CN203306725U - Automatic rock core box tray detaching and stacking system - Google Patents
Automatic rock core box tray detaching and stacking system Download PDFInfo
- Publication number
- CN203306725U CN203306725U CN2013203252128U CN201320325212U CN203306725U CN 203306725 U CN203306725 U CN 203306725U CN 2013203252128 U CN2013203252128 U CN 2013203252128U CN 201320325212 U CN201320325212 U CN 201320325212U CN 203306725 U CN203306725 U CN 203306725U
- Authority
- CN
- China
- Prior art keywords
- core box
- core
- code
- hook
- tooth bar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Images
Abstract
The utility model relates to an automatic rock core box tray detaching and stacking system, which comprises a track system, a carrying manipulator and a control device; the track system comprises a track hoisting frame and a track; the track hoisting frame is erected between a rock core box tray conveying line and a rock core observation conveying line; the track is arranged on the track hoisting frame and is positioned above the rock core box tray conveying line and the rock core observation conveying line; the carrying manipulator is used for sequentially carrying multiple rock core boxes stacked in an N line*M layer mode in a tray onto the rock core observation conveying line during tray detaching, and sequentially carrying the multiple rock core boxes on the rock core observation conveying line into the tray on the rock core box tray conveying line and stacking the same in the N line*M layer mode during tray stacking; the control device is connected with the carrying manipulator; a control module of the control device controls the motion of a grabbing mechanism according to signals fed back from a horizontal position detection switch and a vertical position detection switch. The automatic rock core box tray detaching and stacking system can meet the demands of carrying, tray disassembling and tray stacking of the rock core boxes from the rock core box tray conveying line to multiple observation conveying lines.
Description
Technical field
The utility model relates to a kind of handling system, specifically, relate to core box implement from the pallet travel line to many carryings of observing travel lines, the Auto Core box of tearing dish and code-disc open tears the code-disc system open.
Background technology
Number of core sections is taken out in the oil recovery drilling well, and no matter this mouthful well has or not oil, and core will for the research and analysis geology and geomorphology, extract relevant information as the geologic information long preservation, for further geology exploration and other correlative study are given information later.According to national standard, core is deposited requirement, every core oad
Every two cores are contained in a core box, and every box core weighs 80 kilograms.Core box by pallet storing in automatic stereowarehouse, nearly 1000 kilograms of each tray stacking 12 box core weight.The researchist is mostly by a dead lift core box in the past, and not only operator's labour intensity is large, and inefficiency, easily makes mistakes.
In order to reduce artificial labour intensity, increase work efficiency, improve the level of management of core data, in prior art, there is the manipulator of employing to carry core box, manipulator is the disclosed structure of Chinese utility model patent of CN202321634U just like notification number, comprise manipulator mass motion part, core box grasp handling part and core box translating sections, overall operation partly comprises the walking reducing motor, the core box grasp handling partly comprises lifting speed reduction motor and handgrip, the power of walking reducing motor is realized advancing of manipulator by the chain transmission, retreat with left/right rotation to, lifting speed reduction motor moves down the core box handgrip by the assembly pulley that capstan winch and movable pulley form, block core box two ends attacker, thereby promote, draw-in groove below the disengaging core box, core box is put to assigned address, translating device is for carrying out the contraposition between core box.The manipulator of this kind structure really can realize to core box carrying, put, pack up, the mechanized operation such as piling, alignment.But, this manipulator can't meet core box from the pallet travel line to many carryings of observing travel lines, tear dish and code-disc requirement open, can't realize fully that core box is torn dish open, code-disc is unattended.
The utility model content
Technical problem to be solved in the utility model is, provide a kind of Auto Core box to tear the code-disc system open, with meet core box from the pallet travel line to many carryings of observing travel lines, tear dish and code-disc function open, realize that fully core box is torn dish open, code-disc is unattended, and then effectively reduce operator's labour intensity, increase work efficiency.
To achieve these goals, Auto Core box of the present utility model is torn the code-disc system open, being arranged on core box tray travel line and core observes between travel line, described core box tray travel line is carried a plurality of core boxes that carry by pallet, and described a plurality of core boxes are piled up in described pallet in N row * M layer mode.The Auto Core box is torn the code-disc system open and is comprised rail system, conveying robot and control setup.Rail system comprises that track crane is shelved and track, and track crane is shelved and is erected between core box tray travel line and core observation travel line, and track is arranged on track crane and shelves and be positioned at above core box tray travel line and core observation travel line.Conveying robot is carried on core observation travel line in turn in tearing a plurality of core boxes that when dish pile up in N row * M layer mode in by pallet open, core is observed to a plurality of core boxes on travel line when code-disc and is carried in turn in the pallet on the core box tray travel line and in N row * M layer mode and piles up.Control setup is connected with described conveying robot.Described conveying robot comprises traveling gear, grasping mechanism, horizontal shifting mechanism and vertical lifting mechanism, and traveling gear has the car body along described rail moving; Grasping mechanism is arranged on described car body, has the paw of core box being grabbed to folder or pine folder; Horizontal shifting mechanism connects to drive the relative described car body of described grasping mechanism along one first path parallel motion with described grasping mechanism; Vertical lifting mechanism connects to drive the relative described car body of described grasping mechanism with described grasping mechanism and moves up and down along one second path.Described control setup comprises level attitude detector switch, upper-lower position detector switch and control module, and described level attitude detector switch is arranged on described the first path; Described upper-lower position detector switch is arranged on described the second path; Described control module is connected with described level attitude detector switch, upper-lower position detector switch and described grasping mechanism, for the motion of the described grasping mechanism of signal control according to level attitude detector switch and upper-lower position detector switch feedback.
