CN204868863U - Pile up neatly robot control system - Google Patents
Pile up neatly robot control system Download PDFInfo
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- CN204868863U CN204868863U CN201520400606.4U CN201520400606U CN204868863U CN 204868863 U CN204868863 U CN 204868863U CN 201520400606 U CN201520400606 U CN 201520400606U CN 204868863 U CN204868863 U CN 204868863U
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- large arm
- robot
- slide block
- rotary joint
- control system
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Abstract
The utility model discloses a pile up neatly robot control system, including the forearm, the forearm is connected through last auxiliary connecting rod and robot wrist, hand claw, the forearm still through the triangle auxiliary stand, down the auxiliary connecting rod is connected with preceding big arm, the big arm in back, be provided with big arm connecting rod between preceding big arm, the big underarm portion in back, preceding big arm after, greatly the underarm hold and set gradually horizontal joint slider, joint slider, waist rotary joint perpendicularly, waist rotary joint lower part is provided with the base, waist rotary joint, horizontal joint slider, perpendicular joint slider and robot wrist are connected with four servo driver respectively, and four servo driver are connected with the signal conversion board, and the signal conversion board is connected with multiaxis motion control card, and multiaxis motion control card is connected with the PLC module, and the PLC module is connected with two solenoid valves, and two one solenoid valves are connected with the tongs cylinder, are connected with clamping air cylinder for one. The utility model discloses the good reliability, work efficiency is high, and the function is various, and degree of automation is high.
Description
Technical field
The utility model relates to haulage equipment technical field, especially relates to a kind of robot palletizer control system.
Background technology
After the early 1960s mankind produce First industrial robot, robot just shows powerful vitality.The development and application level of robot has become the important symbol of measurement national manufacture level and Sci-Tech Level.
As the typical one of industrial robot, robot palletizer is in commercial Application, and especially packaging field and logistics field are just playing increasing effect.Robot is combined with baling line, has both improve the operating efficiency of production line, in turn enhanced reliability of operation, decrease the spending of human resources, more allow Issues and Crucial Practices of Contemporary Enterprises adapt to rapidly the market demands of constantly change, produce huge economic benefit.
The occupation rate of robot palletizer in piling market of current Europe, the United States, day has all exceeded 90%, and large absolutely number palletizing operation is completed by robot palletizer.And substantially monopolize world market.The industrial robot of China is started to walk from the eighties in last century " the Seventh Five-Year Plan " tackling of key scientific and technical problems, under country supports, by " the Seventh Five-Year Plan " " eight or five " " 95 " tackling of key scientific and technical problems, achieve significant progress, emerge and large quantities ofly represent enterprise and product, the situation that external robot palletizer rules all the land in China market is broken.
But in general, the robot palletizer technology of China and application level thereof with also compare that there is a big difference abroad, if reliability is lower than same kind of products at abroad, start late, movement velocity and precision also have very large room for promotion.Production line technology level still has gap compared with abroad.Compare with world market, robot palletizer application scale is still very little, does not also develop into special industry.And the robot palletizer production description of current China is many, batch is little, and universal component degree is low, and delivery cycle is long, cost is high, and reliability and stability are not enough.
Therefore in the urgent need to carrying out comprehensive planning, advantage of reallocating resources to industries such as robot palletizer and relevant logistics, automated packages, industrialization process is actively pushed forward.Base oneself upon reality simultaneously, improve product, system and structure that robot palletizer is relevant, make great efforts the robot development level improving China.
Utility model content
Technical problem to be solved in the utility model is for above-mentioned deficiency of the prior art; a kind of robot palletizer control system is provided; robot palletizer of the present utility model can realize the logistics activity such as carrying, storage, handling, transport of material; also can accelerate the speed of logistics simultaneously; efficiency is higher; protection workman, good reliability, meets the demand of modern logistics automation completely.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of robot palletizer control system, it is characterized in that: comprise forearm, rear large arm, front large arm, robot hand, drag articulation slide block and waist rotary joint, described forearm is connected with robot wrist and robot hand by upper auxiliary connecting rod, described forearm is also by triangle auxiliary stand, lower auxiliary connecting rod and front large arm, rear large arm connects, described front large arm, large arm connecting rod is provided with between rear large arm bottom, described front large arm, rear large arm lower end is connected with flapping articulation slide block, described flapping articulation slide block bottom connects with drag articulation slide block, described drag articulation slide block bottom connects with waist rotary joint, described waist rotary joint bottom is provided with pedestal, described waist rotary joint, flapping articulation slide block, drag articulation slide block and robot wrist are connected with four servo-drivers respectively, described four servo-driver inputs are connected with signal transducer, described signal transducer input is connected with multi-axis motion control card, described multi-axis motion control card is connected with PLC module, described PLC module output is connected with two magnetic valves, described two magnetic valves one are connected with handgrip cylinder, and one is connected with clamping plate cylinder.
