CN112193828A - Industrial transfer robot and control method thereof - Google Patents
Industrial transfer robot and control method thereof Download PDFInfo
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- CN112193828A CN112193828A CN202011137155.1A CN202011137155A CN112193828A CN 112193828 A CN112193828 A CN 112193828A CN 202011137155 A CN202011137155 A CN 202011137155A CN 112193828 A CN112193828 A CN 112193828A
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- electric
- sliding table
- cross sliding
- control device
- electric cross
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an industrial transfer robot and a control method thereof, comprising a conveyer belt for conveying goods, a storage grid, a fixing device matched with the storage grid and used for fixing a carton and a control device, a first electric cross sliding table and a second electric cross sliding table are arranged above the conveying belt, the sliders of the first electric cross sliding table and the second electric cross sliding table are respectively provided with a manipulator for conveying the fixing device to the conveying belt, a first linear guide rail is arranged on the Y-axis side surface of the first electric cross sliding table, a second linear guide rail is arranged on the Y-axis side surface of the second electric cross sliding table, one end of an X shaft of each of the first electric cross sliding table and the second electric cross sliding table is fixedly connected with a sliding block of the first linear guide rail, the other ends of the X axes of the first electric cross sliding table and the second electric cross sliding table are fixedly connected with a sliding block of the second linear guide rail; the industrial carrying robot is high in working efficiency.
Description
Technical Field
The present invention relates to an industrial transfer robot and a control method thereof.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for industrial applications. An industrial robot is a machine device which automatically executes work, and is a machine which realizes various functions by means of self power and control capability.
Industrial robots are often used in handling, but the current handling robots are generally efficient in operation, and therefore improvements are necessary.
Disclosure of Invention
The invention aims to provide an industrial transfer robot with high working efficiency and a control method thereof.
In order to solve the problems, the invention adopts the following technical scheme:
the utility model provides an industrial transfer robot, including conveyer belt, the storing grid that is used for carrying the goods, with storing grid matched be used for with fixed carton fixing device and controlling means, the conveyer belt top is provided with the electronic cross sliding table of first electronic cross sliding table and second, all be provided with the manipulator that is used for carrying fixing device to the conveyer belt on the slider of the electronic cross sliding table of first electronic cross sliding table and second, the Y axle of the electronic cross sliding table of first electronic cross sliding table and second is bilateral symmetry and distributes, the Y axle side of the electronic cross sliding table of first electronic cross sliding table is provided with first linear guide, the Y axle side of the electronic cross sliding table of second is provided with second linear guide, the X axle one end of the electronic cross sliding table of first electronic cross sliding table and second all with first linear guide's slider fixed connection, the other end of the X axle of the electronic cross sliding table of first electronic cross sliding table and second all with second linear guide's slider fixed connection And the first electric cross sliding table, the second electric cross sliding table and the manipulator are electrically connected with the control device.
Preferably, fixing device includes chassis and roof-rack, be provided with first square board and second square board on the chassis, first square board and second square board are the symmetric distribution, first square board and second square board all with chassis sliding connection, first square board and second square board all can be dismantled with the roof-rack and be connected, and fixing device simple structure simultaneously because first square board and second square board are the symmetric distribution, can effectually clip the packing box, and stability is good.
Preferably, the manipulator includes electric cylinder and holder, be provided with the obstacle sensor on the holder, be provided with the electric clamp that is used for cliping the piston rod that electric cylinder stretches out on the holder, the electric cylinder output is provided with the electric adsorption device who is used for adsorbing the roof-rack, electric adsorption device and electric cylinder fixed connection, electric cylinder, electric clamp, electric adsorption device and obstacle sensor all with controlling means electric connection, manipulator degree of automation is high, is equipped with the electric clamp simultaneously and clips the piston rod that electric cylinder stretches out, can effectual reduction electric cylinder's burden, stability when can promoting the transport.
Preferably, be provided with the electronic coupling ware that is used for being connected with the X axle of the electronic cross slip table of second on the X axle of first electronic cross slip table, through disposing electronic coupling ware, can couple together first electronic cross slip table and the electronic cross slip table of second for first electronic cross slip table and the electronic cross slip table of second can work the heavier goods of transport jointly, and the flexibility is good.
