CN115009807A - Automatic sorting and carrying system - Google Patents
Automatic sorting and carrying system Download PDFInfo
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- CN115009807A CN115009807A CN202210884400.8A CN202210884400A CN115009807A CN 115009807 A CN115009807 A CN 115009807A CN 202210884400 A CN202210884400 A CN 202210884400A CN 115009807 A CN115009807 A CN 115009807A
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- 229910000831 Steel Inorganic materials 0.000 claims description 23
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- 230000005484 gravity Effects 0.000 claims description 18
- 239000007787 solid Substances 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 16
- 230000007246 mechanism Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
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- 230000004048 modification Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 229910000746 Structural steel Inorganic materials 0.000 description 1
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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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- 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
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
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Abstract
The invention provides an automatic sorting and carrying system, which comprises: the magnetic suction system is used for grabbing and carrying parts; the driving system is connected with the magnetic suction system and drives the magnetic suction system to realize the movement along the directions of an X axis, a Y axis, a Z axis and an R axis; the guide rail system is used for supporting the driving system and limiting the moving stroke of the driving system along the X-axis direction; and the electric control system is connected with the driving system and controls the movement of the driving system. The automatic sorting and carrying system is provided with the four-degree-of-freedom driving system, the flexibility of sorting and carrying of parts is guaranteed, meanwhile, the strokes along the four shafts are large, the automatic sorting and carrying system is suitable for carrying parts with various shapes and sizes in the ship manufacturing process, and sorting and carrying of various types of parts in the ship manufacturing process are achieved.
Description
Technical Field
The invention relates to the technical field of ship manufacturing, in particular to an automatic sorting and carrying system for ship parts.
Background
The ship manufacturing needs tens of thousands of parts, and in order to ensure a reasonable and accurate manufacturing process, the efficiency and the accuracy of the material sorting of the parts directly influence the efficiency and the final quality of the subsequent manufacturing of the ship. The intelligent sorting and carrying equipment for ship parts is not actually applied in the ship industry, and particularly, the equipment cannot effectively sort and carry irregular ship plate parts. At present, the method for sorting and carrying ship parts mainly comprises manual sorting.
Artifical letter sorting is by the workman through the yard of spouting on the naked eye discernment ship board part, confirms the part flow direction, sorts the transport through wherein equipment to the part, and this kind of letter sorting transport mode is comparatively nimble, and the workman can sort the transport to arbitrary part, but artifical letter sorting handling efficiency is lower, and the error rate is high. The manual sorting process has the randomness varying from person to person, lacks effective control performance, and cannot effectively control the production process and key operation time nodes.
Through retrieval, in order to solve the problems existing in manual sorting, an automatic sorting device has been researched in the prior art, for example, a utility model patent with chinese patent application No. 202020449291.3, which provides an automatic sorting device, comprising a main controller, a mechanical arm mechanism, a magnetic suction plate and a magnetic suction controller; the magnetic attraction controller is connected with the main controller; the mechanical arm mechanism is connected with the main controller; the magnetic suction plate is arranged on the mechanical arm mechanism, and the mechanical arm mechanism is used for driving the magnetic suction plate to move; the magnetic attraction plate is provided with a plurality of magnetic attraction points which are respectively connected with a magnetic attraction controller, and the magnetic attraction controller is used for controlling the magnetization or demagnetization of the magnetic attraction points so that the magnetized magnetic attraction points correspond to the shape of the workpiece. The mechanical arm mechanism can drive the magnetic attraction plate to move, the magnetic attraction controller can control the magnetizing and demagnetizing of a plurality of magnetic attraction points on the magnetic attraction plate, so that the shape formed by the magnetized magnetic attraction points corresponds to the shape of a workpiece, the workpiece is adsorbed more accurately, the condition that a plurality of workpieces are adsorbed simultaneously is avoided, and the sorting efficiency is improved.
