CN205802422U - A kind of high accuracy warehouse compartment and truck automatic material grasping system - Google Patents
A kind of high accuracy warehouse compartment and truck automatic material grasping system Download PDFInfo
- Publication number
- CN205802422U CN205802422U CN201620484852.7U CN201620484852U CN205802422U CN 205802422 U CN205802422 U CN 205802422U CN 201620484852 U CN201620484852 U CN 201620484852U CN 205802422 U CN205802422 U CN 205802422U
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- CN
- China
- Prior art keywords
- warehouse compartment
- truck
- positioning datum
- guide rail
- material grasping
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- 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.)
- Expired - Fee Related
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Abstract
This utility model relates to a kind of high accuracy warehouse compartment and truck automatic material grasping system, described material grasping system includes warehouse compartment and truck, described warehouse compartment includes two thick orientation guide rails, it is arranged on the locating platform between thick orientation guide rail, the three-dimensional positioning datum unit being arranged on locating platform, it is arranged on the opposite type sensor outside thick orientation guide rail, it is arranged on the car type sensor of warehouse compartment front end and is arranged on the diffuse-reflectance sensor bottom warehouse compartment, it is provided with bottom described truck and slightly orients the castor that guide rail matches and the three-dimensional positioning unit matched with described three-dimensional positioning datum unit.Compared with prior art, truck, by the three-dimensional positioning datum unit on warehouse compartment and the three-dimensional positioning unit on truck, can be positioned, improve the robot homework precision when pickup by this utility model accurately, reduces because workpiece positions the fault rate being forbidden to cause；And same warehouse compartment, the work of many car types can be realized, push different truck, saving space.
Description
Technical field
This utility model relates to automobile and robot industry field, be specifically related to a kind of high accuracy warehouse compartment and truck from
Dynamic material grasping system.
Background technology
Along with the fast development of domestic automobile turner industry, the production capacity beat of auto production line is required not by Automobile Enterprises
Disconnected raising, requires more and more higher to the automaticity during automobile production, and entirety is towards full-automatic nothing
Artificial manufacturer is to development.During material grasping, the program setting robot captures work as the position fixing from certain
Part, transports and installs to specific position, and therefore the positional precision for workpiece has the highest requirement, once position
Putting and be slightly offset, may affect the failure of crawl, What is more may cause the deviation of final workpiece installation site,
Thus affect product quality, so before material grasping must by the accurate positioning of workpiece, if but use artificial para-position,
Time-consuming serious and cannot ensure position the most accurately.Additionally handgrip or transport procedure selected by different workpieces can not
Equally, before material grasping, therefore first to confirm the kind of workpiece, select correct program, could be the most high-precision
Complete crawl and the installation of workpiece.
Utility model content
Defect that the purpose of this utility model is contemplated to overcome above-mentioned prior art to exist and a kind of positioning accurate is provided
Spend the high accuracy warehouse compartment high, easy to operate, there is workpiece identification and piece count monitoring function and truck for vision certainly
Dynamic material grasping system.
The purpose of this utility model can be achieved through the following technical solutions: a kind of high accuracy warehouse compartment and truck are automatic
Material grasping system, described material grasping system includes that warehouse compartment and truck, described warehouse compartment include two thick orientation guide rails, settings
At the locating platform slightly oriented between guide rail, the three-dimensional positioning datum unit being arranged on locating platform, described material
Underbody portion be provided with the slightly orientation castor that matches of guide rail and with described three-dimensional positioning datum unit match three
To positioning unit, described truck is provided with the workbench for fixed placement workpiece.
Described three-dimensional positioning datum unit includes X positioning datum plate, Y positioning datum guide rail and Z positioning datum
Platform, described X positioning datum plate is positioned at the front end of described locating platform, described Z positioning datum platform include multiple all
The even halfpace being distributed in described locating platform both sides, described Y positioning datum guide rail includes two closed slides, institute
Stating closed slide to be connected with described locating platform by connecting plate, described closed slide is away from X positioning datum plate
The inside lateral bend in one end.
It is provided with the buckle for fixing described truck below described X positioning datum plate.