As preferred, electronic shaft coupling includes connecting seat and T font connecting piece, be provided with the spacing groove of mating mutually with T font connecting piece on the connecting seat, T font connecting piece end is provided with and is used for driving T font connecting piece and inserts the steering wheel of spacing inslot, the X axle fixed connection of steering wheel and first electronic cross sliding table, electronic cross sliding table of second and connecting seat fixed connection, electronic shaft coupling simple structure, it is convenient to maintain.
Preferably, be provided with on the roof-rack with the electroadsorption device assorted absorption dish, absorption dish and roof-rack bolted connection, be provided with first right-angle board and the assorted activity notch of second right-angle board on the roof-rack, first right-angle board and second right-angle board one end all pass the roof-rack setting through movable notch, be provided with first splint and second splint on the roof-rack, first splint and second splint all with roof-rack sliding connection, be provided with the threaded rod on the first splint, be provided with the perforation of pairing with the threaded rod on the second splint, the threaded rod end passes the second splint and is provided with lock nut through the perforation, first right-angle board and second right-angle board all are connected convenient stable with the roof-rack, and the controllability is good.
Preferably, a tensioning rubber belt is arranged between the first right-angle plate and the second right-angle plate, the first right-angle plate and the second right-angle plate are fixedly connected with the tensioning rubber belt, a guide ring matched with the tensioning rubber belt is arranged on the adsorption disc, the guide ring and the adsorption disc are integrally arranged, the first right-angle plate and the second right-angle plate can be tensioned by being provided with the tensioning rubber belt, the container can be clamped in advance by the first right-angle plate and the second right-angle plate, and convenience in assembly is improved.
As preferred, be provided with pressure sensor in the storing grid, be provided with on the holder and read the ware, it is provided with the hold up tank to adsorb the dish side, insert in the hold up tank and have and read the electronic tags who matees mutually, pressure sensor with read ware all with controlling means electric connection, through dispose electronic tags and read the ware, the goods in case surpass predetermined weight after, can put into the hold up tank with electronic tags, in case read the ware and detect electronic tags and can feed back information to controlling means, controlling means can start the X epaxial being provided with of electronic shaft coupling with first electronic cross sliding table afterwards and be used for the X hub connection with the electronic cross sliding table of second for the transport is accomplished in first electronic cross sliding table and the electronic cross sliding table cooperation of second.
The invention also provides a control method of the industrial transfer robot, which comprises the following steps:
1) fixing the container by using a fixing device, weighing the whole container, then placing the container on a conveyor belt for conveying, and if the whole container exceeds the set weight, inserting the electronic tag into a storage tank;
2) once the obstacle sensor on the first electric cross sliding table detects the fixing device, information is fed back to the control device, the control device stops the work of the conveying belt, and meanwhile, an electric cylinder on the first electric cross sliding table is started to drive the electric adsorption device to be close to the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, and then the control device controls the electric cylinder to lift the goods; after the goods are lifted, the control device starts the electric clamp to clamp the piston rod extending out of the electric cylinder, then starts the first electric cross sliding table to convey the goods into the designated storage grid, and simultaneously starts the conveying belt again;
3) once the obstacle sensor on the second electric cross sliding table detects the fixing device, information is fed back to the control device, the control device stops the work of the conveying belt again, and meanwhile, an electric cylinder on the second electric cross sliding table is started to drive the electric adsorption device to be close to the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, and then the control device controls the electric cylinder to lift the goods;
after the goods are lifted, the control device starts the electric fixture to clamp the piston rod extending out of the electric cylinder, and then the second electric cross sliding table is started to convey the goods into the designated storage grid.
Preferably, in step 2), once the reader reads the electronic tag, the reader feeds information back to the control device, the control device starts the electric coupler to connect the X axis of the first electric cross sliding table with the X axis of the second electric cross sliding table, the control device simultaneously starts the electric cylinders of the first electric cross sliding table and the second electric cross sliding table to drive the electric adsorption device to approach the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, the control device controls the electric cylinders to lift the goods and clamps the piston rods extending out of the electric cylinders by the electric clamps, and simultaneously starts the first electric cross sliding table and the second electric cross sliding table to convey the goods into the designated storage grid.
The invention has the beneficial effects that: compare with traditional transfer robot, owing to need not keep away the barrier, can effectual assurance work efficiency, adopted the design of two electronic cross sliding tables, have and to realize continuous transport operation, work efficiency is high, and it is convenient to control, disposes linear guide moreover, can effectual promotion electronic cross sliding table's X axle stability at the during operation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an overall structure of an industrial transfer robot according to the present invention.
