CN110371695A - A kind of comprehensive practical traning work station of industrial robot stacking and de-stacking - Google Patents
A kind of comprehensive practical traning work station of industrial robot stacking and de-stacking Download PDFInfo
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- CN110371695A CN110371695A CN201910684429.XA CN201910684429A CN110371695A CN 110371695 A CN110371695 A CN 110371695A CN 201910684429 A CN201910684429 A CN 201910684429A CN 110371695 A CN110371695 A CN 110371695A
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- stacking
- unit
- industrial robot
- supply unit
- work station
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- 239000000463 material Substances 0.000 claims abstract description 48
- 230000001105 regulatory effect Effects 0.000 claims abstract description 9
- 230000005693 optoelectronics Effects 0.000 claims abstract description 5
- 230000033228 biological regulation Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 239000011521 glass Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 3
- 239000011358 absorbing material Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000004807 localization Effects 0.000 claims 1
- 238000001914 filtration Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Abstract
The invention discloses the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking, safe fence unit keeps apart industrial robot workspace, it is ensured that operation safety；Circuit control cabinet unit is mounted on outside safe fence unit, distributes power supply for each equipment；Industrial robot and stacking supply unit are controlled by circuit control cabinet unit；Stacking supply unit is made of drum conveying line, is driven using speed regulating motor, is detected equipped with optoelectronic switch and color mark sensor to material block on stacking supply unit；Atmospheric control includes air compressor machine, and air compressor machine is equipped with pressure regulation filter and rubber sleeve valve, is respectively used to filtering air compressor machine output gas and control pressure；Stacking and de-stacking design are structure as a whole by the present invention, save workflow, the degree of automation greatly improves.Using pneumatic control and sensor detecting, the stability of system is effectively raised.
Description
Technical field
The present invention relates to a kind of comprehensive practical traning work station of robot stacking and de-stacking applied to industrial teaching demonstration,
Belong to industrial robot instructional technology field.
Background technique
With the progress of science and technology and the raising of enterprise's production automation level, robot palletizer is answered in automatic field
With more and more extensive.It needs according to certain mode and sequence to put the objects such as packed or case dress on pallet, and then realizes
The work such as carrying and transport to object.In enterprises such as large-scale food and drink, chemical industry and coal mines, modern palletizing technology has been obtained extensively
General application.Due to the development in market, some workshops not only need to carry out stacking using robot but also need robot to tear open
Pile.Therefore more great to the meaning of the comprehensive practical traning work station research of industrial robot stacking and de-stacking, it biggish can mention
The production efficiency of high enterprise, and save human resources.
Summary of the invention
In order to realize the control of stacking and de-stacking simultaneously, it is an object of the invention to devise a kind of industrial robot stacking
With the comprehensive practical traning work station of de-stacking, better teaching platform can be provided for education sector.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of comprehensive practical traning work station of industrial robot stacking and de-stacking, including safe fence unit (1), circuit control cabinet list
First (7), atmospheric control, sensor detecting system, the first pile disk unit (3), the second pile disk unit (5), stacking conveying are single
First (6) and industrial robot (2).
Safe fence unit (1) keeps apart industrial robot (2) workspace, it is ensured that operation safety；Circuit control cabinet list
First (7) are mounted on safe fence unit (1) outside, distribute power supply for each equipment；Industrial robot (2) and stacking supply unit
(6) it is controlled by circuit control cabinet unit；Stacking supply unit (6) is made of drum conveying line, is driven using speed regulating motor, stacking
Material block is detected equipped with optoelectronic switch and color mark sensor on supply unit (6)；Atmospheric control includes air compressor machine
(4), air compressor machine (4) is equipped with pressure regulation filter and rubber sleeve valve, is respectively used to filtering air compressor machine (4) output gas and controls gas
Pressure；First pile disk unit (3), the second pile disk unit (5) use nine jiaos of Pallet for forklift as pile disk, and deposit is used on pile disk
Material.
