CN112027689A - Coiled wire stacking robot and automatic stacking method - Google Patents

Abstract

The invention discloses a coiled wire stacking robot and an automatic stacking method, wherein the coiled wire stacking robot comprises a supporting table, a multi-shaft mechanical arm and a coiled wire picking mechanism; the bottom end of the multi-axis mechanical arm is fixed on the support table, and the coiled wire picking mechanism is movably connected to the top end of the multi-axis mechanical arm; the coiled wire picking mechanism comprises a connecting rod hinged to the top end of the multi-shaft mechanical arm and a goods taking component which is fixed at the lower end of the connecting rod and can be unfolded and tightened. According to the automatic stacking device, the coiled wires are picked to the material placing position by the multi-shaft mechanical arm and the coiled wire picking mechanism and can be automatically placed in order according to a set stacking mode, the automation degree is high, the labor cost is reduced, the working efficiency is improved, and the stacking quality is good and the coiled wires are not easy to collapse.

Description

Coiled wire stacking robot and automatic stacking method

Technical Field

The invention relates to the field of mechanical automation, in particular to a coiled wire stacking robot and an automatic stacking method.

Background

The existing coiled electric wire stacking is carried out manually, so that the labor intensity is high, the working efficiency is low, and the stacking quality is poor and the coiled electric wire stacking is easy to collapse.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a coiled wire stacking robot and an automatic stacking method.

In order to achieve the purpose, the invention adopts the following technical scheme:

on one hand, the coiled wire stacking robot comprises a supporting table, a multi-shaft mechanical arm and a coiled wire picking mechanism; the bottom end of the multi-axis mechanical arm is fixed on the support table, and the coiled wire picking mechanism is movably connected to the top end of the multi-axis mechanical arm; the coiled wire picking mechanism comprises a connecting rod hinged to the top end of the multi-shaft mechanical arm and a goods taking component which is fixed at the lower end of the connecting rod and can be unfolded and tightened.

The further technical scheme is as follows: the goods taking component comprises a fixing block fixedly connected with the lower end of the connecting rod, a plurality of telescopic rods arranged on the side face of the fixing block, and a top splicing piece fixed at the outer end of each telescopic rod.

The further technical scheme is as follows: the fixed block is square, but the telescopic link is four, and is located respectively four sides of fixed block.

The further technical scheme is as follows: the telescopic rod is controlled to extend and retract through the servo motor.

The further technical scheme is as follows: the top contact piece is arc-shaped, and the radian of the top contact piece is adapted to the radian of the hole wall of the central hole of the coiled wire.

The further technical scheme is as follows: the multi-shaft mechanical arm comprises a connecting seat, a first rotating arm, a second rotating arm and a third rotating arm; the first rotating arm is movably connected to the top of the connecting seat and can horizontally rotate relative to the connecting seat; the second rotating arm is movably connected to the first rotating arm and can vertically rotate relative to the connecting seat; the third rotating arm is movably connected to the second rotating arm and can vertically rotate relative to the connecting seat; the upper end of the connecting rod is hinged with the third rotating arm.

The further technical scheme is as follows: a first motor is arranged at the joint of the connecting seat and the first rotating arm and used for driving the first rotating arm to rotate relative to the connecting seat; a second motor is arranged at the joint of the first rotating arm and the second rotating arm and is used for driving the second rotating arm to rotate relative to the first rotating arm; a third motor is arranged at the joint of the second rotating arm and the third rotating arm and is used for driving the third rotating arm to rotate relative to the second rotating arm; and a fourth motor is arranged at the joint of the connecting rod and the third rotating arm and is used for driving the connecting rod to rotate relative to the third rotating arm.

The further technical scheme is as follows: the first motor, the second motor, the third motor and the fourth motor are all servo motors.

On the other hand, the automatic stacking method of the coiled electric wire stacking robot comprises the following steps:

controlling the coiled wire picking mechanism to rotate to a material taking position;

the coiled wire picking mechanism picks up a coiled wire and controls the coiled wire to rotate to a discharging position;

and placing the picked coiled wire at a placing position.

Compared with the prior art, the invention has the beneficial effects that: according to the automatic stacking device, the coiled wires are picked to the material placing position by the multi-shaft mechanical arm and the coiled wire picking mechanism and can be automatically placed in order according to a set stacking mode, the automation degree is high, the labor cost is reduced, the working efficiency is improved, and the stacking quality is good and the coiled wires are not easy to collapse.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more apparent, the following detailed description will be given of preferred embodiments.

Drawings

Fig. 1 is a schematic structural diagram of a coiled wire stacking robot according to a specific embodiment of the invention;

fig. 2 is a schematic structural diagram (initial state) of a pickup unit in a specific embodiment of the coiled wire palletizing robot according to the present invention;

fig. 3 is a schematic structural diagram (material taking state) of a goods taking part in an embodiment of the coiled wire stacking robot of the invention.