Fig. 2 is a partial structural view illustrating a fixing device of an industrial transfer robot according to the present invention.
Fig. 3 is a schematic structural view of a robot hand of an industrial transfer robot according to the present invention.
Fig. 4 is a plan view of a fixing device of an industrial transfer robot according to the present invention.
Fig. 5 is a partial structural view of an industrial transfer robot according to the present invention.
Fig. 6 is a partial structural view illustrating a fixing device of an industrial transfer robot according to the present invention.
In the figure:
1. a conveyor belt; 2. a storage grid; 3. a first electric cross sliding table; 4. a second electric cross sliding table; 5. a first linear guide rail; 6. a second linear guide; 7. a chassis; 8. a top frame; 9. a first gusset; 10. a second rectangular plate; 11. an electric cylinder; 12. a holder; 13. an obstacle sensor; 14. an electric clamp; 15. an electro-adsorption device; 16. a connecting seat; 17. a T-shaped connecting piece; 18. a steering engine; 19. an adsorption tray; 20. a movable notch; 21. a first splint; 22. a second splint; 23. a threaded rod; 24. locking the nut; 25. tensioning the rubber belt; 26. a guide ring; 27. a reader.
Detailed Description
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.
In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right", "left", "above", "back", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the present embodiment, if the connection or fixing manner between the components is not specifically described, the connection or fixing manner may be a conventional manner such as bolt fixing, pin shaft connecting, adhesive fixing, or rivet fixing, which is commonly used in the prior art, and therefore, the detailed description thereof will not be provided in the examples.
Example 1
As shown in fig. 1-6, an industrial transfer robot comprises a conveyor belt 1 for conveying goods, a storage grid 2, a fixing device paired with the storage grid 2 and used for fixing a carton, and a control device (not shown), wherein a first electric cross sliding table 3 and a second electric cross sliding table 4 are arranged above the conveyor belt 1, manipulators for conveying the fixing device to the conveyor belt 1 are arranged on sliders of the first electric cross sliding table 3 and the second electric cross sliding table 4, Y axes of the first electric cross sliding table 3 and the second electric cross sliding table 4 are symmetrically distributed in the left-right direction, a first linear guide rail 5 is arranged on a Y axis side surface of the first electric cross sliding table 3, a second linear guide rail 6 is arranged on a Y axis side surface of the second electric cross sliding table 4, one ends of X axes of the first electric cross sliding table 3 and the second electric cross sliding table 4 are fixedly connected with a slider of the first linear guide rail 5, the other end of the X-axis of the first electric cross sliding table 3 and the second electric cross sliding table 4 is fixedly connected with the slide block of the second linear guide rail 6, and the first electric cross sliding table 3, the second electric cross sliding table 4 and the manipulator are electrically connected with the control device.
Example 2
As shown in fig. 1-6, an industrial transfer robot comprises a conveyor belt 1 for conveying goods, a storage grid 2, a fixing device paired with the storage grid 2 and used for fixing a carton, and a control device (not shown), wherein a first electric cross sliding table 3 and a second electric cross sliding table 4 are arranged above the conveyor belt 1, manipulators for conveying the fixing device to the conveyor belt 1 are arranged on sliders of the first electric cross sliding table 3 and the second electric cross sliding table 4, Y axes of the first electric cross sliding table 3 and the second electric cross sliding table 4 are symmetrically distributed in the left-right direction, a first linear guide rail 5 is arranged on a Y axis side surface of the first electric cross sliding table 3, a second linear guide rail 6 is arranged on a Y axis side surface of the second electric cross sliding table 4, one ends of X axes of the first electric cross sliding table 3 and the second electric cross sliding table 4 are fixedly connected with a slider of the first linear guide rail 5, the other end of the X-axis of the first electric cross sliding table 3 and the second electric cross sliding table 4 is fixedly connected with the slide block of the second linear guide rail 6, and the first electric cross sliding table 3, the second electric cross sliding table 4 and the manipulator are electrically connected with the control device.