Above-mentioned a kind of robot palletizer control system, is characterized in that: described PLC module, multi-axis motion control card are all connected with industrial computer.
Above-mentioned a kind of robot palletizer control system, is characterized in that: described industrial computer is connected with teaching machine by serial communication interface.
Above-mentioned a kind of robot palletizer control system, is characterized in that: described multi-axis motion control card is the control card based on dsp controller.
The utility model compared with prior art has the following advantages:
Robot palletizer of the present utility model can realize the logistics activity such as carrying, storage, handling, transport of material, and also can accelerate the speed of logistics, efficiency is higher simultaneously, and protection workman, good reliability, meets the demand of modern logistics automation completely.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 is robot palletizer control system frame for movement schematic diagram of the present utility model;
Fig. 2 is robot palletizer control system electrical structure block diagram of the present utility model.
Detailed description of the invention
As shown in Figure 1, a kind of robot palletizer control system, it is characterized in that: comprise forearm 5, rear large arm 8, front large arm 9, robot hand 2, drag articulation slide block 11 and waist rotary joint 12, described forearm 5 is connected with robot wrist 3 and robot hand 2 by upper auxiliary connecting rod 4, described forearm 5 is also by triangle auxiliary stand 6, lower auxiliary connecting rod 7 and front large arm 9, rear large arm 8 connects, described front large arm 9, large arm connecting rod 10 is provided with between rear large arm 8 bottom, described front large arm 9, rear large arm 8 lower end is connected with flapping articulation slide block 14, described flapping articulation slide block 14 bottom connects with drag articulation slide block 11, described drag articulation slide block 11 bottom connects with waist rotary joint 12, described waist rotary joint 12 bottom is provided with pedestal 13, described waist rotary joint 12, flapping articulation slide block 14, drag articulation slide block 11 and robot wrist 3 are connected with four servo-drivers respectively, described four servo-driver inputs are connected with signal transducer, described signal transducer input is connected with multi-axis motion control card, described multi-axis motion control card is connected with PLC module, described PLC module output is connected with two magnetic valves, described two magnetic valves one are connected with handgrip cylinder, and one is connected with clamping plate cylinder.
In the present embodiment, described PLC module, multi-axis motion control card are all connected with industrial computer.
In the present embodiment, described industrial computer is connected with teaching machine by serial communication interface.
In the present embodiment, described multi-axis motion control card is the control card based on dsp controller.
This robot forms primarily of 4 joints, following 4 kinds of motions can be realized: waist seat rotates (X-axis), level seesaws (Y-axis), vertical up-or-down movement (Z axis) and wrist gyration (U axle), waist seat motor, wrist motor is by servo driver drives waist seat, manipulator rotates, flapping articulation motor, drag articulation motor drives flapping articulation leading screw after being slowed down by synchronous pulley, drag articulation leading screw rotates, and leading screw is by large arm before the slider-actuated on it, rear large arm seesaws along respective guide rail as level, vertical up-or-down movement, these 4 kinds motions are all by AC servo machinery driving, can meet and drive Great inertia moment load and the pinpoint requirement of rapid movement, and can at robot wrist installation manipulator according to the needs of actual job.
When robot works at the scene, according to different piling article, at wrist, corresponding manipulator is installed, realize handgrip and divide satchel manipulator, box like thing manipulator, sucker manipulator, tub manipulator, the present embodiment utilizes PLC to control, mode is that the folding of handgrip or clamping plate on box like thing manipulator is controlled by PLC, mainly completes following action: standby-to get case-move case-code case-reset.
The above; it is only preferred embodiment of the present utility model; not the utility model is imposed any restrictions; every above embodiment is done according to the utility model technical spirit any simple modification, change and equivalent structure change, all still belong in the protection domain of technical solutions of the utility model.