However, the utility model adopts the fixed point type mechanical arm design, the stroke is small, the operation range is limited, part of the part sorting platform is dozens of meters long and several meters wide, the mechanical arm design can not effectively cover the sorting area, a plurality of devices are required to be arranged for sorting, the cost is high, and the part sorting in the ship field can not be realized due to the regional limitation; the mechanical arm design is limited in part carrying weight, the weight of ship parts reaches hundreds of kilograms, and the mechanical arm design cannot be used for effectively carrying the parts.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic sorting and carrying system, so that the automatic part sorting and carrying process is realized, the sorting and carrying efficiency is improved, manual wrong sorting is prevented, the randomness of manual sorting is avoided, and the requirement of part sorting in the field of ships can be met.
The invention provides an automatic sorting and carrying system, which comprises:
the magnetic suction system is used for grabbing and carrying parts;
the driving system is connected with the magnetic suction system and drives the magnetic suction system to realize the movement along the directions of an X axis, a Y axis, a Z axis and an R axis;
the guide rail system is used for supporting the driving system and limiting the moving stroke of the driving system along the X-axis direction;
and the electric control system is connected with the driving system and controls the movement of the driving system.
Furthermore, the guide rail system comprises a left guide rail and a right guide rail, wherein the left guide rail and the right guide rail are symmetrically arranged and respectively comprise an installation adjusting bracket fixed on the ground, a steel rail paved on the installation adjusting bracket and anti-collision devices arranged at two ends of the steel rail.
Further, the drive system includes:
the X-axis driving system drives the magnetic attraction system to move transversely under the control of the electric control system;
the Y-axis driving system drives the magnetic attraction system to move longitudinally under the control of the electric control system;
the Z-axis driving system drives the magnetic attraction system to vertically move under the control of the electric control system; and the number of the first and second groups,
and the R-axis driving system drives the magnetic attraction system to rotate under the control of the electric control system.
Further, the Y-axis drive system includes:
a cross beam;
the transverse sliding rails are arranged on two sides of the cross beam; and the number of the first and second groups,
and the Y-axis motor is connected to the transverse sliding rail and drives the magnetic suction system to move longitudinally.
Further, X axle actuating system comprises left side stand and right side stand, the left side stand with right side stand symmetry sets up, includes respectively:
the upper end face of the solid column is connected with the cross beam;
the bearing wheel is arranged at the bottom of the three-dimensional column and is positioned on the steel rail; and the number of the first and second groups,
and the X-axis motor is connected to the three-dimensional column and drives the magnetic attraction system to move transversely.
Further, the Z-axis drive system comprises:
erecting a beam;
the vertical sliding rail is arranged on the vertical beam;
the Z-axis motor is connected to one side of the vertical sliding rail and drives the magnetic suction system to vertically move; and (c) a second step of,
and the R-axis mounting bottom plate is fixedly mounted at the bottom of the vertical beam.
Furthermore, the R-axis driving system comprises a rotating gear connected to the vertical beam through an R-axis mounting bottom plate and an R-axis motor arranged on one side of the rotating gear, the R-axis motor drives the rotating gear to rotate, wherein the rotating angle of the rotating gear can realize full-angle coverage, and the R-axis driving system is mounted above equipment and adopts a complete aerial operation form.
Furthermore, the magnetic attraction system comprises a magnetic attraction beam connected to the rotating gear, a magnetic attraction device connected below the magnetic attraction beam, and a buffer component arranged between the magnetic attraction beam and the magnetic attraction device.
Further, the magnetic attraction device is an electromagnet or other magnetic attraction devices.
Further, the electronic control system includes:
the PLC is controlled by a control program installed on an industrial personal computer;
the servo driver is connected with the driving system; and the number of the first and second groups,
and the position sensor and the distance measuring sensor are used for transmitting signals to the upper computer.
