CN111017541A - Plate part transferring device and transferring method thereof - Google Patents
Plate part transferring device and transferring method thereof Download PDFInfo
- Publication number
- CN111017541A CN111017541A CN201911133355.7A CN201911133355A CN111017541A CN 111017541 A CN111017541 A CN 111017541A CN 201911133355 A CN201911133355 A CN 201911133355A CN 111017541 A CN111017541 A CN 111017541A
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- bottom plate
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- 238000000034 method Methods 0.000 title abstract description 13
- 238000003860 storage Methods 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000000151 deposition Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 claims description 2
- 238000003466 welding Methods 0.000 abstract description 24
- 239000000463 material Substances 0.000 abstract description 23
- 230000008569 process Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses a plate part transfer device which comprises an AGV trolley, wherein a storage device is arranged at the top of the AGV trolley and comprises a base, a plurality of storage frames are arranged on the base and are arranged at equal intervals along the length direction of the base, each storage frame comprises a storage bottom plate which slides along the width direction of the base, an enclosing frame is arranged above the storage top plate, an upper placing opening and a side placing opening are respectively arranged above the enclosing frame and on one side in the width direction, and a linear driving mechanism which drives any one storage frame to slide along the width direction is arranged on the base. This transfer device erects the board class part and puts and shift, makes things convenient for the access material of robot like this, satisfies the automatic welding demand of automatic welding machine. In addition, the invention also discloses a transferring method using the transferring device, and the transferring method uses the transferring device, so that automatic welding intelligent supply can be realized according to orders, and the automation degree is higher.
Description
Technical Field
The invention relates to a plate part transferring device, and a transferring method using the plate part transferring device, which is used for automatic welding.
Background
In some technical fields of automatic welding, as the automatic welding is carried out in batch blanking according to project orders, plate parts with various specifications can be produced, and the parts with the same specification are stacked in a centralized and horizontal overlapping manner, so that a large storage space is needed, and the field waste is caused; during welding production, a manipulator with a suction tool is generally used for sucking and transferring plate parts, and then the plate parts are sent to an automatic welding machine for welding; since most of the parts are horizontally stacked, the robot needs to use a special auxiliary mechanism to adjust the position or the turning direction during picking, which is very tedious. The plate parts are flatly placed, the working range of the manipulator is limited, the sizes of the plate parts are large and small, and therefore the same manipulator can only place a small number of types of plate parts in the working range, so that a plurality of manipulators are needed to simultaneously work to increase the working coverage, the transfer of the plate parts of various types is met, the plate parts are supplied to the automatic welding machine, and the production cost is increased.
Disclosure of Invention
The first technical problem to be solved by the invention is as follows: the transfer device for the plate parts is characterized in that the plate parts are vertically placed and transferred, so that the robot can conveniently store and take materials, and the automatic welding requirement of an automatic welding machine is met.
The second technical problem to be solved by the invention is: the transfer method of the plate parts uses the transfer device, and can intelligently supply materials for automatic welding according to orders, so that the automation degree is higher.
In order to solve the first technical problem, the technical scheme of the invention is as follows: the utility model provides a board parts's transfer device, includes the AGV dolly, board parts strorage device is installed at the top of AGV dolly, strorage device is including being fixed in the base on the mesa of AGV dolly, install the frame of depositing that a plurality of is used for placing the board parts of erectting on the base, deposit the equidistant range of length direction of frame edge base, every structure of depositing the frame is the same, and every is deposited the frame and all is included along the gliding bottom plate of depositing of base width direction, and the top of should depositing the roof is provided with the frame that encloses that is used for supporting the board parts of erectting, the top of enclosing the frame and the ascending one side of width direction are provided with respectively and place mouthful and the mouth is placed to the side, be provided with the gliding sharp actuating mechanism of drive arbitrary one of frame edge width direction of depositing of storage.
As a preferable scheme, the linear driving mechanism comprises racks fixed on each storage bottom plate, a driving shaft is rotatably mounted on the base, driving gears meshed with the racks one by one are mounted on the driving shaft, a clutch device is arranged between each driving gear and the driving shaft, and a driving motor in transmission connection with the driving shaft is further mounted on the base.
Preferably, the clutch device is an electromagnetic clutch.
As a preferable scheme, the base includes a mounting base plate and a plurality of supporting frames arranged on the mounting base plate at equal intervals, a transverse guide rail is arranged at the top end of each supporting frame, and each storage base plate is slidably mounted on the corresponding transverse guide rail.
As a preferable scheme, the storage bottom plate is an inverted L-shaped bottom plate, a sliding block matched with the transverse guide rail is fixed at the bottom of the horizontal plate part of the bottom plate, and the rack is installed at the bottom of the vertical plate part of the bottom plate.
Preferably, the AGV comprises a base, a table top and a base, wherein the table top and the base are detachably fixed through bolt fasteners.
After the technical scheme is adopted, the invention has the effects that: the transfer device utilizes the AGV trolley as the power for transferring, can move the plates vertically stored on the storage device to the storage position and the feeding position, can conveniently replenish or feed, can vertically place the plate parts on different storage frames by utilizing the mechanical arm when storing the plates, thus vertically placing the plate parts, has high space utilization rate, can store the plate parts with different specifications and concentrate on one AGV to get off, only needs the linear driving mechanism to drive the corresponding storage frame to transversely move out when needing to take out a certain plate part, thus the mechanical arm has enough space to take the plate parts away, thus, the storage device can be suitable for the supply of the plate parts with different specifications, the same mechanical arm can meet the supply of plates with more specifications in the working range, the adaptability is stronger, can be suitable for the field of automatic welding.
The linear driving mechanism comprises racks fixed on each storage bottom plate, a driving shaft is rotatably arranged on the base, driving gears meshed with the racks one by one are arranged on the driving shaft, a clutch device is arranged between each driving gear and the driving shaft, and a driving motor in transmission connection with the driving shaft is further arranged on the base.
And because the base comprises the mounting bottom plate and a plurality of supporting frames which are arranged on the mounting bottom plate at equal intervals, the top end of each supporting frame is provided with the transverse guide rail, and each storage bottom plate is slidably arranged on the corresponding transverse guide rail, the base has a reasonable structure, is convenient for the fixed installation of the storage frames, and simultaneously provides enough supporting force for supporting plate parts.
And because the storage bottom plate is an inverted L-shaped bottom plate, the bottom of the horizontal plate part of the bottom plate is fixedly provided with the sliding block matched with the transverse guide rail, and the bottom of the vertical plate part of the bottom plate is provided with the rack, the storage bottom plate is simple in forming and convenient to install per se and the rack.
In order to solve the second technical problem, the technical solution of the present invention is: the transfer method of the plate parts uses the transfer device and comprises the following steps:
s1, numbering the positions of the storage frames and numbering the types of the plate parts of various specifications; the system is formed into a plurality of type number groups according to the type numbers of the plate parts used in the process orders, and the plate parts of the same type number group are used in the same automatic welding machine;
s2, the AGV moves to a material storage position according to the instruction of the system;
s3, the feeding mechanical arm picks up the plate parts of the same type number group and places the plate parts into each enclosure frame in a vertical storage mode, and the system records the storage position of each plate part to enable the type number of each plate part to correspond to the position number of each storage frame one by one;
s4, the AGV moves to a feeding position according to the instruction of the system;
s5, the system sends out material taking instructions according to the welding sequence in the automatic welding machine, the linear driving mechanism drives the storage frame to move out transversely one by one according to the material taking instructions, and the material taking manipulator takes out the plate parts with the corresponding type numbers one by one according to the material taking instructions.
Wherein preferably, the specific mode that the linear driving mechanism drives the material storage frame to transversely move out is as follows:
the storage bottom plate of each storage frame is fixed with a rack, the base is provided with a driving shaft driven by a driving motor to rotate, the driving shaft is provided with driving gears meshed with the racks one by one, and a clutch device is arranged between each driving gear and the driving shaft;
when plate parts with certain type of numbers need to be taken in a material taking instruction, the driving motor drives the driving shaft to rotate, the material storage frame with the position number corresponding to the type of numbers needs to be moved out, the clutch device corresponding to the driving gear below the material storage frame transmits power to the driving shaft and the driving gear, and finally the rotating driving gear drives the rack to transversely move to move out the material storage frame.
After the technical scheme is adopted, the invention has the effects that: the intelligent movement of AGV dolly has been utilized to this transportation method carries out intelligent movement according to the feed demand of automatic welder, and simultaneously, strorage device has been used, erect a plurality of different specifications's panel and put, utilize the lateral shifting of depositing the frame to guarantee that the manipulator has sufficient operating space simultaneously, also can make the interval between the frame of depositing littleer, space utilization is higher, and this transportation method can deposit and withdraw and transport the panel of multiple different specifications, thereby satisfy the board class part welding demand of the multiple different specifications of automatic welder, more different specifications's panel can be shifted to same robot in its working range, can satisfy automatic welded feed demand, adaptability is wider, the panel of different specifications and the frame of depositing have carried out the serial number simultaneously, guarantee the accuracy of deposit and withdraw the action.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a front elevational view of an embodiment of the invention;
FIG. 2 is a partial perspective view of an embodiment of the present invention;
FIG. 3 is a side view of an embodiment of the present invention;
in the drawings: an AGV trolley; 11. a table top; 2. a storage frame; 21. enclosing a frame; 22. storing the bottom plate; 23. a slider; 3. a drive motor; 4. a drive shaft; 5. a drive gear; 6. a rack; 7. a clutch device; 8. a base; 81. mounting a bottom plate; 82. a support frame; 83. and a transverse guide rail.
Detailed Description
The present invention is described in further detail below with reference to specific examples.
As shown in fig. 1 to 3, a transportation device for sheet metal parts includes an AGV cart 1, the AGV cart 1 is a conventional device, and is commercially available, and its main structure is a transportation vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and does not require a driver's transportation vehicle in industrial application, and uses a rechargeable battery as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, which is adhered to the floor, and the unmanned transport vehicle can move and operate by means of the information brought by the electromagnetic rail.
Plate part storage device is installed at the top of AGV dolly 1, storage device is including being fixed in the base 8 on AGV dolly 1's mesa 11, and can dismantle fixedly between AGV dolly 1's mesa 11 and the base 8 through bolt fastener. Install the frame 2 of depositing that a plurality of is used for placing the board class part of erectting on the base 8, deposit frame 2 and arrange along the length direction of base 8 equidistant, every structure of depositing frame 2 is the same, every deposits frame 2 and all includes along the gliding bottom plate 22 of depositing of 8 width directions of base, and the top of should depositing the roof is provided with the frame 21 that encloses that is used for supporting the board class part of erectting, it places mouth and side respectively to enclose the top of frame 21 and one side on the width direction and place the mouth, be provided with the gliding sharp actuating mechanism of drive arbitrary one frame 2 edge width direction on the base 8.
The base 8 includes a mounting base plate 81 and a plurality of supporting frames 82 arranged on the mounting base plate 81 at equal intervals, a transverse guide 83 is arranged at the top end of each supporting frame 82, and each storage base plate 22 is slidably mounted on the corresponding transverse guide 83. The support frame 82 is a rectangular frame formed by welding square steel.
The storage bottom plate 22 is an inverted L-shaped bottom plate, a slider 23 matched with the transverse guide rail 83 is fixed at the bottom of the horizontal plate part of the bottom plate, and the rack 6 is installed at the bottom of the vertical plate part of the bottom plate. The surrounding frame 21 is also of a frame structure formed by welding square steel, and the horizontal interface of the surrounding frame is U-shaped, so that the frames on the two sides can effectively support vertical plates. The width of the enclosing frame 21 is the same, and one or more plate parts with the same specification can be placed on the same enclosing frame 21 according to the thickness of the plate parts.
The linear driving mechanism comprises racks 6 fixed on each storage bottom plate 22, a driving shaft 4 is rotatably mounted on the base 8, driving gears 5 meshed with the racks 6 one by one are mounted on the driving shaft 4, a clutch device 7 is arranged between each driving gear 5 and the driving shaft 4, and a driving motor 3 in transmission connection with the driving shaft 4 is further mounted on the base 8. The clutch device 7 is an electromagnetic clutch.
Meanwhile, the storage bottom plate 22 can move transversely, so that the storage bottom plate 22 can be moved to the middle of the base 8 for plate parts with wider widths, and parts of the two ends of the plate parts with wider widths exceeding the AGV trolley 1 are more average, so that the AGV trolley 1 can run more conveniently, and other parts are prevented from being touched in the moving process.
The invention also discloses a transferring method of the plate parts, which uses the transferring device and comprises the following steps:
s1, numbering the positions of the storage frames 2 and numbering the types of the plate parts of various specifications; the system is formed into a plurality of type number groups according to the type numbers of the plate parts used in the process orders, and the plate parts of the same type number group are used in the same automatic welding machine;
s2, the AGV trolley 1 moves to a material storage position according to the instruction of the system;
s3, the feeding manipulator picks up the plate parts of the same type number group and places the plate parts into each enclosure frame 21 in a vertical storage mode, and the system records the storage position of each plate part to enable the type number of each plate part to be in one-to-one correspondence with the position number of the storage frame 2;
s4, the AGV trolley 1 moves to a feeding position according to the instruction of the system;
s5, the system sends out material taking instructions according to the welding sequence in the automatic welding machine, the linear driving mechanism drives the storage frame 2 to move out one by one according to the material taking instructions, and the material taking manipulator takes out the plate parts with the corresponding type numbers one by one according to the material taking instructions and supplies the plate parts to the automatic welding machine for use.
In the invention, the specific mode that the linear driving mechanism drives the material storage frame to transversely move out is as follows:
a rack 6 is fixed on the storage bottom plate 22 of each storage frame 2, a driving shaft 4 driven by a driving motor 3 to rotate is installed on the base 8, driving gears 5 meshed with the racks 6 one by one are installed on the driving shaft 4, and a clutch device 7 is arranged between each driving gear 5 and the driving shaft 4;
when plate parts with certain type numbers need to be taken in a material taking instruction, the driving motor 3 drives the driving shaft 4 to rotate, the material storage frame with the position number corresponding to the type number needs to be moved out, the clutch device 7 corresponding to the driving gear 5 below the material storage frame transmits power to the driving shaft 4 and the driving gear 5, and finally the rotating driving gear 5 drives the rack 6 to transversely move to move out the material storage frame.
The driving motor 3 in the invention is preferably driven by a private clothes motor.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and alterations made to the technical solution of the present invention without departing from the spirit of the present invention are intended to fall within the scope of the present invention defined by the claims.
Claims (6)
1. The utility model provides a transfer device of board class part, includes the AGV dolly, its characterized in that: storage device is installed at the top of AGV dolly, storage device is including being fixed in the base on the mesa of AGV dolly, install the frame of depositing that a plurality of is used for placing the board class part of erectting on the base, deposit the equidistant range of length direction of frame edge base, every structure of depositing the frame is the same, every is deposited the frame and all includes along the gliding bottom plate of depositing of base width direction, and the top of should depositing the roof is provided with the frame that encloses that is used for supporting the board class part of erectting, the top of enclosing the frame and the ascending one side of width direction are provided with respectively and place mouth and side place the mouth, be provided with the arbitrary one of drive on the base and deposit the gliding sharp actuating mechanism of frame edge width direction.
2. A transfer device for sheet parts according to claim 1, wherein: the linear driving mechanism comprises racks fixed on each storage bottom plate, a driving shaft is rotatably installed on the base, driving gears meshed with the racks one by one are installed on the driving shaft, a clutch device is arranged between each driving gear and the driving shaft, and a driving motor in transmission connection with the driving shaft is further installed on the base.
3. A transfer device for sheet parts according to claim 2, wherein: the clutch device is an electromagnetic clutch.
4. A transfer device for sheet parts according to claim 3, wherein: the base comprises a mounting base plate and a plurality of supporting frames which are arranged on the mounting base plate at equal intervals, a transverse guide rail is arranged at the top end of each supporting frame, and each storage base plate is slidably mounted on the corresponding transverse guide rail.
5. A transfer device for sheet parts according to claim 4, wherein: the storage bottom plate is an inverted L-shaped bottom plate, a sliding block matched with the transverse guide rail is fixed at the bottom of the horizontal plate part of the bottom plate, and the rack is installed at the bottom of the vertical plate part of the bottom plate.
6. A transfer device for sheet parts according to claim 5, wherein: the platform surface and the base of the AGV trolley are detachably fixed through bolt fasteners.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911133355.7A CN111017541A (en) | 2019-11-19 | 2019-11-19 | Plate part transferring device and transferring method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911133355.7A CN111017541A (en) | 2019-11-19 | 2019-11-19 | Plate part transferring device and transferring method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111017541A true CN111017541A (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911133355.7A Pending CN111017541A (en) | 2019-11-19 | 2019-11-19 | Plate part transferring device and transferring method thereof |
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| CN (1) | CN111017541A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112140273A (en) * | 2020-09-25 | 2020-12-29 | 惠州华硕实业有限公司 | Full-automatic digital control furniture production line |
| CN115610823A (en) * | 2022-10-24 | 2023-01-17 | 重庆长安汽车股份有限公司 | Can realize that automatic sorting's polymer panel possesses structure greatly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006016144A (en) * | 2004-07-01 | 2006-01-19 | Daihen Corp | Transfer robot |
| US20070140817A1 (en) * | 2004-03-15 | 2007-06-21 | Rudolf Hansl | Computer-controlled transport device |
| CN205932053U (en) * | 2016-07-25 | 2017-02-08 | 上海瓦科自动化设备有限公司 | Found stock feeding agencies |
| CN106743011A (en) * | 2016-12-22 | 2017-05-31 | 云南南天电子信息产业股份有限公司 | A kind of clothes closet matrix form multimedium automatic access device |
| CN107200053A (en) * | 2017-05-23 | 2017-09-26 | 浙江大学 | A kind of rib storing unit |
| CN109590763A (en) * | 2018-12-31 | 2019-04-09 | 深圳市合尔为科技有限公司 | A kind of automatic production line of wall assemblies |
| CN211310080U (en) * | 2019-11-19 | 2020-08-21 | 哈工大机器人南昌智能制造研究院 | Transfer device of plate parts |
-
2019
- 2019-11-19 CN CN201911133355.7A patent/CN111017541A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070140817A1 (en) * | 2004-03-15 | 2007-06-21 | Rudolf Hansl | Computer-controlled transport device |
| JP2006016144A (en) * | 2004-07-01 | 2006-01-19 | Daihen Corp | Transfer robot |
| CN205932053U (en) * | 2016-07-25 | 2017-02-08 | 上海瓦科自动化设备有限公司 | Found stock feeding agencies |
| CN106743011A (en) * | 2016-12-22 | 2017-05-31 | 云南南天电子信息产业股份有限公司 | A kind of clothes closet matrix form multimedium automatic access device |
| CN107200053A (en) * | 2017-05-23 | 2017-09-26 | 浙江大学 | A kind of rib storing unit |
| CN109590763A (en) * | 2018-12-31 | 2019-04-09 | 深圳市合尔为科技有限公司 | A kind of automatic production line of wall assemblies |
| CN211310080U (en) * | 2019-11-19 | 2020-08-21 | 哈工大机器人南昌智能制造研究院 | Transfer device of plate parts |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112140273A (en) * | 2020-09-25 | 2020-12-29 | 惠州华硕实业有限公司 | Full-automatic digital control furniture production line |
| CN115610823A (en) * | 2022-10-24 | 2023-01-17 | 重庆长安汽车股份有限公司 | Can realize that automatic sorting's polymer panel possesses structure greatly |
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