CN116924050A - Top cap handling system - Google Patents
Top cap handling system Download PDFInfo
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- CN116924050A CN116924050A CN202311095942.8A CN202311095942A CN116924050A CN 116924050 A CN116924050 A CN 116924050A CN 202311095942 A CN202311095942 A CN 202311095942A CN 116924050 A CN116924050 A CN 116924050A
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- top cover
- trolley
- guide rail
- linear guide
- gripper
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- 238000001514 detection method Methods 0.000 claims abstract description 96
- 238000003860 storage Methods 0.000 claims abstract description 74
- 238000005259 measurement Methods 0.000 claims abstract description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000013468 resource allocation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
-
- 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
-
- 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
- B65G47/905—Control arrangements
-
- 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
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
-
- 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
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
-
- 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
-
- 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
- B65G2203/046—RFID
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a top cover carrying system, which comprises a linear guide rail, a trolley and a controller, wherein the linear guide rail is arranged on the trolley; the linear guide rail is arranged along a first direction, a plurality of top cover storage libraries are arranged below the linear guide rail along the first direction, and one top cover storage library is used for storing at least one top cover; a trolley position is also arranged below the linear guide rail in the first direction, and is used for parking the trolley; the linear guide rail is provided with a grip, the grip is used for gripping the top cover from the top cover storage warehouse, and the gripped top cover is placed on the trolley through the linear guide rail; the gripper is provided with a top cover type detection sensor, and the top cover type detection sensor is used for detecting the type of the top cover when the top cover is gripped; the gripper is provided with a first degree of freedom and a second degree of freedom, wherein the first degree of freedom moves along the vertical direction, and the second degree of freedom moves in a pitching mode relative to the horizontal plane; the controller is configured to control the hand grip to act and determine the type of the top cover based on the measurement information of the top cover type detection sensor.
Description
Technical Field
The embodiment of the invention relates to a production line technology, in particular to a top cover carrying system.
Background
At present, the updating and updating of automobile products in the market are quickened, and the same welding workshop of many automobile enterprises can accommodate mass production of various platform vehicle types at the same time so as to meet the increasingly customized demands of consumers. In order to meet the above requirements, the flexible manufacturing technology is gradually popularized and applied in the automobile production industry, and the flexible manufacturing technology is a modern manufacturing technology integrating numerical control technology, computer technology, robot technology and modern management technology.
The flexible manufacturing technology can comprise equipment application flexibility, material conveying flexibility, operation flexibility, human resource allocation flexibility, processing path flexibility, product type flexibility, production batch flexibility, system expansion flexibility, production type flexibility and the like, wherein the material conveying flexibility specifically means that the material conveying equipment can convey various materials, and has higher availability and utilization rate.
(automotive) roof is a common vehicle component on a production line, and existing roof handling systems suffer from the following drawbacks: when the material flexibility technology is adopted to carry the top cover, the conveying efficiency of the top cover in an automatic production line is low, and the problems of inaccurate positioning, wrong carrying type, wrong carrying sequence and the like easily occur in the carrying process.
Disclosure of Invention
The present invention provides a roof handling system to solve at least one of the problems mentioned in the background.
The embodiment of the invention provides a top cover carrying system which comprises a linear guide rail, a trolley and a controller;
the linear guide rail is arranged along a first direction, a plurality of top cover storage libraries are arranged below the linear guide rail along the first direction, and one top cover storage library is used for storing at least one top cover;
a trolley position is further arranged below the linear guide rail in the first direction, and the trolley position is used for parking the trolley;
the linear guide rail is provided with a gripper, the gripper is used for grabbing the top cover from the top cover storage warehouse, and the grabbed top cover is placed on the trolley through the linear guide rail;
the gripper is provided with a top cover type detection sensor, and the top cover type detection sensor is used for detecting the type of the top cover when the top cover is gripped;
the gripper is provided with a first degree of freedom and a second degree of freedom, wherein the first degree of freedom moves along the vertical direction, and the second degree of freedom moves in a pitching mode relative to a horizontal plane;
the controller is configured to control the hand grip to act and determine the type of the top cover according to the measurement information of the top cover type detection sensor.
