CN113233216A - Box drawing robot and using method thereof - Google Patents
Box drawing robot and using method thereof Download PDFInfo
- Publication number
- CN113233216A CN113233216A CN202110640727.6A CN202110640727A CN113233216A CN 113233216 A CN113233216 A CN 113233216A CN 202110640727 A CN202110640727 A CN 202110640727A CN 113233216 A CN113233216 A CN 113233216A
- Authority
- CN
- China
- Prior art keywords
- roller section
- guide roller
- material box
- section
- box
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000000463 material Substances 0.000 claims abstract description 124
- 238000001179 sorption measurement Methods 0.000 claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 239000011358 absorbing material Substances 0.000 claims abstract description 3
- 230000009471 action Effects 0.000 claims description 9
- 230000000670 limiting effect Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 230000006378 damage Effects 0.000 abstract description 5
- 230000006978 adaptation Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 17
- 230000033001 locomotion Effects 0.000 description 8
- 230000002147 killing effect Effects 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 4
- 238000012856 packing Methods 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000001788 irregular Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 241000711573 Coronaviridae Species 0.000 description 2
- 230000002354 daily effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 235000013622 meat product Nutrition 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 150000007523 nucleic acids Chemical class 0.000 description 1
- 102000039446 nucleic acids Human genes 0.000 description 1
- 108020004707 nucleic acids Proteins 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
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
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/36—Devices for emptying from the top
- B65G65/38—Mechanical devices
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a box drawing robot and a using method thereof, wherein the box drawing robot comprises the following steps: the adsorption device is arranged on a guide roller section at the front end of the transmission device, and the adsorption device translates along the upper end face of the guide roller section and is used for absorbing materials; the power device provides power for the adsorption device and the lifting device; the lifting device is used for lifting the guide roller section; the transmission device is used for supporting and transmitting the material box sucked by the adsorption device. The container drawing robot has the advantages that the container drawing robot scans and identifies each layer of goods through the visual identification system, and the background automatically forms a customized drawing scheme; draw case robot front end and adopt big suction vacuum chuck, the adaptation can not lead to the fact destruction to material case surface in various unevenness's material case, absorbs to automatic conveying platform, realizes that the intellectuality of personnel contactless draws case operational environment.
Description
Technical Field
The invention belongs to the technical field of walking machinery, and particularly relates to a box drawing robot and a using method thereof.
Background
At present, cold chain import becomes one of the biggest risk channels of novel coronavirus, and the nucleic acid is detected to be positive by the package of a plurality of cold chain import products after an epidemic situation occurs: taking the Tianjin port as an example, about 616 million tons of cold chain agricultural and sideline products are imported in 2020, and the frozen meat products account for about 30 percent, so that the risk value is greatly improved; in the existing cold chain transportation place, the goods in the container are stacked, the complexity, the variety diversity and the irregularity are realized, the new coronavirus can survive in the cold chain for a long time in the existing epidemic situation form, and cold chain workers directly contact the goods in the container when taking out the container in the working process, so that the infection risk is high; the protective clothing is worn for a long time, so that the fatigue strength and the incidence rate of potential safety production accidents are increased; and the goods snatchs the in-process at present and can cause the packing damaged, has further increased the infection risk, threatens cold chain staff's healthy.
Therefore, under the condition of epidemic normalization, the unmanned condition is realized as far as possible, and the non-contact operation mode is the scheme for effectively eliminating cold chain spreading epidemic.
Disclosure of Invention
The invention aims to provide a drawing robot and a using method thereof, and the drawing robot is particularly suitable for drawing material boxes in a container.
In order to solve the technical problems, the invention adopts the technical scheme that: a pick robot comprising:
the adsorption device is arranged on a guide roller section at the front end of the transmission device, and the adsorption device translates along the upper end face of the guide roller section and is used for absorbing materials;
the power device provides power for the adsorption device and the lifting device;
the lifting device is used for lifting the guide roller section;
the transmission device is used for supporting and transmitting the material box sucked by the adsorption device.
Further, the transmission device further includes: the material box is sequentially transmitted through the guide roller section, the telescopic belt section and the telescopic roller section; the guide roller section drives the telescopic belt section to be connected with one side of the guide roller section to move under the lifting of the lifting device, and the telescopic belt section is connected with one side of the telescopic roller section and is connected with the chassis through a support column.
Further, the guide roll segment comprises: the first roller section and the second roller section are arranged at the front end of the adsorption device, and the third roller section, the fourth roller section and the fifth roller section are arranged on the side surface of the adsorption device;
the axes of the first roller section, the second roller section and the third roller section are parallel to the adsorption device and are arranged towards the moving direction of the material box, and the first roller section and the second roller section are used for transporting the material box along the direction vertical to the axes.
Further, the speed of the second roller section is greater than that of the first roller section, and the second roller section is used for realizing differential box separation;
the axis of the fourth roller section and the axis of the fifth roller section are perpendicular to the axis of the first roller section, and the fourth roller section and the fifth roller section are used for converging the material box to a rear telescopic belt.
Further, the third roller section is arranged on one side of the fourth roller section, which is far away from the second roller section, and is used for limiting a confluence boundary;
the guide roller section also comprises a guide roller arranged at the front end of the guide roller section and used for guiding the material box.
Further, the adsorption device includes: the suction disc assembly is arranged at the front end of the gas circuit box and used for acquiring a material box; the transverse moving guide rail controls the sucker component to transversely move through the transverse moving cylinder, and the longitudinal moving guide rail controls the sucker component to longitudinally move through the longitudinal moving motor.