Above-mentioned Auto Core box is torn the code-disc system open, wherein, on described car body, is provided with driving wheel and flower wheel, and described driving wheel is connected with a walking drive motor by a driving system.
Above-mentioned Auto Core box is torn the code-disc system open, and wherein, described grasping mechanism also comprises crawl drive motor, arm revolving gear, the first tooth bar, the second tooth bar, the first rack shaft and the second rack shaft.Capturing drive motor is fixedly installed on a support; Arm revolving gear is connected with described crawl drive motor; The first tooth bar and the engagement of described arm revolving gear; The second tooth bar and described arm revolving gear mesh and are arranged in parallel with described the first tooth bar; The first rack shaft is for described the first tooth bar setting; The second rack shaft is for described the second tooth bar setting; Described paw comprises the first hook-type claw and the second hook-type claw, described the first hook-type claw be arranged on the first rack shaft and be positioned at described the first rack shaft away from described arm revolving gear end, described the second hook-type claw be arranged on the second rack shaft and be positioned at described the second rack shaft away from described arm revolving gear end, the first hook-type claw and the second hook-type claw counter motion that with the first tooth bar of being parallel to each other and the second tooth bar, pull both sides on the rotational line of arm revolving gear realize core box is grabbed to folder and the action of pine folder.
Above-mentioned Auto Core box is torn the code-disc system open, and wherein, described grasping mechanism also comprises the first slide rail, the second slide rail, the first slide block and the second slide block.The first slide rail is arranged on described support; The second slide rail is arranged on described support; The first slide block is fixedly connected with and is slidably arranged on described the first slide rail with described the first hook-type claw; The second slide block is fixedly connected with and is slidably arranged on described the second slide rail with described the second hook-type claw.
Above-mentioned Auto Core box is torn the code-disc system open, wherein, described grasping mechanism also includes the guiding mechanism of described the first rack shaft of guiding and described the second rack shaft, described guiding mechanism comprises the first guide pin bushing and the second guide pin bushing be arranged on described support, described the first guide pin bushing and described the second guide pin bushing lay respectively at described arm revolving gear both sides, described the first rack shaft is connected described the first hook-type claw after passing in turn described the second guide pin bushing and the first guide pin bushing, and described the second rack shaft is connected described the second hook-type claw after passing in turn described the first guide pin bushing and the second guide pin bushing.
Above-mentioned Auto Core box is torn the code-disc system open, and wherein, described vertical lifting mechanism comprises lifting drive motor, two rack-and-pinions and two lifter rack axles.The lifting drive motor is fixedly installed on a frame; Two rack-and-pinions are symmetrical arranged with described lifting drive motor connection and relative described lifting drive motor respectively, and each rack-and-pinion comprises that the lifting transmission by described lifting drive motor driven rotary reaches and the lifting transmission tooth bar of described lifting transmission with the gear engagement with gear; Two lifter rack axles one of them of corresponding two rack-and-pinions respectively arrange for described lifting transmission tooth bar; Described support is fixed on the lower end of described two lifter rack axles.
Above-mentioned Auto Core box is torn the code-disc system open, and wherein, described vertical lifting mechanism also comprises vertically-guided mechanism, and described two lifter rack axles are fixedly connected with described support after passing described vertically-guided mechanism.
Above-mentioned Auto Core box is torn the code-disc system open, wherein, described horizontal shifting mechanism comprise traversing drive motor, traversing transmission with gear, traversing transmission with tooth bar and traversing line slideway.Traversing drive motor is fixedly installed on described frame; Traversing transmission is connected with described traversing drive motor with gear; Traversing transmission is meshed with gear with tooth bar and described traversing transmission; Traversing line slideway and described traversing transmission be arranged in parallel with tooth bar; Described traversing transmission is arranged on described car body with tooth bar and described traversing line slideway.
Above-mentioned Auto Core box is torn the code-disc system open, and wherein, described the first hook-type claw all comprises vertical portion, forms L shaped horizontal part and relative described horizontal part bending and the overbending direction kink towards described vertical portion with described vertical portion with the second hook-type claw; Described kink inserts in the attacker of core box when core box being grabbed to folder.
Above-mentioned Auto Core box is torn the code-disc system open, wherein, on described track, is provided with the bar code band, on described car body, is provided with the detection box corresponding with described bar code band, and described bar code band is connected with described control module respectively with the detection box.
Beneficial functional of the present utility model is: when the oil researchist need to transfer core and takes a sample to research to observation floor, the Auto Core box was torn a plurality of core box gradation that the code-disc system can transport the core box tray travel line open and is torn orderly the piling up on observation floor of dish open; After the researchist completed research and sampling, the Auto Core box is torn the code-disc system open can be by a plurality of core box stackings on observation floor to pallet, then by the core box tray travel line, whole dish core box is transported in tiered warehouse facility and stores; Thereby can realize the automatic access core box, the work of substitution studies personnel's a dead lift core box, met core box from the pallet travel line to many carryings of observing travel lines, tear dish and code-disc requirement open, realized fully that core box is torn dish open, code-disc is unattended.