Optionally, the trolley is configured with at least one auxiliary support structure, the auxiliary support structure comprising a support portion and a counterweight portion;
the first end of the supporting part is fixedly connected with the first end of the counterweight part;
the connecting end of the supporting part and the counterweight part is rotationally connected with a table column through a rotating shaft, and the table column is vertically arranged on the trolley;
the supporting part is used for bearing the top cover placed on the trolley, the counterweight part is used for balancing the top cover, and after the top cover placed on the supporting part is static, the opposite horizontal surface is a preset inclination angle.
Optionally, the trolley position is further configured with at least one pair of symmetrical switches;
the two correlation switches are respectively arranged on a first side and a second side which are opposite to each other in the position of the trolley;
and the pair of correlation switches are used for detecting whether the trolley is parked in place in the trolley space.
Optionally, the trolley is further configured with at least one pair of full load detection switches;
a pair of the full load detection switches are used to determine whether a roof is in place on the trolley.
Optionally, the trolley is further provided with a clamping device;
the clamping device is used for fixing the trolley after the trolley is parked in place in the trolley place.
Optionally, the top cover storage is configured with a hybrid trolley;
the mixed carrier is used for accommodating the top cover and conveying the accommodated top cover into the top cover storage warehouse;
the top cover storage warehouse is provided with a trolley identification device, the mixed carrier trolley is also provided with a trolley identification, and the trolley identification device is used for identifying the trolley identification;
the trolley identifying device is configured to determine whether the hybrid trolley entering the top cover storage warehouse is matched with the top cover storage warehouse or not according to the identification result of the trolley identification.
Optionally, the top cover storage is further provided with a guide rail and an air cylinder;
the guide rail is used for guiding the mixed carrier to move to a designated position in the top cover storage warehouse;
the cylinder is used for fixing the mixed carrier after the mixed carrier is parked in place in the top cover storage warehouse.
Optionally, the top cover type detection sensor comprises a plurality of first type detection sensors and a plurality of second type detection sensors;
the first type of detection sensor is used for detecting the curvature of the top cover, and the second type of detection sensor is used for detecting the size of the top cover.
Optionally, the range of motion of the gripper in the first degree of freedom direction is 0-1500 mm;
the movement range of the gripper in the second degree of freedom direction is-10 degrees to 10 degrees.
Optionally, the length of the linear guide rail in the first direction is at least 16200mm;
and along the first direction, the stroke of the gripper on the linear guide rail is at least 12500mm.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a top cover conveying system, which is provided with a linear guide rail and a gripper, wherein the gripper can move in two degrees of freedom to grasp a specified top cover from a top cover storage warehouse, the linear guide rail and the gripper are adopted to realize the conveying of the top cover, the occupied area of the top cover conveying system can be reduced, the top cover conveying system adopts a trolley to convey the top cover, the trolley is arranged to convey multiple types of top covers at one time, a top cover type detection sensor is arranged on the gripper, and whether the type of the top cover conveyed onto the trolley and the order of placing the top cover are correct or not is determined based on the top cover type detection sensor, so that when the trolley conveys multiple types of top covers simultaneously, the correct type of top cover can be unloaded after the specified position is reached, and the correctness of subsequent assembly production is ensured.
