CN110271722B - Transfer robot and transfer method for production workshop - Google Patents
Transfer robot and transfer method for production workshop Download PDFInfo
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- CN110271722B CN110271722B CN201910578109.6A CN201910578109A CN110271722B CN 110271722 B CN110271722 B CN 110271722B CN 201910578109 A CN201910578109 A CN 201910578109A CN 110271722 B CN110271722 B CN 110271722B
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- baffle group
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- boxing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/52—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using roller-ways or endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/003—Packaging lines, e.g. general layout
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/08—Devices for counting or registering the number of articles handled, or the number of packages produced by the machine
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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
- B65G13/00—Roller-ways
- B65G13/02—Roller-ways having driven rollers
- B65G13/06—Roller driving means
- B65G13/07—Roller driving means having endless driving elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Container Filling Or Packaging Operations (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a transfer robot and a transfer method for a production workshop, which are matched with a workshop transfer line, wherein the robot comprises: a moving mechanism and a boxing mechanism; wherein the moving mechanism includes: the robot comprises a robot base, a walking mechanism, a lifting telescopic device and a support plate group; lifting telescoping device fixed mounting is on the robot base, and extension board group fixed connection lifting telescoping device includes: lift extension board and storing extension board. Mechanism fixed mounting is boxed on the lift extension board, includes: frame assembly, feed mechanism, vanning station and conveyor. The robot further comprises a control system, a control system and a control module, wherein the control system comprises a processor arranged on the robot body and the following modules connected with the processor: the system comprises an obstacle avoidance module, a positioning module, a driving module and a data information processing module. The carrying robot effectively combines boxing, packaging and carrying robots together, simplifies production space, realizes parallel processes, saves production and carrying time, and reduces labor amount of workers.
Description
Technical Field
The invention belongs to the field of workshop carrying equipment, and particularly relates to a production workshop carrying robot and a carrying method.
Background
The workshop transfer robot plays an important role in the field of modern workshop production and storage, and when the existing transfer robot transfers finished goods, the finished goods to the robot need to be loaded and unloaded by a manipulator or a forklift before the finished goods are transferred from a conveying line to the transfer robot. Therefore, the operation of the transfer robot is limited by various processes, and the boxing process and the transfer operation cannot be performed in parallel, thereby saving the transfer time.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a workshop transfer robot and transport control system can with workshop product transfer chain cooperation work, simplifies the process to solve the above-mentioned problem that prior art exists.
The technical scheme is as follows: a production shop transfer robot comprising:
the control system comprises a processor arranged on the robot body and the following modules connected with the processor: the obstacle avoidance system comprises an obstacle avoidance module, a positioning module, a driving module and a data information processing module;
a moving mechanism, the moving mechanism comprising: the robot comprises a robot base, traveling mechanisms arranged on two sides of the robot base, a lifting telescopic device arranged on the robot base and a support plate group fixedly connected to the output end of the lifting telescopic device;
vanning mechanism, fixed mounting includes in the lift backup pad: the automatic boxing device comprises a rack assembly fixedly arranged on a lifting support plate, a feeding mechanism fixedly connected to one side of the top of the rack assembly, a boxing station corresponding to the feeding mechanism and a conveying device arranged at the bottom of the boxing station;
the conveying device comprises: the conveying device comprises a conveying support fixedly connected to a lifting support plate, a roller line clamped on the conveying support, transmission chains in transmission connection with two ends of the roller line, and a driving motor in transmission connection with the transmission chains; the bottom fixedly connected with rotary mechanism of transfer gantry, be equipped with the vanning station among the conveyor, be equipped with the spacing seat of vanning of jacking device and fixed connection jacking device on the vanning station, conveyor's top is equipped with the joint sealing device.
In a further embodiment, a protective shell and a micro control host fixedly mounted on the protective shell are arranged on the outer side of the rack assembly, and a human-computer interaction display screen is arranged on one side of the micro control host.
In a further embodiment, a processor in the control system is arranged in a micro control host, the obstacle avoidance module comprises a plurality of infrared signal detection devices fixedly mounted on the robot body, the driving module is a driving motor in transmission connection with the traveling mechanism, and the data information processing module is a memory connected with the processor.