Further, the sucking disc assembly comprises: the sucking discs are connected to the gas circuit box through the sucking disc buffer rods; the sucker buffer rod is used for protecting the sucker and the material box.
Furthermore, the positioning device comprises a distance measuring sensor and an auxiliary positioning device which are arranged at the front end of the guide roller section and are used for measuring the automatic stop position of the drawing distance;
the adsorption device is provided with a visual capture device and a laser line auxiliary positioning device, and the material box can be conveniently grabbed in the container.
Furthermore, power device includes hydraulic pressure station and sucking disc power pack, sucking disc power pack is set up as adsorption equipment absorbs the material case and provides power.
In order to achieve the purpose, the invention also provides a using method of the box drawing robot, which comprises the following steps:
s1: the container is parked to the unloading platform, and the hydraulic lifting platform is butted and laid with the carriage;
s2: the box drawing robot drives to the unloading platform, is arranged in the middle of the container through the positioning device and determines the safe position of the container to automatically stop;
s3: presetting operation parameters, determining an initial layer and an initial layer number, automatically generating an operation scheme, starting a drawing working procedure, driving the guide roller section to be close to the material box by the transmission device, and measuring the distance from the guide roller section to the material box in real time through the positioning device;
s4: the adsorption device is fed to contact with the material box, the adsorption device sucks the material box to the guide roller section, the power device of the adsorption device is closed, and the material box is conveyed along the guide roller section;
s5: repeating S4 when the photoelectric sensor on the adsorption device detects that the material box is not arranged on the guide roller section at the front end of the adsorption device;
s6: after one transverse layer of material drawing is finished, the lifting device adjusts the position to the next layer, the distance from the guide roller section to the material box is measured in real time through the positioning device, and the material drawing action is repeated until the material drawing work is finished layer by layer along the depth;
s7: and sending out a warning, and enabling the container drawing robot to drive out the container.
Due to the adoption of the technical scheme, the method has the following advantages:
1. aiming at the complexity, variety and irregularity of goods stacking in the container, the container picking robot scans and identifies each layer of goods through a visual identification system, and a background automatically forms a customized picking scheme; use the irregular carton of size as the main to the goods packing, snatch and can cause destruction, draw the case robot front end and adopt big suction vacuum chuck, adaptation in various unevenness's material case can not cause destruction to material case surface, absorb to automatic conveying platform, automatic transport to the link of killing, realize that the intellectuality of personnel's contactless draws case operational environment.
2. The box drawing robot can adopt various operation modes of automation, semi-automation and remote control according to different working conditions, the operation efficiency is high, the operation efficiency is up to 1000-plus-1500 boxes/hour, goods after box drawing can be randomly separated according to setting for manual sampling, and all working data uploading platforms can be checked and traced.
3. Only from the perspective of saved human cost, the manual operation is replaced by the automatic and industrialized box drawing operation, the labor intensity of personnel is reduced, 24-hour uninterrupted operation can be realized, a large amount of human cost and time cost are saved, the working efficiency is improved, and the physical health of the personnel is protected.
Drawings
FIG. 1 is a schematic overall structure of one embodiment of the present invention;
FIG. 2 is a schematic view of a guide roll segment according to one embodiment of the present invention;
FIG. 3 is a schematic view of an adsorption apparatus according to an embodiment of the present invention.
In the figure:
100. chassis 200, conveying device 210, guide roller section
211. A first roller section 212, a second roller section 213, a third roller section
214. A fourth roller section 215, a fifth roller section 216, a guide roller
220. Telescopic belt section 230, telescopic roller section 300 and adsorption device
310. Suction cup 320, suction cup buffer rod 330 and air path box
340. Transverse moving guide rail 350, longitudinal moving guide rail 360 and transverse moving cylinder
400. Lifting device 500, power device 510 and hydraulic station
520. Air pump
Detailed Description
The invention is further illustrated by the following examples and figures:
the invention is described by taking a drawing robot adapted to 40-inch cold chain containers as an example, and can be applied to drawing containers with different sizes and on different occasions.
In one embodiment of the present invention, as shown in fig. 1, a draw box robot comprises: the material box conveying device comprises a chassis 100, a lifting device 400, a power device 500, a positioning device and a conveying device 200 which are arranged on the chassis 100, wherein an adsorption device 300 is arranged on a guide roller section 210 at the front end of the conveying device 200, and the adsorption device 300 translates along the upper end face of the guide roller section 210 and is used for sucking a material box; the power device 500 is used for providing power for the adsorption device 300 and the lifting device 400; wherein, hoisting device 400 is used for promoting guide roll section 210 and is close to and keeps away from the material case, and transmission device 200 is used for the bearing and transmits the material case that adsorption equipment 300 absorbs to next process, is convenient for carry out processes such as subsequent killing and transportation. In this embodiment, the suction device 300 can perform a translational motion relative to the upper end surface of the guide roller section 210, wherein the translational motion includes a lateral movement and a longitudinal movement relative to the suction device 300; the suction device 300 is defined to be longitudinal with respect to the direction of movement of the material container in the container and transverse to the longitudinal direction. In this embodiment, the lifting device is a robotic arm.
In this embodiment, as shown in fig. 1, the power device 500 includes a hydraulic station 510 and an air pump 520, the hydraulic station 510 provides power for the lifting device 400 to lift the guide roller section 210, and the air pump 520 provides power for the adsorption device 300 to suck the material tank.
