CN203682472U - Material frame and positioning control system thereof - Google Patents
Material frame and positioning control system thereof Download PDFInfo
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- CN203682472U CN203682472U CN201420038532.XU CN201420038532U CN203682472U CN 203682472 U CN203682472 U CN 203682472U CN 201420038532 U CN201420038532 U CN 201420038532U CN 203682472 U CN203682472 U CN 203682472U
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- float plate
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- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000001939 inductive effect Effects 0.000 claims description 9
- 230000001050 lubricating effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 239000000314 lubricant Substances 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 claims description 3
- 238000007667 floating Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 101100437784 Drosophila melanogaster bocks gene Proteins 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 5
- XXCCGRRUBBGZRE-UHFFFAOYSA-N 4-[1-hydroxy-2-(propan-2-ylamino)ethyl]-2-methoxyphenol Chemical compound COC1=CC(C(O)CNC(C)C)=CC=C1O XXCCGRRUBBGZRE-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
A material frame comprises a rack base, a trolley, a floating plate and a positioning device. The trolley is arranged at the upper end of the rack base and connected with the floating plate in a sliding mode. The positioning device comprises two positioning bases, two supporting bocks and two positioning mechanisms, wherein the positioning bases are provided with the positioning openings. Each positioning mechanism comprises a support, a driving device and a positioning head. The supporting blocks are fixed to the corresponding positioning bases respectively. The upper end of each positioning head is provided with a slope, the upper end face of each positioning head is higher than the upper end face of the corresponding positioning base, and when the positioning heads are driven by the driving devices to be connected with the corresponding positioning bases, the upper end faces of the positioning heads make contact with the lower end faces of the corresponding supporting blocks. An ordinary material frame is refitted into the floating material frame through the sliding structure, and secondary positioning of the material frame is converted into secondary positioning of the floating plate. The positioning heads with the slopes are embedded in the positioning bases, and therefore secondary positioning of a workpiece borne by the floating plate in the horizontal direction and the perpendicular direction is achieved. The positioning process of the workpiece borne by the floating plate is made automated through the positioning control system.
Description
Technical field
The utility model relates to AGV field, particularly a kind of bin and positioning control system thereof.
Background technology
In modern factory, progressively use intelligent robot AGV(Automated Guided Vehicle: automatic guided vehicle) replace and manually transport material, can be cost-saving, can increase work efficiency again.But in AGV and location, manufacturing line limit and docking operation, owing to being subject to, ground, inertia etc. are many-sided to be affected, and is difficult to locate accurately and dock.Particularly very high station of accuracy requirement for AGV location and docking to those, for example Electronics Factory or motor plant manipulator processing stations, accuracy requirement for AGV location and docking reaches grade or higher, existing AGV cannot meet, thereby causes this product of AGV to can not get more comprehensively using.
Find after deliberation, in existing AGV transport systems, bin carrying workpiece, drag and be loaded onto destination, manufacturing line limit by AGV, complete the first location of workpiece with respect to machine up hand, this first location produces certain error because the impact of the objective factors such as ground makes workpiece with respect to the location between machine up hand, thereby produces maloperation while causing the crawl of machine up hand or processing work.The workpiece that therefore, need to carry bin carries out secondary precise positioning.
But, in the face of existing AGV transport systems, no matter be for AGV or bin carries out secondary location, be all difficult for realization.
Utility model content
The purpose of this utility model is: a kind of bin with registration device is provided.
Another object of the present utility model is: the positioning control system that a kind of bin is provided.
In order to solve the problems of the technologies described above, the utility model provides a kind of bin, and it comprises stand seat, pallet, float plate and registration device, and described pallet is arranged at stand seat upper end, described pallet and described float plate sliding block joint, the location of described registration device for realizing float plate.
The inside face of described pallet is smooth side, and the lower surface of described float plate is smooth side, and described float plate contacts and sliding block joint with the smooth side of described pallet by its smooth side.
Between described pallet and float plate, have the lubricating layer of being made up of lubricant, described float plate is by lubricating layer and described pallet sliding block joint.
In described pallet, be provided with multiple multi-directional ball or universal cylinder, described pallet is by multi-directional ball or universal cylinder and described float plate floating connection.
Described stand seat is the framed structure that standard cell steel is made.
Described pallet comprises the side plate that base and four limits fence up.
Described float plate is provided with many position-limited levers.
Described position-limited lever has 8.
Described registration device comprises two positioning seats with positioning port and two detent mechanisms, and described positioning seat is symmetricly set in the left and right sides of described float plate, and described pallet left and right sides plate offers respectively the breach passing for corresponding positioning seat; Described detent mechanism comprises support, actuating device and positioning head, described actuating device is installed on described support, described positioning head is connected with described actuating device, described positioning head connects or departs from the positioning port of corresponding positioning seat under the drive of described actuating device, described positioning port is throat structure, and described positioning head and positioning port match.