Drawings
FIG. 1 is a schematic diagram of a roof handling system in an embodiment;
FIG. 2 is a schematic view of a gripper structure in an embodiment;
FIG. 3 is a schematic view of an auxiliary support structure in an embodiment;
FIG. 4 is a schematic illustration of top cover placement in an embodiment;
FIG. 5 is a schematic diagram of a correlation switch setting position in an embodiment;
FIG. 6 is a schematic view of a guide rail and cylinder arrangement in an embodiment;
fig. 7 is a schematic diagram of a top cover type detection sensor arrangement in the embodiment.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic structural view of a roof conveying system in an embodiment, fig. 2 is a schematic structural view of a gripper in an embodiment, and referring to fig. 1 and 2, the roof conveying system includes a linear guide rail 100, a carriage 200, and a controller (not shown in the drawings);
the linear guide rail is arranged along a first direction, a plurality of top cover storage libraries (11-16) are arranged below the linear guide rail along the first direction, and one top cover storage library is used for storing at least one top cover;
a trolley space 201 is also arranged below the linear guide rail in the first direction, and is used for parking the trolley 200;
the linear guide is provided with a gripper 300, the gripper 300 is used for gripping the top cover from the top cover storage libraries (11-16), and the gripped top cover is placed on the trolley 200 through the linear guide 100;
the gripper is provided with a cap type detection sensor (not shown in the figure) for detecting the type of the cap when the cap type detection sensor is used for gripping the cap;
the grip 300 is provided with a first degree of freedom, which is to move in the vertical direction, and a second degree of freedom, which is to move in a pitching motion with respect to the horizontal plane;
the controller is configured to control the hand grip 300 to act, and determine the type of the cap based on the measurement information of the cap type detection sensor.
Illustratively, in this embodiment, the carriage 200 is set as an AGV (Automated Guided Vehicle, automatic guided vehicle), and the carriage 200 can determine the departure time, travel along a preset route (including entering and exiting the parking space), and automatically avoid an obstacle according to a preset automatic control program;
the automatic control program configured in the trolley 200 is not specifically limited, and may be freely set according to the requirement, and the corresponding software function and the implementation manner of the software function are the same as those of the prior art, and will not be described in detail herein.
In this embodiment, the type of the controller is not limited, and for example, a PLC (Programmable Logic Controller ), an industrial personal computer, or the like may be used as the controller.
In the present embodiment, the number of the cap storage bins provided for the cap handling system is not particularly limited, and may be freely set according to the number of types of caps to be produced (the factory configuring the cap handling system).
In this embodiment, one top cover storage is set to store (store) one or more top covers, and the types of top covers stored in different top cover storage are set to be different.
In this embodiment, the manner in which the top cover enters the top cover storage is not limited, for example, the top cover may be placed in the corresponding top cover storage by manual transportation;
alternatively, the specified types of caps are placed in the corresponding cap storage bins by an automated line, automated forklift, or the like.
In this embodiment, a top cover type detection sensor is disposed at a side contacting with the top cover when the gripper 300 grips the top cover, wherein the top cover type detection sensor can be used for measuring the size, shape, curvature of a designated position, etc. of the top cover;
according to the preset measured of the top cover, a sensor supporting a corresponding measuring function can be selected as a top cover type detection sensor;
one or more cap type detection sensors may be configured according to the use requirement, and the number of each cap type detection sensor may be one or more.
Illustratively, in this embodiment, the setting grippers 300 grasp one cap at a time, and the types of caps grasped by the setting grippers 300 adjacent to each other may be the same or different.
In this embodiment, the configuration controller is specifically configured to control the moving track of the gripper 300, so as to determine the target top cover storage repository to which the gripper needs to move each time the gripper grips the top cover;
in addition, the controller is further configured to determine the type of caps to be grasped after the gripper 300 moves to the target cap storage, and thus determine the stacking order on the dolly 200 after the caps are transported to the dolly 200 position and placed on the dolly 200.
In this embodiment, a top cover type detection sensor is provided, and the purpose of determining the top cover type is:
based on the detection information of the top cover type detection sensor, the top cover can be ensured to be in the correct sequence (the same as the top cover grabbing sequence set by the controller), and the top cover conveying errors are avoided.
The embodiment provides a top cover conveying system, the conveying system is provided with a linear guide rail and a gripper, wherein the gripper can move on two degrees of freedom to grasp a specified top cover from a top cover storage warehouse, the linear guide rail and the gripper are adopted to realize conveying of the top cover, the occupied area of the top cover conveying system can be reduced, the top cover conveying system adopts a trolley to convey the top cover, the trolley is arranged to convey multiple types of top covers at one time, on the basis, a top cover type detection sensor is arranged on the gripper, whether the type of the top cover conveyed onto the trolley and the order of placing the top covers are correct or not is determined based on the top cover type detection sensor, so that when the trolley conveys multiple types of top covers simultaneously, the correct type of top covers can be unloaded after the specified position is reached, and the correctness of subsequent assembly production is ensured;
the top cover carrying system adopts a full-automatic mode to carry the top cover, so that the number of labor for operation can be reduced, and the problem of collision caused by using an artificial lifting appliance is avoided.