Safe fence (1) is separated using transparent glass and wire netting, and the frame built using aluminum profile is solid using aluminum profile
Reservation is fixed, i.e., beautiful and secured；
Circuit control cabinet unit (7) is made of robot control cabinet, distribution box, push-botton operation panel；Robot control cabinet and behaviour
Make button and distribution is unified by shared distribution box；
Stacking supply unit (6) realizes material transmission by chain conveyer by duplex chain wheel roller chain, for driving duplex chain wheel
The motor of roller chain is speed regulating motor, and the speed of chain drive is set by governor；Photoelectricity on stacking supply unit (6)
Sensor can detecte whether there is or not material, and color mark sensor can distinguish the color of material；There is telescopic cylinder in atmospheric control,
For positioning materials；
Atmospheric control includes vacuum chuck, multi-stage vacuum generator (G), vacuum detector and telescopic cylinder and air compressor machine
(4)；Sensor detecting system includes optoelectronic switch and color mark sensor；First pile disk unit (3) is that robot carries out stacking
Pile disk, the second pile disk unit (5) are the pile disks of hand stowage.Vacuum chuck is used for absorbing material；Multi-stage vacuum generator (G) is
Vacuum chuck generates vacuum environment；Vacuum detector is to detect air pressure size.Vacuum chuck is mounted on industrial robot (2)
On；Multi-stage vacuum generator (G) is that vacuum chuck generates vacuum, and the vacuum degree that vacuum detector is used to detect vacuum chuck is big
It is small.
Palletization: being manually put on stacking supply unit (6) from the second pile disk unit (5) material, and stacking conveying is single
First (6) are interior to safe fence unit (1) by material transmission, and it is enterprising that material is put into the first pile disk unit (3) by industrial robot (2)
Row stacking.
De-stacking process: material is transported to stacking supply unit (6) from the first pile disk unit (3) by industrial robot (2)
On, stacking supply unit (6) by material transmission to safe fence unit (1) outside, material is manually put into the second pile disk unit (5)
On, this process is recycled, to realize de-stacking process.
The advantages of comprehensive practical traning work station of a kind of industrial robot stacking of the present invention and de-stacking, is:
1. melting stacking and de-stacking and one, workflow is saved, the degree of automation greatly improves.
2. using pneumatic control and sensor detecting, the stability of system is effectively raised.
3. not only simplifying circuit control system, and effectively save space using the control cabinet of compact.
4. using speed regulating motor, motor speed can be adjusted by production requirement.
Detailed description of the invention
Fig. 1 is the comprehensive practical traning work station top view of a kind of industrial robot stacking and de-stacking.
Fig. 2 is the comprehensive practical traning work station normal axomometric drawing of a kind of industrial robot stacking and de-stacking.
Fig. 3 is stacking supply unit normal axomometric drawing.
Specific embodiment
The present embodiment proposes the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking, including safe fence
Unit, circuit control cabinet unit, atmospheric control, sensor detecting system, pile disk unit, stacking supply unit, industrial machine
Device people's unit.
Safe fence of the invention (1) is also equipped with automatic alarm safety door and green indicating lamp as shown in Figure 1:.Work as system
When working under automatic running pattern, green indicating lamp is always on for green light.When equipment breaks down, green indicating lamp is red light
Flashing.When equipment, which is in normal, stops transport, green indicating lamp is always on for amber light.In automatic mode, if opening safety by people
Door, the buzzer of security system are then triggered, and are simultaneously emitted by buzzer and red flashing alarm.
As shown in figure 3, stacking supply unit (6) of the invention is the comprehensive practical traning of entire industrial robot stacking and de-stacking
The important composition unit of work station.It include carrier chain first and last backgauge module (F), carrier chain head end pusher positioning cylinder in the unit
(E), the first photoelectric sensor (A), the second photoelectric sensor (D), color mark sensor (C), duplex chain wheel roller (B), speed regulation electricity
Machine (I), footed glass (H) sum digit show baroswitch.
First photoelectric sensor (A) is mounted on stacking supply unit (6) end in safe fence unit (1), for examining
Whether there is or not material blocks for survey；Duplex chain wheel roller (B) is mounted on stacking supply unit (6), for transmitting material；Color mark sensor
(C) it is mounted on stacking supply unit (6), for identification the color of material, the second photoelectric sensor (D) herein is for positioning
Detect material；Safe fence unit (1) is equipped with pusher positioning cylinder (E) on stacking supply unit (6) end outside, can position
Material；The backgauge module (F) at stacking supply unit (6) both ends is mounted on for stopping material；Multi-stage vacuum generator (G) installation
On stacking supply unit (6), vacuum is generated for vacuum chuck；Footed glass (H) is mounted on the aluminum section frame of stacking supply unit (6)
On frame, fix stacking supply unit (6) with ground；Speed regulating motor (I) is mounted on stacking supply unit (6) as material transmission
Power source is provided.