Further, a control program on the industrial personal computer is opened, and the control program issues an instruction to the equipment PLC to realize the control of the equipment:
firstly, importing and analyzing a GEN file cut by a steel plate, and acquiring process information from the GEN file, wherein the process information comprises part outline information, part numbers and part names;
then, matching and fitting are carried out according to the part contour and the contour of the grabbing device, and the matching and fitting process is as follows: acquiring part contour information, part coordinate position information and part gravity center coordinate position by analyzing the GEN file; calculating a plurality of suction head coordinate positions of the magnetic suction device, and calculating whether the gravity center coordinate position exists in the part outline or not; if the gravity center is in the part contour, continuously calculating the optimal grabbing angle passing through the gravity center coordinate, and automatically calculating the position coordinate of part grabbing; if the gravity center of the part is outside the part outline, automatically calculating the optimal grabbing coordinate position of the part by calculating the intersection line of the gravity center passing line and the part outline;
and finally, after acquiring the part grabbing coordinate position information, the control program converts the part grabbing coordinate position information into equipment coordinate information, and starts the automatic sorting and carrying system to carry out pre-sorting and carrying.
Compared with the prior art, the invention has the following beneficial effects:
the automatic sorting and carrying system provided by the invention is provided with the four-degree-of-freedom driving system, the magnetic suction system is driven to realize the movement along the X-axis, Y-axis, Z-axis and R-axis directions, the flexibility of sorting and carrying of parts is ensured, and simultaneously, the strokes along the four axes are all larger, so that the automatic sorting and carrying system is suitable for carrying parts with various shapes and sizes in the ship manufacturing process, and the sorting and carrying of various types of parts in the ship manufacturing process is realized.
In the automatic sorting and carrying system provided by the invention, the X-axis adopts a guide rail system (steel rail), and the length of the steel rail can be adjusted according to application requirements to adjust the X-axis stroke, so that the X-axis stroke length is not limited.
In the automatic sorting and carrying system provided by the invention, the Y-axis driving system adopts a beam structure, and the Y-axis stroke can be adjusted according to the length of the transverse slide rail on the adjusting beam.
In the automatic sorting and conveying system provided by the invention, the Z-axis stroke can be adjusted by adjusting the length of the vertical slide rail according to the height of the vertical beam in the Z-axis driving system.
In the automatic sorting and carrying system provided by the invention, the R shaft is a rotating shaft, the R shaft driving system adopts a gear rack mechanism, the rotating angle can realize full-angle coverage, and the R shaft driving system is arranged above equipment, is in a complete aerial operation form and occupies a small amount of ground space of a factory.
In the automatic sorting and carrying system provided by the invention, the XYZ three-axis stroke can be designed according to the application field to adjust the length of the guide rail and change the stroke of the truss robot, the system is suitable for various production fields, the Z-axis expansion axis R axis is adopted, the gear rack structure is adopted, the system can be adjusted to any angle to pick and carry parts, the parts can be adjusted to any angle to release, the system is suitable for carrying parts with various shapes and sizes in the ship manufacturing process, and sorting and carrying of various types of parts in the ship manufacturing process are realized.
In the automatic sorting and carrying system provided by the invention, the PLC is controlled by a matched control program installed on an industrial personal computer, the control program adopts a field cutting process file (GEN file) as a drive for the first time to realize the automatic sorting of parts, the automatic process is realized in the whole process, and the manual operation is avoided; the movement of the driving system is controlled, the operation is convenient and fast, and the practicability is strong; promoted to the accuse ability of sorting handling, improved the efficiency of letter sorting transport, prevented artifical wrong letter sorting, avoided the randomness of artifical letter sorting, realized high efficiency letter sorting.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of an automated sorting and handling system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a guide rail system of an automated sorting and handling system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a driving system of the automated sorting and handling system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a Y-axis driving system of the automated sorting and handling system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an X-axis drive system of an automated sortation handling system in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of a Z-axis drive system of the automated sorting handling system according to one embodiment of the present invention;
FIG. 7 is a schematic structural view of an R-axis driving system of an automated sorting and handling system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electric control system of the automatic sorting and handling system according to an embodiment of the present invention;
in the figure: the magnetic attraction device comprises a magnetic attraction system 1, a driving system 2, a guide rail system 3, an electric control system 4, a magnetic attraction beam 11, a magnetic attraction device 12, a buffer part 13, an X-axis driving system 21, a Y-axis driving system 22, a Z-axis driving system 23, an R-axis driving system 24, an installation adjusting support 31, a steel rail 32, an anti-collision device 33, a three-dimensional column 211, a bearing wheel 212, an X-axis motor 213, a travel switch 214, a beam 221, a transverse sliding rail 222, a Y-axis motor 223, a vertical beam 231, a vertical sliding rail 232, a Z-axis motor 233, an R-axis installation bottom plate 234, a rotating gear 241 and an R-axis motor 242.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the invention.