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail, but not as to restriction of the present utility model.
The accompanying drawing explanation
Fig. 1 a is that Auto Core box of the present utility model is torn the front view of code-disc system open;
Fig. 1 b is that Auto Core box of the present utility model is torn the birds-eye view of code-disc system open;
Fig. 1 c is that Auto Core box of the present utility model is torn the lateral plan of code-disc system open;
Fig. 2 is the control setup structured flowchart;
Fig. 3 a is the front view of traveling gear;
Fig. 3 b is the birds-eye view of traveling gear;
Fig. 3 c is the lateral plan of traveling gear;
Fig. 4 a is the front view of grasping mechanism;
Fig. 4 b is the birds-eye view of grasping mechanism;
Fig. 5 a is the front view of horizontal shifting mechanism and vertical lifting mechanism;
Fig. 5 b is the birds-eye view of horizontal shifting mechanism and vertical lifting mechanism;
Fig. 5 c is the lateral plan of horizontal shifting mechanism and vertical lifting mechanism.
Wherein, Reference numeral
100-Auto Core box is torn the code-disc system open
110-rail system
111-track crane is shelved
112-track
120-conveying robot
1210-traveling gear
1211-car body
1212-driving wheel
1213-flower wheel
1214-driving system
1215-travel driving motor
1220-grasping mechanism
1221-crawl drive motor
1222-arm revolving gear
The 1223-the first tooth bar
The 1224-the second tooth bar
The 1225-the first rack shaft
The 1226-the second rack shaft
1227-paw
The 12271-the first hook-type claw
122711-vertical portion
122712-horizontal part
122713-kink
The 12272-the second hook-type claw
The 1228-the first slide rail
The 1229-the second slide rail
The 12210-the first slide block
The 12211-the second slide block
The 12212-the first guide pin bushing
The 12213-the second guide pin bushing
12214-support
1230-horizontal shifting mechanism
1231-traversing drive motor
1232-traversing transmission gear
1233-traversing transmission tooth bar
1234-traversing line slideway
1240-vertical lifting mechanism
1241-lifting drive motor
1242-rack-and-pinion
1243-lifter rack axle
1244-vertically-guided mechanism
125-frame
200-core box tray travel line
300-core is observed travel line
41-pallet
42-core box
The specific embodiment
Below in conjunction with the drawings and specific embodiments, technical solutions of the utility model being described in detail, further to understand the purpose of this utility model, scheme and effect, but is not the restriction as the utility model claims protection domain.
Consult Fig. 1 a to Fig. 1 c, as shown in the figure, Auto Core box of the present utility model is torn code-disc system 100 open, is arranged on core box tray travel line 200 and core and observes between travel line 300.Core box tray travel line 200 is carried by a plurality of core boxes 42 of pallet 41 carryings, a plurality of core boxes 42 are piled up in pallet 41 in N row * M layer mode, in pallet 41 shown in Fig. 1 c, carry 12 core boxes, these 12 core boxes are piled up in * 4 layers of mode of 3 rows, in actual applications, the number of core box is not as limitation.Core observe travel line 300 for delivery of core box to facilitate the researchist to take a sample to research.
The Auto Core box is torn code-disc system 100 open and is comprised rail system 110, conveying robot 120 and control setup 130.Rail system 110 comprises that track crane shelves 111 and track 112, track crane is shelved 111 and is erected between core box tray travel line 200 and core observation travel line 300, track 112 is arranged on track crane and shelves on 111 and be positioned at core box tray travel line 200 and core observation travel line 300 tops, preferably, track 112 is press fit into the track crane be comprised of shaped steel and shelves on 111, and length can be 28 meters.Conveying robot 120 is carried on core observation travel line 300 in turn in tearing a plurality of core boxes 42 that when dish pile up in N row * M layer mode in by pallet 41 open, core is observed on travel line to a plurality of core boxes of 300 when code-disc and is carried in turn in the pallet 41 on core box tray travel line 200 and in N row * M layer mode and piles up.Control setup 130 is connected with conveying robot 120, to control the action of conveying robot 120.
Conveying robot 120 comprises traveling gear 1210, grasping mechanism 1220, horizontal shifting mechanism 1230 and vertical lifting mechanism 1240, and traveling gear 1210 has the car body 1211(moved along track 112 and sees Fig. 3 b); Grasping mechanism 1220 is arranged on car body 1211, has the paw 1227(that core box is grabbed to folder or pine folder and sees Fig. 4 a); Horizontal shifting mechanism 1230 connects to drive the relative car body 1211 of grasping mechanism along one first path parallel motion (as the path of Y-axis indication in Fig. 1 b) with grasping mechanism 1220; Vertical lifting mechanism 1240 connects to drive the relative car body 1211 of grasping mechanism with grasping mechanism 1210 and along one second path, moves up and down (path of Z axis indication in Fig. 1 c).