Described three-dimensional positioning unit includes being arranged on truck bottom front and matching with described X positioning datum plate
X to locating piece, multiple parallel Y-direction location wheel being uniformly distributed and match with described Y positioning datum guide rail
And the Z-direction location wheel that quantity and position all match with described Z positioning datum platform.
Described warehouse compartment also includes being arranged on the opposite type sensor outside thick orientation guide rail, is arranged on the car of warehouse compartment front end
Plant sensor and be arranged on the diffuse-reflectance sensor bottom warehouse compartment.
Operation principle of the present utility model is as follows: along thick orientation guide rail, the truck having loaded workpiece is pushed warehouse compartment,
Owing to the front end of Y positioning datum guide rail curves inwardly, therefore insert between two row's Y-direction location wheels, along with truck continues
Continuous advance, two row's Y-directions location wheels of truck are just tangent with two row's Y-direction positioning datums of warehouse compartment, thus formed
Location；And then the Z-direction location wheel of truck climbs up along the slope of warehouse compartment Z-direction positioning datum, and castor departs from
Ground, when Z-direction location wheel is positioned at the top of Z positioning datum platform halfpace, goes into Z-direction location；Final material
The X in Herba Plantaginis portion knocks warehouse compartment X positioning datum plate to locating piece, and is fixed by truck by buckle, formed X to
Location, so far, three directions have positioned, and truck cannot move, and and then robot vision handgrip comes grip,
When workpiece is grabbed and remained less than 5, opposite type sensor is reported to the police, prompting changing truck, when light grabbed by workpiece, and diffuse-reflectance
Sensor alarm, to PLC signal, feeds back to robot and can capture without material this moment.This truck once can fill
Carry about 60 workpiece, even if production capacity beat requires the highest, once reload and can realize producing for a long time.This storehouse
Position can also realize many car types and share, and warehouse compartment is mounted with car type sensor, and arranges corresponding sensor block on workpiece,
Car type sensor obtains workpiece information by sensor block, thus provides the different handgrip of signal behavior or different operations
Track, so that grip process more precision and automatization.
Being additionally provided with service brake on the axis of described warehouse compartment, one end of service brake is hinged with described locating platform, and is provided with reset
Spring, the middle part of service brake is provided with stepped projection.
Rear end bottom described truck is provided with the protruding retreat stop block matched with on described service brake.
Arranging service brake and retreat stop block, truck is during advancing, and stepped projection contacts with retreat stop block, only prevents
Move back block to retreat, thus ensure that truck stands fast, when needs more fuel handling vehicle, step on service brake, make stepped projection with
Retreat stop block departs from, and truck is pulled away from warehouse compartment backward, and then service brake sets back under the effect of back-moving spring.
Compared with prior art, the beneficial effects of the utility model are embodied in following several respects:
(1) by the three-dimensional positioning datum unit on warehouse compartment and the three-dimensional positioning unit on truck, can be accurate
Truck is positioned, improves the robot homework precision when pickup, reduce because workpiece positions the fault rate being forbidden to cause；
(2) same warehouse compartment, can realize the work of many car types, pushes different truck, saves space；
(3) greatly reduce manual labor, and improve safety and the working performance of people.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model warehouse compartment；
Fig. 2 is the structural representation of this utility model truck；
Fig. 3 is this utility model structural representation operationally.
Wherein, 1 is X positioning datum plate, and 2 is Y positioning datum guide rail, and 3 is Z positioning datum platform, and 4 is thick
Orientation guide rail, 5 is service brake, and 51 is back-moving spring, and 52 is protruding, and 6 is opposite type sensor, and 7 sense for car type
Device, 8 is diffuse-reflectance sensor, and 9 is locating platform, and 10 is connecting plate, and 11 is buckle, and 12 position for Z-direction
Wheel, 13 is Y-direction location wheel, and 14 is that X takes turns to location, and 15 is castor, and 16 is retreat stop block, and 17 is workpiece.
Detailed description of the invention
Elaborating embodiment of the present utility model below, the present embodiment with technical solutions of the utility model is being
Implement under premise, give detailed embodiment and concrete operating process, but protection of the present utility model
Scope is not limited to following embodiment.