FIG. 3 is a schematic view of an auxiliary support structure in an example, and in one possible embodiment, the trolley is configured with at least one auxiliary support structure comprising a support portion 401, a counterweight portion 402, on the basis of the solution shown in FIG. 1;
a first end of the supporting part 401 is fixedly connected with a first end of the weight part 402;
the connecting end of the supporting part 401 and the counterweight part 402 is rotationally connected with a table column 404 through a rotating shaft 403, and the table column 404 is vertically arranged on the trolley;
the supporting part 401 is used for bearing the top cover placed on the trolley, and the weight part 402 is used for balancing the top cover, so that the top cover placed on the supporting part 401 is static and then forms a preset inclination angle relative to the horizontal plane.
On the basis of the scheme, a plurality of types of top covers can be placed on one trolley, and the shapes and the weights of the different types of top covers are different;
in this solution, the weight portion 402 is configured with a weight that can be added or subtracted, and by adjusting the number and/or the mass of the weight, it is possible to implement that the specified top cover is placed on the auxiliary supporting structure and is stationary, and the opposite horizontal surface presents a preset inclination angle.
For example, in this embodiment, when the auxiliary supporting structure does not support the top cover, it forms an initial angle with respect to the table pillar 404, and the purpose of the initial angle is to avoid the problem that the auxiliary supporting structure of the upper layer (top layer) affects the top cover moving in the vertical direction when the top cover is placed on the auxiliary supporting structure of the lower layer (bottom layer);
when the auxiliary supporting structure is placed on the top cover, the auxiliary supporting structure rotates along the rotating shaft 403 under the influence of the weight of the top cover, and when the counterweight part configured by the auxiliary supporting structure and the top cover reach mechanical balance, the auxiliary supporting structure stops moving.
Illustratively, in this solution, when the top cover is placed on the trolley, the top cover is placed from top layer to top layer in sequence.
Fig. 4 is a schematic diagram of placement of a top cover in an embodiment, referring to fig. 4, in this embodiment, when the top cover 1 is placed on a trolley, one end of the top cover 1 is placed on an auxiliary supporting structure, and the other end of the top cover 1 is placed on a supporting bracket on the trolley;
in this scheme, do not specifically limit to the structure of the support frame that disposes on the platform truck, surely can freely set for according to the user demand.
Referring to fig. 4, an auxiliary support structure is used to support a top cover (e.g., six auxiliary support structures are provided in fig. 4, and six top covers are placed in total), and when different types of top covers rest on the auxiliary support structures, the sides contacting the auxiliary support structures are substantially parallel to each other.
In this scheme, based on auxiliary support structure, can make the top cap of different grade type place when on a platform truck, inclination between each top cap is almost the same, and then can make when follow-up adoption automation equipment is unloaded the top cap from the platform truck, reduce the automation equipment and snatch required adjustment content (snatch angle etc.) when different grade type top cap, reduce the degree of difficulty that automation equipment unloaded the top cap.
Fig. 5 is a schematic diagram of the setting positions of the opposite-shot switches in the example, and referring to fig. 5, in an alternative embodiment, the trolley station 201 is further configured with at least one pair of opposite-shot switches (501, 502) on the basis of the scheme shown in fig. 1;
the two opposite-shooting switches are respectively arranged on a first side and a second side which are opposite to each other in the position of the trolley space 201; a pair of opposed switches is used to detect whether the trolley is parked in place within the trolley station.
Illustratively, in the present embodiment, the specific positions of the opposite-firing switches (501, 502) may be set according to the shape (including the height, width, and other dimensional parameters) of the trolley to be used;
the setting positions of the correlation switch satisfy: when the trolley 200 is parked in place in the trolley station 201, the light switch signal between the correlation switch 501 and the correlation switch 502 is cut off, and when the trolley is not parked in place, the light switch signal between the correlation switch 501 and the correlation switch 502 is transmitted without obstruction.