In a further embodiment, the lifting and retraction device comprises: the robot base comprises a driving motor fixedly connected to one side of the bottom of the robot base, a gear transmission assembly in transmission connection with a power output end of the driving motor, and a lifting device and a telescopic device in transmission connection with one side of the gear transmission assembly.
In a further embodiment, the lifting device comprises: the lifting support plate is fixedly connected to the cross support framework; four support slide bars are inserted into four ends of the cross support framework, threads matched with the lifting screw are arranged at the joint of the cross support framework and the lifting screw, the power of the driving motor is transmitted to the slave gear through the master gear, the slave gear drives the lifting screw to rotate, so that the cross support framework slides up and down on the four support slide bars, and one ends of the four support slide bars are inserted on the robot base and fixedly connected with the robot base;
the lifting support plate is provided with a bottom moving sliding table assembly, and the conveying device is fixedly arranged on the bottom moving sliding table;
the robot comprises a telescopic screw, a telescopic chute, a sliding frame and a storage support plate, wherein the telescopic chute is formed in a robot base; the robot is characterized in that a weight sensor is installed on the storage support plate, two circular gears are installed up and down by taking the robot base as a base point, the other end of the telescopic screw is fixedly connected with the sliding frame, and the circular gears drive the telescopic screw to move in the reverse direction, so that the storage support plate connected with the sliding frame is synchronously telescopic or stretched.
In a further embodiment, the feed mechanism comprises: the camera device is arranged on one side of the frame assembly, the feeding support is fixedly connected to the frame assembly, the rolling carrier roller group is arranged on the feeding support, and the three groups of correcting baffle groups are fixedly arranged on the top of the frame assembly.
In a further embodiment, the following working steps are included:
a1, arranging a parking system and a running track matched with the transfer robot at the output end of the production transportation line; the robot is parked on a parking assisting space of the parking system;
a2, arranging a finished product conveying line and a carton conveying line on one side of the parking-assistant space, stopping the robot on the parking-assistant space, and butting the feeding mechanism and the carton station with the finished product conveying line and the carton conveying line;
a3, detecting that the carton conveying line conveys the carton to a boxing limiting seat at a boxing station from the conveying device by the aid of the camera device, and jacking the carton by the aid of the jacking device to be close to the correcting baffle group;
a4, setting the correcting baffle group on the feeding bracket to start moving, so that the finished product passes through the correcting baffle group and falls into the carton;
a5, after the image pick-up device detects that the carton is full, correcting the dislocation of the baffle group to block the workpiece, simultaneously lowering the jacking device, and packaging the carton body by the carton sealing device;
a6, jacking the packed box body and continuing to descend to enable the packing limiting seat to descend to be lower than the roller line, and placing the packed carton on the storage support plate through the roller line and the rotating mechanism;
a7, a plurality of weighing transducer who is equipped with on the storing extension board, with storing extension board weight data transmission to control system, the order of carton is put after the drive vanning mechanism of the slip table is realized packing in control system control bottom removal.
Has the advantages that: compared with the prior art, the carrying robot provided by the invention stops at the discharge end of the product conveying line, the boxing mechanism is fixedly arranged on the lifting support plate of the carrying robot, the discharge end is connected with the robot feeding mechanism, one end of the conveying device is connected with the carton conveying line, the carton is conveyed to the boxing station, then the carton is jacked to a certain position through the jacking device by the carton limiting seat to complete boxing, after the boxing is completed, the finished product boxes are orderly placed on the storage support plate by the combined operation of the conveying device and the rotating mechanism to complete the effective integration of boxing and conveying, and the boxing process is further simplified.
Drawings
Fig. 1 is a perspective view of the transfer robot for a production plant of the present invention.
Fig. 2 is a front view of the bin packing mechanism of the present invention.
Fig. 3 is a front view of the feed mechanism of the present invention.
Fig. 4 is a perspective view of the feed mechanism of the present invention.
Fig. 5 is a bottom view of the rotary mechanism of the present invention.
Fig. 6 is a schematic structural view of the moving mechanism of the present invention.
FIG. 7 is a schematic view of the connection of the lifting screw and the expansion screw of the present invention.
Fig. 8 is a partially enlarged view of the retractor of the invention.