In conjunction with consulting Fig. 2, control setup 130 comprises level attitude detector switch 131, upper-lower position detector switch 132 and control module 133, level attitude detector switch 131 is arranged on the first path, while tearing dish open, for detection of the Pai De position, core box place in pallet, during code-disc, observe the level attitude at the core box place at travel line 300 front position places for detection of core; Upper-lower position detector switch 132 is arranged on the second path, for detection of the Ceng De position, core box place in pallet, during code-disc, observes the vertical position at the core box place at travel line 300 front position places for detection of core while tearing dish open; Control module 133 is connected with level attitude detector switch 131, upper-lower position detector switch 132 and grasping mechanism 1220, for the motion of the signal control grasping mechanism according to level attitude detector switch and upper-lower position detector switch feedback.Further, control setup 130 also comprises bar code band 135 and detects box 134, bar code band 135 is arranged on track 112, detecting box 134 is arranged on car body 1211, it is corresponding with bar code band 135 that this detects box 134, and to detect the position of car body 1211 on track 112, bar code band 135 is connected with control module 133 respectively with detection box 134, to receive in control module 133 that instruction need to be torn dish open or during code-disc, to control conveying robot 120 and along X-direction, move on track 112.
Consult Fig. 3 a to Fig. 3 c, traveling gear 1210 also comprise driving wheel 1212, flower wheel 1213, driving system 1214 and with travel driving motor 1215.Driving wheel 1212 and flower wheel 1213 are arranged on car body 1211, and driving wheel 1212 is connected with travel driving motor 1215 by driving system 1214, like this, by travel driving motor 1215, can drive car body 1211 and along X-direction, move on track 112.
Consult Fig. 4 a and Fig. 4 b, grasping mechanism 1220, except comprising paw 1227, also comprises and captures drive motor 1221, arm revolving gear 1222, the first tooth bar 1223, the second tooth bar 1224, the first rack shaft 1225 and the second rack shaft 1226.Capturing drive motor 1221 is fixedly installed on support 12214; Arm revolving gear 1222 is connected with crawl drive motor 1221; The first tooth bar 1223 and arm revolving gear 1222 engagements; The second tooth bar 1224 meshes and is arranged in parallel with the first tooth bar 1223 with arm revolving gear 1222; The first rack shaft 1225 arranges for described the first tooth bar 1223; The second rack shaft 1226 arranges for described the second tooth bar 1224; paw 1227 comprises the first hook-type claw 12271 and the second hook-type claw 12272, the first hook-type claw 12271 be arranged on the first rack shaft 1225 and be positioned at the first rack shaft away from the arm revolving gear end, the second hook-type claw 12272 be arranged on the second rack shaft 1226 and be positioned at the second rack shaft away from the arm revolving gear end, by such setting, the first tooth bar 1223 be parallel to each other on the rotational line of arm revolving gear 1222 and the second tooth bar 1224 pull the first hook-type claw 12271 of both sides and the second hook-type claw 12272 counter motions can realize core box 42 is grabbed to folder and the action of pine folder, the first hook-type claw 12271 and the second hook-type claw 12272 have identical structure, the first hook-type claw 12271 of take is example, the first hook-type claw 12271 comprises vertical portion 122711, with vertical portion, form L shaped horizontal part 122712 and the bending of relative level section and the overbending direction kink 122713 towards vertical portion, kink 122713 inserts in the attacker of core box when core box 42 being grabbed to folder.As shown in Figure 4 b, when arm revolving gear 1222 clockwise rotates under crawl drive motor 1221 drives, realize core box 42 is grabbed to folder; When arm revolving gear 1222 rotates counterclockwise under crawl drive motor 1221 drives, realize core box 42 pine folders.Preferably, grasping mechanism 1220 also comprises that the first slide rail 1228, the second slide rail 1229, the first slide block 12210 and the second slide block 12212, the first slide rails 1228 are arranged on support 12214; The second slide rail 1229 is arranged on support 12214; The first slide block 12210 is fixedly connected with and is slidably arranged on the first slide rail 1228 with the first hook-type claw 12271; The second slide block 12211 is fixedly connected with and is slidably arranged on the second slide rail 1229 with the second hook-type claw 12272.
In order to guarantee paw, steadily grab folder and pine folder, grasping mechanism 1220 also includes the guiding mechanism of guiding the first rack shaft 1225 and the second rack shaft 1226, guiding mechanism comprises the first guide pin bushing 12212 and the second guide pin bushing 12213 be arranged on support 12214, the first guide pin bushing 12212 and the second guide pin bushing 12213 lay respectively at arm revolving gear 1222 both sides, the first rack shaft 1225 passes the second guide pin bushing 12213 and rear connection the first hook-type claw 12271 of the first guide pin bushing 12212 in turn, the second rack shaft 1226 passes the first guide pin bushing 12212 and rear connection the second hook-type claw 12272 of the second guide pin bushing 12213 in turn.