In this embodiment, the chassis 100 is of a crawler type structure, the material of the crawler is selected from rubber crawler to ensure that the vehicle body in the container is not damaged when entering the container, and in order to adapt to a 40-inch container, the vehicle body size is 2000 × 1960 × 500mm, the width of a single belt is 440mm, the applicability is wide, and the vehicle body size can be adaptively adjusted according to the size of the container required to be drawn. In this embodiment, a container size with a large daily versatility is selected, and the chassis 100 is powered by a motor provided on the chassis.
The transmission apparatus 200 shown in fig. 1 includes: the material box is characterized by comprising a guide roller section 210, a telescopic belt section 220 and a telescopic roller section 230, wherein the guide roller section 210, the telescopic belt section 220 and the telescopic roller section 230 are sequentially connected, and a material box sucked by an adsorption device 300 is sequentially transmitted and converged to the working procedures of killing and the like in the later period through the guide roller section 210, the telescopic belt section 220 and the telescopic roller section 230; in the working process, after the material box is sucked by the adsorption device 300, the material box is placed on the guide roller section 210 to be converged and conveyed to the telescopic belt section 220.
In this embodiment, as shown in fig. 1, the telescopic belt section 220 is a belt section with a telescopic characteristic, one side of the telescopic belt section 220 connected to the telescopic roller section 230 is connected to the chassis 100 through a support pillar, wherein two sides of the telescopic belt section 220 are both provided with a guardrail to protect the material tank from falling; the telescopic belt section 220 is connected with the guide roller section 210 through a hinge mechanism, when the guide roller section 210 is lifted by the lifting device, the telescopic belt section 220 follows the lifting device, namely the pitch angle of the telescopic belt section 220 relative to the ground is changed along with the pitch angle of the guide roller section 210 relative to the ground, and the length of the telescopic belt section 220 is changed, so that the guide roller section 210 is connected with the guide roller section 210 when grabbing goods at different positions and transports the goods to the rear telescopic roller section 230; in this embodiment, the retractable belt section 220 is a hidden clip-shaped belt-surrounding roller, the clip-shaped belt-surrounding roller is wound around the clip-shaped belt roller, and the retractable belt section 220 can be changed in length by the clip-shaped belt-surrounding roller; meanwhile, one side of the telescopic belt section 220 connected with the telescopic roller section 230 is also provided with a connection part connected with the telescopic roller section.
As shown in fig. 1, the telescopic roller section 230 is flexible and has a telescopic electric roller, the front end of the telescopic roller section 230 is connected to the telescopic belt section 220 and can swing properly, in the working process of this embodiment, the telescopic roller section 230 can extend to about 13 meters, in this embodiment, the container is about 12 meters long, and the length of the drawing robot is about 3 meters in the working process, so the telescopic roller section 230 can cover the whole container in the working process, and it is conceivable that the length of the telescopic roller section 230 can be adaptively modified according to the size of the container to be drawn. After the work of drawing the case ends, can unpack flexible cylinder section 230 from the junction with flexible belt section 220 apart to can compress flexible cylinder section 230 to the shortest, realize portable convenient effect of storing, simultaneously owing to be that split type structure is convenient for more maintain the maintenance, and the direct replacement after the daily loss.
In order to facilitate smooth transportation of the material box to the telescopic roller section 230 along the telescopic belt section 220, the height of the connection position of the telescopic belt section 220 and the telescopic roller section 230 from the ground is about 1300mm in this embodiment, that is, half of the height of the 40-inch container in this embodiment, in order to facilitate subsequent rapid transportation, a certain oblique cutting angle is set for the first telescopic roller section compared with the second telescopic roller section, in this embodiment, the height of the second telescopic roller section connected with the first telescopic roller section is about 800mm, which is convenient for realizing high-smooth transportation of the material box, blockage of the material box in the transmission process can not be caused, and subsequent killing and stacking butt joint is facilitated. In this embodiment, the height from the ground of the first telescopic roller section and the second telescopic roller section can be adaptively adjusted according to the size of the container, and the height from the ground of the first telescopic roller section and the second telescopic roller section can be set to other values, so that the requirement that the height difference exists between the first telescopic roller section and the second telescopic roller section is met.
As shown in fig. 3, the adsorption apparatus 300 includes: the suction cup assembly is arranged at the front end of the air path box 330 and used for acquiring a material box, wherein the lengths of the suction cup assembly and the air path box 330 are greater than 1/2 of the width of the container; the function of acquiring and conveying the material box is realized by configuring two transverse moving guide rails 340 and two longitudinal moving guide rails 350, wherein the transverse moving guide rails 340 control the suction cup assembly to move transversely through a transverse moving cylinder 360, the longitudinal moving guide rails 350 are ball screws in the embodiment, and the suction cup assembly is controlled to move longitudinally through a longitudinal moving motor which drives the ball screws, and the longitudinal moving motor is not shown in the figure. The adsorption device 300 is further provided with a photoelectric sensor for detecting whether a material tank exists on the guide roller section 210 at the front end of the adsorption device.
2/3 of container width is got to the length that sets up the sucking disc subassembly in this embodiment for the sucking disc subassembly has the overlap portion at the material case that these two stroke points department were inhaled between two inner walls of container width direction, when the number of the material case of horizontal one line of suction in the container was the odd number, can guarantee that the sucking disc subassembly can not have the material case of omitting when 360 two stroke points of sideslip cylinder, increase the fault-tolerant rate of drawing out the case robot, 360 stroke points that drive the sucking disc subassembly and remove between two lateral walls of container width direction of sideslip cylinder. Through indulging the motor drive ball that moves, can drive the sucking disc subassembly and last vertically feed, be close to the material case of treating the absorption.