Fig. 1 is a schematic structural view of an automatic sorting and conveying system according to an embodiment of the present invention, including a magnetic attraction system 1, a driving system 2, a rail system 3, and an electric control system 4. The magnetic suction system 1 is used for grabbing and carrying parts; the driving system 2 is used for driving the magnetic suction system 1 to move along the X-axis direction, the Y-axis direction, the Z-axis direction and the R-axis direction, the preliminary positioning of the part can be realized by moving along the X-axis direction and the Y-axis direction, the part is mainly repositioned again by moving along the R-axis direction to ensure that the magnetic suction system 1 can be fully contacted with the part, and the movement along the Z-axis direction is mainly used for ensuring that the magnetic suction system 1 is contacted with the surface of the part to realize part grabbing; the guide rail system 3 is arranged on the ground and used for supporting the driving system 2 and limiting the moving stroke of the driving system 2 along the X-axis direction; the electric control system 4 is used for controlling the movement of the driving system 2, so as to control the magnetic suction system 1 to grab and carry the parts, and realize the final automatic sorting and carrying of the parts.
As shown in fig. 2, in some preferred embodiments, the rail system 3 is composed of a left rail and a right rail, which are symmetrically disposed and respectively include a mounting adjustment bracket 31 fixed on the ground and a rail 32 laid on the mounting adjustment bracket 31. Wherein the side of the rail 32 is provided with a rack. In some embodiments, anti-collision devices 33 are provided at both ends of the rail 32 to avoid damage to the equipment from overshooting.
As shown in fig. 3, in some preferred embodiments, the driving system 2 is a gantry structure, and its main function is to drive the magnetic attraction system 1 to move, and all the movements in four directions can be achieved, including an X-axis driving system 21 for achieving lateral movement of the magnetic attraction system 1, a Y-axis driving system 22 for driving the magnetic attraction system 1 to move longitudinally, a Z-axis driving system 23 for driving the magnetic attraction system 1 to move vertically, and an R-axis driving system 24 for achieving rotational movement of the magnetic attraction system 1.
As shown in fig. 4, in some preferred embodiments, the Y-axis driving system 22 includes a cross beam 221, a lateral slide rail 222 disposed on both sides of the cross beam 221, and a Y-axis motor 223 connected to the lateral slide rail 222. The two transverse sliding rails 222 are fixedly connected to the cross beam 221 through screws, a sliding connection plate is arranged on each transverse sliding rail 222, a rack is further fixed on the cross beam 221, the Y-axis motor 223 is fixed to the transverse sliding rails 222 through the sliding connection plate, and a gear meshed with the rack on the cross beam 221 is mounted on the Y-axis motor 223. When the Y-axis motor 223 rotates, the gear is driven to rotate in the positive and negative directions, and the magnetic attraction system 1 is driven to move longitudinally. In one embodiment, the maximum travel speed along the Y axis is up to 0.8 m/sec, with a maximum stroke of 5 m. In this embodiment, the Y-axis driving system adopts a beam structure, and the Y-axis stroke can be adjusted by adjusting the length of the transverse slide rail 222 on the beam.