From said structure, can find out, the transmission principle of grasping mechanism 1220 is that the gear on reducing motor rotates two tooth bars that drive is arranged in parallel, at gear rotational line two parallel racks, pull both sides hook-type claw counter motion, thereby realize that paw is grabbed folder to core box and the pine folder moves.Guiding mechanism can be line slideway, and is contained in the slide block 12210,12211 on paw and is contained in slide rail 1228,1229 on support 12214 and also can play guiding and supporting role.Also can the detector switch (not shown) be set in the X1 direction of principal axis, the signal that grasping mechanism 1220 can feed back according to the detector switch of this X1 direction of principal axis setting is adjusted the paw spacing automatically, guarantees that paw can and can clamp the core box edge by core box.Capture drive motor 1221 and can adopt servocontrol, to improve positioning precision.
Consult Fig. 5 a to Fig. 5 c, vertical lifting mechanism 1240 comprises lifting drive motor 1241, two rack-and-pinions 1242 and two lifter rack axles 1243.Lifting drive motor 1241 is fixedly installed on frame 125; Two rack-and-pinions 1242 are symmetrical arranged with 1241 connections of lifting drive motor and relative lifting drive motor respectively, and each rack-and-pinion 1242 comprises that the lifting transmission by lifting drive motor driven rotary reaches and the lifting transmission tooth bar of lifting transmission with the gear engagement with gear; Two lifter rack axles 1243 one of them of corresponding two rack-and-pinions respectively arrange for lifting transmission tooth bar; Support 12214 is fixed on the lower end of two lifter rack axles 1243.Vertical lifting mechanism 1240 also comprises after 1244, two lifter rack axles 1243 of vertically-guided mechanism pass vertically-guided mechanism and being fixedly connected with support 12214.Vertical lifting mechanism 1240 drives grasping mechanism 1220 and realizes after core box captures realizing Z-axis direction vertical-lift action, and vertical lifting mechanism 1240 can adopt brake snub motor (being lifting drive motor 1241) driven wheel tooth bar pair 1242.The Z-direction stroke can be 0.65 meter, and maximum speed can be 20 m/mins, and maximum lift weight can be 100KG, and motor adopts servomotor.Also upper-lower position detector switch 132 can be set on the Z axis mobile route, position for detection of every layer of core box on the pallet of below, after detection upper-lower position detector switch 132 detects the core box position, by grasping mechanism 1220, core is clamped, be promoted to original height.
It is upper that horizontal shifting mechanism 1230 and vertical lifting mechanism 1240 are contained in same frame (that is, on frame 125), and it comprises traversing drive motor 1231, traversing transmission gear 1232, traversing transmission tooth bar 1233 and traversing line slideway 1234.Traversing drive motor 1231 is fixedly installed on frame 125; Traversing transmission is connected with traversing drive motor 1231 with gear 1232; Traversing transmission is meshed with gear 1232 with tooth bar 1233 and traversing transmission; Traversing line slideway 1234 be arranged in parallel with tooth bar 1233 with traversing transmission; Traversing transmission is arranged on car body 1211 and (sees Fig. 3 b) with tooth bar 1233 and traversing line slideway 1234.That is to say, horizontal shifting mechanism realizes the parallel motion in Y direction by two cover line slideway kinematic pairs, and type of drive adopts the rack-and-gear transmission, and shift motion can reach 1.14 meters.On the moving path of the y-axis shift of horizontal shifting mechanism 1230, level attitude detector switch 131 is set, position for detection of every row's core box on the pallet of below, after level attitude detector switch 131 detects the core box position, by lifting drive motor 1241, along the Z-direction lifting, the core box after clamping is promoted.
Full automaticity core box of the present utility model tear open the code-disc system tear open the dish working process as follows:
Step S100: load the pallet of core box after the observation floor front end of core box tray travel line arrival core observation travel line, the conveying robot orbiting is to the pallet top position.In this step, while when the pallet that loads core box, under core box tray travel line 200 is carried, being about to arrive core observation travel line 300, can judge core observes on travel line 300 whether allow to place core box, if allow, place and carry out step S200.
Step S200: control module is based on the signal level control transverse-moving mechanism action of level attitude detector switch feedback so that grasping mechanism move to core box on the N row in pallet directly over.
Step S300: control module based on the signal control vertical lifting mechanism action of upper-lower position detector switch feedback so that grasping mechanism takes off the core box on the N row * M layer in pallet.
Step S400: after the vertical lifting mechanism action promotes and grabs grasping mechanism to a perch that accompanies core box, the described horizontal shifting mechanism position action of platform according to the observation makes to grab the grasping mechanism that accompanies core box and moves to directly over observation floor, and the grasping mechanism rear paw pine folder that edges down is placed on core box on observation floor.In this step, after paw is clamped core box, a perch is brought up in the servomotor of Z-direction (lifting drive motor 1241) action, control setup is observed the front position of travel line 300 according to core, starting traversing drive motor 1231 makes grasping mechanism be positioned at the front position top that core is observed travel line 300, lifting drive motor 1241 action edges down grasping mechanism to be beneficial to paw to be separated from core box (being that kink 122713 breaks away from the attacker of core boxes specifically), then capture drive motor 1221 action paw pine folders, core box is transported to the observation floor rear end that core is observed travel line 300.
Repeat above-mentioned steps S200-step S400, until the core box in pallet all is carried on observation floor.