The reference signs are: the robot comprises a robot base 1, a walking mechanism 2, a lifting telescopic device 3, a support plate group 4, a lifting support plate 40, a storage support plate 41, a rack assembly 5, a feeding mechanism 6, a feeding support 60, a rolling carrier roller group 61, a correcting baffle group 62, a first baffle group 620, a second baffle group 621, a third baffle group 622, an adjusting device 63, a conveying device 7, a conveying support 70, a roller line 71, a transmission chain 72, a conveying driving motor 73, a boxing station 8, a boxing limit seat 80, a jacking device 9, a protective shell 10, a micro-control host 11, a display screen 12, an infrared detection device 13, a rotating mechanism 14, a rotating support 140, a rotating mechanism cylinder 141, a rotating shaft 142, a cylinder hinge seat 143, a hinge joint 144, a bottom moving sliding table 15, a lifting device 30, a master gear 301, a slave gear 302, a lifting screw 303, a cross support framework 304, a support sliding rod 305 and a base driving motor 306, Telescopic device 31, circular gear 310, telescopic screw 311, telescopic chute 312 and carriage 313.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
A production shop transfer robot as shown in fig. 1, comprising: a moving mechanism and a boxing mechanism; wherein the moving mechanism includes: the robot comprises a robot base 1, a walking mechanism 2, a lifting telescopic device 3 and a support plate group 4; running gear 2 establishes in 1 both sides of robot base, and 3 fixed mounting of lift telescoping device are on robot base 1, and 4 fixed connection lift telescoping device 3 are organized to the extension board, include: a lifting support plate 40 and a storage support plate 41.
As shown in fig. 2 to 5, the packing mechanism is fixedly mounted on the lifting plate 40, and includes: the device comprises a rack assembly 5, a feeding mechanism 6, a boxing station 8 and a conveying device 7.
The frame assembly 5 is fixedly installed on the lifting support plate 40, the protective shell 10 is arranged outside the frame assembly 5, the micro control host 11 is fixedly installed on one side of the protective shell 10, and the human-computer interaction display screen 12 is arranged on one side of the micro control host 11. The micro control host 11 is provided with a processor, and the processor is connected with the following modules: the system comprises an obstacle avoidance module, a positioning module, a driving module and a data information processing module. The obstacle avoidance module is connected with an infrared detection device 13 on the robot body and sends detection data to the robot control system, and the control system controls the walking mechanism 2 to decelerate or stop when an obstacle is detected in the running process.
Feed mechanism 6 fixed mounting includes at the top of frame assembly 5: an imaging device, an adjusting device 63, a rolling carrier roller group 61, and a plurality of correction baffle groups 62. The camera device is electrically connected with the processor, and can detect and position the packing state in the box body and the position of a finished product at the feeding mechanism 6. The plurality of correction baffle groups 62 include: first baffle group 620, second baffle group 621, third baffle group 622, first baffle group 620 corresponds the feed inlet and establishes in the top of roll bearing roller group 61, and second baffle group 621 establishes at same horizontal position with first baffle group 620, and third baffle group 622 corresponds with second baffle group 621 is perpendicular, and adjusting device 63 establishes on frame assembly 5, includes: the adjusting rotating wheel is in transmission connection with the first baffle group 620, and the stroke cylinders are in transmission connection with two sides of the second baffle group 621.
The adjustment wheel can realize manual control and electric control of the moving position of the third baffle group 622. The adjusting rotating wheel is fixedly connected with a screw rod during electric control, the other end of the screw rod is fixedly connected with the push plate, a synchronous belt is sleeved on the screw rod, the other end of the synchronous belt is sleeved at the power output shaft end of the transmission motor, and an encoder of the transmission motor is electrically connected with the processor; the processor controls the rotation speed and the rotation direction of the motor so as to drive the first baffle group 620 to move left and right. The model of the transmission motor is ZYT 46S-10.