In this embodiment, fixing device includes chassis 7 and roof-rack 8, be provided with first quarter light board 9 and second quarter light board 10 on the chassis 7, first quarter light board 9 and second quarter light board 10 are the symmetric distribution, first quarter light board 9 and second quarter light board 10 all with chassis 7 sliding connection, first quarter light board 9 and second quarter light board 10 all can be dismantled with roof-rack 8 and be connected, and fixing device simple structure is simultaneously because first quarter light board 9 and second quarter light board 10 are the symmetric distribution, can effectually clip the packing box, and stability is good.
In this embodiment, the manipulator includes electric cylinder 11 and holder 12, be provided with obstacle sensor 13 on the holder 12, be provided with the electronic anchor clamps 14 that are used for cliping the piston rod that electric cylinder 11 stretches out on the holder 12, electric cylinder 11 output is provided with the electric adsorption device 15 that is used for adsorbing roof-rack 8, electric adsorption device 15 and electric cylinder 11 fixed connection, electric cylinder 11, electric anchor clamps 14, electric adsorption device 15 and obstacle sensor 13 all with controlling means electric connection, manipulator degree of automation is high, is equipped with electric anchor clamps 14 simultaneously and clipes the piston rod that electric cylinder 11 stretches out, can effectual reduction electric cylinder's burden, can promote the stability when carrying.
In this embodiment, be provided with the electronic coupling that is used for being connected with the X axle of the electronic cross sliding table 4 of second on the X axle of first electronic cross sliding table 3, through disposing electronic coupling, can couple together first electronic cross sliding table 3 and the electronic cross sliding table 4 of second for first electronic cross sliding table 3 and the electronic cross sliding table 4 of second can work the heavier goods of transport jointly, and the flexibility is good.
In this embodiment, electronic shaft coupling includes connecting seat 16 and T font connecting piece 17, be provided with on the connecting seat 16 and mate spacing groove (not shown) with T font connecting piece 17, T font connecting piece 17 end is provided with and is used for driving T font connecting piece 17 and inserts the steering wheel 18 of spacing inslot, steering wheel 18 and first electronic cross sliding table 3's X axle fixed connection, electronic cross sliding table 4 of second and connecting seat fixed connection, electronic shaft coupling simple structure, it is convenient to maintain.
In this embodiment, the top frame 8 is provided with an adsorption plate 19 matched with the electric adsorption device 15, the adsorption disc 19 is connected with the top frame 8 through bolts, a movable notch 20 matched with the first right-angle plate 9 and the second right-angle plate 10 is arranged on the top frame 8, one end of each of the first right-angle plate 9 and the second right-angle plate 10 is arranged through the top frame 8 through a movable notch 20, the top frame 8 is provided with a first clamping plate 21 and a second clamping plate 22, the first clamping plate 21 and the second clamping plate 22 are both connected with the top frame 8 in a sliding way, the first clamping plate 21 is provided with a threaded rod 23, the second clamping plate 22 is provided with a through hole (not shown) matched with the threaded rod, the tail end of the threaded rod 23 penetrates through the second clamping plate 22 through a through hole and is provided with a locking nut 24, the first right-angle plate 9 and the second right-angle plate 10 are both connected with the top frame 8 conveniently and stably, and adjustability is good.
In this embodiment, a tensioning rubber belt 25 is arranged between the first square plate 9 and the second square plate 10, both the first square plate 9 and the second square plate 10 are fixedly connected with the tensioning rubber belt 25, a guide ring 26 matched with the tensioning rubber belt 25 is arranged on the adsorption disc 19, the guide ring 26 and the adsorption disc 19 are integrally arranged, and the first square plate 9 and the second square plate 10 can be tensioned by being equipped with the tensioning rubber belt 25, so that the first square plate 9 and the second square plate 10 can clamp a cargo box in advance, and the assembly convenience is improved.
In this embodiment, a pressure sensor (not shown) is provided in the storage grille 2, a reader 27 is provided on the holder 12, a storage groove (not shown) is provided on the side surface of the adsorption plate 19, an electronic tag (not shown) paired with a reader is inserted into the storage groove, the pressure sensor and the reader 27 are both electrically connected with the control device, and by means of the electronic tag and the reader 27, once the weight of the goods exceeds the preset weight, can put into the hold up tank with electronic tags in, in case read 27 and detect electronic tags and can feed back information to controlling means, controlling means can start electronic coupling and be provided with the X axle that is used for with the electronic cross sliding table 4 of second on with the X axle of first electronic cross sliding table 3 afterwards for the transport is accomplished in the cooperation of first electronic cross sliding table 3 and the electronic cross sliding table 4 of second.
The invention also provides a control method of the industrial transfer robot, which comprises the following steps:
1) fixing the container by using a fixing device, weighing the whole container, then placing the container on a conveyor belt for conveying, and if the whole container exceeds the set weight, inserting the electronic tag into a storage tank;
2) once the obstacle sensor on the first electric cross sliding table detects the fixing device, information is fed back to the control device, the control device stops the work of the conveying belt, and meanwhile, an electric cylinder on the first electric cross sliding table is started to drive the electric adsorption device to be close to the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, and then the control device controls the electric cylinder to lift the goods; after the goods are lifted, the control device starts the electric clamp to clamp the piston rod extending out of the electric cylinder, then starts the first electric cross sliding table to convey the goods into the designated storage grid, and simultaneously starts the conveying belt again;
3) once the obstacle sensor on the second electric cross sliding table detects the fixing device, information is fed back to the control device, the control device stops the work of the conveying belt again, and meanwhile, an electric cylinder on the second electric cross sliding table is started to drive the electric adsorption device to be close to the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, and then the control device controls the electric cylinder to lift the goods;
after the goods are lifted, the control device starts the electric fixture to clamp the piston rod extending out of the electric cylinder, and then the second electric cross sliding table is started to convey the goods into the designated storage grid.
In step 2), once the reader reads the electronic tag, the reader feeds information back to the control device, then the control device starts the electric coupling to connect the X-axis of the first electric cross sliding table with the X-axis of the second electric cross sliding table, then the control device simultaneously starts the electric cylinders of the first electric cross sliding table and the second electric cross sliding table to drive the electric adsorption device to be close to the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, then the control device lifts the goods through controlling the electric cylinders and adopts the electric fixture to clamp the piston rod extending out of the electric cylinders, and simultaneously starts the first electric cross sliding table and the second electric cross sliding table to convey the goods into the designated storage grid.
The invention has the beneficial effects that: compare with traditional transfer robot, owing to need not keep away the barrier, can effectual assurance work efficiency, adopted the design of two electronic cross sliding tables, have and to realize continuous transport operation, work efficiency is high, and it is convenient to control, disposes linear guide moreover, can effectual promotion electronic cross sliding table's X axle stability at the during operation.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention.
Claims (10)
1. An industrial transfer robot, characterized in that: the automatic conveying device comprises a conveying belt for conveying goods, a storage grid, a fixing device and a control device, wherein the fixing device is matched with the storage grid and used for fixing a carton, a first electric cross sliding table and a second electric cross sliding table are arranged above the conveying belt, manipulators for conveying the fixing device to the conveying belt are arranged on sliders of the first electric cross sliding table and the second electric cross sliding table, Y axes of the first electric cross sliding table and the second electric cross sliding table are distributed in a bilateral symmetry manner, a first linear guide rail is arranged on the Y axis side face of the first electric cross sliding table, a second linear guide rail is arranged on the Y axis side face of the second electric cross sliding table, one ends of X axes of the first electric cross sliding table and the second electric cross sliding table are fixedly connected with a slide block of the first linear guide rail, and the other ends of X axes of the first electric cross sliding table and the second electric cross sliding table are fixedly connected with a slide block of the second linear guide rail, the first electric cross sliding table, the second electric cross sliding table and the manipulator are all electrically connected with the control device.
2. The industrial transfer robot of claim 1, wherein: fixing device includes chassis and roof-rack, be provided with first rectangular board and second rectangular board on the chassis, first rectangular board and second rectangular board are the symmetric distribution, first rectangular board and second rectangular board all with chassis sliding connection, first rectangular board and second rectangular board all can dismantle with the roof-rack and be connected.
3. An industrial transfer robot as defined in claim 2, wherein: the manipulator includes electric cylinder and holder, be provided with the obstacle sensor on the holder, be provided with the electric fixture who is used for cliping the piston rod that electric cylinder stretches out on the holder, the electric cylinder output is provided with the electric adsorption device who is used for adsorbing the roof-rack, electric adsorption device and electric cylinder fixed connection, electric cylinder, electric fixture, electric adsorption device and obstacle sensor all with controlling means electric connection.
4. An industrial transfer robot as defined in claim 3, wherein: and an electric coupling used for being connected with an X shaft of the second electric cross sliding table is arranged on the X shaft of the first electric cross sliding table.
5. An industrial transfer robot as defined in claim 4, wherein: the electric coupling comprises a connecting seat and a T-shaped connecting piece, wherein a limiting groove matched with the T-shaped connecting piece is formed in the connecting seat, and a steering engine used for driving the T-shaped connecting piece to be inserted into the limiting groove is arranged at the tail end of the T-shaped connecting piece.
6. An industrial transfer robot as defined in claim 5, wherein: be provided with on the roof-rack with the electric adsorption device adsorption disc that pairs mutually, adsorption disc and roof-rack bolted connection, be provided with first right-angle board and the assorted activity notch of second right-angle board on the roof-rack, first right-angle board and second right-angle board one end all pass the roof-rack setting through the activity notch, be provided with first splint and second splint on the roof-rack, first splint and second splint all with roof-rack sliding connection, be provided with the threaded rod on the first splint, be provided with the perforation of pairing mutually with the threaded rod on the second splint, the threaded rod end passes the second splint and is provided with lock nut through the perforation.
7. An industrial transfer robot as defined in claim 6, wherein: the rubber belt tensioning device is characterized in that a tensioning rubber belt is arranged between the first right-angle plate and the second right-angle plate, the first right-angle plate and the second right-angle plate are fixedly connected with the tensioning rubber belt, a guide ring matched with the tensioning rubber belt is arranged on the adsorption disc, and the guide ring and the adsorption disc are arranged in an integrated mode.
8. An industrial transfer robot as defined in claim 7, wherein: the storage grid is internally provided with a pressure sensor, the holder is provided with a reader, the side face of the adsorption disc is provided with a storage tank, an electronic tag matched with the reader is inserted into the storage tank, and the pressure sensor and the reader are both electrically connected with the control device.
9. A method of controlling an industrial transfer robot, comprising the steps of:
1) fixing the container by using a fixing device, weighing the whole container, then placing the container on a conveyor belt for conveying, and if the whole container exceeds the set weight, inserting the electronic tag into a storage tank;
2) once the obstacle sensor on the first electric cross sliding table detects the fixing device, information is fed back to the control device, the control device stops the work of the conveying belt, and meanwhile, an electric cylinder on the first electric cross sliding table is started to drive the electric adsorption device to be close to the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, and then the control device controls the electric cylinder to lift the goods; after the goods are lifted, the control device starts the electric clamp to clamp the piston rod extending out of the electric cylinder, then starts the first electric cross sliding table to convey the goods into the designated storage grid, and simultaneously starts the conveying belt again;
3) once the obstacle sensor on the second electric cross sliding table detects the fixing device, information is fed back to the control device, the control device stops the work of the conveying belt again, and meanwhile, an electric cylinder on the second electric cross sliding table is started to drive the electric adsorption device to be close to the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, and then the control device controls the electric cylinder to lift the goods;
after the goods are lifted, the control device starts the electric fixture to clamp the piston rod extending out of the electric cylinder, and then the second electric cross sliding table is started to convey the goods into the designated storage grid.
10. The method of controlling an industrial transfer robot of claim 9, wherein: in step 2), once the reader reads the electronic tag, the reader feeds information back to the control device, then the control device starts the electric coupling to connect the X-axis of the first electric cross sliding table with the X-axis of the second electric cross sliding table, then the control device simultaneously starts the electric cylinders of the first electric cross sliding table and the second electric cross sliding table to drive the electric adsorption device to be close to the adsorption disc, so that the electric adsorption device adsorbs the adsorption disc, then the control device lifts the goods through controlling the electric cylinders and adopts the electric fixture to clamp the piston rod extending out of the electric cylinders, and simultaneously starts the first electric cross sliding table and the second electric cross sliding table to convey the goods into the designated storage grid.
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| CN202011137155.1A CN112193828B (en) | 2020-10-22 | 2020-10-22 | Industrial transfer robot and control method thereof |
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| CN202011137155.1A CN112193828B (en) | 2020-10-22 | 2020-10-22 | Industrial transfer robot and control method thereof |
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| CN112193828B CN112193828B (en) | 2023-03-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113526396A (en) * | 2021-06-30 | 2021-10-22 | 苏州得尔达国际物流有限公司 | Display screen transfer robot |
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| Publication number | Publication date |
|---|---|
| CN112193828B (en) | 2023-03-31 |
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