Above-mentioned steps S200 and step S300 can carry out simultaneously, that is to say, after the pallet that loads core box comes to a complete stop, can start the servomotor (drive motor 1215 of namely walking, traversing drive motor 1231 and lifting drive motor 1241) of X-axis, Y-axis and Z-direction, and according to the core box model, control the aperture of paw, by servo-control unit, control again the movement range of each axle, make paw accurately be positioned at the correct position of the core box that will capture, start and capture drive motor 1221 so that paw is clamped core box.
It is as follows that full automaticity core box of the present utility model is torn code-disc system code-disc working process open:
Step S100: after on the observation floor of core observation travel line, outermost core box was transported to observation floor front position place, the conveying robot orbiting was to the observation floor top position;
S200: control module is based on the signal level control transverse-moving mechanism action of level attitude detector switch feedback so that grasping mechanism move to observation floor front position place core box directly over;
S300: control module based on the signal control vertical lifting mechanism action of upper-lower position detector switch feedback so that grasping mechanism capture observation floor front position place core box;
S400: after the vertical lifting mechanism action promotes and grabs grasping mechanism to a perch that accompanies core box, described horizontal shifting mechanism is according to the position action of core box tray travel line, making to grab the grasping mechanism that accompanies core box moves to directly over the pallet of core box tray travel line, control module is calculated this core box should pile up at which to arrange which layer, and so that clipping to by the core box pine accurate location that should pile up, the paw of grasping mechanism repeats above-mentioned steps S200 to arriving step S400 based on result of calculation control vertical lifting mechanism and horizontal shifting mechanism, until all pile up all core boxes on observation floor on pallet, pallet is conveyed into overhead tiered warehouse facility and deposits.
Certainly; the utility model also can have other various embodiments; in the situation that do not deviate from the utility model spirit and essence thereof; those of ordinary skill in the art are when making various corresponding changes and distortion according to the utility model, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the utility model.
Claims (10)
1. an Auto Core box is torn the code-disc system open, being arranged on core box tray travel line and core observes between travel line, described core box tray travel line is carried a plurality of core boxes that carry by pallet, described a plurality of core box is piled up in described pallet in N row * M layer mode, it is characterized in that, comprising:
Rail system, described rail system comprises that track crane is shelved and track, track crane is shelved and is erected between core box tray travel line and core observation travel line, and track is arranged on track crane and shelves and be positioned at above core box tray travel line and core observation travel line;
Conveying robot, in tearing a plurality of core boxes that when dish pile up in N row * M layer mode in by pallet open, be carried in turn on core observation travel line, core observed to a plurality of core boxes on travel line when code-disc and be carried in turn in the pallet on the core box tray travel line and in N row * M layer mode and pile up; And
Control setup, be connected with described conveying robot;
Wherein,
Described conveying robot comprises:
Traveling gear, have the car body along described rail moving;
Grasping mechanism, be arranged on described car body, has the paw of core box being grabbed to folder or pine folder;
Horizontal shifting mechanism, connect to drive the relative described car body of described grasping mechanism along one first path parallel motion with described grasping mechanism; And
Vertical lifting mechanism, connect to drive the relative described car body of described grasping mechanism with described grasping mechanism and move up and down along one second path;
Described control setup comprises level attitude detector switch, upper-lower position detector switch and control module, and described level attitude detector switch is arranged on described the first path; Described upper-lower position detector switch is arranged on described the second path; Described control module is connected with described level attitude detector switch, upper-lower position detector switch and described grasping mechanism, for the motion of the described grasping mechanism of signal control according to level attitude detector switch and upper-lower position detector switch feedback.
2. Auto Core box according to claim 1 is torn the code-disc system open, it is characterized in that, on described car body, is provided with driving wheel and flower wheel, and described driving wheel is connected with a walking drive motor by a driving system.
3. Auto Core box according to claim 1 is torn the code-disc system open, it is characterized in that, described grasping mechanism also comprises:
Capture drive motor, be fixedly installed on a support;
The arm revolving gear be connected with described crawl drive motor;
The first tooth bar, with described arm revolving gear engagement;
The second tooth bar, mesh and be arranged in parallel with described the first tooth bar with described arm revolving gear;
The first rack shaft, for described the first tooth bar setting; And
The second rack shaft, for described the second tooth bar setting;
Wherein, described paw comprises the first hook-type claw and the second hook-type claw, described the first hook-type claw be arranged on the first rack shaft and be positioned at described the first rack shaft away from described arm revolving gear end, described the second hook-type claw be arranged on the second rack shaft and be positioned at described the second rack shaft away from described arm revolving gear end, the first hook-type claw and the second hook-type claw counter motion that with the first tooth bar of being parallel to each other and the second tooth bar, pull both sides on the rotational line of arm revolving gear realize core box is grabbed to folder and the action of pine folder.
4. Auto Core box according to claim 3 is torn the code-disc system open, it is characterized in that, described grasping mechanism also comprises:
The first slide rail, be arranged on described support;
The second slide rail, be arranged on described support;
The first slide block, be fixedly connected with and be slidably arranged on described the first slide rail with described the first hook-type claw; And
The second slide block, be fixedly connected with and be slidably arranged on described the second slide rail with described the second hook-type claw.