The power rod of the stroke cylinder is fixedly connected with a second baffle group 621, the second baffle group 621 is slidably mounted on the guide rail, the stroke cylinders on two sides drive the second baffle group 621 to slide left and right on the guide rail, a control valve of the stroke cylinder is electrically connected with the processor, the processor synchronously informs the first baffle group 620 and the second baffle group 621 to move synchronously or reversely through a detection image of the camera device, after the camera device detects that boxing is finished, the processor controls the transmission motor to stop running and starts stroke gas to run, the second baffle group 621 and the baffle group are staggered, when the first baffle group 620 and the second baffle group are staggered, finished products can be prevented from entering a third baffle plate to play a role of blocking, in the boxing process, the processor controls the transmission motor to drive the first baffle group 620 to move left and right, and simultaneously controls the stroke cylinder to control the stroke cylinder to drive the second baffle group 621, so that a channel for workpieces to pass through is formed between the first baffle group 620 and between the second baffle group 621, the work piece falls to third baffle group 622 through second baffle group 621, and then in order falls to the box, third baffle group 622 plays and blocks and the separated effect prevents that the work piece from scattering outside the box.
The conveying device 7 comprises a conveying support 70 fixedly connected to the lifting support plate 40, a roller line 71 clamped on the conveying support 70, a transmission chain 72 in transmission connection with two ends of the roller line 71, and a conveying driving motor 73 in transmission connection with the transmission chain 72. The bottom fixedly connected with rotary mechanism 14 of transfer gantry 70, rotary mechanism 14 includes: the rotary support 140 is fixedly connected with the conveying support 70, the cylinder hinge seat 143 is fixedly arranged on the rotary support 140, the rotary mechanism cylinder 141 is fixedly connected to the left of the cylinder hinge, the power rod is arranged in the cylinder, the hinge joint 144 is connected to the other end of the power rod, and the rotary shaft 142 is sleeved in the hinge joint 144; still be equipped with vanning station 8 in conveyor 7, vanning station 8 is equipped with the joint sealing device including establishing jacking device 9 and the spacing seat 80 of vanning of fixed connection jacking device 9 in drum line 71 bottom, conveyor 7's top. The conveyance drive motor 73 is of the type 6IK120 GN-CF.
The conveying driving motor 73 drives the roller line 71 to rotate through the transmission chain 72, so that the cartons on the carton conveying line move forward on the roller line 71, when the cartons move to the boxing station 8, the jacking device 9 drives the boxing limiting seat 80 to ascend, so that the cartons are lifted to be far away from the roller line 71 and further stop at the corresponding position of the third baffle group 622, the box sealing device seals the boxes after boxing is completed, the jacking device 9 drives the boxing limiting seat 80 to descend after the box sealing is completed, the cartons are placed on the roller line 71, meanwhile, the rotating mechanism cylinder 141 in the rotating mechanism 14 drives the rotating support 140 to drive the conveying support 70 to rotate in a certain direction inside the rack assembly 5, the rolling lines are rotated to the storage support plates 41 on the two sides of the robot, and the cartons are conveyed to the storage support plates 41. The rotating mechanism cylinder 141 has a compact structure, high precision of the rotation stroke, stable precision control and quick response time.
As shown in fig. 6 to 8, the lifting and retracting device 3 includes: a base drive motor 306, a gear assembly, and a lift 30 and a retractor 31.
The base driving motor 306 is fixedly connected to one side of the bottom of the robot base 1, a motor mounting seat is arranged on the outer side of the base driving motor 306, the gear transmission assembly is in transmission connection with the power output end of the base driving motor 306, the lifting device 30 and the telescopic device 31 are in transmission connection with one side of the gear transmission assembly, and the gear transmission assembly comprises a main gear 301, a driven gear 302 and a circular gear 310 sleeved on the lifting screw 303. The power output end of the base driving motor 306 drives the main gear 301 to rotate, and the power drives the lifting and retracting device 3 to synchronously lift or retract. The pedestal drive motor 306 is model number HTJC-a 2.
The lifting device 30 includes: a slave gear 302 matched with the master gear 301, a lifting screw 303 sleeved on the slave gear 302, a cross support frame 304 sleeved outside the lifting screw 303, and a lifting support plate 40 fixedly connected on the cross support frame 304; four supporting slide bars 305 are inserted into four ends of the cross supporting framework 304 in a penetrating manner, the surfaces of the four supporting slide bars 305 are smooth, a thread sleeve matched with the lifting screw 303 is arranged at the joint of the cross supporting framework 304 and the lifting screw 303, the power of a motor is transmitted to the slave gear 302 through the master gear 301, the slave gear 302 drives the lifting screw 303 to rotate, so that the cross supporting framework 304 finishes lifting on the four supporting slide bars 305, one ends of the four supporting slide bars 305 are inserted on the robot base 1 and fixedly connected with the robot base 1, and the cross supporting framework 304 is supported.