Embodiment
A kind of high accuracy warehouse compartment and truck automatic material grasping system, including warehouse compartment and truck.The wherein structure of warehouse compartment such as figure
Shown in 1, warehouse compartment includes locating platform 9, X positioning datum plate 1, Y positioning datum guide rail 2, Z positioning datum platform
3, thick orientation guide rail 4, service brake 5, opposite type sensor 6, car type sensor 7 and diffuse-reflectance sensor 8.Wherein,
Locating platform 9 is positioned at the center of warehouse compartment, is mainly used in the location of truck, and X positioning datum plate 1 is positioned at locating platform
The front end of 9, Z positioning datum platform 3 includes 4 halfpaces being evenly distributed on locating platform 9 both sides, and Y positions
Basic rack 2 includes two closed slides, and these two closed slides are connected with locating platform 9 by connecting plate 10,
And closed slide is away from the inside lateral bend in one end of X positioning datum plate 3.It is flat that thick orientation guide rail 4 is arranged on location
The both sides of platform 9, opposite type sensor 6 is positioned at the thick both sides orienting guide rail 4, and diffuse-reflectance sensor is positioned at locating platform
The lower section of 9, car type sensor 7 is positioned at the forefront of warehouse compartment.It addition, be provided with in the lower section of X positioning datum plate 1
For fixing the buckle 11 of truck.The axis of warehouse compartment is provided with service brake 5, this service brake 5 and the end of locating platform 9
Holding hinged, and make service brake 5 keep fixing by back-moving spring 51, the centre of service brake 5 is provided with stair-stepping projection
52, the other end is provided with pedal.
The structure of truck as in figure 2 it is shown, be provided with bottom it castor 15, X to locating piece 14, Y-direction location wheel 13,
Z-direction location wheel 12 and retreat stop block 16.Wherein, Y-direction location wheel 13 has 6, is divided into two rows and uniformly divides
Cloth bottom truck, these Y-directions location wheel 13 can along on warehouse compartment Y orientation benchmark closed slide slide,
And the distance phase between distance and the two row's Y-directions location wheel 13 inner side tangent plane between two closed slide outer surfaces
With, therefore can ensure that truck will not occur deviation in the Y direction.Z-direction location wheel 12 has four, and it can
Slide along halfpace, and when it slides to halfpace highest point, castor 12 is unsettled, and X is to locating piece 14
Just contact with X positioning datum plate.
When operating, the truck having loaded workpiece 17 is pushed warehouse compartment along thick orientation guide rail, owing to Y positions base
The front end of quasi-guide rail curves inwardly, therefore inserts between two row's Y-direction location wheels, along with truck moves on, and truck
Two row's Y-directions location wheels just tangent with two row's Y-direction positioning datums of warehouse compartment, thus form location；And then
The Z-direction location wheel of truck climbs up along the slope of warehouse compartment Z-direction positioning datum, and castor departs from ground, works as Z-direction
When location wheel is positioned at the top of Z positioning datum platform halfpace, go into Z-direction location；The anterior X of final truck to
Locating piece knocks warehouse compartment X positioning datum plate, and is fixed by truck by buckle, and X is to location in formation, so far,
Three directions have positioned, and truck cannot move, and and then robot vision handgrip comes grip, when workpiece is grabbed surplus few
In 5 time, opposite type sensor is reported to the police, prompting changing truck, when light grabbed by workpiece, and diffuse-reflectance sensor alarm,
To PLC signal, feed back to robot and can capture without material this moment.This truck once can load about 60 works
Part, even if production capacity beat requires the highest, once reloads and can realize producing for a long time.This warehouse compartment can also realize many
Car type shares, and warehouse compartment is mounted with car type sensor, and arranges corresponding sensor block on workpiece, and car type sensor leads to
Cross sensor block and obtain workpiece information, thus provide the different handgrip of signal behavior or different running orbits, so that
Grip process more precision and automatization.Meanwhile, truck advance during, stepped projection and retreat stop block
Contact, retreat stop block cannot retreat, and when needs more fuel handling vehicle, steps on service brake, makes stepped projection take off with retreat stop block
From, truck is pulled away from backward warehouse compartment, then service brake sets back under the effect of back-moving spring.Warehouse compartment during work
With the position relationship of truck as shown in Figure 3.
Claims (7)
1. a high accuracy warehouse compartment and truck automatic material grasping system, it is characterised in that described material grasping system includes
Warehouse compartment and truck, described warehouse compartment include two thick orientation guide rails, the locating platform being arranged between thick orientation guide rail,
The three-dimensional positioning datum unit being arranged on locating platform, is provided with bottom described truck and matches with slightly orientation guide rail
Castor and the three-dimensional positioning unit that matches with described three-dimensional positioning datum unit, described truck be provided with for
The workbench of fixed placement workpiece.
A kind of high accuracy warehouse compartment the most according to claim 1 and truck automatic material grasping system, it is characterised in that
Described three-dimensional positioning datum unit includes X positioning datum plate, Y positioning datum guide rail and Z positioning datum platform,
Described X positioning datum plate is positioned at the front end of described locating platform, and described Z positioning datum platform includes multiple uniform point
Cloth is at the halfpace of described locating platform both sides, and described Y positioning datum guide rail includes two closed slides, described flat
Row guide rail is connected with described locating platform by connecting plate, and described closed slide is away from one end of X positioning datum plate
Inwardly lateral bend.
A kind of high accuracy warehouse compartment the most according to claim 2 and truck automatic material grasping system, it is characterised in that
It is provided with the buckle for fixing described truck below described X positioning datum plate.
A kind of high accuracy warehouse compartment the most according to claim 2 and truck automatic material grasping system, it is characterised in that
Described three-dimensional positioning unit includes the X being arranged on truck bottom front and matching with described X positioning datum plate
To locating piece, multiple parallel Y-direction location wheel being uniformly distributed and match with described Y positioning datum guide rail and
The Z-direction location wheel that quantity and position all match with described Z positioning datum platform.
A kind of high accuracy warehouse compartment the most according to claim 1 and truck automatic material grasping system, it is characterised in that
Being additionally provided with service brake on the axis of described warehouse compartment, one end of service brake is hinged with described locating platform, and is provided with back-moving spring,
The middle part of service brake is provided with stepped projection.
A kind of high accuracy warehouse compartment the most according to claim 5 and truck automatic material grasping system, it is characterised in that
Rear end bottom described truck is provided with the protruding retreat stop block matched with on described service brake.
A kind of high accuracy warehouse compartment the most according to claim 1 and truck automatic material grasping system, it is characterised in that
The car type that described warehouse compartment also includes being arranged on the opposite type sensor outside thick orientation guide rail, be arranged on warehouse compartment front end passes
Sensor and be arranged on the diffuse-reflectance sensor bottom warehouse compartment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620484852.7U CN205802422U (en) | 2016-05-25 | 2016-05-25 | A kind of high accuracy warehouse compartment and truck automatic material grasping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620484852.7U CN205802422U (en) | 2016-05-25 | 2016-05-25 | A kind of high accuracy warehouse compartment and truck automatic material grasping system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205802422U true CN205802422U (en) | 2016-12-14 |
Family
ID=57500398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620484852.7U Expired - Fee Related CN205802422U (en) | 2016-05-25 | 2016-05-25 | A kind of high accuracy warehouse compartment and truck automatic material grasping system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205802422U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105858196A (en) * | 2016-05-25 | 2016-08-17 | 上海丹景智能装备有限公司 | High-precision automatic material grabbing system with storage location and wagon |
| CN111776640A (en) * | 2019-04-04 | 2020-10-16 | 上汽通用五菱汽车股份有限公司 | AGV centering table mechanism |
-
2016
- 2016-05-25 CN CN201620484852.7U patent/CN205802422U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105858196A (en) * | 2016-05-25 | 2016-08-17 | 上海丹景智能装备有限公司 | High-precision automatic material grabbing system with storage location and wagon |
| CN105858196B (en) * | 2016-05-25 | 2019-04-05 | 上海丹景智能装备有限公司 | A kind of high-precision warehouse compartment and the automatic material grasping system of truck |
| CN111776640A (en) * | 2019-04-04 | 2020-10-16 | 上汽通用五菱汽车股份有限公司 | AGV centering table mechanism |
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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: 20161214 Termination date: 20200525 |