As shown in fig. 5, in some preferred embodiments, the X-axis driving system 21 is composed of a left vertical column and a right vertical column, the left vertical column and the right vertical column are symmetrically arranged about a center line of the gantry-type structure, and the left vertical column and the right vertical column respectively include a three-dimensional column 211 arranged at two ends of a cross beam 221, a bearing wheel 212 arranged at the bottom of the three-dimensional column 211, and an X-axis motor 213 connected to the three-dimensional column 211. The upper end face of the three-dimensional column 211 is fixedly connected with the cross beam 221 through a bolt, the bearing wheel 212 is located on the steel rail 32 and used for supporting the whole device, the X-axis motor 213 is fixed on the three-dimensional column 211 through a bolt, a driving gear meshed with a rack on the steel rail 32 is arranged at the bottom of the X-axis motor 213, and the whole driving system 2 is driven to move along the steel rail 32 through gear and rack transmission, so that the transverse displacement of the magnetic attraction system 1 is realized. In addition, the outer side of the stereo column 211 is provided with a travel switch 214 for limiting the displacement when the magnetic attraction system 1 is used for precisely grabbing, so as to limit the movement of the driving system 2. In one embodiment, the maximum travel speed along the X axis is up to 0.8 m/sec, with a maximum travel of 4.8 m. In this embodiment, the X-axis moves based on the steel rail 32, and the length of the steel rail 32 can be adjusted according to application requirements to adjust the X-axis stroke, so that the X-axis stroke length is not limited.
As shown in fig. 6, in some preferred embodiments, the Z-axis driving system 23 includes a vertical beam 231, a vertical slide rail 232 disposed on the vertical beam 231, a Z-axis motor 233 connected to one side of the vertical slide rail 232, and an R-axis mounting base plate 234 fixedly mounted at the bottom of the vertical beam 231. Wherein, the R-axis mounting base plate 234 is fixedly mounted on the vertical beam 231 through a bolt, and the Z-axis motor 233 drives the magnetic attraction system 1 to vertically move by means of a rack and pinion. In one embodiment, the maximum travel speed along the Z axis is 200mm/s and the maximum travel is 800 mm. In this embodiment, the Z-axis stroke can be adjusted by adjusting the length of the vertical slide rail 232 according to the height of the vertical beam 231.
As shown in fig. 7, in some preferred embodiments, the R-axis driving system 24 includes a rotary gear 241 coupled to the vertical beam 231 through the R-axis mounting base plate 234 and an R-axis motor 242 provided at one side of the rotary gear 241. The bottom of the R-axis motor 242 is connected to a driving gear, and the driving gear is engaged with the rotating gear 241 to realize the rotation of the magnetic attraction system 1. The magnetic attraction system 1 comprises a magnetic attraction beam 11 connected to the rotary gear 241, a magnetic attraction device 12 connected below the magnetic attraction beam 11 and a buffer part 13 arranged between the magnetic attraction beam 11 and the magnetic attraction device 12, the magnetic attraction system adopts multi-head magnetic attraction, and each suction head can be independently magnetized and demagnetized according to system control; the magnetic suction system 1 adopts a magnetic suction beam to connect magnetic suction heads, the magnetic suction system 1 is arranged to adjust the length of the magnetic suction beam 11 and the number of the magnetic suction beams 11 according to parts with different shapes and sizes, so as to adjust the number of the magnetic suction heads, specifically, the magnetic suction system can adopt a single-row or multi-row design, and can separately and independently control each magnetic suction head to be independently magnetized and demagnetized according to the parts with different shapes and sizes so as to adapt to the grabbing and releasing of various parts and the posture adjustment, meanwhile, the magnetic suction device is provided with a buffer part 13 which can adapt to the grabbing of uneven parts, and when the parts have curves in a vertical space, the grabbing and releasing of the parts can still be carried out; the magnetic attraction device 12 may be an electromagnet or other magnetic attraction device. In one embodiment, the maximum travel speed along the R axis is 60/s and the maximum travel is 270. In the embodiment, the R shaft is a rotating shaft, the R shaft driving system adopts a gear rack mechanism, the rotating angle is +/-270 degrees, full-angle coverage is realized, the R shaft driving system is arranged above equipment, and the R shaft driving system is in a complete aerial operation mode and occupies a small amount of ground space of a factory.