Be equipped with the bottom on the lift extension board 40 and remove slip table 15 subassembly, conveyor 7 fixed mounting is on the bottom removes slip table 15, and one side that slip table 15 was removed to the bottom is equipped with hold-in range and CD-ROM drive motor, and bottom removes slip table 15 and is equipped with the connecting block in one side of hold-in range, and CD-ROM drive motor connects the treater to drive the hold-in range and rotates, drives conveyor 7 and bottom and removes slip table 15 seesaw on the slide rail simultaneously.
The telescopic device 31 includes: the number of the telescopic screw rods 311 is four, the telescopic chute 312 is arranged on the robot base 1, the sliding frame 313 is clamped on the telescopic chute 312, and the storage support plate 41 is fixedly connected with the sliding frame 313; the modification in later stage can be made according to the size of carton to storing extension board 41 size, installs a plurality of weighing transducer on the storing extension board 41, can prevent the overweight phenomenon of carrying cargo from appearing sending the quality data of goods to control system in real time. The two circular gears 310 are symmetrically installed with the base point on the robot base 1, the other end of the telescopic screw 311 is fixedly connected with the sliding frame 313, and the two sides of the two circular gears 310 are respectively screwed with the telescopic screw 311, so that power drives the telescopic screw 311 to move in the opposite direction through the two circular gears 310, the sliding frame 313 connected with the telescopic screw 311 synchronously stretches or stretches, and finally the storage support plate 41 connected with the sliding frame 313 stretches or stretches.
The working steps are as follows:
the first step, the output end of the production transportation line is provided with a parking system and a running track which are matched with a transfer robot; the robot is parked on a parking assisting space of the parking system;
secondly, a finished product conveying line and a carton conveying line are arranged on one side of the parking-assisting space, the robot is parked on the parking-assisting space, and the feeding mechanism 6 and the boxing station 8 are in butt joint with the finished product conveying line and the carton conveying line;
thirdly, the camera device detects that the carton conveying line conveys the carton to a boxing limiting seat 80 of the boxing station 8 from the conveying device 7, and the jacking device 9 moves to jack up the carton to be close to the correcting baffle group 62;
fourthly, the correction baffle group 62 arranged on the feeding bracket 60 starts to move, so that the finished product passes through the correction baffle group 62 and falls into the carton;
fifthly, after the camera device detects that the carton is full, the correcting baffle plate group 62 blocks the workpiece in a dislocation way, meanwhile, the jacking device 9 descends, and the box sealing device packs the box body;
sixthly, the packed box body is jacked up and continuously descends, so that the packing limiting seat 80 descends to be lower than the roller line 71, and the packed carton is placed on the storage support plate 41 through the roller line 71 and the rotating mechanism 14;
seventhly, when a plurality of weight sensors are arranged on the storage support plate 41, weight data of the storage support plate 41 are sent to the control system, and the control system controls the driving boxing mechanism of the bottom movable sliding table 15 to achieve sequential placement of the packaged cartons.