The chuck assembly shown in FIG. 3 includes: the plurality of suction cups 310 and the suction cup buffer rods 320 corresponding to the suction cups one to one, wherein the plurality of suction cups 310 are uniformly and equidistantly arranged on one side of the gas circuit box 330 close to the material box, and the suction cups 310 are connected to the gas circuit box 330 through the suction cup buffer rods 320, it is conceivable that the suction cups 310 in each row are preferably uniformly and equidistantly arranged, and each row of suction cups 310 are uniformly and equidistantly arranged or uniformly staggered in consideration of uniform stress of the material box; in this embodiment, the suction cup 310 is a vacuum suction cup, and compared with a sponge suction cup, the vacuum suction cup with a plurality of large suction forces can easily suck objects with irregular or even uneven surfaces, and does not damage the cargo material box, so that the health of employees can be guaranteed especially in the case of a cold chain container; it is conceivable that any suction cup that functions to suck in the material tank is possible.
Every sucking disc is joined in marriage buffer beam 320 and is played protection sucking disc 310 and material case effect, and in this embodiment, each sucking disc buffer beam 320 is independent unit, is provided with the elastomer on the sucking disc buffer beam 320, and is preferred, in this embodiment, is provided with the spring on sucking disc buffer beam 320 for sucking disc buffer beam 320 has certain buffer capacity, more adapts to in surperficial unevenness's material case.
Whole sucking disc subassembly provides power through gas circuit case 330, mainly is: the inside of the air channel box 330 is provided with air channel elements such as a vacuum solenoid valve, a positive pressure solenoid valve, a vacuum fan and the like, so that the action of sucking the material box by the sucking disc 310 is realized, and further description is omitted because the prior art is already perfect. Meanwhile, an in-place sensor and a jacking cylinder are further arranged in the air circuit box 330, the in-place sensor is triggered at the maximum stroke position and the minimum stroke position of the sucker buffering rod 320, the jacking cylinder is used for lifting the material box in a small range after the material box is sucked by the sucker assembly, the process of adsorbing the material box is more labor-saving, the contact area is reduced, the friction force is further reduced, meanwhile, the material box is prevented from being adhered to the lower-layer material box, or the material box is wound with a packing belt of the lower-layer material box, and the in-place sensor and the jacking cylinder are not shown in the figure.
In this embodiment, the maximum stroke length of the suction device 300 is about 1320mm, the height is about 360mm, and the lateral movement distance is about 780mm, so that the front end of the guide roller section 210 can be completely covered.
Because the material case is because the influence of assembly and transportation itself, can cause the box surface to have unevenness's condition, draw the case in-process, continuously feed sucking disc 310 through indulging to move motor drive ball, because material case itself is unevenness, make every sucking disc all with the abundant in close contact with of material case through the buffer beam of independent setting, the sensor that targets in place is triggered in the action of sucking disc buffer beam 320, ensure that sucking disc 310 and material case are full after the contact, accomplish the action of absorbing the material case, the condition that the sucking disc can not adsorb the material case can not exist.
As shown in fig. 2, the guide roller section 210 includes: the first roller section 211, the second roller section 212, the third roller section 213, the fourth roller section 214 and the fifth roller section 215 are arranged in the front end of the adsorption device 300, and the third roller section 211, the second roller section 212 and the fifth roller section 215 are arranged on the side of the adsorption device 300. The axes of the first roller section 211, the second roller section 212 and the third roller section 213 are parallel to the adsorption device 300 and are arranged towards the moving direction of the material box, the material box obtained by the adsorption device 300 is placed on the first roller section 211, and the material box is transported along the vertical axial direction by the first roller section 211 and the second roller section 212; in the working process, the first roller section 211 and the second roller section 212 are arranged to rotate towards the fourth roller section 214 and the fifth roller section 215, and the speed of the second roller section 212 is higher than that of the first roller section 211, so that differential separation is realized, the material box is better transmitted to the fourth roller section 214 and the fifth roller section 215, and the follow-up confluence is more facilitated.
Meanwhile, the most front end of the guide roller section 210 is also provided with guide rollers 216, in the embodiment, one side of the guide roller section 210 close to the material container is taken as the front end, the axis of the guide rollers 216 is vertical to the axis of the first roller section 210, in the working process, the guide rollers 216 are arranged to rotate towards the direction of the adsorption device 300 and are used for guiding the material boxes and preventing the material boxes from falling off from the guide roller section 210, wherein the number of the guide rollers 216 is at least 1; in the present embodiment, the number of guide rollers 216 is 1.
As shown in fig. 2, the axes of the fourth roller section 214 and the fifth roller section 25 are perpendicular to the axis of the first roller section 21, and the fourth roller section 214 and the fifth roller section 215 are used for converging and transmitting the material tank to the rear telescopic belt section 220. In this embodiment, the fourth roller section 214 and the fifth roller section 215 are arranged to rotate in the direction of the backward telescopic belt section 220, meanwhile, the third roller section 213 is arranged on the side, away from the second roller section 212, of the fourth roller section 214, and the third roller section 213 rotates in the direction of the first roller section 211 and the second roller section 212, so that the material box transmitted from the second roller section 212 is prevented from falling off due to the action of inertia after being transmitted to the fourth roller section 214, the confluence boundary is limited, and the accuracy of the confluence position is ensured.