5. Auto Core box according to claim 3 is torn the code-disc system open, it is characterized in that, described grasping mechanism also includes the guiding mechanism of described the first rack shaft of guiding and described the second rack shaft, and described guiding mechanism comprises:
The first guide pin bushing, be arranged on described support;
The second guide pin bushing, be arranged on described support;
Wherein, described the first guide pin bushing and described the second guide pin bushing lay respectively at described arm revolving gear both sides, described the first rack shaft is connected described the first hook-type claw after passing in turn described the second guide pin bushing and the first guide pin bushing, and described the second rack shaft is connected described the second hook-type claw after passing in turn described the first guide pin bushing and the second guide pin bushing.
6. Auto Core box according to claim 3 is torn the code-disc system open, it is characterized in that, described vertical lifting mechanism comprises:
The lifting drive motor, be fixedly installed on a frame;
Two rack-and-pinions, with described lifting drive motor connection and relative described lifting drive motor, be symmetrical arranged respectively, each rack-and-pinion comprises that the lifting transmission by described lifting drive motor driven rotary reaches and the lifting transmission tooth bar of described lifting transmission with the gear engagement with gear; And
Two lifter rack axles, one of them of corresponding two rack-and-pinions arranges for described lifting transmission tooth bar respectively;
Wherein, described support is fixed on the lower end of described two lifter rack axles.
7. Auto Core box according to claim 6 is torn the code-disc system open, it is characterized in that, described vertical lifting mechanism also comprises vertically-guided mechanism, and described two lifter rack axles are fixedly connected with described support after passing described vertically-guided mechanism.
8. Auto Core box according to claim 6 is torn the code-disc system open, it is characterized in that, described horizontal shifting mechanism comprises:
Traversing drive motor, be fixedly installed on described frame;
Traversing transmission gear, be connected with described traversing drive motor;
Traversing transmission tooth bar, mesh with gear with described traversing transmission; And
Traversing line slideway, be arranged in parallel with tooth bar with described traversing transmission;
Wherein, described traversing transmission is arranged on described car body with tooth bar and described traversing line slideway.
9. Auto Core box according to claim 4 is torn the code-disc system open, it is characterized in that, described the first hook-type claw and the second hook-type claw all comprise:
Vertical portion;
With described vertical portion, form L shaped horizontal part; And
Relatively described horizontal part bending and overbending direction are towards the kink of described vertical portion;
Wherein, described kink inserts in the attacker of core box when core box being grabbed to folder.
10. Auto Core box according to claim 1 is torn the code-disc system open, it is characterized in that, on described track, be provided with the bar code band, on described car body, be provided with the detection box corresponding with described bar code band, described bar code band is connected with described control module respectively with the detection box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203252128U CN203306725U (en) | 2013-06-06 | 2013-06-06 | Automatic rock core box tray detaching and stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203252128U CN203306725U (en) | 2013-06-06 | 2013-06-06 | Automatic rock core box tray detaching and stacking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203306725U true CN203306725U (en) | 2013-11-27 |
Family
ID=49612947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013203252128U Withdrawn - After Issue CN203306725U (en) | 2013-06-06 | 2013-06-06 | Automatic rock core box tray detaching and stacking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203306725U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303675A (en) * | 2013-06-06 | 2013-09-18 | 北京机械工业自动化研究所 | Automatic rock core box tray dismounting and stacking system and method |
| CN104909000A (en) * | 2015-06-03 | 2015-09-16 | 长兴金润大正机械有限公司 | Cell box conveying mechanism |
| CN105314310A (en) * | 2014-05-29 | 2016-02-10 | 株式会社东芝 | Cargo handling apparatus and method |
| CN106315214A (en) * | 2016-09-12 | 2017-01-11 | 常熟市百联自动机械有限公司 | Gripping system and quilt folding machine with same |
| CN106429363A (en) * | 2016-11-11 | 2017-02-22 | 江苏亨通海洋光网系统有限公司 | System for automatically conveying, charging and discharging a steel wire coil for optical cable production |
| CN106736512A (en) * | 2016-12-01 | 2017-05-31 | 宁海县吉义电子有限公司 | Monitoring box copper mold insert and balance weight automated assembly machine |
| CN107826685A (en) * | 2017-10-19 | 2018-03-23 | 东山电池工业（中国）有限公司 | Conveying arrangement and its convertible transfer device |
| CN109748089A (en) * | 2017-11-01 | 2019-05-14 | 沈阳新松机器人自动化股份有限公司 | A kind of projecting truss robot |