Illustratively, in this embodiment, the correlation switch may be configured to be connected to the controller or a specified correlation switch controller, where the configuration controller determines whether the trolley 200 is parked according to the switching signal output by the correlation switch.
Referring to fig. 4, in one possible embodiment, the trolley is further provided with at least one pair of full load detection switches 600 (only one full load detection switch provided on one side of the trolley is shown in the figure), and the pair of full load detection switches 600 is used to determine whether a roof is in place on the trolley, based on the scheme shown in fig. 1.
Illustratively, in this embodiment, a pair of full load detection switches 600 are used to determine whether a top cover of a layer is in place on a trolley, and two full load detection switches in the pair of full load detection switches 600 are respectively disposed on two opposite sides of the trolley;
for a pair of full load detection switches 600 of one layer, the set positions thereof satisfy: when the top cover is put in place on the trolley, the light switch signals between the full load detection switches 600 are cut off, and when the top cover is not put in place, no obstacle is caused to transfer the light switch signals between the full load detection switches 600.
Illustratively, in this solution, the number of pairs of full load detection switches is the same as the number of layers (the number of auxiliary support structures) set on the trolley for placing the top cover.
In this embodiment, the full load detection switch may be configured to be connected to the controller or a designated full load detection controller, where the configuration controller determines whether the top cover of the corresponding layer is in place according to the switch signal output by the full load detection switch.
On the basis of the solution shown in fig. 1, in one possible embodiment the trolley is further provided with clamping means for securing the trolley after the trolley has been parked in place in the trolley.
In this scheme, dispose clamping device and clamp the platform truck after the platform truck parks in place, can avoid because the platform truck appears unexpected motion and lead to the top cap to be difficult to accurately place the problem on the platform truck.
Based on the solution shown in fig. 1, in one possible embodiment, the roof storage is configured with a hybrid trolley;
the mixing trolley is used for accommodating the top cover and conveying the accommodated top cover into the top cover storage warehouse;
the top cover storage warehouse is provided with a trolley identification device, the mixed trolley is also provided with a trolley identification, and the trolley identification device is used for identifying the trolley identification;
the trolley identifying device is configured to determine whether the hybrid trolley entering the current top cover storage warehouse is matched with the top cover storage warehouse according to the identification result of the trolley identification.
In this embodiment, a top cover storage is configured with a hybrid cart, and one or more types of top covers can be placed on the hybrid cart.
In the present exemplary embodiment, the manner in which the hybrid vehicle enters the corresponding top cover storage is not limited;
the mixed carrier trolley can be an AGV, and can be configured to automatically enter the top cover storage warehouse according to a preset proceeding route; alternatively, the hybrid trolley can be manually pushed into the corresponding roof storage.
In this case, the method of placing the top cover on the mixing cart is not limited, and the specified top cover may be automatically placed on the specified mixing cart by a specified automation device (e.g., a transfer robot), or the specified top cover may be manually placed on the specified mixing cart.
In this solution, the specific form of the trolley identification device and the trolley identifier is not limited, for example, the trolley identifier may be an RFID tag, and the trolley identification device may be an RFID reader;
when the hybrid vehicle enters the top cover storage, the RFID reader reads the RFID tag, and determines whether the hybrid vehicle correctly enters the designated top cover storage based on the read RFID tag.
Or the trolley identifying device can be a group of proximity switches, and the number and the setting positions of the proximity switches arranged in different top cover storage libraries are the same;
correspondingly, the trolley marks can be a group of bumps matched with the proximity switch, and meanwhile, the number and/or the positions of the trolley marks arranged on different mixed trolleys are set to be different;
when the mixed carrier enters the top cover storage, the specified proximity switch outputs a switching signal based on the mode of the carrier identification set by the mixed carrier, and whether the mixed carrier correctly enters the specified top cover storage can be determined based on the combination mode of the proximity switch outputting the switching signal.
In this embodiment, the cart identification device may be configured to be connected to the controller, and the controller may be configured to alarm when it is determined that the hybrid cart has entered the wrong top cover storage.