In this embodiment, the guide roller section 210 all adopts the electric roller as power, and considering the restriction of container and transportation place, the size of guide roller section 210 is about 1300x2100mm, and about 400mm is high, and the side of guide roller section 210 is to keeping away from the triangle of adsorption equipment 300 slope, divides into the multistage setting with guide roller section 210 and can better converge the material case. Through setting to the triangle-shaped of slope for guide roll section 210 overall structure is more firm, and guide roll section 210 front end is most advanced, makes the in-process of drawing the case guarantee that guide roll section 210's front end pastes as far as possible, is convenient for absorb the material case of bottommost layer more, makes the sucking disc atress even when absorbing the material case as far as possible.
The two sides of the guide roller section 210 are provided with strip-shaped anti-collision switches, the front side of the guide roller section 210 is also provided with the anti-collision switches, the anti-collision switches are used for protecting the guide roller section 210 and prolonging the service life of the guide roller section 210, and the anti-collision switches are not shown in the figure;
it is conceivable that, in the case where the transfer site allows, the first roller section 211, the second roller section 212, the third roller section 213, the fourth roller section 214, and the fifth roller section 215 may be sequentially arranged along a straight line, and the arrangement may be such that the speeds of the first roller section 211, the second roller section 212, the third roller section 213, the fourth roller section 214, and the fifth roller section 215 are sequentially increased to achieve rapid transfer.
In this embodiment, in the static state, the guide roller section 210 is disposed at the front end and the side surface of the adsorption device 300; conceivably, in order to improve the efficiency of material box transmission and save working time, the guide roller sections 210 may be further disposed at the front end and both sides of the adsorption device 300; or, adsorption equipment 300 is provided with direction roller section 210 all around the encirclement formula, in this embodiment, gets one side that is close to the material case and is the front end.
The positioning device includes: the camera or the intelligent camera arranged above the gas circuit box 330 can automatically identify the size and the stacking position of an object and acquire an arrangement position diagram of the material boxes in the container;
the distance measuring sensor is arranged on the guide roller section 210, and can conveniently enter the container to grab the material box, in the embodiment, the distance measuring sensor which irradiates forwards and upwards is arranged at the middle position of the front end of the guide roller section 210, such as a laser distance measuring sensor, the distance between the distance measuring sensor and the material box is measured and reserved, the drawing distance is controlled in a settable safe distance section according to the drawing distance stop position obtained by measurement, and the distance can be controlled within 50-200mm in the actual working process; the front end of the guide roller section 210 is also provided with a laser auxiliary positioning device, and the height is calibrated by the laser auxiliary positioning device for height confirmation.
The positioning device further comprises: the front end and the rear end of the two sides of the vehicle body are respectively provided with a laser ranging sensor for ensuring smooth operation in the container.
In order to achieve the above object, an embodiment of the present invention further provides a using method of the box picking robot:
the invention is described by taking a drawing robot adapted to 40-inch cold chain containers as an example, and can be applied to drawing containers of different sizes and on different occasions, wherein the initial state of the drawing robot in the use process is that the containers are parked on a discharging platform, the container doors are opened and properly fixed on two sides, and the hydraulic lifting platform is butted with a carriage to finish laying. The hydraulic lifting platform enables the box drawing robot to smoothly enter the container to draw the box. Wherein the width 1980mm of the lifting platform, the inner width 2130 and 2340mm of the container can realize that the maximum parking offset (2340 and 1980)/2 between the two sides of the picking robot and the side wall of the container is 180mm, and the maximum elevation angle of the hydraulic lifting platform is 8 degrees.
The initial state of the drawing robot is that the mechanical arm is lowered to the support with the lowest stroke point, the robot can control walking after confirming the position through the laser ranging sensor at the front end of the guide roller section 210, the mechanical arm is lowered to the lowest stroke point, the distance between the robot and the ground material box is convenient to measure, and the guide roller section 210 is prevented from being too close to the material box.
The method comprises the following specific steps:
1. the drawing robot drives to the unloading platform, the drawing robot and the container are placed in the middle, and in the actual working process, the drawing robot and the container can be manually operated in an auxiliary mode through ground lines or laser lines.
2. The automatic stopping of the drawing robot is carried out through a laser ranging sensor arranged on the guide roller section 210, the stopping distance can be preset, and finally, the safety distance is set according to the principle that the mechanical arm moves up and down without touching the product material box.
3. Draw the case robot to accomplish after the off-position, set up the operation parameter, include: length, width and height of the inner cavity of the container; the length, width and height of the carton product can automatically calculate the number of layers, columns and rows in the container.
The operation parameters are set through the equipment touch screen, the accuracy of the parameters is confirmed manually, the size and the stacking position of an object are automatically identified by adopting an intelligent camera or a camera, and the automatic planning and the drawing sequence are realized.
4. The guide roller section 210 and the adsorption device 300 are lifted to the initial layer by the lifting device 400, and the laser auxiliary positioning device at the front end of the guide roller section 210 emits a laser line to confirm that the position of the initial layer is accurate. The initial layer can be the bottom of a second layer of the container above the ground, and can also be the bottom of the highest-layer goods in the container, the initial layer number must be manually input after the initial layer position is accurate, the height of each container of material boxes obtains the height value of the laser line from the bottom of the container, the height calibration is realized, and the laser line is arranged at the lowest point of the curved surface of the bottom of one layer of material boxes.
