that rapidly the impact force of stacking material be buffered；
Wherein, roller pipeline 11 is greater than longest vehicle commander, and material is released pipeline, same time-division to prevent X-axis transverse shifting
Section power is closed in nonclient area to reach energy saving purpose；Control system includes control cabinet, operating case, distributing box etc.；The present invention
Critical elements, such as relay, switch button use the famous brand names such as Siemens, ABB, Schneider, remaining part etc. using into
Mouth or domestic name factory brand.
Double handgrip truss robot configuration parameters
Double handgrip truss robot motion range
The analysis of stacking machine stacking working efficiency
Double handgrip truss robot single cycle efficiency are checked by following data:
Stacking height: 2m, stacking width: 3m；
Then the robot gripper single cycle time is 1.5*2 (Z axis grabs the time) (Y-axis fortune of+2*2 (Z axis discharging time)+2.5
The dynamic time) * 2+1 (claw-plate actuation time) * 2=14s；
14s < 16s, meets circulation demand, and (X-axis run duration is overlapped with other axis run durations, therefore circulation does not consider X
Axis run duration).
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；And
These are modified or replaceed, the spirit and model of technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (8)
1. a kind of efficient stacking machine based on double handgrip truss robots, which is characterized in that mainly include truss handling system, object
Expect transportation system, control system, security protection system；
The material-transporting system is made of five strip transmission lines (1), and it is defeated to be divided into two roller pipelines (11), two right-angled bends
Line sending (12), a straight pipeline (13)；Two rules roller pipeline (11) is arranged in parallel at left and right sides of truck, the
One roller pipeline (11) rear end is connect with straight pipeline (13), and the straight pipeline (13) is equipped with feed separation platform
(2), Article 2 roller pipeline (11) rear end is connect with first right-angled bend pipeline (12), Article 2 right-angled bend conveying
Line (12) splices with first right-angled bend pipeline (12) and connect with feed separation platform (2)；
The truss handling system is equipped with using the double handgrip truss robots (3) of separate unit, double handgrip truss robots (3)
Eight kinematic axis are divided into two X linear motion axis (31), two Y linear motion axis (32), two Z linear motion axis (33), two
R rotary shaft (34)；The double handgrip truss robots (3) of the separate unit are arranged by two X linear motion axis (31) in two rollers
On the two sides of cylinder pipeline (11), X linear motion axis (31) is fixed by multiple brackets with ground；Each Y linear motion axis
(32), Z linear motion axis (33), R rotary shaft (34) constitute one group of movement shaft assembly (4), and Y linear motion axis (32) is located at truss
On crossbeam, Z linear motion axis (33) is located on Y linear motion axis (32), and Z linear motion axis (33) lower end passes through R rotary shaft
(34) robot gripper (5) is connected, is respectively provided with a stop gauge (6), the backgauge in front of the robot gripper (5)
Device (6) is located on truss crossbeam；
The control system carries out stacking work for controlling truss handling system, and the security protection system is for monitoring stacking
The working condition and emergency processing of machine.
2. a kind of efficient stacking machine based on double handgrip truss robots according to claim 1, which is characterized in that described
The kinematic axis direction definition of double handgrip truss robots (3) is as follows:
X linear motion axis (31): vehicle commander direction；
Y linear motion axis (32): vehicle width direction；
Z linear motion axis (33): overall height direction；
R rotary shaft (34): the horizontal rotation in X/Y plane.
3. a kind of efficient stacking machine based on double handgrip truss robots according to claim 1, which is characterized in that described
Security protection system can be connected by way of communication with external device, sensors configured detection operation signal between program, and right
Program behavior sequence interlocks, and by cooperating the detection device, system feedback device, can sound an alarm when there is something special
And autostop.