Fig. 6 is a schematic view of the guide rail and cylinder arrangement in an example, referring to fig. 6, when the roof storage is configured with a hybrid car, in one embodiment, the roof storage is further configured with a guide rail 700 and a cylinder 701;
the guide rail 700 is used for guiding the mixing carrier vehicle to move to a designated position in the top cover storage;
the cylinder 701 is used for fixing the hybrid vehicle after the hybrid vehicle is parked in place in the top cover storage.
By way of example, in this embodiment, by providing the guide rail 700, it is possible to facilitate guiding the hybrid vehicle to move to a designated position in the roof storage, and to avoid determining whether the hybrid vehicle moves in place by a software method or the like.
In this scheme, dispose cylinder 701 and press from both sides tight mixed carrier car after mixed carrier car is in place, can avoid because mixed carrier car appears unexpected motion and lead to the difficult accurate problem of grabbing the top cap from mixed carrier car of tongs.
Fig. 7 is a schematic diagram of a top cover type detection sensor arrangement in the embodiment, and referring to fig. 7, the top cover type detection sensor includes a plurality of first type detection sensors 801 and a plurality of second type detection sensors 802 on the basis of the scheme shown in fig. 1;
the first type of detection sensor 801 is used to detect the curvature of the cap and the second type of detection sensor 802 is used to detect the size of the cap.
In the present solution, an example is provided in which the type of the top cover involved in the handling in the top cover handling system is fixed, that is, the type of the top cover is fixed in several types;
accordingly, the positions at which the first type detection sensors 801 are provided satisfy: the curvature of each type (size difference) of top cover at the position where the first type detection sensor 801 is provided can be detected;
the second type of detection sensor 802 is set to a position that satisfies: the output signals of the second type detection sensor 802 are combined in different ways for different types (different sizes) of top covers;
for example, the first type of top cover, the second type of top cover, and the third type of top cover are set to sequentially increase in size;
referring to fig. 7, for the first type of top cover, the first, second, and third pairs of second type detection sensors 802 (two second type detection sensors 802 located on the upper and lower sides are set as one pair in the same lateral position) from left to right output detection signals, and the fourth and fifth pairs of second type detection sensors 802 do not output detection signals (the size of the first top cover does not reach the set position of the fourth and fifth pairs of second type detection sensors 802);
for the second type of top cover, the first, second, third and fourth pairs of second type detection sensors 802 from left to right output detection signals, and the fifth pair of second type detection sensors 802 does not output detection signals;
for the third type of top cover, the first, second, third, fourth, and fifth pairs of second type detection sensors 802 from left to right output detection signals.
Illustratively, in this embodiment, the type of the top cover may be determined in combination with the curvature of the top cover detected by the first type detection sensor 801 and the size of the top cover detected by the second type detection sensor 802.
In this embodiment, the types and models of the first type of detection sensor 801 and the second type of detection sensor 802 are not limited;
for example, the first type of detection sensor 801 may be a laser detection sensor, and the curvature of the specified position of the top cover may be determined by combining a non-contact curvature radius detection method, where the non-contact curvature radius detection method is a prior art, and detailed implementation is not described in detail;
the second type detection sensor 802 may be a reflective photoelectric switch sensor, a capacitive sensor, an inductive sensor, or the like, and based on the second type detection sensor 802, a detection signal is output when the top cover region can be detected at a position where the second type detection sensor 802 is installed, or no detection signal is output.
Referring to fig. 2, in one possible embodiment, further, the range of motion of the gripper in the direction of the first degree of freedom is set to 0 to 1500mm, and the range of motion of the gripper in the direction of the second degree of freedom is set to-10 ° to 10 °.
Based on the solution shown in fig. 1, in one possible embodiment, the length of the linear guide in the first direction is set to be at least 16200mm;
in the first direction, the travel of the gripper on the linear guide is at least 12500mm.
Illustratively, in this aspect, the length of the linear guide in the first direction is related to the number of roof storage arrangements;
for example, if the number of roof stowage bins is six, the length of the linear guide in the first direction may be 16200mm;
if the number of top cap storage banks is greater than six, then the length of the linear guide in the first direction may be greater than 16200mm, and if the number of top cap storage banks is less than six, then the length of the linear guide in the first direction may be less than 16200mm.