5. After the initial layer number is manually input, the system records the current height, jumps out of a button for confirming the next layer after the confirmation is manually pressed, automatically moves to the previous layer or the next layer according to the input height value of the box body, presses the button for confirming the next layer again after the height of a laser line sent by a laser auxiliary positioning device at the front end of the guide rail roller section 210 is moderate through human eyes, and presses the button for completely confirming the next layer until the last layer is confirmed and then presses the button for completely confirming the next layer.
6. After layer-by-layer confirmation is finished, the automatic working procedure is started, the lifting device 400 is lifted to the highest layer position, the drawing distance is controlled within a set distance section through the laser ranging sensor at the front end of the guide roller section 210, the distance can be controlled within 50-200mm in the actual working process, and the drawing robot can move forward or backward to adjust when exceeding the distance requirement.
7. The sucking disc subassembly passes through hoisting device 400 and moves behind the required material case of drawing out of alignment, feed through the longitudinal movement guide rail 350 that sets up on adsorption equipment 300 until sucking disc 310 contacts the product material case, the sensor that targets in place is triggered in the action of sucking disc buffer beam 320, ensure that sucking disc 310 and product material case are sufficient after touching, it is firm to start vacuum blower and produce the negative pressure and inhale the product carton, the little stroke of sucking disc subassembly jacking cylinder rises, mention product carton front end, the vacuum sucking disc subassembly is backed off and is drawn product material case to guide roller section 210 on, the vacuum solenoid valve is closed when the sucking disc subassembly is backed off to last 100mm position, open positive pressure solenoid valve blowback, avoid sucking disc 310 and product material case to come off inadequately. After the release, the suction cup buffer rod 320 drives the suction cup 310 to move back continuously until the in-place sensor obtains a signal.
8. The suction cup 310 sucks the material box and then places the material box on the first roller section 211, the first roller section 211 transports the material box through the second roller section 212, the fourth roller section 214 and the fifth roller section 215 in sequence, and the material box is converged at the rear telescopic belt.
9. When the photoelectric sensor on the adsorption device 300 detects that no material box is arranged on the guide roller section at the front end of the adsorption device, the longitudinal moving guide rail 15 arranged on the adsorption device 10 feeds until the suction disc 11 contacts the product material box, and the seventh step operation is repeated.
10. After the first layer is fished out, the boom is adjusted to the next layer, and a laser ranging sensor at the front end of the guide roller section 210 continuously confirms whether the safe distance meets the set range or not, and the safe distance is guaranteed through the forward and backward movement of the vehicle body. And repeating the box drawing action of the sucker component, and finishing the box drawing work layer by layer.
11. When the last layer is reached, the output roller line changes the inclination angle through a hydraulic cylinder at the front end of the lifting device, the inclination angle can be set within the range of 5-15 degrees according to the height of a product carton, the suction disc component feeds to ensure that the suction disc is attached to the material box when the lowest layer is drawn out, and the material box is placed on the guide roller section 210 for conveying; in order to ensure that the sucker component is close to the lowermost material box as far as possible, the jacking cylinder needs to be lifted by a small stroke, the front end of the product carton is lifted, and whether lifting action can be omitted or not can be confirmed during specific operation.
12. And (4) performing the drawing operation according to the initially set depth layers of the container until the last layer is finished, giving out a warning by the equipment, and automatically withdrawing the container body by the drawing robot after the completion of the drawing operation is confirmed to drive the drawing robot to leave the operation site. After the manual confirmation is completed, the box drawing robot automatically withdraws from the container body and can also manually drive away from the container.
In the process of drawing the box, a blind walking straight line is always kept before the front end of the vehicle body enters the container until the laser ranging sensors on the left and right sides of the front end of the vehicle body detect the side wall of the container, and the principle that the left and right distance values obtained by the front end sensor initially are unchanged is always kept to advance when the front end enters the container and the tail ranging sensor does not enter a carriage. And (3) until the vehicle tail ranging sensor enters the carriage, comparing the values of the front and rear sensors on the left side to adjust the parallelism between the vehicle body and the inner wall of the container.
In this embodiment, can artifically control whole dredging work process, also can long-rangely control through the procedure.
Aiming at the complexity, variety and irregularity of goods stacking in the container, the container picking robot scans and identifies each layer of goods through a visual identification system, and a background automatically forms a customized picking scheme; use the irregular carton of size to the goods packing as the main, snatch and can cause the destruction, draw the case robot front end and adopt big suction vacuum chuck system, absorb to automatic conveying platform, automatic transport to the link of killing, realize that the intellectuality of personnel contactless draws case operational environment.
The box drawing robot can adopt various operation modes of automation, semi-automation and remote control according to different working conditions, the operation efficiency is as high as 1000 plus 1500 boxes/hour, goods can be randomly separated according to setting after the box drawing and used for manual sampling, and all working data uploading platforms can be checked and traced.
Only from the perspective of saving human cost, the research and development cost of the system is about 300 ten thousand yuan, taking 10 workers in the prior process as an example, at least 8 workers can be replaced after adopting an intelligent scheme, the wages of each worker are calculated according to the 15000 yuan/month standard, if the human cost saved by working for 8 hours and one year every day is about 144 ten thousand yuan, after adopting the intelligent solution of the cold-chain logistics storage system 5+1, the uninterrupted operation for 24 hours can be realized, the human cost saved for one year is about 400 ten thousand yuan, and the investment can be recovered basically one year on the basis of not improving the calculation efficiency.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (10)
1. The utility model provides a draw box robot which characterized in that includes:
the adsorption device is arranged on a guide roller section at the front end of the transmission device, and the adsorption device translates along the upper end face of the guide roller section and is used for absorbing materials;
the power device provides power for the adsorption device and the lifting device;
the lifting device is used for lifting the guide roller section;
the transmission device is used for supporting and transmitting the material box sucked by the adsorption device.