The V-arrangement that is shaped as that is shaped as V-arrangement and positioning head of the positioning port of positioning seat, or the circular arc that is shaped as that is shaped as circular arc and positioning head of the positioning port of positioning seat.
Positioning head is chimeric with corresponding positioning seat under the drive of actuating device, can realize workpiece that float plate is carried secondary location (returning middle location) in the horizontal direction.
Preferably, described registration device also comprises two trays, and described tray is individually fixed on corresponding positioning seat; The top that described positioning head inserts one end of the positioning port of corresponding positioning seat is provided with inclined-plane, the upper surface of described positioning head is higher than the upper surface of positioning seat, in the time that described positioning head connects with corresponding positioning seat, the upper surface of positioning head contacts with the lower surface of corresponding tray.Float plate is raised slightly like this, thereby completes contained material secondary location in the vertical direction in float plate.
The other right angle divider that is provided with of breach of the described pallet left and right sides.
Described support comprises base plate, I-beam section strut bar and four plate muscle, and described base plate is fixedly connected with ground.
Described actuating device is cylinder, and described cylinder is connected with described support by cylinder mounting plate, and described cylinder mounting plate comprises stay bearing plate and air cylinder board; Described support also comprises tracheae erecting frame, and described tracheae erecting frame comprises the gentle pipe support of gas path plate.Like this, can be by the fore and aft motion of cylinder, drive positioning head is connected with positioning seat, thereby realizes the secondary location of workpiece.
Described positioning head is connected with described cylinder by base.
In order to solve the problems of the technologies described above, the utility model provides a kind of positioning control system, it comprises PLC, relay, electromagnetic valve and inductive switch, and the input end of described PLC is connected with described inductive switch, and the mouth of described PLC is connected with cylinder with described electromagnetic valve by described relay; Described PLC comes stretching out of control cylinder or retract action by described relay and described electromagnetic valve, thereby drives described positioning head crank motion; Described inductive switch is for responding to the end position that stretches out or retract of cylinder.
Described cylinder is three axle cylinder TCM32X50-S.
Described electromagnetic valve is 4V210-08DC24V.
With respect to prior art, the utlity model has following beneficial effect:
1, the utility model transform common bin as unsteady bin by slide construction, the secondary location for bin can be converted to the secondary location for float plate, thereby more easily realizes the secondary location of workpiece that bin carries.
2, chimeric by positioning head and positioning seat of the utility model, can realize workpiece that float plate is carried secondary location (returning middle location) in the horizontal direction.
3, the utility model by arranging inclined-plane on positioning head, and make the upper surface of positioning head higher than the upper surface of positioning seat, when positioning head and positioning seat are when chimeric, the upper surface of positioning head contacts with the lower surface of tray, make tray lower surface be subject to top power upwards, float plate is raised slightly like this, thereby completes contained material secondary location in the vertical direction in float plate.
4, the utility model is realized the automation control of the registration device of bin by positioning control system.
Brief description of the drawings
Fig. 1 is overall schematic of the present utility model;
Fig. 2 is the partial enlarged drawing of Fig. 1;
Fig. 3 is the schematic diagram of unsteady bin of the present utility model;
Fig. 4 is the schematic diagram of detent mechanism of the present utility model;
Fig. 5 is the schematic diagram of the positioning head of detent mechanism of the present utility model;
Fig. 6 is the circuit diagram of positioning control system of the present utility model.
Detailed description of the invention
Embodiment mono-
Refer to Fig. 1-5, a kind of bin 1, comprises stand seat 11, pallet 12, float plate 13 and registration device, and described pallet 12 is arranged at stand seat 11 upper ends, described pallet 12 and described float plate 13 sliding block joints, the location of described registration device for realizing float plate 13.Transform common bin as unsteady bin by slide construction, the secondary location for bin can be converted to the secondary location for float plate, make its workpiece carrying more easily complete secondary location.
The inside face of described pallet 12 is smooth side, and the lower surface of described float plate 13 is smooth side, and described float plate 13 contacts and sliding block joint with the smooth side of described pallet 12 by its smooth side.
Between described pallet and float plate, have the lubricating layer of being made up of lubricant, described float plate is by lubricating layer and described pallet sliding block joint.
In described pallet 12, be provided with multiple multi-directional ball or universal cylinder, described pallet 12 is by multi-directional ball or universal cylinder and described float plate 13 floating connections.
The framed structure that described stand seat 11 is made for standard cell steel.
Described pallet comprises the side plate 122 that base 121 and four limits fence up.