| CN110127149A (en) * | 2019-04-02 | 2019-08-16 | 河南中烟工业有限责任公司 | A kind of unpacking blanking system for pipe tobacco dispatching |
| CN110395575A (en) * | 2019-07-29 | 2019-11-01 | 博众精工科技股份有限公司 | A kind of relay-type transfer line |
| CN107826685B (en) * | 2017-10-19 | 2024-04-19 | 东莞超霸电池有限公司 | Transportation device and turnover type transfer mechanism thereof |
-
2013
- 2013-06-06 CN CN2013203252128U patent/CN203306725U/en not_active Withdrawn - After Issue
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303675B (en) * | 2013-06-06 | 2015-09-16 | 北京机械工业自动化研究所 | Code-disc system torn open by Auto Core box and core box tears code-disc method open |
| CN103303675A (en) * | 2013-06-06 | 2013-09-18 | 北京机械工业自动化研究所 | Automatic rock core box tray dismounting and stacking system and method |
| CN109969781A (en) * | 2014-05-29 | 2019-07-05 | 株式会社东芝 | Withdrawing device, transmission device, removing method and control device |
| CN105314310B (en) * | 2014-05-29 | 2019-10-01 | 株式会社东芝 | Cargo handling equipment and method |
| CN105314310A (en) * | 2014-05-29 | 2016-02-10 | 株式会社东芝 | Cargo handling apparatus and method |
| US9758300B2 (en) | 2014-05-29 | 2017-09-12 | Kabushiki Kaisha Toshiba | Cargo handling apparatus and method |
| US9896267B2 (en) | 2014-05-29 | 2018-02-20 | Kabushiki Kaisha Toshiba | Cargo handling apparatus and method |
| US10549913B2 (en) | 2014-05-29 | 2020-02-04 | Kabushiki Kaisha Toshiba | Cargo handling apparatus and method |
| US11001441B2 (en) | 2014-05-29 | 2021-05-11 | Kabushiki Kaisha Toshiba | Cargo handling apparatus and method |
| CN109969781B (en) * | 2014-05-29 | 2021-11-02 | 株式会社东芝 | Taking-out device, transfer device, taking-out method, and control device |
| CN104909000A (en) * | 2015-06-03 | 2015-09-16 | 长兴金润大正机械有限公司 | Cell box conveying mechanism |
| CN106315214A (en) * | 2016-09-12 | 2017-01-11 | 常熟市百联自动机械有限公司 | Gripping system and quilt folding machine with same |
| CN106429363A (en) * | 2016-11-11 | 2017-02-22 | 江苏亨通海洋光网系统有限公司 | System for automatically conveying, charging and discharging a steel wire coil for optical cable production |
| CN106429363B (en) * | 2016-11-11 | 2019-05-31 | 江苏亨通海洋光网系统有限公司 | Coil of wire automatic transporting, upper and lower disc system for optical cable production |
| CN106736512A (en) * | 2016-12-01 | 2017-05-31 | 宁海县吉义电子有限公司 | Monitoring box copper mold insert and balance weight automated assembly machine |
| CN107826685B (en) * | 2017-10-19 | 2024-04-19 | 东莞超霸电池有限公司 | Transportation device and turnover type transfer mechanism thereof |
| CN107826685A (en) * | 2017-10-19 | 2018-03-23 | 东山电池工业（中国）有限公司 | Conveying arrangement and its convertible transfer device |
| CN109748089A (en) * | 2017-11-01 | 2019-05-14 | 沈阳新松机器人自动化股份有限公司 | A kind of projecting truss robot |
| CN110127149B (en) * | 2019-04-02 | 2022-05-24 | 河南中烟工业有限责任公司 | Unpacking and blanking system for tobacco shred distribution |
| CN110127149A (en) * | 2019-04-02 | 2019-08-16 | 河南中烟工业有限责任公司 | A kind of unpacking blanking system for pipe tobacco dispatching |
| CN110395575A (en) * | 2019-07-29 | 2019-11-01 | 博众精工科技股份有限公司 | A kind of relay-type transfer line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103303675B (en) | Code-disc system torn open by Auto Core box and core box tears code-disc method open | |
| CN203306725U (en) | Automatic rock core box tray detaching and stacking system | |
| DK2630061T3 (en) | Imminent robotic system and method for its use | |
| CN111285286A (en) | Lifting system | |
| CN105197293B (en) | Electric energy meter boxing system | |
| CN206417636U (en) | A kind of three axle automatic feed bin equipment | |
| CN110498244B (en) | Automatic finishing production line for long-handle bevel gears | |
| CN110482153B (en) | Automatic lead ingot carrying device | |
| CN101554977B (en) | Automatic grab bucket crane for straw bundles | |
| CN202016749U (en) | Stacking device for silicon-chip solar-cell panels | |
| CN107176347B (en) | Spandex weighing automatic positioning device | |
| CN204957853U (en) | Industrial explosive carton automatic loading system | |
| CN210312006U (en) | Automatic plate storage robot suitable for conveying line | |
| CN109987412A (en) | A kind of pallet access system | |
| CN107777624B (en) | Material taking device suitable for industrial vehicle | |
| CN215159357U (en) | Automatic loading device | |
| CN105173197B (en) | Automatic electric energy meter arranging device used before packing | |
| CN207861409U (en) | A kind of pallet access system | |
| CN106757148B (en) | A kind of electrolytic manganese post treatment production line cathode plate automation discrepancy tank systems | |
| CN105501986B (en) | A kind of code mechanism of full-automatic profile steel stacker | |
| CN210682179U (en) | Lead ingot automatic handling device | |
| CN204896820U (en) | Automatic pile up neatly device | |
| CN211711178U (en) | Rock wool board packing plant | |
| CN218261664U (en) | Automatic carrying crane for bundled metal pipes | |
| CN207328997U (en) | Spandex is weighed automatic positioning equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131127 Effective date of abandoning: 20150916 |
|
| RGAV | Abandon patent right to avoid regrant |