The carrying robot effectively combines boxing, packaging and carrying robots together, simplifies production space, realizes parallel processes, saves production and carrying time, and reduces labor amount of workers.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (3)
1. The utility model provides a workshop transfer robot, suits with workshop transfer chain which characterized in that includes:
the control system comprises a processor arranged on the robot body and the following modules connected with the processor: the obstacle avoidance system comprises an obstacle avoidance module, a positioning module, a driving module and a data information processing module;
a moving mechanism, the moving mechanism comprising: the robot comprises a robot base, traveling mechanisms arranged on two sides of the robot base, a lifting telescopic device arranged on the robot base and a support plate group fixedly connected to the output end of the lifting telescopic device;
vanning mechanism, fixed mounting includes in the lift backup pad: the automatic boxing device comprises a rack assembly fixedly arranged on a lifting support plate, a feeding mechanism fixedly connected to one side of the top of the rack assembly, a boxing station corresponding to the feeding mechanism and a conveying device arranged at the bottom of the boxing station;
the conveying device comprises: the conveying device comprises a conveying support fixedly connected to a lifting support plate, a roller line clamped on the conveying support, transmission chains in transmission connection with two ends of the roller line, and a driving motor in transmission connection with the transmission chains; the bottom of the conveying support is fixedly connected with a rotating mechanism, a boxing station is arranged in the conveying device, a jacking device and a boxing limiting seat fixedly connected with the jacking device are arranged on the boxing station, and a box sealing device is arranged above the conveying device; the rotating mechanism includes: the rotary support is fixedly connected with the conveying support, the air cylinder hinged seat is fixedly arranged on the rotary support, the rotary mechanism air cylinder is fixedly connected to the left of the air cylinder hinged joint, the power rod is arranged in the air cylinder, the hinged joint is connected to the other end of the power rod, and the rotating shaft is sleeved in the hinged joint;
a protective shell and a micro control host fixedly installed on the protective shell are arranged on the outer side of the rack assembly, and a human-computer interaction display screen is arranged on one side of the micro control host;
the obstacle avoidance module comprises a plurality of infrared signal detection devices fixedly mounted on a robot body, the driving module is a driving motor in transmission connection with the traveling mechanism, and the data information processing module is a memory connected with the processor;
the lifting telescopic device comprises: the robot comprises a driving motor fixedly connected to one side of the bottom of a robot base, a gear transmission assembly in transmission connection with a power output end of the driving motor, and a lifting device and a telescopic device in transmission connection with one side of the gear transmission assembly;
the lifting device comprises: the lifting support plate is fixedly connected to the cross support framework; four support slide bars are inserted into four ends of the cross support framework, threads matched with the lifting screw are arranged at the joint of the cross support framework and the lifting screw, the power of the driving motor is transmitted to the slave gear through the master gear, the slave gear drives the lifting screw to rotate, so that the cross support framework slides up and down on the four support slide bars, and one ends of the four support slide bars are inserted on the robot base and fixedly connected with the robot base;
the lifting support plate is provided with a bottom moving sliding table assembly, and the conveying device is fixedly arranged on the bottom moving sliding table; a synchronous belt and a driving motor are arranged on one side of the bottom moving sliding table, a connecting block is arranged on one side of the synchronous belt of the bottom moving sliding table, and the driving motor is electrically connected with the processor to drive the synchronous belt to rotate and simultaneously drive the conveying device and the bottom moving sliding table to move back and forth on the sliding rail;
the telescopic device comprises; the robot comprises a telescopic screw, a telescopic chute, a sliding frame and a storage support plate, wherein the telescopic chute is formed in a robot base; the robot comprises a robot base, a sliding frame, a storage support plate, a weight sensor, two circular gears, a telescopic screw rod and a telescopic screw rod, wherein the storage support plate is provided with the weight sensor; the weight sensor can send the quality data of goods to the control system in real time to prevent the phenomenon of overweight of goods.