In this embodiment, the solutions corresponding to any of the top cover handling systems described above may be freely arranged and combined, and referring to fig. 1 to 7, for example, in one possible embodiment, the top cover handling system includes:
a linear guide 100, a carriage 200, and a controller (not shown in the drawing);
the linear guide rail is arranged along the first direction, the length of the linear guide rail 100 in the first direction is 16200mm, six top cover storage libraries (11-16) are arranged below the linear guide rail along the first direction, and each top cover storage library is provided with a mixing carrier;
a trolley space 201 is also arranged below the linear guide rail in the first direction, and is used for parking the trolley 200;
the linear guide is provided with a gripper 300, the gripper 300 is used for gripping the top cover from the top cover storage libraries (11-16), and the gripped top cover is placed on the trolley 200 through the linear guide 100;
the grip 300 is provided with a first degree of freedom, which is to move in the vertical direction, and a second degree of freedom, which is to move in a pitching motion with respect to the horizontal plane;
along the first direction, the stroke of the gripper on the linear guide rail is 12500mm, and the movement range of the gripper in the direction of the first degree of freedom is 0-1500 mm; the movement range of the gripper in the second degree of freedom direction is-10 degrees to 10 degrees, and the gripper can be opened or tightened in the first direction;
the gripper is provided with a top cover type detection sensor, and the top cover type detection sensor comprises a first type detection sensor 801 and a second type detection sensor 802;
the trolley 200 is provided with at least one auxiliary support structure comprising a support portion 401, a counterweight portion 402;
the trolley space 201 is also provided with at least one pair of opposite switches (501, 502);
the two opposite-shooting switches are respectively arranged on a first side and a second side which are opposite to each other in the position of the trolley space 201; a pair of opposite switches are used for detecting whether the trolley is parked in place in the trolley position;
the trolley is further provided with at least one pair of full load detection switches 600, the pair of full load detection switches 600 being used to determine whether a top cover is in place on the trolley;
the trolley position is also provided with a clamping device, and the clamping device is used for fixing the trolley after the trolley is parked in place in the trolley position;
the top cover storage warehouse is provided with a trolley identification device, the mixed trolley is also provided with a trolley identification, and the trolley identification device is used for identifying the trolley identification;
the roof storage is also provided with guide rails 700 and air cylinders 701, wherein the guide rails 700 are used for guiding the mixing trolley to move to a designated position in the roof storage.
In this scheme, set for top cap handling system design to carry the top cap type include nine kinds altogether.
In this scheme, set for the platform truck to be AGV, set for to mix the platform truck and get into the top cap storehouse through the mode of manual promotion.
In this scheme, set for top cap handling system's use and working method to be:
manually configuring a counterweight part on the auxiliary supporting structure according to the type of the carrying top cover of the corresponding hybrid carrier vehicle so as to match the weight of the corresponding top cover;
manually pushing the mixed carrier into a designated top cover storage, determining whether the mixed carrier enters a correct top cover storage according to the identification result of the carrier identification device and a preset vehicle information code by a controller when the mixed carrier performs the top cover storage, and generating alarm information when the mixed carrier enters an incorrect top cover storage;
after the mixed carrier enters the top cover storage warehouse and is parked in place, the cylinder acts to fix the mixed carrier in the top cover storage warehouse;
the controller controls the linear guide rail to move according to a preset program, and after controlling the gripper to move to a specified top cover storage warehouse, judges whether the type of the current top cover is correct according to the sensor information of the top cover type detection sensor and the preset top cover grabbing type;
when the type of the top cover to be grabbed is correct, the control grippers grabs the top cover and brake the top cover to the trolley space, and the control grippers place the top cover on the trolley in the trolley space;
when the controller determines that all the top covers are grabbed onto the trolley according to the detection signals of the full-load detection switch, the clamping device of the control platform parking space is opened;
after the clamping device is opened, the trolley conveys the top cover to a designated place according to a preset movement program.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. The top cover conveying system is characterized by comprising a linear guide rail, a trolley and a controller;
the linear guide rail is arranged along a first direction, a plurality of top cover storage libraries are arranged below the linear guide rail along the first direction, and one top cover storage library is used for storing at least one top cover;
a trolley position is further arranged below the linear guide rail in the first direction, and the trolley position is used for parking the trolley;
the linear guide rail is provided with a gripper, the gripper is used for grabbing the top cover from the top cover storage warehouse, and the grabbed top cover is placed on the trolley through the linear guide rail;
the gripper is provided with a top cover type detection sensor, and the top cover type detection sensor is used for detecting the type of the top cover when the top cover is gripped;
the gripper is provided with a first degree of freedom and a second degree of freedom, wherein the first degree of freedom moves along the vertical direction, and the second degree of freedom moves in a pitching mode relative to a horizontal plane;
the controller is configured to control the hand grip to act and determine the type of the top cover according to the measurement information of the top cover type detection sensor.
2. The roof handling system of claim 1, wherein the trolley is configured with at least one auxiliary support structure comprising a support portion, a weight portion;
the first end of the supporting part is fixedly connected with the first end of the counterweight part;
the connecting end of the supporting part and the counterweight part is rotationally connected with a table column through a rotating shaft, and the table column is vertically arranged on the trolley;
the supporting part is used for bearing the top cover placed on the trolley, the counterweight part is used for balancing the top cover, and after the top cover placed on the supporting part is static, the opposite horizontal surface is a preset inclination angle.
3. The roof handling system of claim 1, wherein the trolley station is further configured with at least one pair of opposing switches;
the two correlation switches are respectively arranged on a first side and a second side which are opposite to each other in the position of the trolley;
and the pair of correlation switches are used for detecting whether the trolley is parked in place in the trolley space.
4. The roof handling system of claim 1, wherein the trolley is further configured with at least one pair of full load detection switches;
a pair of the full load detection switches are used to determine whether a roof is in place on the trolley.
5. The roof handling system of claim 1, wherein the trolley is further configured with a clamping device;
the clamping device is used for fixing the trolley after the trolley is parked in place in the trolley place.
6. The roof handling system of claim 1, wherein the roof storage is configured with a mix cart;
the mixed carrier is used for accommodating the top cover and conveying the accommodated top cover into the top cover storage warehouse;
the top cover storage warehouse is provided with a trolley identification device, the mixed carrier trolley is also provided with a trolley identification, and the trolley identification device is used for identifying the trolley identification;
the trolley identifying device is configured to determine whether the hybrid trolley entering the top cover storage warehouse is matched with the top cover storage warehouse or not according to the identification result of the trolley identification.
7. The roof handling system of claim 6, wherein the roof storage is further configured with guide rails and air cylinders;
the guide rail is used for guiding the mixed carrier to move to a designated position in the top cover storage warehouse;
the cylinder is used for fixing the mixed carrier after the mixed carrier is parked in place in the top cover storage warehouse.
8. The roof handling system of claim 1, wherein the roof type detection sensor comprises a plurality of first type detection sensors, a plurality of second type detection sensors;
the first type of detection sensor is used for detecting the curvature of the top cover, and the second type of detection sensor is used for detecting the size of the top cover.
9. The roof handling system of claim 1, wherein the range of motion of the gripper in the first degree of freedom is from 0 to 1500mm;
the movement range of the gripper in the second degree of freedom direction is-10 degrees to 10 degrees.
10. The roof handling system of claim 1, wherein the linear rail has a length in the first direction of at least 16200mm;
and along the first direction, the stroke of the gripper on the linear guide rail is at least 12500mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311095942.8A CN116924050A (en) | 2023-08-29 | 2023-08-29 | Top cap handling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311095942.8A CN116924050A (en) | 2023-08-29 | 2023-08-29 | Top cap handling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116924050A true CN116924050A (en) | 2023-10-24 |
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ID=88377305
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311095942.8A Pending CN116924050A (en) | 2023-08-29 | 2023-08-29 | Top cap handling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116924050A (en) |
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2023
- 2023-08-29 CN CN202311095942.8A patent/CN116924050A/en active Pending
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