2. A pick robot as claimed in claim 1, wherein: the transmission device further includes: the material box is sequentially transmitted through the guide roller section, the telescopic belt section and the telescopic roller section; the guide roller section drives the telescopic belt section to be connected with one side of the guide roller section to move under the lifting of the lifting device, and the telescopic belt section is connected with one side of the telescopic roller section and is connected with the chassis through a support column.
3. A pick robot as claimed in claim 2, wherein: the guide roller segment comprises: the first roller section and the second roller section are arranged at the front end of the adsorption device, and the third roller section, the fourth roller section and the fifth roller section are arranged on the side surface of the adsorption device;
the axes of the first roller section, the second roller section and the third roller section are parallel to the adsorption device and are arranged towards the moving direction of the material box, and the first roller section and the second roller section are used for transporting the material box along the direction vertical to the axes.
4. A pick robot as claimed in claim 3, wherein:
the speed of the second roller section is greater than that of the first roller section, and the second roller section is used for realizing differential box separation;
the axis of the fourth roller section and the axis of the fifth roller section are perpendicular to the axis of the first roller section, and the fourth roller section and the fifth roller section are used for converging the material box to a rear telescopic belt.
5. A pick robot as claimed in claim 3 or 4, wherein: the third roller section is arranged on one side, away from the second roller section, of the fourth roller section and used for limiting a confluence boundary;
the guide roller section also comprises a guide roller arranged at the front end of the guide roller section and used for guiding the material box.
6. A pick robot as claimed in claim 1, wherein: the adsorption device includes: the suction disc assembly is arranged at the front end of the gas circuit box and used for acquiring a material box; the transverse moving guide rail controls the sucker component to transversely move through the transverse moving cylinder, and the longitudinal moving guide rail controls the sucker component to longitudinally move through the longitudinal moving motor.
7. A pick robot as claimed in claim 6, wherein: the sucking disc subassembly includes: the sucking discs are connected to the gas circuit box through the sucking disc buffer rods; the sucker buffer rod is used for protecting the sucker and the material box.
8. A pick robot as claimed in claim 1, wherein: the positioning device comprises a distance measuring sensor and an auxiliary positioning device which are arranged at the front end of the guide roller section and are used for measuring the automatic stop position of the drawing distance;
the adsorption device is provided with a visual capture device and a laser line auxiliary positioning device, and the material box can be conveniently grabbed in the container.
9. A pick robot as claimed in claim 1, wherein: the power device comprises a hydraulic station and a sucker power set, wherein the sucker power set is arranged in a manner that the adsorption device absorbs the material box to provide power.
10. A method of using a sub-robot as claimed in claim 1, characterised by the steps of:
s1: the container is parked to the unloading platform, and the hydraulic lifting platform is butted and laid with the carriage;
s2: the box drawing robot drives to the unloading platform, is arranged in the middle of the container through the positioning device and determines the safe position of the container to automatically stop;
s3: presetting operation parameters, determining an initial layer and an initial layer number, automatically generating an operation scheme, starting a drawing working procedure, driving the guide roller section to be close to the material box by the transmission device, and measuring the distance from the guide roller section to the material box in real time through the positioning device;
s4: the adsorption device is fed to contact with the material box, the adsorption device sucks the material box to the guide roller section, the power device of the adsorption device is closed, and the material box is conveyed along the guide roller section;
s5: repeating S4 when the photoelectric sensor on the adsorption device detects that the material box is not arranged on the guide roller section at the front end of the adsorption device;
s6: after one transverse layer of material drawing is finished, the lifting device adjusts the position to the next layer, the distance from the guide roller section to the material box is measured in real time through the positioning device, and the material drawing action is repeated until the material drawing work is finished layer by layer along the depth;
s7: and sending out a warning, and enabling the container drawing robot to drive out the container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110640727.6A CN113233216A (en) | 2021-06-08 | 2021-06-08 | Box drawing robot and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110640727.6A CN113233216A (en) | 2021-06-08 | 2021-06-08 | Box drawing robot and using method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113233216A true CN113233216A (en) | 2021-08-10 |
Family