Reference numerals

1. A support table; 2. a connecting seat; 3. a first rotation arm; 4. a second rotating arm; 5. a third rotating arm; 6. a connecting rod; 7. a pickup assembly; 71. a fixed block; 72. a telescopic rod; 73. a top tab.

Detailed Description

In order to more fully understand the technical content of the present invention, the technical solution of the present invention will be further described and illustrated with reference to the following specific embodiments, but not limited thereto.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," some embodiments, "" an example, "" a specific example, "" or "some examples," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

Referring to fig. 1, the present invention provides a coiled wire stacking robot, including a support table 1, a multi-axis mechanical arm, and a coiled wire picking mechanism; the bottom end of the multi-axis mechanical arm is fixed on the support table 1, and the coiled wire picking mechanism is movably connected to the top end of the multi-axis mechanical arm; the coiled wire picking mechanism comprises a connecting rod 6 hinged to the top end of the multi-shaft mechanical arm and a goods taking component 7 which is fixed at the lower end of the connecting rod 6 and can be unfolded and tightened.

Further, the goods taking part 7 comprises a fixed block 71 fixedly connected with the lower end of the connecting rod 6, a plurality of telescopic rods 72 arranged on the side surface of the fixed block 71, and a top connecting piece 73 fixed at the outer end of each telescopic rod 72. Preferably, the fixed block 71 has a square shape, and four telescopic rods 72 are provided at four sides of the fixed block 71, respectively. The extendable rod 72 is controlled to extend and retract by a servo motor. Fig. 2 shows an initial state of the pickup unit 7, which is convenient to place in the center hole of the coiled electric wire, fig. 3 shows an extended state of the pickup unit 7, in which the contact piece 73 is abutted against the wall of the coiled electric wire, which corresponds to the coiled electric wire being fixed to the pickup unit 7, and thus can move together with the pickup unit 7, and if the fixed relationship between the coiled electric wire and the pickup unit 7 is to be released, the motor controls the contact piece 73 to retract. Preferably, in order to prevent the coiled electric wire from falling off the pickup unit 7 during the moving process, the top contact piece 73 may be provided in an arc shape, and the arc of the top contact piece 73 is adapted to the arc of the hole wall of the central hole of the coiled electric wire.

In some embodiments, the top tab 73 has a limiting piece extending laterally outward from both upper and lower ends thereof, and the limiting piece can further prevent the coiled wire from falling off from the article taking component 7 during the moving process.

In some embodiments, a sensor is provided on the top tab 73 for detecting whether the top tab 73 abuts against the coiled wire in place, and if the top tab 73 does not abut against the coiled wire in place, the top tab needs to be adjusted to a position in competition and then abuts against the coiled wire, so that the coiled wire can be prevented from falling off due to the fact that the top tab 73 does not abut against the coiled wire in place during the moving process.

Further, referring to fig. 1, the multi-axis robot arm includes a connecting seat 2, a first rotating arm 3, a second rotating arm 4 and a third rotating arm 5; the connecting seat 2 is fixedly connected to the upper surface of the supporting table 1, and the first rotating arm 3 is movably connected to the top of the connecting seat 2 and can horizontally rotate relative to the connecting seat 2; the second rotating arm 4 is movably connected to the first rotating arm 3 and can vertically rotate relative to the connecting seat 2; the third rotating arm 5 is movably connected to the second rotating arm 4 and can vertically rotate relative to the connecting seat 2; the upper end of the connecting rod 6 is hinged with the third rotating arm 5.

Further, a first motor is arranged at the joint of the connecting seat 2 and the first rotating arm 3, and the first motor is used for driving the first rotating arm 3 to rotate relative to the connecting seat 2; a second motor is arranged at the joint of the first rotating arm 3 and the second rotating arm 4, and the second motor is used for driving the second rotating arm 4 to rotate relative to the first rotating arm 3; a third motor is arranged at the joint of the second rotating arm 4 and the third rotating arm 5, and the third motor is used for driving the third rotating arm 5 to rotate relative to the second rotating arm 4; and a fourth motor is arranged at the joint of the connecting rod 6 and the third rotating arm 5, and is used for driving the connecting rod 6 to rotate relative to the third rotating arm 5. Preferably, the first motor, the second motor, the third motor and the fourth motor are all servo motors, and the servo motors are selected to facilitate control.

The invention also provides an automatic stacking method by adopting the coiled electric wire stacking robot, which comprises the following steps:

the first step is as follows: controlling the coiled wire picking mechanism to rotate to a material taking position;

the second step is that: the coiled wire picking mechanism picks up a coiled wire and controls the coiled wire to rotate to a discharging position;

the third step: and placing the picked coiled wire at a placing position.