In the above embodiment of the invention, the Y-axis beam adopts a heavy-load beam, the X-axis guide rail system adopts a heavy-load guide rail and heavy-load slider structure, and specifically, the Y-axis beam adopts structural steel materials and the material thickening design can increase the bearing weight.
As shown in fig. 8, in some preferred embodiments, the electronic control system 4 includes a PLC controller, a servo driver, and a position sensor and a distance measuring sensor for transmitting signals to the upper computer, and the position sensor can measure the position of the sorting device on the guide rail in real time, so as to prevent the three shafts from exceeding the limit positions during the movement process, ensure the safety of the device during the operation process, and avoid the operation stop after being hindered during the operation; the distance measuring sensor is used for the Z axis to measure and calculate the distance between the part and the Z axis in real time, so that the Z axis operation device is prevented from being pressed down excessively, and the safe operation of the device is guaranteed. A plurality of servo drivers are respectively connected with an X-axis motor, a Y-axis motor, a Z-axis motor and an R-axis motor, a PLC (programmable logic controller) is connected with each servo driver, and the PLC is controlled through a self-researched and developed matched control program installed on an industrial personal computer to control the motion in each direction.
Based on the structural characteristics of the automatic sorting and carrying system, an application example is provided below, wherein the automatic sorting and carrying system is applied to steel plate carrying in ship manufacturing.
Firstly, the steel plate after cutting is placed on a working platform formed between the left guide rail and the right guide rail, and the position of the steel plate is adjusted. The X/Y axis direction of the steel plate is parallel to the X/Y axis direction of the operation platform as much as possible, and the upper left corner of the steel plate is located at the zero point of the physical coordinate of the operation platform.
Opening a sorting and carrying control program on an industrial personal computer, issuing an instruction to an equipment PLC (programmable logic controller) by the control program to realize the control of the equipment, firstly importing and analyzing a GEN (generic information) file cut by a steel plate, and acquiring process information such as part outline information, part number, part name and the like from the GEN file; although the barycentric coordinates of the parts can be analyzed from the GEN file, the barycentric coordinates of some parts are not on the parts, the barycentric coordinates are not suitable for being used as part grabbing positions, and parts are irregular, so that the parts can not be grabbed correctly. Therefore, in the embodiment, matching fitting is performed according to the part profile and the gripping device profile. Specifically, the matching and fitting process preferably adopts the following algorithm: acquiring part contour information, part coordinate position information and part gravity center coordinate position by analyzing the GEN file; calculating a plurality of suction head coordinate positions of the magnetic suction device, and calculating whether the gravity center coordinate position exists in the part outline or not; if the gravity center is in the part contour, continuously calculating the optimal grabbing angle passing through the gravity center coordinate, and automatically calculating the position coordinate of part grabbing; if the gravity center of the part is positioned outside the part outline, the optimal grabbing coordinate position of the part is automatically calculated by calculating the intersection line of the gravity center passing line and the part outline. According to the method, the field cutting process file, namely the GEN file, is used as the drive for the first time, so that the automatic sorting of the parts is realized, the automatic process is realized in the whole process, and the manual operation is avoided.
And after the control program acquires related information, namely the part grabbing coordinate position information, the related information is converted into equipment coordinate information, and the automatic sorting and carrying system is started to carry out pre-sorting and carrying. And displaying a CAD pattern of the steel plate to be transported on a screen of the industrial personal computer, moving a cursor between the positions of the grabbing coordinate points of the parts according to the transporting sequence of the parts, simulating the action of actual part sorting and transporting operation, and sorting and transporting the parts according to the actual operation flow direction. In the process of simulating and demonstrating a computer screen, if a conveying position of a certain part is found to be wrong, if abnormal conditions such as exceeding the part conveying operation range of equipment and the like occur, the system gives an alarm to prompt error information, at the moment, an upper-layer interface is returned, and the steel plate is placed again.