Material navigates to color mark sensor detection position by photoelectric sensor from the head end of carrier chain and carries out material first
Color identification, then conveying chain end is reached by the backgauge module and photoelectric sensor positioning materials of conveying chain end, finally lead to
The I/O for crossing PLC and robot is communicated to robot reception and registration material signal, and then the progress stacking by robot in place.When need
When wanting de-stacking, is torn open by robot and sent a signal to PLC after pile material transmission is walked by carrier chain again.Above-mentioned numerical digit shows gas
It compresses switch and consists of two parts: (1) power unit: DC voltage needed for (alternating current 220V draws by switching circuit to be transformed to),
Circuit needed for supplying again through voltage regulator circuit, or (24V) DC voltage directly supply required circuit through voltage regulator circuit.(2) signal section
Point: measured medium pressure passes to the pressure-sensitive diaphragm of sensor by pressure interface, sensor by the electric signal of induction through amplification,
V/A conversion, CPU handled, display number is arranged, the output of control switch amount, and provide analog quantity or digital output to
Realize that pressure shows, controls and the process of pick-up.It can be seen that numerical digit shows that baroswitch can effectively adjust air pressure, it is ensured that
The operation of system order.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With.It can be applied to various suitable the field of the invention completely.It for those skilled in the art, can be easily
Realize other modification.Therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.It can be applied to various be suitble to this practical new architecture neck completely
Domain.For man skilled in the art, other modification can be readily realized.Therefore without departing substantially from claim and homotypes are being waited
Under universal defined by enclosing, the present invention is not limited to specific details and legend shown and described herein.
Claims (10)
1. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking, it is characterised in that: including safe fence unit
(1), circuit control cabinet unit (7), atmospheric control, sensor detecting system, the first pile disk unit (3), the second pile disk list
First (5), stacking supply unit (6) and industrial robot (2)；Industrial robot (2) workspace is isolated safe fence unit (1)
It opens, it is ensured that operation safety；Circuit control cabinet unit (7) is mounted on safe fence unit (1) outside, distributes power supply for each equipment；
Industrial robot (2) and stacking supply unit (6) are controlled by circuit control cabinet unit；Stacking supply unit (6) is conveyed by roller
Line composition, is driven using speed regulating motor, is carried out equipped with optoelectronic switch and color mark sensor to material block on stacking supply unit (6)
Detection；Atmospheric control includes air compressor machine (4), and air compressor machine (4) is equipped with pressure regulation filter and rubber sleeve valve, is respectively used to filter
Air compressor machine (4) output gas and control pressure；First pile disk unit (3), the second pile disk unit (5) use nine jiaos of fork truck supports
Disk is as pile disk, for storing material on pile disk.
2. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 1, it is characterised in that:
Safe fence (1) is separated using transparent glass and wire netting.
3. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 1, it is characterised in that:
Circuit control cabinet unit (7) is made of robot control cabinet, distribution box, push-botton operation panel；Robot control cabinet and operation are pressed
Button unifies distribution by shared distribution box.
4. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 1, it is characterised in that:
Stacking supply unit (6) realizes material transmission by chain conveyer by duplex chain wheel roller chain, for driving duplex chain wheel roller
The motor of chain is speed regulating motor, and the speed of chain drive is set by governor；Photoelectric sensing on stacking supply unit (6)
Device detects the presence of material, and color mark sensor can distinguish material color；There is telescopic cylinder in atmospheric control, for positioning object
Material.
5. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 1, it is characterised in that:
Atmospheric control includes vacuum chuck, multi-stage vacuum generator (G), vacuum detector and telescopic cylinder and air compressor machine (4)；It passes
Sensor detection system includes optoelectronic switch and color mark sensor；First pile disk unit (3) is that robot carries out the pile disk of stacking, the
Two pile disk units (5) are the pile disks of hand stowage；Vacuum chuck is used for absorbing material；Multi-stage vacuum generator (G) is vacuum suction
Disk generates vacuum environment；Vacuum detector is to detect air pressure size；Vacuum chuck is mounted on industrial robot (2).
6. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 5, it is characterised in that:
Multi-stage vacuum generator (G) is that vacuum chuck generates vacuum, and vacuum detector is used to detect the vacuum degree size of vacuum chuck.
7. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 1, it is characterised in that:
Palletization is as follows, is manually put on stacking supply unit (6) from the second pile disk unit (5) material, stacking supply unit (6)
By in material transmission to safe fence unit (1), material is put on the first pile disk unit (3) and carries out code by industrial robot (2)
Pile.
8. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 1, it is characterised in that:
De-stacking process is as follows, and industrial robot (2) is transported to material on stacking supply unit (6) from the first pile disk unit (3), code
Pile supply unit (6) by material transmission to safe fence unit (1) outside, manually material is put on the second pile disk unit (5), is followed
This process of ring, to realize de-stacking process.
9. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 1, it is characterised in that:
Stacking supply unit (6) is the important composition unit of the comprehensive practical traning work station of entire industrial robot stacking and de-stacking；The list
It include carrier chain first and last backgauge module (F), carrier chain head end pusher positioning cylinder (E), the first photoelectric sensor (A), the in member
Two photoelectric sensors (D), color mark sensor (C), duplex chain wheel roller (B), speed regulating motor (I), footed glass (H) sum digit show gas
It compresses switch；First photoelectric sensor (A) is mounted on stacking supply unit (6) end in safe fence unit (1), for detecting
Whether there is or not material blocks；Duplex chain wheel roller (B) is mounted on stacking supply unit (6), for transmitting material；Color mark sensor (C)
It is mounted on stacking supply unit (6), for identification the color of material, the second photoelectric sensor (D) is used for detection and localization material；
Safe fence unit (1) is equipped with pusher positioning cylinder (E) on stacking supply unit (6) end outside, can positioning materials；Installation
In the backgauge module (F) at stacking supply unit (6) both ends for stopping material；It is defeated that multi-stage vacuum generator (G) is mounted on stacking
It send on unit (6), generates vacuum for vacuum chuck；Footed glass (H) is mounted on the aluminum section bar frame of stacking supply unit (6), is made
Stacking supply unit (6) is fixed with ground；Speed regulating motor (I) be mounted on stacking supply unit (6) provided for material transmission it is dynamic
Power source.
10. the comprehensive practical traning work station of a kind of industrial robot stacking and de-stacking according to claim 1, feature exist
In: material navigates to color mark sensor detection position by photoelectric sensor from the head end of carrier chain and carries out the knowledge of material color first
Not, then by conveying chain end backgauge module and photoelectric sensor positioning materials reach conveying chain end, finally by PLC with
The I/O of industrial robot (2) is communicated to robot and is conveyed material signal in place, and then code is carried out by industrial robot (2)
Pile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910684429.XA CN110371695A (en) | 2019-07-26 | 2019-07-26 | A kind of comprehensive practical traning work station of industrial robot stacking and de-stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910684429.XA CN110371695A (en) | 2019-07-26 | 2019-07-26 | A kind of comprehensive practical traning work station of industrial robot stacking and de-stacking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110371695A true CN110371695A (en) | 2019-10-25 |
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ID=68256386
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910684429.XA Pending CN110371695A (en) | 2019-07-26 | 2019-07-26 | A kind of comprehensive practical traning work station of industrial robot stacking and de-stacking |
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| Country | Link |
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| CN (1) | CN110371695A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710259A (en) * | 2020-12-09 | 2021-04-27 | 沈爱军 | Device for detecting residual deformation rate of carbon fiber wound composite gas cylinder |
| EP3960669A1 (en) * | 2020-08-28 | 2022-03-02 | G.J. Hollestelle Beheer B.V. | Stack manipulating system and corresponding method |
| CN114148762A (en) * | 2021-11-15 | 2022-03-08 | 广东三向智能科技股份有限公司 | Industrial robot pile up neatly workstation |
| CN116276058A (en) * | 2023-05-06 | 2023-06-23 | 四川弥韧科技有限公司 | Automatic production system of gas meter section |
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