Specifically, whole lapping electric wire pile up neatly machinery people carries out centralized control through the controller, in order to improve the pile up neatly more neat, difficult collapse, specifically provide following stacking method:

at the material placing position, from the 1 st row, 7 coils of electric wires are placed in each row in a transverse straight line shape, 7 rows are placed in a longitudinal straight line shape, the electric wires are placed in a compact manner, and 10 layers are placed in total. The first horizontal row is put at first from left to right to lapping electric wire pile up neatly machinery people, and after the completion was put to first horizontal row, send instruction for lapping electric wire pile up neatly machinery people from left to right puts the second horizontal row to analogize from this, put after the completion is put to first layer, carry out putting of second layer again, accomplish until whole putting, put like this, not only efficient, be difficult for collapsing moreover.

In some embodiments, in order to prevent the coiled wire from falling off due to no contact in place during the moving process, the controller collects the information of the sensor for judgment, and performs corresponding processing according to the judgment result, wherein the specific processing mode is as follows:

the sensor sends position data of the abutment of the top contact piece 73 with the coiled electric wire to the controller, and the controller judges whether the abutment is in place or not according to the received data, and if not, the controller controls the abutment piece to carry out the abutment again.

Further, the method for judging whether the butt joint is in place comprises the following steps: and judging whether the current abutting position is the same as the standard abutting position or not according to the received data, and if not, indicating that the abutting is not in place.

To sum up: according to the automatic stacking device, the coiled wires are picked to the material placing position by the multi-shaft mechanical arm and the coiled wire picking mechanism and can be automatically placed in order according to a set stacking mode, the automation degree is high, the labor cost is reduced, the working efficiency is improved, and the stacking quality is good and the coiled wires are not easy to collapse.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.

Claims (9)

1. The coiled electric wire stacking robot is characterized by comprising a supporting table, a multi-shaft mechanical arm and a coiled electric wire picking mechanism; the bottom end of the multi-axis mechanical arm is fixed on the support table, and the coiled wire picking mechanism is movably connected to the top end of the multi-axis mechanical arm; the coiled wire picking mechanism comprises a connecting rod hinged to the top end of the multi-shaft mechanical arm and a goods taking component which is fixed at the lower end of the connecting rod and can be unfolded and tightened.

2. The coiled wire palletizer robot as claimed in claim 1, wherein the pickup assembly comprises a fixed block fixedly connected with the lower end of the connecting rod, a plurality of retractable rods arranged on the side surfaces of the fixed block, and a jacking piece fixed at the outer ends of the retractable rods.

3. The coiled wire palletizer robot as claimed in claim 2, wherein the fixed block is square, and the number of the retractable rods is four, and the four retractable rods are respectively located on four side surfaces of the fixed block.

4. The coiled wire palletizer robot as claimed in claim 2, wherein the telescopic rod is controlled to extend and retract by a servo motor.

5. The coiled wire palletizer robot as claimed in claim 2, wherein the jacking tab is arc-shaped, and the radian of the jacking tab is adapted to the radian of the wall of the central hole of the coiled wire.

6. The coiled wire palletizer robot as claimed in claim 1, wherein the multi-axis mechanical arm comprises a connecting seat, a first rotating arm, a second rotating arm and a third rotating arm; the first rotating arm is movably connected to the top of the connecting seat and can horizontally rotate relative to the connecting seat; the second rotating arm is movably connected to the first rotating arm and can vertically rotate relative to the connecting seat; the third rotating arm is movably connected to the second rotating arm and can vertically rotate relative to the connecting seat; the upper end of the connecting rod is hinged with the third rotating arm.

7. The coiled wire palletizer robot as claimed in claim 6, wherein a first motor is arranged at the joint of the connecting seat and the first rotating arm, and the first motor is used for driving the first rotating arm to rotate relative to the connecting seat; a second motor is arranged at the joint of the first rotating arm and the second rotating arm and is used for driving the second rotating arm to rotate relative to the first rotating arm; a third motor is arranged at the joint of the second rotating arm and the third rotating arm and is used for driving the third rotating arm to rotate relative to the second rotating arm; and a fourth motor is arranged at the joint of the connecting rod and the third rotating arm and is used for driving the connecting rod to rotate relative to the third rotating arm.

8. The coiled wire palletizer robot as recited in claim 7, wherein the first motor, the second motor, the third motor and the fourth motor are all servo motors.

9. Automatic stacking method of coiled electric wire stacking robot is characterized by comprising the following steps:

controlling the coiled wire picking mechanism to rotate to a material taking position;

the coiled wire picking mechanism picks up a coiled wire and controls the coiled wire to rotate to a discharging position;

and placing the picked coiled wire at a placing position.

Images