CN203357469U - Robot system with turnover box recognition function - Google Patents
Robot system with turnover box recognition function Download PDFInfo
- Publication number
- CN203357469U CN203357469U CN 201220397724 CN201220397724U CN203357469U CN 203357469 U CN203357469 U CN 203357469U CN 201220397724 CN201220397724 CN 201220397724 CN 201220397724 U CN201220397724 U CN 201220397724U CN 203357469 U CN203357469 U CN 203357469U
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- turnover box
- draw point
- fixture
- type plate
- robot
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- 230000007306 turnover Effects 0.000 title claims abstract description 68
- 239000000523 sample Substances 0.000 claims abstract description 34
- 239000004677 Nylon Substances 0.000 claims description 13
- 229920001778 nylon Polymers 0.000 claims description 13
- 230000001939 inductive effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
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Abstract
The utility model relates to a robot destacking and palletizing system, and discloses a robot system with a turnover box recognition function. The robot system comprises a turnover box conveying line, a robot and a fixture, wherein the robot is disposed on the side face of the turnover box conveying line, the fixture is connected onto a mechanical arm of the robot, the side face of the fixture is equipped with a scanner used for recognizing position coordinates of a turnover box, the bottom of the fixture is equipped with four probe devices, and a plurality of grooves are disposed on the turnover box corresponding to the probe devices and are used for the probe devices to detect the positive and negative directions of the turnover box and the height of the turnover box. With addition of the probe devices in the robot fixture, specific positions of the turnover box is recognized, and thus the size, the mode and the positive and negative directions of the turnover box are determined.
Description
Technical field
The utility model relates to a kind of robot and tears palletizing system open, is specifically related to a kind of robot system with Turnover Box recognition function.
Background technology
The automatic de-stacking of existing most Turnover Box is directly undertaken by the fixed routine of robot, does not need to carry out the direction identification of Turnover Box.Due to the needs of some industry specific transactions, consistent with the direction of Turnover Box sign in the time of need to making the interior goods of Turnover Box transmit on pipeline.When therefore Turnover Box is put on pipeline, its direction is had to requirement.Existing technology can not meet this requirement.
The utility model content
The purpose of this utility model is to provide a kind of robot system with automatic identification Turnover Box height and direction, by increase probe unit in robot clamp, ad-hoc location to Turnover Box is identified, thereby judges size model and the both forward and reverse directions of Turnover Box.
In order to achieve the above object, the utility model has following technical scheme:
A kind of robot system with Turnover Box recognition function of the present utility model, comprise frame, control device, be arranged on the rotation seat on frame, be arranged on the mechanical arm on rotation seat, be arranged on the drive unit of mechanical arm front end and the fixture be connected with drive unit, described fixture comprises link and is arranged at least one pair of grasping mechanism on link, the bottom of described fixture be equiped with paired setting for detection of on sidewall along thering is the Turnover Box probe unit of identification slot, described probe unit is symmetrical arranged with respect to the axis of captured Turnover Box, but described probe unit comprises the draw point of vertical direction motion and for detection of the approach switch of probe motion position, described draw point fixture gripping Turnover Box and with identification slot at once, described draw point end is placed in groove, and do not contact with described identification slot bottom surface, described draw point fixture gripping Turnover Box and with identification slot not at once, described draw point due to the Turnover Box sidewall on the pressure on edge move up to the detectable position of approach switch, described approach switch carries out signal with control device and is connected.
Wherein, described probe unit comprises draw point, L-type plate one, L-type plate two, approach switch, nylon briquetting, fairlead, inductive head, approach switch is fixed on the bottom of L-type plate one, L-type plate two is connected with L-type plate one, the nylon briquetting is connected with L-type plate two, fairlead is connected with L-type plate two, nylon briquetting by screw, the top of draw point is positioned at the central authorities of nylon briquetting, the bottom of draw point is positioned at fairlead, the top of draw point is also overlapped spring, the bottom of draw point is also overlapped copper sheathing, and the bottom of draw point is connected with inductive head.
Wherein, the number of described probe unit is 4, and with respect to vertical plane of symmetry symmetry of captured Turnover Box.
Owing to having taked above technical scheme, the utility model has the advantage of:
1 the utility model by setting up the probe unit device in robot clamp, realization is judged placement direction and the model of the Turnover Box of capture with identification slot, solve Turnover Box and torn the full automation operation of (code) open, simple in structure, the degree of accuracy is high, and has guaranteed system job efficiency.
The accompanying drawing explanation
Fig. 1 is the utility model robot architecture schematic diagram
Fig. 2 is that the utility model is applied to tear open the structural representation in palletizing system;
The stereogram that Fig. 3 is the utility model fixture;
The enlarged diagram that Fig. 4 is the utility model probe unit.
Fig. 5 is the Turnover Box schematic diagram that the utility model embodiment adopts the 200mm high standard;
Fig. 6 is the Turnover Box schematic diagram that the utility model embodiment adopts the 130mm high standard.