ID=77137193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110640727.6A Pending CN113233216A (en) | 2021-06-08 | 2021-06-08 | Box drawing robot and using method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113233216A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132719A (en) * | 2021-12-20 | 2022-03-04 | 吉林大学 | Cam divider-based carrying and rotating device |
| CN114180363A (en) * | 2022-02-17 | 2022-03-15 | 山东德晟机器人股份有限公司 | Intelligent container loading and unloading device |
| CN114379999A (en) * | 2022-03-22 | 2022-04-22 | 天津通广集团专用设备有限公司 | Automatic unloading system of container |
| CN114426215A (en) * | 2022-01-17 | 2022-05-03 | 大连海事大学 | Variable-amplitude conveying type refrigerated ship unloading system and working method |
| CN115123970A (en) * | 2022-06-22 | 2022-09-30 | 山东西部智能科技有限公司 | Container box type packaging unloading sterilizing and killing equipment |
| CN115724200A (en) * | 2022-12-07 | 2023-03-03 | 上海缆玥智能科技有限公司 | Sucking disc dumper |
| CN116678399A (en) * | 2023-08-03 | 2023-09-01 | 天津市云希创新技术有限责任公司 | Multisource information fusion positioning method and system of container internal transport sensing system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171909A (en) * | 2013-04-03 | 2013-06-26 | 西安索里德电气有限公司 | Loading-and-unloading machine |
| EP2805903A1 (en) * | 2013-05-22 | 2014-11-26 | Cartonmover B.V. | Method and device for unloading stacked objects, like boxes |
| CN108974964A (en) * | 2018-08-29 | 2018-12-11 | 中国科学院合肥物质科学研究院 | A kind of container cargo intelligent mounting-dismounting device |
| CN112499246A (en) * | 2020-12-15 | 2021-03-16 | 中车株洲车辆有限公司 | Box type cargo handling equipment |
| CN215287123U (en) * | 2021-06-08 | 2021-12-24 | 曜琅智慧科技产业(天津)有限公司 | Box drawing robot |
-
2021
- 2021-06-08 CN CN202110640727.6A patent/CN113233216A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171909A (en) * | 2013-04-03 | 2013-06-26 | 西安索里德电气有限公司 | Loading-and-unloading machine |
| EP2805903A1 (en) * | 2013-05-22 | 2014-11-26 | Cartonmover B.V. | Method and device for unloading stacked objects, like boxes |
| CN108974964A (en) * | 2018-08-29 | 2018-12-11 | 中国科学院合肥物质科学研究院 | A kind of container cargo intelligent mounting-dismounting device |
| CN112499246A (en) * | 2020-12-15 | 2021-03-16 | 中车株洲车辆有限公司 | Box type cargo handling equipment |
| CN215287123U (en) * | 2021-06-08 | 2021-12-24 | 曜琅智慧科技产业(天津)有限公司 | Box drawing robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114132719A (en) * | 2021-12-20 | 2022-03-04 | 吉林大学 | Cam divider-based carrying and rotating device |
| CN114426215A (en) * | 2022-01-17 | 2022-05-03 | 大连海事大学 | Variable-amplitude conveying type refrigerated ship unloading system and working method |
| CN114426215B (en) * | 2022-01-17 | 2024-06-11 | 大连海事大学 | Variable-amplitude conveying type refrigerating ship unloading system and working method |
| CN114180363A (en) * | 2022-02-17 | 2022-03-15 | 山东德晟机器人股份有限公司 | Intelligent container loading and unloading device |
| CN114379999A (en) * | 2022-03-22 | 2022-04-22 | 天津通广集团专用设备有限公司 | Automatic unloading system of container |
| CN115123970A (en) * | 2022-06-22 | 2022-09-30 | 山东西部智能科技有限公司 | Container box type packaging unloading sterilizing and killing equipment |
| CN115123970B (en) * | 2022-06-22 | 2024-05-03 | 山东西部智能科技有限公司 | Container box type packaging unloading and sterilizing equipment |
| CN115724200A (en) * | 2022-12-07 | 2023-03-03 | 上海缆玥智能科技有限公司 | Sucking disc dumper |
| CN116678399A (en) * | 2023-08-03 | 2023-09-01 | 天津市云希创新技术有限责任公司 | Multisource information fusion positioning method and system of container internal transport sensing system |
| CN116678399B (en) * | 2023-08-03 | 2023-11-24 | 天津市云希创新技术有限责任公司 | Multisource information fusion positioning method and system of container internal transport sensing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113233216A (en) | Box drawing robot and using method thereof | |
| CN215287123U (en) | Box drawing robot | |
| CN105692251B (en) | Article automatic loading system | |
| CN108328348B (en) | Movable robot loading and unloading stacker crane and loading and unloading method thereof | |
| CN111656964B (en) | Fruit picking robot | |
| CN104925531B (en) | A kind of Full automatic loading brick stacking machine | |
| CN215287124U (en) | A absorb handling device for drawing case | |
| CN113697491B (en) | Cold-chain container carton cargo handling equipment and method | |
| CN208086853U (en) | The stacking device of intelligent loading system | |
| CN208326757U (en) | A kind of automatic loading system with laser ranging positioning function | |
| CN112678561B (en) | Automatic loading method | |
| CN109693944B (en) | Automatic keel packaging and stacking equipment and method | |
| CN208008089U (en) | A kind of automatic dress cabinet device suitable for counter | |
| CN107364698A (en) | Transport angles adjustable intelligent transportation robot | |
| CN112919148A (en) | Non-contact type cold chain container drawing, disinfecting, loading and unloading intelligent equipment | |
| CN104624839A (en) | Numerically-controlled flexible turret punching line | |
| CN107444932A (en) | A kind of robot automatic loading system | |
| CN205555585U (en) | Article automatic loading system | |
| ITUA20164478A1 (en) | PALLETIZATION AND / OR DEPALLETIZATION OF GOODS | |
| CN107127742B (en) | Steel cable robot system for carrying original tobacco packages in woven fabric bag | |
| CN112551188A (en) | AGV draws case disinfection pile up neatly car | |
| CN207860318U (en) | A kind of camera lens pallet dedusting AGV trolleies | |
| CN106271253A (en) | A kind of flat-face fillet weld picks | |
| CN217807011U (en) | Automatic destacking and stacking loading and unloading vehicle | |
| CN207075330U (en) | Mushroom growing room automatic get-on carriage haulage equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |