CN115676289A - Intelligent temporary storage system and method for automatic transfer of coil stock - Google Patents
Intelligent temporary storage system and method for automatic transfer of coil stock Download PDFInfo
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- CN115676289A CN115676289A CN202211692614.1A CN202211692614A CN115676289A CN 115676289 A CN115676289 A CN 115676289A CN 202211692614 A CN202211692614 A CN 202211692614A CN 115676289 A CN115676289 A CN 115676289A
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- 238000003860 storage Methods 0.000 title claims abstract description 80
- 238000012546 transfer Methods 0.000 title claims description 12
- 238000000034 method Methods 0.000 title claims description 9
- 239000000463 material Substances 0.000 claims abstract description 318
- 210000001503 joint Anatomy 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 50
- 239000003638 chemical reducing agent Substances 0.000 claims description 35
- 238000005096 rolling process Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 4
- 239000011232 storage material Substances 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 3
- 238000004801 process automation Methods 0.000 abstract 1
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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Abstract
The invention discloses an automatic roll material transferring intelligent temporary storage system, which comprises: a three-dimensional material rack is arranged inside the truss; the butt joint material rack is arranged on the left side of the three-dimensional material rack; the AGV is provided with a temporary storage rack and a material moving mechanism, the AGV is used for moving the temporary storage rack to one side of the butt joint rack, the material moving mechanism is used for moving the roll materials on the temporary storage rack to the butt joint rack, and roll material detection sensors used for detecting whether the roll materials exist in the upper material level of the temporary storage rack, the butt joint rack and the three-dimensional rack are respectively arranged on the temporary storage rack, the butt joint rack and the three-dimensional rack; the three-axis truss robot is arranged on the truss and used for moving the coil stock on the butt joint material rack to the three-dimensional material rack; central control system and AGV, coil stock detection sensor, triaxial truss robot communication connection for the coil stock condition and each driver part action of control on the monitoring each material level realize automatic access coil stock, adopt above-mentioned technical scheme, stock process automation accomplishes, does not need artifical transport, saves the cost of labor, and is shorter with time, has promoted access efficiency greatly.
Description
Technical Field
The invention relates to the technical field related to coil stock storage and transportation, in particular to an automatic coil stock transfer intelligent temporary storage system and an automatic coil stock transfer intelligent temporary storage method.
Background
In the existing processing industries of various products, a roll material is usually formed by winding materials on a cylindrical winding core for storing, transporting and processing the flexible materials.
In the prior art, the operations of carrying the coil and replacing the winding core are mostly carried out between each process of the coil production process, and the operations of carrying the coil and the like are mostly carried out by manually operating a traveling crane, binding hanging belts are tied at two ends of the coil and are hoisted on the traveling crane. The coil material is lifted by manual operation, whether the coil material reaches the position is judged mainly by human senses, the position needs to be adjusted for many times after the coil material reaches the periphery of the coil material position, the manual operation needs to be careful, and the manual operation is cooperated by multiple people, so that the operation difficulty is high, the time consumption is long, the efficiency is low, and the labor cost is high; in addition, the operation is carried out manually, and the suspender is used for suspending the coil on a traveling crane, so that safety accidents caused by the fact that the gravity center of the coil is shifted due to unreasonable winding of the suspender can occur.
Disclosure of Invention
In order to overcome the technical defects in the prior art, the invention aims to provide an automatic roll material transferring intelligent temporary storage system to solve the technical problems.
The technical scheme adopted by the invention for solving the technical problem is as follows:
according to one aspect of the invention, the automatic roll transferring intelligent temporary storage system comprises:
the truss is internally provided with a three-dimensional material rack;
the butt joint material rack is arranged on the left side of the three-dimensional material rack;
the system comprises an AGV, a data acquisition device and a data processing device, wherein the AGV is provided with a temporary storage rack and a material moving mechanism electrically connected with the AGV, the AGV is used for moving the temporary storage rack to one side of a butt-joint rack, the material moving mechanism is used for moving roll materials on the temporary storage rack to the butt-joint rack or moving the roll materials on the butt-joint rack to the temporary storage rack, and roll material detection sensors used for detecting whether roll materials exist in the material loading position of the temporary storage rack, the butt-joint rack and a three-dimensional rack are respectively arranged on the temporary storage rack, the butt-joint rack and the three-dimensional rack;
the three-axis truss robot is arranged on the truss and used for moving the coiled materials on the butting material frame to the stereoscopic material frame or moving the coiled materials on the stereoscopic material frame to the butting material frame;
and the central control system is in communication connection with the AGV, the coil stock detection sensor and the three-axis truss robot and is used for monitoring the coil stock condition on each material level and controlling each driving part to act so as to realize automatic coil stock storage and taking.
By adopting the technical scheme, the temporary storage rack and the material moving mechanism are arranged on the AGV, so that the roll material can be transferred and carried, and the roll material can be stored on the three-dimensional rack by matching with the butt joint rack, the truss and the three-axis truss robot, so that the whole material storage process is automatically finished, manual carrying is not needed, the labor cost is saved, the potential safety hazard caused by manual operation is avoided, and meanwhile, the storing and taking efficiency is greatly improved; whether be provided with the coil stock that is used for detecting whether have the coil stock in its material level through on the work or material rest of keeping in, butt joint work or material rest and three-dimensional work or material rest respectively detects the sensor for whether have the coil stock on its material level can clearly be known to central control system, and the rational arrangement coil stock of being convenient for is deposited the position, avoids equipment idle running to take place simultaneously.