2. The shop transfer robot of claim 1, wherein the infeed mechanism comprises: the device comprises a camera device arranged on one side of a rack assembly, a feeding support fixedly connected to the rack assembly, a rolling carrier roller group arranged on the feeding support, and three groups of correction baffle groups fixedly arranged on the top of the rack assembly;
three group correction baffle groups include: first baffle group, second baffle group, third baffle group, first baffle group corresponds the feed inlet and establishes in the top of roll bearing roller group, and second baffle group and first baffle group establish at same horizontal position, and third baffle group corresponds with second baffle group is perpendicular, and adjusting device establishes on the frame assembly, includes: the adjusting rotating wheel is in transmission connection with the first baffle group, and the stroke cylinders are in transmission connection with two sides of the second baffle group;
the moving position of the third baffle group can be controlled manually and electrically by adjusting the rotating wheel; the adjusting rotating wheel is fixedly connected with a screw rod during electric control, the other end of the screw rod is fixedly connected with the push plate, a synchronous belt is sleeved on the screw rod, the other end of the synchronous belt is sleeved at the power output shaft end of the transmission motor, and an encoder of the transmission motor is electrically connected with the processor; the processor controls the rotating speed and the rotating direction of the motor so as to drive the first baffle plate group to move left and right;
the power rod of the stroke cylinder is fixedly connected with one end of the second baffle group, the second baffle group is slidably mounted on the guide rail, the stroke cylinders on two sides drive the second baffle group to slide left and right on the guide rail, a control valve of the stroke cylinder is electrically connected with the processor, the processor synchronously informs the first baffle group and the second baffle group of synchronous motion or reverse motion through a detection image of the camera device, after the camera device detects that boxing is finished, the processor controls the transmission motor to stop running and starts stroke gas to run, the second baffle group and the first baffle group are arranged in a staggered mode, and when the first baffle group and the second baffle are in a staggered mode, finished parts can be prevented from entering the third baffle, so that a blocking effect is achieved; in the box packing process, the processor controls the transmission motor to drive the first baffle group to move left and right, and the control valve of the stroke control cylinder controls the stroke control cylinder to drive the second baffle group, so that a channel for a workpiece to pass is formed between the first baffle group and the second baffle group, the workpiece falls to the third baffle group through the second baffle group and then falls into the box body in order, and the third baffle group plays a role in blocking and separating to prevent the workpiece from falling outside the box body;
the jacking device drives the boxing limiting seat to ascend, so that the carton box is lifted to be far away from the roller line and then stops at the corresponding position of the third baffle group, the box sealing device seals the box body after boxing is completed, the jacking device drives the boxing limiting seat to descend after boxing is completed, and the carton box is placed on the roller line.
3. The transfer method of the transfer robot in the production workshop is characterized by comprising the following working steps:
a1, arranging a parking system and a running track matched with the transfer robot at the output end of the production transportation line; the robot is parked on a parking assisting space of the parking system;
a2, arranging a finished product conveying line and a carton conveying line on one side of the parking-assistant space, stopping the robot on the parking-assistant space, and butting the feeding mechanism and the carton station with the finished product conveying line and the carton conveying line;
a3, detecting that the carton conveying line conveys the carton to a boxing limiting seat at a boxing station from the conveying device by the aid of the camera device, and jacking the carton by the aid of the jacking device to be close to the correcting baffle group;
a4, setting the correcting baffle group on the feeding bracket to start moving, so that the finished product passes through the correcting baffle group and falls into the carton;
a5, after the image pick-up device detects that the carton is full, correcting the dislocation of the baffle group to block the workpiece, simultaneously lowering the jacking device, and packaging the carton body by the carton sealing device;
a6, jacking the packed box body and continuing to descend to enable the packing limiting seat to descend to be lower than the roller line, and placing the packed carton on the storage support plate through the roller line and the rotating mechanism;
a7, a plurality of weighing transducer who is equipped with on the storing extension board, with storing extension board weight data transmission to control system, the order of carton is put after the drive vanning mechanism of the slip table is realized packing in control system control bottom removal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN112537505A (en) * | 2020-11-12 | 2021-03-23 | 安徽博泰装饰材料有限公司 | Powder coating vanning deashing mechanism |
| CN117049158B (en) * | 2023-10-11 | 2023-12-08 | 沥拓科技(深圳)有限公司 | Ordered transfer robot for intelligent manufacturing |
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| CN203698715U (en) * | 2014-02-20 | 2014-07-09 | 上海宗义自动化设备制造有限公司 | Beverage dropping type boxing line |
| CN208614791U (en) * | 2018-01-18 | 2019-03-19 | 东莞理工学院 | All directionally movable robot applied to intelligent repository |
| CN208196813U (en) * | 2018-04-18 | 2018-12-07 | 东方普华(北京)输送机械有限公司 | A kind of industrial transport intelligent robot |
| CN208102407U (en) * | 2018-08-07 | 2018-11-16 | 卞小燕 | A kind of automation boxing apparatus for server host |
| CN208964135U (en) * | 2018-10-16 | 2019-06-11 | 广东美的智能机器人有限公司 | Carloader |
| CN109909980A (en) * | 2019-04-17 | 2019-06-21 | 小驴机器人(武汉)有限公司 | Mobile robot chassis and omnidirectional mobile robot |
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