In figure: 1, frame; 2, rotation seat; 3, mechanical arm; 4, drive unit; 5, fixture; 51, link; 52, grasping mechanism; 6, probe unit; 7, Turnover Box pipeline; 8, robot; 9, pallet pipeline; A, station one; B, station two; 10, Turnover Box; 101, identification slot; 61, spring; 62, copper sheathing; 63, draw point, 64, L-type plate one, 65, L-type plate two, 66, approach switch, 67, nylon briquetting, 68, fairlead, 69, inductive head.
The specific embodiment
Following examples are used for the utility model is described, but are not used for limiting scope of the present utility model.
Referring to accompanying drawing 1-Fig. 3, a kind of robot system with Turnover Box recognition function, comprise frame, control device, be arranged on the rotation seat on frame, be arranged on the mechanical arm on rotation seat, be arranged on the drive unit of mechanical arm front end and the fixture be connected with drive unit, described fixture comprises link and is arranged on two pairs of grasping mechanisms on link, the bottom of described fixture is equiped with two pairs to have the Turnover Box probe unit of identification slot for detection of edge on sidewall, described probe unit is symmetrical arranged with respect to the axis of captured Turnover Box, but described probe unit comprises the draw point of vertical direction motion and for detection of the approach switch of probe motion position, described draw point fixture gripping Turnover Box and with identification slot at once, described draw point end is placed in groove, and do not contact with described identification slot bottom surface, described draw point fixture gripping Turnover Box and with identification slot to unseasonable, described draw point due to the Turnover Box sidewall on the pressure on edge move up to the detectable position of approach switch, described approach switch carries out signal with control device and is connected.Probe unit probe unit probe unit
Described probe unit is comprised of draw point, L-type plate one, L-type plate two, approach switch, nylon briquetting, fairlead, inductive head, approach switch is fixed on the bottom of L-type plate one, L-type plate two is connected with L-type plate one, the nylon briquetting is connected with L-type plate two, fairlead is connected with L-type plate two, nylon briquetting by screw, the top of draw point is positioned at the central authorities of nylon briquetting, the bottom of draw point is positioned at fairlead, the top of draw point is also overlapped spring, the bottom of draw point is also overlapped copper sheathing, and the bottom of draw point is connected with inductive head.
Robot selects the industrial robot IRB660_180/3.15 of ABB.
The utility model course of work:
The piling workflow: Turnover Box captures station two B by pipeline input robot, and accurate positioning; Empty pallet on pipeline enters piling station one A after dividing dish by a minute dish machine; Robot captures Turnover Box, carries out piling; After the complete buttress of code, pipeline is sent, and artificial fork truck is pitched away whole buttress Turnover Box.
The de-stacking workflow: whole buttress Turnover Box by fork truck pitch into, after flowing into de-stacking station one A of robot, the pallet on pipeline is positioned; Robot tears Turnover Box into station two B places open; Empty pallet flows out with pipeline.
As shown in Figure 5, Figure 6,130 specification Turnover Boxes have 1 groove (width 30mmX degree of depth 20mm) on an one limit, are mainly used in probe unit and judge whether Turnover Box puts back; 200 specification Turnover Boxes have 2 grooves (width 30mmX degree of depth 20mm) on an one limit, and between 2 grooves, at a distance of 100mm, one of them groove is surveyed Turnover Box for probe unit and whether put back probe unit
Probe unit need to coordinate the groove work on Turnover Box.Judge height and the both forward and reverse directions of Turnover Box according to the state of the approach switch on probe unit, then the Turnover Box status signal is passed to robot, thereby continue to carry out the piling work of tearing open.
If find that on the buttress dish, Turnover Box has put back, turned 180 °, robot will adjust the Turnover Box placement direction after capturing automatically.
Pile: after the scanner in robot identifies the Turnover Box position coordinates, the fixture in robot moves to crawl position automatically.De-stacking; Four probe units on fixture can be judged specification and the direction of Turnover Box by the groove on Turnover Box.If find that on the buttress dish, Turnover Box has put back, turned 180 °, robot will adjust the Turnover Box placement direction after capturing automatically.Robot calculates stacking type and quantity automatically, when buttress type height reaches maybe will be over 1200mm the time, stops pile, and robot has sent stacking signal reporting system, and the buttress dish is sent by pipeline, and artificial fork truck is pitched away whole buttress Turnover Box.
Obviously, above-described embodiment of the present utility model is only for the utility model example clearly is described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here can't give all embodiments exhaustive.Every still row in protection domain of the present utility model of apparent variation that the technical solution of the utility model extends out or change that belong to.
Claims (3)
1. the robot system with Turnover Box recognition function, comprise frame, control device, be arranged on the rotation seat on frame, be arranged on the mechanical arm on rotation seat, be arranged on the drive unit of mechanical arm front end and the fixture be connected with drive unit, described fixture comprises link and is arranged at least one pair of grasping mechanism on link, it is characterized in that: the bottom of described fixture be equiped with paired setting for detection of on sidewall along thering is the Turnover Box probe unit of identification slot, described probe unit is symmetrical arranged with respect to the axis of captured Turnover Box, but described probe unit comprises the draw point of vertical direction motion and for detection of the approach switch of probe motion position, described draw point fixture gripping Turnover Box and with identification slot at once, described draw point end is placed in groove, and do not contact with described identification slot bottom surface, described draw point fixture gripping Turnover Box and with identification slot not at once, described draw point due to the Turnover Box sidewall on the pressure on edge move up to the detectable position of approach switch, described approach switch carries out signal with control device and is connected.
2. a kind of robot system with Turnover Box recognition function as claimed in claim 1, it is characterized in that: described probe unit also comprises L-type plate one, L-type plate two, the nylon briquetting, fairlead, inductive head, approach switch is fixed on the bottom of L-type plate one, L-type plate two is connected with L-type plate one, the nylon briquetting is connected with L-type plate two, fairlead is by screw and L-type plate two, the nylon briquetting connects, the top of draw point is positioned at the central authorities of nylon briquetting, the bottom of draw point is positioned at fairlead, the top of draw point is also overlapped spring, the bottom of draw point is also overlapped copper sheathing, the bottom of draw point is connected with inductive head.
3. a kind of robot system with Turnover Box recognition function as claimed in claim 1 or 2, is characterized in that, the number of described probe unit is 4, and with respect to vertical plane of symmetry symmetry of captured Turnover Box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220397724 CN203357469U (en) | 2012-08-13 | 2012-08-13 | Robot system with turnover box recognition function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220397724 CN203357469U (en) | 2012-08-13 | 2012-08-13 | Robot system with turnover box recognition function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203357469U true CN203357469U (en) | 2013-12-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220397724 Expired - Lifetime CN203357469U (en) | 2012-08-13 | 2012-08-13 | Robot system with turnover box recognition function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203357469U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586876A (en) * | 2012-08-13 | 2014-02-19 | 国家电网公司 | Robot system having turnover box recognizing function and recognition method thereof |
| CN104858887A (en) * | 2015-06-11 | 2015-08-26 | 安庆市华鑫重工股份有限公司 | Six-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism |
| CN106379746A (en) * | 2016-11-18 | 2017-02-08 | 山东爱而生智能科技有限公司 | Ceramic tile transferring and stacking method and system based on pallets |
| CN106406363A (en) * | 2016-12-01 | 2017-02-15 | 佛山市湘德智能科技有限公司 | Electric robot control system for paper pile dismounting |
| CN106742298A (en) * | 2016-12-01 | 2017-05-31 | 佛山市湘德智能科技有限公司 | A kind of multi-function robot tears the dismounting technique of paper stack open |
| CN109279371A (en) * | 2017-07-19 | 2019-01-29 | 苏州喜和喜精密机械有限公司 | A kind of self-propelled stacking machine of intelligent optical |
| CN110038815A (en) * | 2019-04-16 | 2019-07-23 | 浙江国自智能装备有限公司 | Logistic turnover box sorts palletizing system |
| CN110815677A (en) * | 2019-11-25 | 2020-02-21 | 福建省睿步智能装备有限公司 | Automatic carrying equipment of case shell |
-
2012
- 2012-08-13 CN CN 201220397724 patent/CN203357469U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103586876A (en) * | 2012-08-13 | 2014-02-19 | 国家电网公司 | Robot system having turnover box recognizing function and recognition method thereof |
| CN104858887A (en) * | 2015-06-11 | 2015-08-26 | 安庆市华鑫重工股份有限公司 | Six-degree-of-freedom self-stabilized box grab bucket based on parallel mechanism |
| CN104858887B (en) * | 2015-06-11 | 2016-09-07 | 温州市兴泰科技有限公司 | A kind of six degree of freedom based on parallel institution is grabbed bucket from steady casing |
| CN106379746A (en) * | 2016-11-18 | 2017-02-08 | 山东爱而生智能科技有限公司 | Ceramic tile transferring and stacking method and system based on pallets |
| CN106379746B (en) * | 2016-11-18 | 2022-08-12 | 山东爱而生智能科技有限公司 | Method and system for transferring and stacking ceramic tiles based on pallet |
| CN106406363A (en) * | 2016-12-01 | 2017-02-15 | 佛山市湘德智能科技有限公司 | Electric robot control system for paper pile dismounting |
| CN106742298A (en) * | 2016-12-01 | 2017-05-31 | 佛山市湘德智能科技有限公司 | A kind of multi-function robot tears the dismounting technique of paper stack open |
| CN109279371A (en) * | 2017-07-19 | 2019-01-29 | 苏州喜和喜精密机械有限公司 | A kind of self-propelled stacking machine of intelligent optical |
| CN109279371B (en) * | 2017-07-19 | 2021-01-15 | 苏州喜和喜精密机械有限公司 | Intelligent optical self-propelled stacker crane |
| CN110038815A (en) * | 2019-04-16 | 2019-07-23 | 浙江国自智能装备有限公司 | Logistic turnover box sorts palletizing system |
| CN110815677A (en) * | 2019-11-25 | 2020-02-21 | 福建省睿步智能装备有限公司 | Automatic carrying equipment of case shell |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131225 |