After the pre-sorting and carrying are correct, the automatic sorting and carrying system can be started to operate.
The PLC drives the X-axis motor 213, the Y-axis motor 223 and the R-axis motor 242 according to the instructions of the industrial personal computer, so that the magnetic suction device 12 sequentially runs to the design position of each part, and then drives the Z-axis motor 233 to contact the magnetic suction device 12 with the part to grab the part. After the parts are grabbed, the R-axis motor 242 drives the parts to rotate, adjust the postures of the parts, sort and convey the parts to a designated position.
After the sorting and carrying operation is completed, the whole system returns to the initial position to prepare for the next part sorting and carrying operation.
The automatic sorting device can automatically sort and carry, after the release position of the parts is appointed, the device automatically calculates the grabbing coordinate position of each part from the process file through the control program without manual intervention, then converts the grabbing coordinate position of the parts into the equipment coordinate position, and appoints the sorting device to automatically sort each part. Whole process can realize unmanned operation, and the device sorts each part to the assigned position, and algorithm can be appointed to the simultaneous control procedure, carries out the route of part letter sorting and optimizes, realizes the route optimization of a plurality of parts transport according to the actual need of production, realizes the time optimal of letter sorting transport, perhaps the best grade of part collocation.
The control program is an integrated motion control system, and a ship field process file, namely a GEN file, is used as program drive, so that the process of identifying each part by adopting a vision technology and calculating part sorting coordinates by an algorithm is avoided; the sorting coordinate and the sorting flow direction of the parts are acquired by analyzing the GEN file, and the sorting of the whole cutting steel plate parts of the whole ship can be realized through an independent process file, so that the on-site sorting efficiency is greatly improved. The process file data processing and equipment control are integrated into a control system, the system can acquire sorting data of each part, namely part sorting coordinates, sorting flow directions and the like, through the process files, collect information of a position sensor and a distance measuring sensor in real time, and control equipment realizes automatic sorting and carrying of the parts.
The embodiment of the invention ensures the flexibility of sorting and carrying the parts, simultaneously has larger strokes along four shafts, is suitable for carrying parts with various shapes and sizes in the ship manufacturing process, and realizes the sorting and carrying of various types of parts in the ship manufacturing process.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The above-described preferred features may be used in any combination without conflict with each other.
Claims (10)
1. An automated sortation handling system, comprising:
the magnetic suction system is used for grabbing and carrying parts;
the driving system is connected with the magnetic suction system and drives the magnetic suction system to realize the movement along the directions of an X axis, a Y axis, a Z axis and an R axis;
the guide rail system is used for supporting the driving system and limiting the moving stroke of the driving system along the X-axis direction;
and the electric control system is connected with the driving system and controls the movement of the driving system.
2. The automated sortation handling system of claim 1, wherein said track system comprises a left track and a right track, said left track and said right track are symmetrically disposed and respectively comprise a mounting adjustment bracket fixed to the ground, a rail laid on said mounting adjustment bracket, and anti-collision devices disposed at both ends of said rail.
3. The automated sortation handling system according to claim 1, wherein said drive system comprises:
the X-axis driving system drives the magnetic attraction system to move transversely under the control of the electric control system;
the Y-axis driving system drives the magnetic attraction system to move longitudinally under the control of the electric control system;
the Z-axis driving system drives the magnetic attraction system to vertically move under the control of the electric control system; and the number of the first and second groups,
and the R-axis driving system drives the magnetic attraction system to rotate under the control of the electric control system.
4. The automated sortation handling system of claim 3, wherein the Y-axis drive system comprises:
a cross beam;
the transverse sliding rails are arranged on two sides of the cross beam; and the number of the first and second groups,
and the Y-axis motor is connected to the transverse sliding rail and drives the magnetic suction system to move longitudinally.
5. The automated sortation handling system of claim 4, wherein said X-axis drive system is comprised of a left side column and a right side column, said left side column and said right side column being symmetrically disposed and respectively comprising:
the upper end face of the solid column is connected with the cross beam;
the bearing wheel is arranged at the bottom of the three-dimensional column and is positioned on the steel rail; and the number of the first and second groups,
and the X-axis motor is connected to the three-dimensional column and drives the magnetic attraction system to move transversely.
6. The automated sortation handling system of claim 3 or 5, wherein said Z-axis drive system comprises:
erecting a beam;
the vertical sliding rail is arranged on the vertical beam;
the Z-axis motor is connected to one side of the vertical sliding rail and drives the magnetic suction system to vertically move; and (c) a second step of,
and the R-axis mounting bottom plate is fixedly mounted at the bottom of the vertical beam.
7. The automated sortation handling system of claim 6, wherein said R-axis drive system comprises a rotary gear connected to the vertical beam by an R-axis mounting base and an R-axis motor disposed on one side of the rotary gear, said R-axis motor driving said rotary gear to rotate;
the rotating angle of the rotating gear can realize full-angle coverage, and the R-axis driving system is installed above the equipment and adopts a complete aerial operation form.
8. The automated sortation handling system of claim 7, wherein the magnetic attraction system comprises a magnetic attraction beam coupled to the rotary gear, a magnetic attraction device coupled below the magnetic attraction beam, and a buffer member disposed between the magnetic attraction beam and the magnetic attraction device;
the magnetic attraction system adopts multi-head magnetic attraction, and each suction head can be independently magnetized and demagnetized according to system control; the magnetic suction system adopts the magnetic suction cross beam to connect the magnetic suction heads, and the magnetic suction system can adjust the length of the magnetic suction cross beam and the quantity of the magnetic suction cross beam according to parts with different shapes and sizes, so as to adjust the quantity of the magnetic suction heads.
9. The automated sortation handling system as claimed in claim 1, wherein said electronic control system comprises:
the PLC is controlled by a control program installed on an industrial personal computer;
the servo driver is connected with the driving system; and (c) a second step of,
and the position sensor and the distance measuring sensor are used for transmitting signals to the upper computer.
10. The automatic sorting and handling system of claim 9, wherein a control program on the industrial personal computer is opened, and the control program issues an instruction to the device PLC to realize control of the device:
firstly, importing and analyzing a GEN file cut by a steel plate, and acquiring process information from the GEN file, wherein the process information comprises part outline information, part numbers and part names;
then, matching and fitting are carried out according to the part contour and the contour of the grabbing device, and the matching and fitting process is as follows: acquiring part contour information, part coordinate position information and part gravity center coordinate position by analyzing the GEN file; calculating a plurality of suction head coordinate positions of the magnetic suction device, and calculating whether the gravity center coordinate position exists in the part outline or not; if the gravity center is in the part contour, continuously calculating the optimal grabbing angle passing through the gravity center coordinate, and automatically calculating the position coordinate of part grabbing; if the gravity center of the part is outside the part outline, automatically calculating the optimal grabbing coordinate position of the part by calculating the intersection line of the gravity center passing line and the part outline;
and finally, after acquiring the part grabbing coordinate position information, the control program converts the part grabbing coordinate position information into equipment coordinate information, and starts the automatic sorting and carrying system to carry out pre-sorting and carrying.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210884400.8A CN115009807A (en) | 2022-07-25 | 2022-07-25 | Automatic sorting and carrying system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210884400.8A CN115009807A (en) | 2022-07-25 | 2022-07-25 | Automatic sorting and carrying system |
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| CN115009807A true CN115009807A (en) | 2022-09-06 |
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| CN202210884400.8A Pending CN115009807A (en) | 2022-07-25 | 2022-07-25 | Automatic sorting and carrying system |
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