In order to better solve the technical defects, the invention also has a better technical scheme that:
in some embodiments, the material moving mechanism comprises a traversing device and a lifting device, a driving end of the traversing device is connected with a mounting plate and used for driving the mounting plate to move along the X direction, the lifting device is fixedly connected to the mounting plate, two driving ends of the lifting device are respectively connected with a lifting block and used for driving the two lifting blocks to synchronously lift, and a lifting groove is formed in each lifting block.
In some embodiments, the sideslip device includes the first gear box of rigid coupling on the mounting panel, the first motor of being connected with first gear box input, the first transfer line of being connected with first gear box output, connect two first right angle commutators at first transfer line both ends, set up the first gear that is connected in the mounting panel below and with first right angle commutators output, with first gear engagement and the first rack that transversely sets firmly, the first slide rail of horizontal rigid coupling at AGV front and back end top, with first slide rail sliding fit and the first slider of rigid coupling in the mounting panel bottom, first motor is used for driving first transfer line and rotates and links first gear and rotate, and then drives the mounting panel along X to removing.
In some embodiments, the lifting device comprises a second gear box fixedly connected to the mounting plate, a second motor connected to an input end of the second gear box, a second transmission rod connected to an output end of the second gear box, two second right-angle commutators connected to two ends of the second transmission rod, two lifting frames relatively fixedly connected to the mounting plate, a first lead screw vertically and rotatably connected to the lifting frames, a transmission shaft with one end connected to an output end of the second right-angle commutators and the other end connected to the first lead screw through a first driving bevel gear and a first driven bevel gear, and a first driving block slidably engaged with the lifting frames and in threaded connection with the first lead screw, wherein the first driving block is connected to the lifting blocks.
In some embodiments, the three-axis truss robot comprises an X-axis driving device, a Y-axis driving device and a Z-axis driving device, wherein the X-axis driving device is arranged at the top of a truss and is connected with a movable seat for driving the movable seat to move along the X direction, the movable seat is longitudinally movably connected with a movable frame, the Y-axis driving device is arranged on the movable frame and is used for driving the movable frame to move along the Y direction, two ends of the movable frame are respectively connected with a lifting frame, the Z-axis driving device is arranged on the movable frame, two driving ends of the Z-axis driving device are correspondingly connected with two lifting frames and used for driving the two lifting frames to synchronously lift, a lifting block is fixedly connected to one side, opposite to the two lifting frames, of the lifting block, and a lifting groove is formed in the top of the lifting block.
In some embodiments, the X-axis driving device includes two i-beams transversely fixed to the top of the truss, a first speed reducer fixed to the movable base, a third motor connected to an input end of the first speed reducer, a third transmission rod connected to an output end of the first speed reducer, two third right-angle commutators connected to two ends of the third transmission rod, a second gear disposed below the movable base and connected to an output end of the third right-angle commutators, and a second rack engaged with the second gear and transversely fixed, the front and rear bottom portions of the movable base are respectively connected to a first roller set in rolling contact with the i-beams, and the third motor is used for driving the third transmission rod to link the second gear to rotate so as to move the movable base in the X direction.
In some embodiments, the Y-axis driving device includes a second speed reducer installed on the movable frame, a fourth motor connected to an input end of the second speed reducer, a third gear connected to two output ends of the second speed reducer, and a third rack fixed to the movable base and engaged with the second gear, the front end and the rear end of the movable frame are respectively connected to a second roller set in rolling contact with the movable base, and the fourth motor is configured to drive the gear to rotate to realize the movement of the movable frame along the Y direction.
In some embodiments, the Z-axis driving device includes a third speed reducer fixedly connected to the moving frame, a fifth motor connected to an input end of the third speed reducer, and a fourth transmission rod connected to an output end of the third speed reducer, the lifting frame is movably fitted in the through frame of the moving seat, a second lead screw is fixedly connected to the lifting frame vertically, a second driving block is fixedly connected to the moving frame, a driving nut in threaded fit with the second lead screw is rotatably fitted above the second driving block, a second driven helical gear is fixedly connected above the driving nut, a second driving helical gear engaged with the second driven helical gear is fixedly connected to an end of the fourth transmission rod, and the fifth motor is used for driving the fourth transmission rod to rotate and link the second driven helical gear to drive the second lead screw to drive the lifting frame to move in the Z direction.
In some embodiments, be provided with two material levels on the work or material rest of keeping in, three-dimensional work or material rest mainly comprises underframe and a row of work or material rest of rigid coupling on the underframe, and the vertical material level that is equipped with two on each work or material rest of keeping in, the material level on the butt joint work or material rest and the material level on the three-dimensional work or material rest all comprise two silos, and the axis body at coil stock both ends corresponds two silos of cooperation at the material level of keeping in.