Described float plate is provided with many position-limited levers 131, and described position-limited lever has 8.
Described float plate 13 is for carrying workpiece.
Described registration device comprises two positioning seats 2 with positioning port and two detent mechanisms 4, described positioning seat 2 is symmetricly set in the left and right sides of described float plate 13, described pallet 12 left and right sides plates offer respectively in the breach 123(Fig. 3 passing for corresponding positioning seat 2 for the clear breach 123 that shows pallet 12, have omitted positioning seat 2); Described detent mechanism 4 comprises support 41, actuating device 42 and positioning head 43, described actuating device 42 is installed on described support 41, described positioning head 43 is connected with described actuating device 42, described positioning head 43 connects or departs from the positioning port of corresponding positioning seat 2 under the drive of described actuating device 42, described positioning port is throat structure, and described positioning head and positioning port match.
The V-arrangement that is shaped as that is shaped as V-arrangement and positioning head 43 of the positioning port of positioning seat 2, or the circular arc that is shaped as that is shaped as circular arc and positioning head 43 of the positioning port of positioning seat 2.
Positioning head is chimeric with corresponding positioning seat under the drive of actuating device, can realize workpiece that float plate is carried secondary location (returning middle location) in the horizontal direction.
Preferably, registration device also comprises two trays 3, and described tray 3 is individually fixed on corresponding positioning seat 2; The top that described positioning head 43 inserts one end of the positioning port of corresponding positioning seat 2 is provided with inclined-plane 431, the upper surface 432 of described positioning head 43 is higher than the upper surface of positioning seat 2, in the time that described positioning head 43 connects with corresponding positioning seat 2, the upper surface 432 of positioning head 43 contacts with the lower surface of corresponding tray 3.Float plate is raised slightly like this, thereby completes contained material secondary location in the vertical direction in float plate.
The other right angle divider that is provided with of breach 123 of described pallet 12 left and right sides, for preventing float plate rollover.
Described support 41 comprises base plate 411, I-beam section strut bar 412 and four plate muscle 413.Detent mechanism is fixedly connected with the ground of manufacturing line limit station by described base plate.
Described actuating device 42 is cylinder, and described cylinder is connected with described support by cylinder mounting plate, and described cylinder mounting plate comprises stay bearing plate and air cylinder board; Described support 41 also comprises tracheae erecting frame, and described tracheae erecting frame comprises the gentle pipe support of gas path plate.
Described positioning head 43 is connected with described cylinder by base.
Embodiment bis-
Referring to Fig. 6, the utility model also comprises positioning control system, described positioning control system comprises PLC, relay, electromagnetic valve and inductive switch, and the input end of described PLC is connected with described inductive switch, and the mouth of described PLC is connected with cylinder with described electromagnetic valve by described relay; Described PLC comes stretching out of control cylinder or retract action by described relay and described electromagnetic valve, thereby drives positioning head crank motion; Described inductive switch is for responding to the end position that stretches out or retract of cylinder.
Described cylinder is three axle cylinder TCM32X50-S.
Described electromagnetic valve is 4V210-08DC24V.
Automatic operation is described as follows:
1.AGV5 bears the bin that floats and moves to destination, manufacturing line limit and read danger signal by RFID;
2.AGV5 stops and going up wireless module MOXA by AGV, and transmission AGV arrives at a station and stops wireless signal to grinding magnificent public control machine;
3. grind magnificent public machine by described positioning control system, control cylinder has moved and has stretched out motion, drives stretching out with positioning seat of positioning head to be connected by stretching out motion, returns in the horizontal direction the location in middle location and vertical direction thereby complete float plate;
4. detect and moved, inform that by wired mode manipulator can move;
5. manipulator is carried out corresponding motion, takes the workpiece in float plate away, detects and has moved;
6. grind magnificent public machine by described positioning control system, control cylinder has moved retracting motion, drives the flexible and positioning seat of positioning head to depart from by retracting motion, and float plate falls after rise on float plate support;
7. grind magnificent public control machine and send the wireless signal that starts AGV by wireless module MOXA;
8.AGV5 receives the wireless signal that starts AGV by wireless module MOXA, startup is left;
9. grind magnificent public control machine and send the wireless signal that starts another AGV by wireless module MOXA;
10. another AGV5 starts, and AGV5 bears relocation mechanism and moves to destination, manufacturing line limit and read and stopped letter by RFID
Number;
11. circulation said process.
The announcement of book and instruction according to the above description, the utility model those skilled in the art can also change and revise above-mentioned embodiment.Therefore, the utility model is not limited to detailed description of the invention disclosed and described above, also should fall in the protection domain of claim of the present utility model modifications and changes more of the present utility model.In addition,, although used some specific term and nouns of locality in this specification sheets, these terms and the noun of locality just for convenience of description, do not form any restriction to the utility model.
Claims (10)
1. a bin, is characterized in that: comprise stand seat, pallet, float plate and registration device, described pallet is arranged at stand seat upper end, described pallet and described float plate sliding block joint, the location of described registration device for realizing float plate.
2. bin according to claim 1, is characterized in that: in described pallet, be provided with multiple multi-directional ball or universal cylinder, described float plate is by multi-directional ball or universal cylinder and described pallet sliding block joint.
3. bin according to claim 1, is characterized in that: the inside face of described pallet is smooth side, and the lower surface of described float plate is smooth side, and described float plate contacts and sliding block joint with the smooth side of described pallet by its smooth side;
Or, between described pallet and float plate, thering is the lubricating layer of being made by lubricant, described float plate is by lubricating layer and described pallet sliding block joint.
4. bin according to claim 1, is characterized in that: described float plate is provided with many position-limited levers.
5. according to the bin described in claim 1-4 any one, it is characterized in that: described registration device comprises two positioning seats with positioning port and two detent mechanisms, described positioning seat is symmetricly set in the left and right sides of described float plate, and described pallet left and right sides plate offers respectively the breach passing for corresponding positioning seat; Described detent mechanism comprises support, actuating device and positioning head, described actuating device is installed on described support, described positioning head is connected with described actuating device, described positioning head connects or departs from the positioning port of corresponding positioning seat under the drive of described actuating device, described positioning port is throat structure, and described positioning head and positioning port match.
6. bin according to claim 5, is characterized in that: the V-arrangement that is shaped as that is shaped as V-arrangement and described positioning head of the positioning port of described positioning seat, or the circular arc that is shaped as that is shaped as circular arc and described positioning head of the positioning port of described positioning seat.
7. bin according to claim 5, is characterized in that: described support comprises base plate, I-beam section strut bar and four plate muscle, and described base plate is fixedly connected with ground; Described actuating device is cylinder, and described cylinder is connected with described support by cylinder mounting plate, and described cylinder mounting plate comprises stay bearing plate and air cylinder board; Described support also comprises tracheae erecting frame, and described tracheae erecting frame comprises the gentle pipe support of gas path plate.
8. bin according to claim 5, it is characterized in that: described registration device also comprises two trays, described tray is individually fixed on corresponding positioning seat, the top that described positioning head inserts one end of the positioning port of corresponding positioning seat is provided with inclined-plane, the upper surface of described positioning head is higher than the upper surface of positioning seat, in the time that described positioning head connects with corresponding positioning seat, the upper surface of positioning head contacts with the lower surface of corresponding tray.
9. bin according to claim 8, is characterized in that: the other right angle divider that is equipped with of breach of described pallet both sides.
10. according to the bin described in claim 6-9 any one, it is characterized in that: also comprise positioning control system, described positioning control system comprises PLC, relay, electromagnetic valve and inductive switch, the input end of described PLC is connected with described inductive switch, and the mouth of described PLC is connected with cylinder with described electromagnetic valve by described relay; Described PLC comes stretching out of control cylinder or retract action by described relay and described electromagnetic valve, thereby drives described positioning head crank motion; Described inductive switch is for responding to the end position that stretches out or retract of cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420038532.XU CN203682472U (en) | 2014-01-19 | 2014-01-19 | Material frame and positioning control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420038532.XU CN203682472U (en) | 2014-01-19 | 2014-01-19 | Material frame and positioning control system thereof |
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| Publication Number | Publication Date |
|---|---|
| CN203682472U true CN203682472U (en) | 2014-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420038532.XU Expired - Lifetime CN203682472U (en) | 2014-01-19 | 2014-01-19 | Material frame and positioning control system thereof |
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| Country | Link |
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| CN (1) | CN203682472U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783538A (en) * | 2017-09-14 | 2018-03-09 | 北京航天控制仪器研究所 | A kind of mobile robot is plugged into the design method in berth |
| CN109392508A (en) * | 2018-11-14 | 2019-03-01 | 上海摩天农业科技有限公司 | Plant intelligent three-dimensional growth system |
-
2014
- 2014-01-19 CN CN201420038532.XU patent/CN203682472U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783538A (en) * | 2017-09-14 | 2018-03-09 | 北京航天控制仪器研究所 | A kind of mobile robot is plugged into the design method in berth |
| CN107783538B (en) * | 2017-09-14 | 2021-04-13 | 北京航天控制仪器研究所 | Design method for docking berths of mobile robot |
| CN109392508A (en) * | 2018-11-14 | 2019-03-01 | 上海摩天农业科技有限公司 | Plant intelligent three-dimensional growth system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140702 |