Claims (4)
1. a robot palletizer control system, it is characterized in that: comprise forearm, rear large arm, front large arm, robot hand, drag articulation slide block and waist rotary joint, described forearm is connected with robot wrist and robot hand by upper auxiliary connecting rod, described forearm is also by triangle auxiliary stand, lower auxiliary connecting rod and front large arm, rear large arm connects, described front large arm, large arm connecting rod is provided with between rear large arm bottom, described front large arm, rear large arm lower end is connected with flapping articulation slide block, described flapping articulation slide block bottom connects with drag articulation slide block, described drag articulation slide block bottom connects with waist rotary joint, described waist rotary joint bottom is provided with pedestal, described waist rotary joint, flapping articulation slide block, drag articulation slide block and robot wrist are connected with four servo-drivers respectively, described four servo-driver inputs are connected with signal transducer, described signal transducer input is connected with multi-axis motion control card, described multi-axis motion control card is connected with PLC module, described PLC module output is connected with two magnetic valves, described two magnetic valves one are connected with handgrip cylinder, and one is connected with clamping plate cylinder.
2., according to a kind of robot palletizer control system according to claim 1, it is characterized in that: described PLC module, multi-axis motion control card are all connected with industrial computer.
3., according to a kind of robot palletizer control system according to claim 2, it is characterized in that: described industrial computer is connected with teaching machine by serial communication interface.
4. according to a kind of robot palletizer control system according to claim 1, it is characterized in that: described multi-axis motion control card is the control card based on dsp controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520400606.4U CN204868863U (en) | 2015-06-11 | 2015-06-11 | Pile up neatly robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520400606.4U CN204868863U (en) | 2015-06-11 | 2015-06-11 | Pile up neatly robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204868863U true CN204868863U (en) | 2015-12-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520400606.4U Expired - Fee Related CN204868863U (en) | 2015-06-11 | 2015-06-11 | Pile up neatly robot control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN204868863U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965502A (en) * | 2016-06-13 | 2016-09-28 | 新乡学院 | Multifunctional manipulator |
| CN106142067A (en) * | 2016-08-11 | 2016-11-23 | 无锡百禾工业机器人有限公司 | A kind of industrial part screening mechanical arm |
| CN107381063A (en) * | 2017-06-06 | 2017-11-24 | 安徽铜峰电子股份有限公司 | Film packaging case stacking control system based on PLC outputs |
| CN108032292A (en) * | 2017-12-07 | 2018-05-15 | 上海宇航系统工程研究所 | Four shaft industrial robot of modularization type spectrum formula |
| CN108044618A (en) * | 2017-12-15 | 2018-05-18 | 长沙志唯电子科技有限公司 | A kind of robot palletizer control system |
| CN108127640A (en) * | 2018-02-06 | 2018-06-08 | 东北大学 | A kind of have wide-angle and bend the wheeled anthropomorphic robot of function |
| CN109178962A (en) * | 2018-10-31 | 2019-01-11 | 浙江凯色丽科技发展有限公司 | Robot palletizer |
-
2015
- 2015-06-11 CN CN201520400606.4U patent/CN204868863U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965502A (en) * | 2016-06-13 | 2016-09-28 | 新乡学院 | Multifunctional manipulator |
| CN106142067A (en) * | 2016-08-11 | 2016-11-23 | 无锡百禾工业机器人有限公司 | A kind of industrial part screening mechanical arm |
| CN107381063A (en) * | 2017-06-06 | 2017-11-24 | 安徽铜峰电子股份有限公司 | Film packaging case stacking control system based on PLC outputs |
| CN108032292A (en) * | 2017-12-07 | 2018-05-15 | 上海宇航系统工程研究所 | Four shaft industrial robot of modularization type spectrum formula |
| CN108044618A (en) * | 2017-12-15 | 2018-05-18 | 长沙志唯电子科技有限公司 | A kind of robot palletizer control system |
| CN108127640A (en) * | 2018-02-06 | 2018-06-08 | 东北大学 | A kind of have wide-angle and bend the wheeled anthropomorphic robot of function |
| CN108127640B (en) * | 2018-02-06 | 2023-12-12 | 东北大学 | Wheel type humanoid robot with large-angle bending function |
| CN109178962A (en) * | 2018-10-31 | 2019-01-11 | 浙江凯色丽科技发展有限公司 | Robot palletizer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151216 Termination date: 20160611 |