According to another aspect of the invention, the designed automatic roll transferring intelligent temporary storage method comprises the following steps:
s1, a central control system sends a material taking instruction to an AGV;
s2, the AGV executes a material taking instruction to take a roll material, moves the roll material to one side of the butt joint material frame, and then feeds back information to the central control system;
s3, when the central control system receives that the roll detecting sensor on the butt joint material frame detects that no roll exists in the material loading position of the butt joint material frame, the central control system sends a material moving instruction to the AGV, the AGV controls the transverse moving device and the lifting device to start, and the transverse moving device and the lifting device are matched to move the roll on the temporary storage material frame on the AGV to the material position on the butt joint material frame;
s4, feeding back information to a central control system after a coil loading detection sensor of the butt material rack detects that coil information exists in the coil loading position of the butt material rack;
s5, the central control system sends a material storage instruction to the three-axis truss robot, and designates an empty material position closest to the left end of the three-dimensional material rack as a storage position, the three-axis truss robot starts to execute the material storage instruction, drives the lifting frame to move to take away the roll material on the butted material rack, stores the roll material on the corresponding empty material position at the left end of the three-dimensional material rack, and feeds back information to the central control system after the roll material detection sensor on the corresponding empty material position detects the roll material;
s6, repeating the steps S3 and S4 once;
s7, the central control system sends a material taking instruction to the AGV, sends a material storing instruction to the three-axis truss robot, and designates an empty material position far away from the right end on the three-dimensional material rack as a storage position, the three-axis truss robot moves the coil materials on the butted material rack to the corresponding empty material position at the right end of the three-dimensional material rack, and then the central control system controls the three-axis truss robot to move to the left end of the truss;
and S8, repeating the steps from S2 to S7 until the material storage is finished.
Drawings
Fig. 1 is a schematic structural diagram of an automatic roll material transferring intelligent temporary storage system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a butt-joint material rack in an automatic roll material transferring intelligent temporary storage system;
fig. 3 is a schematic structural diagram of a three-dimensional material rack in an automatic roll material transfer intelligent temporary storage system;
FIG. 4 is a schematic structural diagram of an AGV and a material moving mechanism in an automatic roll material transfer intelligent temporary storage system;
fig. 5 is a schematic structural view of a material moving mechanism in the automatic roll material transferring intelligent temporary storage system;
FIG. 6 is a schematic view of the structure of FIG. 5 from another perspective;
fig. 7 is a schematic structural diagram of a three-axis truss robot in an intelligent temporary storage system for automatic roll material transfer;
FIG. 8 is a schematic structural view of FIG. 7 with the cover, I-beam, and second rack omitted;
FIG. 9 is a schematic view of the structure of FIG. 8 from another perspective;
FIG. 10 is a schematic structural view of a Y-axis driving device and a movable frame of the three-axis truss robot;
FIG. 11 is a schematic view of the structure of FIG. 10 from another perspective;
FIG. 12 is a schematic structural view of a Z-axis driving device on a three-axis truss robot;
FIG. 13 is a schematic view of the structure of FIG. 12 from another perspective;
reference numerals:
1. a truss; 2. butting the material racks; 3. AGV; 4. a three-axis truss robot; 41. an X-axis drive device; 411. i-shaped steel; 412. a first speed reducer; 413. a third motor; 414. a third transmission rod; 415. a third right angle commutator; 416. a second gear; 417. a second rack; 42. a Y-axis drive device; 421. a second speed reducer; 422. a fourth motor; 423. a third gear; 424. a third rack; 43. a Z-axis drive device; 431. a third speed reducer; 432. a fifth motor; 433. a fourth transmission rod; 434. a second driving bevel gear; 44. a movable seat; 440. opening the frame; 45. a movable frame; 46. a lifting frame; 461. a second screw rod; 462. a second driving block; 463. a drive nut; 464. a second driven helical gear; 465. a lifting block; 47. a first roller train; 48. a second roller set; 5. a three-dimensional material rack; 51. a bottom frame; 52. a material rack; 6. a material frame is temporarily stored; 7. a material moving mechanism; 71. a traversing device; 711. a first gearbox; 712. a first motor; 713. a first transmission lever; 714. a first right-angle commutator; 715. a first gear; 716. a first rack; 717. a first slide rail; 718. a first slider; 72. a lifting device; 721. a second gear box; 722. a second motor; 723. a second transmission rod; 724. a second right angle commutator; 725. a lifting frame; 726. a first lead screw; 727. a drive shaft; 728. a first driving block; 729. a lifting block; 73. mounting a plate; a. and (4) material level.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specifically limited, terms such as set, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.
Example one
Referring to fig. 1 to 13, the automatic roll material transferring intelligent temporary storage system provided by the present invention includes: truss 1, butt joint work or material rest 2, AGV3, triaxial truss robot 4, central control system, truss 1 is inside to be equipped with three-dimensional work or material rest 5, and butt joint work or material rest 2 sets up in three-dimensional work or material rest 5 left sides.
Refer to fig. 1, 2 show, it dodges the position to dock 2 left end below of work or material rest, it is equipped with material level a to dock 2 tops of work or material rest, material level a is used for placing the coil stock, wherein, material level a comprises two silos, each material level a on three-dimensional work or material rest 5 and the work or material rest 6 of keeping in this application also comprises two silos, the axis body at coil stock both ends corresponds two silos of cooperation on material level a, and the axis body tip at coil stock both ends stretches out material level a front and back both sides, it has the coil stock detection sensor of coil stock to be provided with in the work or material rest 2 and be used for detecting its material level a, this coil stock detection sensor and central control system one-way communication are connected, whether have the coil stock in the material level a and feed back to central control system on the real-time detection dock 2, so that central control system knows the coil stock condition on the work or material rest 2.
Referring to fig. 1 and 3, the three-dimensional material rack 5 is provided with one or more material racks, preferably, two material racks 5 are provided, wherein a roll material is schematically placed on one of the three-dimensional material racks 5, the three-dimensional material rack 5 mainly comprises a bottom frame 51 and a row of material racks 52 fixedly connected to the bottom frame 51, two rows of material levels a are vertically provided on each material rack 52, a roll material detection sensor for detecting whether a roll material is present in each material level a is provided on each material level a, each roll material detection sensor is in communication connection with a central control system, and information whether a roll material is present in each material level a on the three-dimensional material rack 5 is fed back to the central control system in real time, so that the central control system can know the roll material condition on each material level a on the three-dimensional material rack 5.
Referring to fig. 1 and 4, the AGV3 is a conventional automatic guided vehicle or an omnidirectional moving automatic guided vehicle, preferably an omnidirectional moving automatic guided vehicle, and can move in the manners of forward movement, backward movement, transverse movement, in-situ rotation, and the like. The AGV3 can adopt multiple navigation modes, such as magnetic navigation, laser navigation, two-dimensional code navigation and the like, realize accurate removal and butt joint, select the navigation mode as required.
AGV3 top is provided with the work or material rest 6 of keeping in and moves material mechanism 7 of being connected with AGV3 electricity, be equipped with one or two or three material level an on the work or material rest 6 of keeping in, the material level a that sets up about being equipped with two on the preferred work or material rest 6 of keeping in, all be equipped with the coil stock that is used for detecting whether there is the coil stock in it on these two material level a and detect the sensor, these two coil stock detect the sensor all with central control system communication connection, whether there is the information feedback of coil stock in the material level a to central control system in the work or material rest 6 of will keeping in real time, so that central control system knows the coil stock condition on the work or material rest 6 of keeping in. AGV3 and central control system both-way communication are connected, specifically, AGV3 includes the automobile body and sets up control circuit board on the automobile body, and control circuit board passes through signal line or communication module and central control system both-way communication is connected, and wherein communication module is including setting up signal transmitter and the signal receiver on control circuit board. AGV3 is used for receiving central control system and gets the material instruction, carries out and gets material work and feeds back position information of oneself in real time for central control system, moves material mechanism 7 and AGV3 on control circuit board communication connection, moves material mechanism 7 and is used for receiving AGV 3's the material instruction that moves, will keep in the coil stock on the work or material rest 6 of moving to the butt joint work or material rest 2 of going up the coil stock and moving to the work or material rest 6 of keeping in.
Referring to fig. 4-6, the material moving mechanism 7 includes a traverse device 71 and a lifting device 72, a driving end of the traverse device 71 is connected to a mounting plate 73 for driving the mounting plate 73 to move along the X direction, the lifting device 72 is fixedly connected to the mounting plate 73, and two driving ends of the lifting device 72 are respectively connected to lifting blocks 729 for driving the two lifting blocks 729 to synchronously lift and lift the coil material.
Further, the traverse device 71 includes a first gear box 711, a first motor 712, a first transmission rod 713, a first right-angle reverser 714, a first gear 715, a first rack 716, a first sliding rail 717, and a first sliding block 718, where the first motor 712 is a stepping motor or a servo motor, preferably a servo motor, a driving end of the first motor 712 is connected to an input end of the first gear box 711 through a speed reducer, the first gear box 711 is fixedly connected to the mounting plate 73, the first transmission rod 713 is connected to an output end of the first gear box 711, two first right-angle reversers 714 are provided, the two first right-angle reversers 714 are correspondingly connected to two ends of the first transmission rod 713, output ends of the two first right-angle reversers 714 extend to a lower side of the mounting plate 73 and are respectively connected to the first gear 715, the two first racks 716 are respectively and transversely fixedly connected between the two first sliding rails 717, the two first racks 716 are correspondingly engaged with the two first gears 715, the two first sliding rails 717 are provided, each two sets of the two sets of first sliding rails are transversely fixed to a top of the AGV3, the bottom of the mounting plate 73 is respectively fixedly connected to the first sliding block 718 and is slidably matched with the first sliding rail 717, the first sliding rail 712, the AGV3, and the AGV controller controls the AGV to start and start the AGV to start the AGV3, and stop along the transverse direction control circuit board 73. The lifting device 72 comprises a second gear box 721, a second motor 722, a second transmission rod 723, a second right-angle commutator 724, a lifting frame 725, a first screw rod 726, a transmission shaft 727 and a first driving block 728, wherein the second motor 722 is a stepping motor or a servo motor, preferably a servo motor, the driving end of the second motor 722 is connected with the input end of the second gear box 721 through a speed reducer, the second gear box 721 is fixedly connected on the mounting plate 73, the second transmission rod 723 is connected with the output end of the second gear box 721, the second right-angle commutator 724 is provided with two second right-angle commutators 724 correspondingly connected with the two ends of the second transmission rod 723, the two lifting frames 725 are correspondingly and fixedly connected at the front and rear ends of the mounting plate 73, a first screw rod 726 is vertically and rotatably matched in each lifting frame 725, each first screw rod 726 is in threaded fit with a first driving block 728, the first driving block 728 is in sliding fit with a lifting frame 725, the lifting block 729 is fixedly connected to the first driving block 728, lifting grooves are formed in the lifting block 729, the output end of each second right-angle commutator 724 is connected with a transmission shaft 727, the other end of the transmission shaft 727 correspondingly extends into the lifting frame 725 and is connected with a first lead screw 726 through a first driving helical gear and a first driven helical gear, namely, the end of the transmission shaft 727 is fixedly connected with the first driving helical gear, the first driven helical gear is fixed at the lower end of the first lead screw 726, the first driving helical gear is meshed with the first driven helical gear, the second motor 722 is in communication connection with a control circuit board on the AGV3, the control circuit board on the AGV3 controls the second motor 722 to start and stop, the second transmission shaft 723 is started to be driven to rotate to drive the transmission shaft 727 to rotate to drive the first lead screw 726, so as to drive the first driving block 728 to drive the lifting block 729 to lift, and lift or put down coiled materials.
Referring to fig. 1 and 7-13, a three-axis truss robot 4 is disposed on the truss 1, and is configured to move the material to be rolled on the docking rack 2 to the stereoscopic rack 5, or move the material to be rolled on the stereoscopic rack 5 to the docking rack 2. The three-axis truss robot 4 comprises an X-axis driving device 41, a Y-axis driving device 42, a Z-axis driving device 43, wherein the X-axis driving device 41 is arranged at the top of the truss 1 and connected with a moving seat 44 for driving the moving seat 44 to move along the X direction, the periphery of the moving seat 44 is connected with a housing, the moving seat 44 is longitudinally movably connected with a moving frame 45, the Y-axis driving device 42 is installed on the moving frame 45 and used for driving the moving frame 45 to move along the Y direction, the Y direction refers to the longitudinal direction, two ends of the moving frame 45 are respectively connected with lifting frames 46, the Z-axis driving device 43 is installed on the moving frame 45, two driving ends of the Z-axis driving device are correspondingly connected with the two lifting frames 46 and used for driving the two lifting frames 46 to synchronously lift, one side, opposite to the two lifting frames 46, is fixedly connected with a lifting block 465, and the top of the lifting block 465 is provided with a lifting groove.
Further, the X-axis driving device 41 includes an i-steel 411, a first speed reducer 412, a third motor 413, a third transmission rod 414, a third right angle commutator 415, a second gear 416, and a second rack 417, wherein the i-steel 411 is provided with two rollers and transversely fixed on the front and rear sides of the top of the truss 1, the bottom of the front and rear ends of the movable seat 44 is respectively connected with a first roller set 47 in rolling contact with the i-steel 411, further, the bottom of the front and rear ends of the movable seat 44 is respectively connected with two sets of first roller sets 47, each first roller set 47 is composed of a roller in rolling contact with the top of the i-steel 411 and two rollers in rolling contact with the front and rear sides of the i-steel 411 correspondingly, thereby ensuring the stable and transverse movement of the three-axis truss robot 4 and ensuring stable and accurate material movement, the third motor 413 is a stepping motor or a servo motor, preferably a servo motor, the driving end of a third motor 413 is connected with the input end of the first speed reducer 412, the first speed reducer 412 is fixedly connected to the moving seat 44, a third transmission rod 414 is connected with the output end of the first speed reducer 412, two third right-angle commutators 415 are provided, two third right-angle commutators 415 are correspondingly connected to two ends of the third transmission rod 414, the output ends of the two third right-angle commutators 415 extend to the lower part of the moving seat 44 and are respectively connected with a second gear 416, two second gears 417 are provided and are correspondingly and transversely fixedly arranged on the inner sides of the two i-beams 411, the two second gears 416 are correspondingly meshed with the two second gears 417, the third motor 413 is in communication connection with a central control system, the central control system drives the third motor 413 to start, and can drive the third transmission rod 414 to rotate to link the two second gears 416 to rotate so as to realize that the moving seat 44 moves along the X direction.
The Y-axis driving device 42 includes a second speed reducer 421, a fourth motor 422, a third gear 423, and a third rack 424, the front and rear ends of the movable frame 45 are respectively provided with a second roller set 48 in rolling contact with the movable seat 44, further, the front and rear ends of the movable frame 45 are respectively connected with two second roller sets 48, each second roller set 48 is composed of a roller in rolling contact with the side surface of the movable seat 44 and two rollers in rolling contact with the upper and lower surfaces of the end portion of the movable seat 44, so that the movable frame 45 can move longitudinally, and the three-axis truss robot 4 can move stably and longitudinally, so as to ensure stable and accurate material movement, the fourth motor 422 is a stepping motor or a servo motor, preferably a servo motor, the driving end of the fourth motor 422 is connected with the input end of the second speed reducer 421, the second speed reducer 421 is fixedly mounted on the movable frame 45, the two output ends of the second speed reducer 421 are respectively fixedly connected with the third gear 423, the two third gears 423 are respectively engaged with the third rack 424, the two third racks 424 are fixedly connected to the movable frame 44, the fourth motor 422 is connected with the central control system, and the central control system is connected with the central control system in communication, so as to drive the third rack 422, and the movable frame to rotate the movable frame 45 along the Y-axis.
The Z-axis driving device 43 includes a third speed reducer 431, a fifth motor 432, and a fourth transmission rod 433, the fifth motor 432 is a stepping motor or a servo motor, preferably a servo motor, a driving end of the fifth motor 432 is connected with an input end of the third speed reducer 431, the third speed reducer 431 is fixedly connected to a groove at an upper end of the movable frame 45, the fourth transmission rod 433 is connected with an output end of the third speed reducer 431, the lifting frame 46 is movably fitted in the through frame 440 on the movable base 44, a second lead screw 461 is fixedly connected to the lifting frame 46 vertically, a second driving block 462 is fixedly connected to the movable frame 45, a driving nut 463 is rotatably fitted above the second driving block 462, the driving nut 463 is threadedly fitted to the second lead screw 461, a second driven bevel gear 464 is fixedly connected to an upper portion of the driving nut 464, two second driving bevel gears 434 are correspondingly engaged with the two second driven bevel gears 464, the fifth motor 432 is communicatively connected to the central control system, the fifth motor 432 is driven by the central control system, the fourth transmission rod 433 is rotatably coupled to the second bevel gear 463, and the second bevel gear 461 is rotatably engaged with the second driven screw 464.
All the coil stock detection sensors are any one of pressure sensors, infrared sensors and magnetic induction sensors, and are selected according to needs, and the first transmission rod 713, the second transmission rod 723, the third transmission rod 414 and the fourth transmission rod 433 are respectively composed of one rod body or two rod bodies or three rod bodies, and are selected according to actual conditions.
The X-axis driving device 41, the Y-axis driving device 42 and the Z-axis driving device 43 on the three-axis truss robot 4 are respectively provided with a position feedback device for transmitting position information to the central control system in real time so that the central control system can know the position of the position information, wherein the feedback devices are built-in encoders installed on the servo motors, that is, the third motor 413, the fourth motor 422 and the fifth motor 432 are respectively servo motors with built-in encoders; or a first external encoder which is arranged on the moving seat 44 and monitors the X-direction moving amount, a second external encoder which is arranged on the moving frame 45 and monitors the Y-direction moving amount and a third external encoder which monitors the Z-direction moving amount.
The central control system is used for monitoring the coiling condition on each material level and controlling the action of each driving part, and the action of each driving part refers to that: during material storage, the central control system sends material storage information to the AGV3, the AGV3 removes the material level and puts the coil stock and move to the left side of the butt joint material frame 2, then the AGV3 controls the material moving mechanism 7 to move the coil stock from the temporary joint material frame 6 to the butt joint material frame 2, then the central control system controls the three-axis truss robot 4 to take the coil stock on the butt joint material frame 2 away and place the coil stock on the three-dimensional material frame 5 into the empty material level a, during material storage, the central control system sends the material taking information to the three-axis truss robot 4, the three-axis truss robot 4 takes the coil stock on the three-dimensional material frame 5 away and moves the coil stock on the butt joint material frame 2, and controls the AGV3 to move to the left side of the butt joint material frame 2, then the AGV3 controls the material moving mechanism 7 to move the coil stock from the butt joint material frame 2 to the temporary joint material frame 6, and therefore automatic material storage and taking are achieved.
Example two
Referring to fig. 1 to 13, the method for automatically transferring and intelligently temporarily storing coil materials provided by the present invention includes the following steps:
s1, the central control system sends a material taking instruction to the AGV3.
And S2, the AGV3 executes a material taking instruction to take the coil materials, moves the coil materials to the left side of the butt joint material rack 2, and then feeds back information to the central control system, so that the AGV3 is fed in place.
S3, when the central control system receives that the coil detection sensor on the butt joint rack 2 detects that no coil exists in the upper material level a of the butt joint rack, the central control system sends a material moving instruction to the control circuit board on the AGV, then the control circuit board on the AGV controls the first motor 712 to start the driving mounting plate 73 to move left and drives the two lifting blocks 729 to move below two ends of the material level a with the coil on the temporary storage rack 6, then the control circuit board on the AGV controls the second motor 722 to start the driving second transmission rod 723 to rotate the linkage transmission shaft 727 to drive the first screw rod 726 to rotate, further drives the first driving block 728 to drive the lifting blocks 729 to move upwards to lift the coil, then the first motor 712 starts the driving mounting plate 73 to move left again and drives the lifted coil to move above the upper material level a of the butt joint rack 2, then the second motor starts the driving lifting blocks 729 to move downwards to place the coil on the material level a at the top of the butt joint rack 2, and then the second motor 722 cooperates with the first motor 712 to drive the lifting blocks 729 to reset.
And S4, feeding back information to the central control system after the roll material detection sensor on the butt material rack 2 detects that roll material information exists in the material loading position a of the butt material rack.
S5, the central control system sends a material storage instruction to the three-axis truss robot 4, any empty material level a on the three-dimensional material rack 5 is designated as a storage position, preferably, the nearest empty material level a at the left end of the three-dimensional material rack 5 is designated as the storage position, the third motor 413, the fourth motor 422 and the fifth motor 432 are started to execute the material storage instruction, the lifting frame 46 is driven to move to take the roll material on the butt-joint material rack 2, the roll material is stored on the corresponding empty material level a at the left end of the three-dimensional material rack 5, and when the roll material detection sensor on the corresponding empty material level detects the roll material, information is fed back to the central control system.
And S6, repeating the steps S3 and S4 once.
S7, the central control system sends a material taking instruction to the AGV3, sends a material storing instruction to the three-axis truss robot 4, and designates any empty material level a on the three-dimensional material frame 5 as a storage position, preferably designates an empty material level a far away from the right end of the three-dimensional material frame 5 as a storage position, the three-axis truss robot 4 moves the coil materials on the butt-joint material frame 2 to the empty material level a corresponding to the right end of the three-dimensional material frame 5, and then the central control system controls the three-axis truss robot to move to the left end of the truss. From this, can promote the coil stock on the AGV and take away efficiency, and then promote coil stock storage efficiency.
And S8, repeating the steps from S2 to S7 until the material storage is finished.
After the three-axis truss robot 4 moves the roll material to the empty material position a corresponding to the right end of the stereoscopic material rack 5 in the step S7, if the central control system calculates that the three-axis truss robot 4 moves the roll material placed at the left end of the stereoscopic material rack 5 to the right end of the stereoscopic material rack 5 and then returns to the left end of the stereoscopic material rack 5, and the AGV3 does not reach or just reaches the left side of the butt-joint material rack 2 after taking the roll material, the central control system sends a material moving instruction to the three-axis truss robot 4, and the three-axis truss robot 4 executes the material moving instruction to move the roll material placed at the left end of the stereoscopic material rack 5 to the empty material position at the right end of the stereoscopic material rack 5. Therefore, the storage sequence can be reasonably arranged, and the storage efficiency of the coil stock is further improved.
The above description is only for the embodiments of the present invention, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the inventive concept thereof, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. Automatic intelligent temporary storage system that moves of coil stock, its characterized in that includes:
the truss is internally provided with a three-dimensional material rack;
the butt joint material rack is arranged on the left side of the three-dimensional material rack;
the system comprises an AGV, a data acquisition device and a data processing device, wherein the AGV is provided with a temporary storage rack and a material moving mechanism electrically connected with the AGV, the AGV is used for moving the temporary storage rack to one side of a butt-joint rack, the material moving mechanism is used for moving roll materials on the temporary storage rack to the butt-joint rack or moving the roll materials on the butt-joint rack to the temporary storage rack, and roll material detection sensors used for detecting whether roll materials exist in the material loading position of the temporary storage rack, the butt-joint rack and a three-dimensional rack are respectively arranged on the temporary storage rack, the butt-joint rack and the three-dimensional rack;
the three-axis truss robot is arranged on the truss and used for moving the coil stock on the butt joint material rack to the stereoscopic material rack or moving the coil stock on the stereoscopic material rack to the butt joint material rack;
and the central control system is in communication connection with the AGV, the coil stock detection sensor and the three-shaft truss robot and is used for monitoring the coil stock condition on each material level and controlling each driving part to act so as to realize automatic coil stock storage and taking.
2. The automatic roll material transferring intelligent temporary storage system according to claim 1, wherein the material transferring mechanism comprises a traversing device and a lifting device, a driving end of the traversing device is connected with a mounting plate for driving the mounting plate to move along the X direction, the lifting device is fixedly connected to the mounting plate, two driving ends of the lifting device are respectively connected with a lifting block for driving the two lifting blocks to synchronously lift, and the lifting blocks are provided with lifting grooves.
3. The automatic intelligent temporary storage system for transferring rolls as claimed in claim 2, wherein the traversing device comprises a first gear box fixedly connected to the mounting plate, a first motor connected to an input end of the first gear box, a first transmission rod connected to an output end of the first gear box, two first right-angle inverters connected to two ends of the first transmission rod, a first gear arranged below the mounting plate and connected to an output end of the first right-angle inverter, a first rack engaged with the first gear and transversely fixed, a first slide rail transversely fixedly connected to the top of the front end and the rear end of the AGV, and a first slide block slidably fitted to the first slide rail and fixedly connected to the bottom of the mounting plate, wherein the first motor is used for driving the first transmission rod to rotate and link with the first gear to rotate, so as to drive the mounting plate to move along X direction.
4. The automatic roll material transferring intelligent temporary storage system according to claim 3, wherein the lifting device comprises a second gear box fixedly connected to the mounting plate, a second motor connected to an input end of the second gear box, a second transmission rod connected to an output end of the second gear box, two second right-angle commutators connected to two ends of the second transmission rod, two lifting frames relatively fixedly connected to the mounting plate, a first lead screw vertically and rotatably connected to the lifting frames, a transmission shaft with one end connected to an output end of the second right-angle commutators and the other end connected to the first lead screw through a first driving bevel gear and a first driven bevel gear, and a first driving block slidably engaged with the lifting frames and threadedly connected to the first lead screw, and the first driving block is connected to the lifting block.
5. The automatic roll material transferring intelligent temporary storage system according to claim 1, wherein the three-axis truss robot comprises an X-axis driving device, a Y-axis driving device and a Z-axis driving device, the X-axis driving device is disposed on the top of the truss and connected to a moving seat for driving the moving seat to move in the X direction, the moving seat is longitudinally movably connected with a moving frame, the Y-axis driving device is mounted on the moving frame for driving the moving frame to move in the Y direction, two ends of the moving frame are respectively connected with lifting frames, the Z-axis driving device is mounted on the moving frame, two driving ends of the Z-axis driving device are correspondingly connected with two lifting frames for driving the two lifting frames to synchronously lift, a lifting block is fixedly connected to one side of each of the two lifting frames, and a lifting groove is disposed on the top of each lifting block.
6. The automatic roll material transferring intelligent temporary storage system according to claim 5, wherein the X-axis driving device comprises two i-beams transversely fixed on the top of the truss, a first speed reducer fixedly connected to the movable base, a third motor connected to an input end of the first speed reducer, a third transmission rod connected to an output end of the first speed reducer, two third right-angle commutators connected to two ends of the third transmission rod, a second gear arranged below the movable base and connected to an output end of the third right-angle commutators, and a second rack engaged with the second gear and transversely fixed, the bottom of the front and rear ends of the movable base are respectively connected to a first roller set in rolling contact with the i-beams, and the third motor is used for driving the third transmission rod to link the second gear to rotate so as to realize that the movable base moves in the X direction.
7. The automatic roll material transferring intelligent temporary storage system according to claim 5, wherein the Y-axis driving device comprises a second speed reducer installed on the moving frame, a fourth motor connected to an input end of the second speed reducer, a third gear connected to two output ends of the second speed reducer, and a third rack fixed to the moving base and engaged with the second gear, the front end and the rear end of the moving frame are respectively connected to a second roller set in rolling contact with the moving base, and the fourth motor is used for driving the gear to rotate to realize the moving frame moving along the Y direction.
8. The automatic roll material transferring intelligent temporary storage system according to claim 7, wherein the Z-axis driving device comprises a third speed reducer fixedly connected to the moving frame, a fifth motor connected to an input end of the third speed reducer, and a fourth transmission rod connected to an output end of the third speed reducer, the lifting frame is movably fitted in a through frame on the moving seat, a second lead screw is fixedly connected to the lifting frame in a vertical direction, a second driving block is fixedly connected to the moving frame, a driving nut in threaded fit with the second lead screw is rotatably fitted above the second driving block, a second driven helical gear is fixedly connected above the driving nut, a second driving helical gear engaged with the second helical gear is fixedly connected to an end of the fourth transmission rod, and the fifth motor is used for driving the fourth transmission rod to rotate and link the second driven helical gear to drive the second lead screw to drive the lifting frame to move in the Z direction.
9. The automatic intelligent temporary storage system for roll material transfer according to claim 1, wherein two material levels are provided on the temporary storage rack, the stereoscopic storage rack mainly comprises a bottom frame and a row of storage racks fixedly connected to the bottom frame, two material levels are vertically provided on each storage rack, the material level on the temporary storage rack, the material level on the butt-joint storage rack and the material level on the stereoscopic storage rack are respectively composed of two material troughs, and the shaft bodies at two ends of the roll material correspond to the two material troughs fitted to the material storage levels.
10. The automatic transfer intelligent temporary storage method for the coil stock is characterized by comprising the following steps of:
s1, a central control system sends a material taking instruction to an AGV;
s2, the AGV executes a material taking instruction to take a coil material, moves the coil material to one side of the butt joint material frame, and then feeds back information to the central control system;
s3, when the central control system receives that the roll detecting sensor on the butt joint material frame detects that no roll exists in the material loading position of the butt joint material frame, the central control system sends a material moving instruction to the AGV, the AGV controls the transverse moving device and the lifting device to start, and the transverse moving device and the lifting device are matched to move the roll on the temporary storage material frame on the AGV to the material position on the butt joint material frame;
s4, feeding back information to a central control system after a roll material loading detection sensor on the butt material rack detects that roll material information exists in a material loading position of the butt material rack;
s5, the central control system sends a material storage instruction to the three-axis truss robot, and designates an empty material level nearest to the left end of the three-dimensional material rack as a storage position, the three-axis truss robot starts to execute the material storage instruction, drives the lifting frame to move to take the roll material on the butted material rack away, stores the roll material on the corresponding empty material level at the left end of the three-dimensional material rack, and feeds back information to the central control system when a roll material detection sensor on the corresponding empty material level detects the roll material;
s6, repeating the steps S3 and S4 once;
s7, the central control system sends a material taking instruction to the AGV, sends a material storing instruction to the three-axis truss robot, and designates an empty material position far away from the right end of the three-dimensional material rack as a storage position, the three-axis truss robot moves the roll materials on the butted material rack to the corresponding empty material position at the right end of the three-dimensional material rack, and then the central control system controls the three-axis truss robot to move to the left end of the truss;
and S8, repeating the steps from S2 to S7 until the material storage is finished.
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| CN117864653A (en) * | 2024-03-12 | 2024-04-12 | 泰州市中盛机电有限公司 | Film rack based on articulated can adjust |
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