4. a kind of efficient stacking machine based on double handgrip truss robots according to claim 1, which is characterized in that described
Robot gripper (5) includes handgrip link block (51), support plate (52), the first grasping mechanism (53), the second grasping mechanism (54)；Institute
Stating the first grasping mechanism (53) includes main drive gear (55), bottom plate (56), auxiliary clamping plate (57), claw-plate (58)；
The main drive gear (55) includes moving leader (551), fixed plate (552), revolving part (553), ball-screw
(554), first bevel gear (555), second bevel gear (556), master bevel gear (557), driving motor (558)；The movement is led
There are two bar (551) is set, it is located at left and right sides of fixed plate (552) and is slidably connected with it, the master bevel gear (557) is logical
It is connect in the middle part of axis (5571) and the fixed plate (552) of overdriving, the first bevel gear (555), second bevel gear (556) are set respectively
Master bevel gear (557) the left and right sides and engage, first bevel gear (555), second bevel gear (556) respectively pass through one
A right angle fixing axle (559) connect with fixed plate (552), and the ball-screw (554) is equipped with two groups, is located at master bevel gear
(557) front and back, ball-screw described in two groups (554) are turned by pair of nut (5541) and support plate (52) bottom surface respectively
Dynamic to fix, two groups of ball-screws (554) pass through pair of nut (5541) and first bevel gear (555), second bevel gear (556) respectively
Tooth engagement transmission is bored, two groups of ball-screws (554) are distally rotated with revolving part (553) one end by lead screw pair (5542) respectively to be connected
It connects, revolving part (553) other end is connect with the moving leader (551) upper end；The main drive gear (55) passes through solid
The fixed block (5521) that fixed board (552) front and back sides are equipped with is connect with support plate (52), and drive shaft (5571) upper end is through load
Plate (52) and output axis connection with the driving motor (558), driving motor (558) are fixed on support plate (52) upper surface；
It there are two the bottom plate (56) sets, is connect respectively with moving leader (551) lower end, the auxiliary clamping plate (57) is equipped with
It two, is respectively provided on bottom plate (56) medial surface, auxiliary clamping plate (57) medial surface passes through multiple groups lateral cylinder (575) and main
Clamping plate (56) connection, bottom plate (56) lower end are equipped with the claw-plate (58), pass through shaft and bottom plate (56) in the middle part of claw-plate (58)
Rotation connection, claw-plate (58) top are connect by multiple groups longitudinal cylinder (581) with bottom plate (56), the longitudinal cylinder
(581) it is located on bottom plate (56)；
Auxiliary clamping plate (57) the lateral surface left and right ends are respectively provided with a driving compression bar (571), and the driving compression bar (571) passes through
Multiple drive rods (572) connect through auxiliary clamping plate (57) and with the tail portion of auxiliary side pawl (573), are arranged on the drive rod (572)
Have reset spring (574), the auxiliary side pawl (573) is rotatablely connected by shaft and auxiliary clamping plate (57)；
First grasping mechanism (53) is identical as the second grasping mechanism (54) structure, is disposed side by side on by fixed plate (552)
Support plate (52) bottom surface, the first grasping mechanism (53), the second grasping mechanism (54) are additionally provided in its fixed plate (552) lower end respectively
It presses boxboard (59), the pressure boxboard (59) is by pressing boxboard cylinder (591) to connect with fixed plate (552)；The handgrip link block
(51) it is located at end face center on support plate (52), for connecting with the movement shaft assembly (4).
5. a kind of efficient stacking machine based on double handgrip truss robots according to claim 1, which is characterized in that described
Security protection system by cooperating the detection device, system feedback device, can when there is something special security protection system
Sound an alarm simultaneously autostop.
6. a kind of efficient stacking machine based on double handgrip truss robots according to claim 1, which is characterized in that described
Stop gauge (6) includes connecting plate (61), backgauge buffer board (62), six pawl buffer bars (63)；The backgauge buffer board (62) is logical
Six pawl buffer bars (63) described in multiple groups are crossed to connect with connecting plate (61)；
The six pawls buffer bar (63) includes buffering mobile jib (631), buffering strut (632), sliding shoe (633), the buffering master
Bar (631) and connecting plate (61) connects by main spring (634), and buffering mobile jib (631) left end is circumferentially with 6 and described delays
It rushes strut (632), buffering strut (632) one end and buffering mobile jib (631) are rotatablely connected by shaft, and buffering strut (632) is another
One end is corresponding with 6 sliding groove (611) being arranged with on connecting plate (61) plate, and sliding shoe (633) passes through with sliding groove (611)
Auxiliary spring (612) connection；
The backgauge buffer board (62) is built-in with cushion chamber (621), and multiple buffering balls are filled in the cushion chamber (621)
(622)。
7. a kind of efficient stacking machine based on double handgrip truss robots according to claim 1, which is characterized in that described
Stacking machine is equipped with emergency stop switch, fault alarm indicator light, and the fault alarm indicator light is equipped with three kinds of events of red, yellow, and green
Hinder police instruction.
8. a kind of efficient stacking machine based on double handgrip truss robots according to claim 1, which is characterized in that described
The work step of stacking machine are as follows:
S1: vehicle in place, artificial teaching anchor point；
S2: all mobile devices are moved to the starting point of control system calculating, and compartment is close to vehicle head part；
S3: material reaches backgauge position, and robot gripper grabs the material stopped on roller pipeline by stop gauge, grabs object
Expect up to stacking position and starts stacking；
S4: the stacking stage completes, and X-axis starts to move while robot gripper backhaul, and starting traveling time point is second
Robot gripper completes stacking, and first robot gripper reaches above crawl position at this time；
S5:X axis pushes truss and stop gauge to move to new specified point together, repeats, and completes vehicle operation.
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| CN201910465603.1A CN110104426B (en) | 2019-05-30 | 2019-05-30 | Efficient stacker crane based on double-gripper truss robot |
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| CN110104426B CN110104426B (en) | 2020-10-09 |
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| CN112173712A (en) * | 2020-09-28 | 2021-01-05 | 安徽工业大学 | Automatic detection, stacking and stacking integrated production line for machine tool discharge drill bits and production method |
| CN114131615A (en) * | 2021-12-27 | 2022-03-04 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Robot unstacking and stacking system based on visual guidance and unstacking and stacking method thereof |
| WO2022094878A1 (en) * | 2020-11-05 | 2022-05-12 | 唐山圣因海洋科技有限公司 | Buffer device for logistics handling platform and method therefor |
| CN115158752A (en) * | 2022-06-16 | 2022-10-11 | 科捷智能科技股份有限公司 | Cable stacking and bundling equipment and method thereof |
| CN115465512A (en) * | 2022-08-11 | 2022-12-13 | 江苏群昌智能科技有限公司 | Automatic binary channels transfer chain that pile up neatly used of pail pack |
| CN116620854A (en) * | 2023-07-24 | 2023-08-22 | 烟台佳美包装有限公司 | Stacker for material conveying |
| CN117208579A (en) * | 2023-11-07 | 2023-12-12 | 广东金马领科智能科技有限公司 | Loading and unloading kiln clamp for intelligent closestool transfer and loading and unloading method |
| CN117485892A (en) * | 2024-01-02 | 2024-02-02 | 河北卓著机械设备有限公司 | Intelligent efficient loading system |
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|---|---|---|---|---|
| CN112173712A (en) * | 2020-09-28 | 2021-01-05 | 安徽工业大学 | Automatic detection, stacking and stacking integrated production line for machine tool discharge drill bits and production method |
| WO2022094878A1 (en) * | 2020-11-05 | 2022-05-12 | 唐山圣因海洋科技有限公司 | Buffer device for logistics handling platform and method therefor |
| CN114131615A (en) * | 2021-12-27 | 2022-03-04 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Robot unstacking and stacking system based on visual guidance and unstacking and stacking method thereof |
| CN115158752A (en) * | 2022-06-16 | 2022-10-11 | 科捷智能科技股份有限公司 | Cable stacking and bundling equipment and method thereof |
| CN115158752B (en) * | 2022-06-16 | 2024-02-27 | 科捷智能科技股份有限公司 | Cable stacking and bundling equipment and method thereof |
| CN115465512A (en) * | 2022-08-11 | 2022-12-13 | 江苏群昌智能科技有限公司 | Automatic binary channels transfer chain that pile up neatly used of pail pack |
| CN116620854A (en) * | 2023-07-24 | 2023-08-22 | 烟台佳美包装有限公司 | Stacker for material conveying |
| CN116620854B (en) * | 2023-07-24 | 2023-10-13 | 烟台佳美包装有限公司 | Stacker for material conveying |
| CN117208579A (en) * | 2023-11-07 | 2023-12-12 | 广东金马领科智能科技有限公司 | Loading and unloading kiln clamp for intelligent closestool transfer and loading and unloading method |
| CN117208579B (en) * | 2023-11-07 | 2024-02-02 | 广东金马领科智能科技有限公司 | Loading and unloading kiln clamp for intelligent closestool transfer and loading and unloading method |
| CN117485892A (en) * | 2024-01-02 | 2024-02-02 | 河北卓著机械设备有限公司 | Intelligent efficient loading system |
| CN117485892B (en) * | 2024-01-02 | 2024-03-15 | 河北卓著机械设备有限公司 | Intelligent efficient loading system |
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