CN206068873U - A kind of full-automatic handler - Google Patents
A kind of full-automatic handler Download PDFInfo
- Publication number
- CN206068873U CN206068873U CN201620990749.XU CN201620990749U CN206068873U CN 206068873 U CN206068873 U CN 206068873U CN 201620990749 U CN201620990749 U CN 201620990749U CN 206068873 U CN206068873 U CN 206068873U
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- support arm
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- guide rail
- mechanical hand
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Abstract
The utility model discloses a kind of full-automatic handler, it is therefore intended that solve the vehicle that existing automatic loading system is simply possible to use in specific model, and the operation of dumper driver is required high, be not convenient to use, system suitability is poor, the problem of low production efficiency.Which includes device for transporting objects, positioner, alignment sensor, material grasping mechanical hand, control system, and material grasping mechanical hand is connected with positioner, and positioner includes the first guide rail, the first motion, the second motion.This utility model is positioned to dumper by the way of optoelectronic induction and labelling positioning, can be met the handling requirement of different size, the dumper of height, and the effectively performance accuracy of reduction driver, be improved enterprises production efficiency, reduce enterprises using the labor cost.This utility model is skillfully constructed, reasonable in design, Stability Analysis of Structures reliability, and handling are quick, effect is good, and strong adaptability, operational effect are good, with preferable market prospect and using value, is worth large-scale promotion and application.
Description
Technical field
This utility model is related to automatic loading field, especially the regular automatic loading system of material package outward appearance, tool
Body is a kind of full-automatic handler.This utility model can be used in the regular object of material package outward appearance（Such as rectangle material bag is automatic
Entrucking, bottled water automatic loading, pallet automatic loading etc.）Entrucking, accurate positioning, loading speed be fast, and effect is good, with preferable
Application prospect.
Background technology
Chinese patent CN201220679536.7 discloses a kind of automatic loading system, and which includes that stacking mechanism and conveying are flat
Platform, stacking mechanism are arranged on delivery platform, and stacking mechanism is provided with mechanical hand, and delivery platform is provided with feed belt, charging and puts down
Platform, feeding platform include feed belt and sensor, common group of the feed belt of the feed belt and delivery platform of feeding platform
Into material transit area.
In the program, conveying material is coordinated using a plurality of driving belt, eliminate short fine bag existing in short fine manufacture field
In entrucking, pilot steering fork truck piling, and a cutting process of conveying, eliminate because of issuable peace when fork truck embraces material entrucking
Full hidden danger, realizes the automatic loading of short-term bag, and reliability and seriality are improved.
However, research finds, requirement of the program to dumper is high, and system is only used for the vehicle of specific model, and
The operation of dumper driver is required high.If operator is lack of standardization, or changes other vehicle models, then weight is needed
New adjustment systematic parameter, is not convenient to use, greatly reduces the adaptability and production efficiency of system.
For this purpose, in the urgent need to a kind of new device, to solve the above problems.
Utility model content
Goal of the invention of the present utility model is：The vehicle of specific model is simply possible to use in for existing automatic loading system,
And the operation of dumper driver is required high, and it is not convenient to use, system suitability is poor, the problem of low production efficiency, there is provided
A kind of full-automatic handler.This utility model is positioned to dumper by the way of optoelectronic induction and labelling positioning, energy
Meet the handling requirement of different size, the dumper of height, and the effectively performance accuracy of reduction driver, improve enterprise's production effect
Rate, reduces enterprises using the labor cost.This utility model is skillfully constructed, reasonable in design, Stability Analysis of Structures reliability, and handling are quick, effect is good,
Strong adaptability, operational effect are good, with preferable market prospect and using value, are worth large-scale promotion and application.
To achieve these goals, this utility model is adopted the following technical scheme that：
A kind of full-automatic handler, including the device for transporting objects conveyed for material, for what is positioned to dumper
Positioner, alignment sensor, the material grasping mechanical hand for being captured to material, control system, the material grasping mechanical hand with
Positioner be connected and positioner can drive material grasping mechanical hand move, the positioner include the first guide rail, can be along first
First motion of guide rail relative movement, the second motion, first guide rail are one group；
First motion includes the first support arm, the first driving wheel and first for driving the first support arm
The first motor that driving wheel is engaged, first driving wheel are separately positioned on the two ends of the first support arm and the first driving wheel energy
The first support arm is driven to move relative to the first guide rail；
Second motion is arranged on the first motion and the second motion can be moved along the first support arm,
The alignment sensor is arranged on the second motion and the second motion can drive alignment sensor to move；
The device for transporting objects, the first motor, the second motion, alignment sensor, material grasping mechanical hand respectively with control
System processed is connected.
The device for transporting objects is roller pipeline.
The material grasping machinery is provided with rotary shaft on hand and rotary shaft can be rotated to the material for capturing.
First support arm is integrated to be connected with each other between one group and the first support arm, first support arm and the
One guide rail is mutually perpendicular to.
The first barcode strip is provided with first guide rail, is provided with first motion and the first barcode strip phase
The first bar code sensor for coordinating, first bar code sensor are connected with control system.
Second motion includes the second support arm, the second driving wheel and second for driving the second support arm
The second motor that driving wheel is engaged, second driving wheel is arranged on the second support arm and the second driving wheel can drive second
Support arm is moved relative to the first support arm, and second motor is connected with control system.
The second barcode strip is provided with first support arm, is provided with second motion and the second barcode strip
The second bar code sensor being engaged, second bar code sensor are connected with control system.
The alignment sensor is one group, and the alignment sensor is separately positioned on the second support arm.
For foregoing problems, this utility model provides a kind of full-automatic handler.The device include device for transporting objects,
Positioner, alignment sensor, material grasping mechanical hand, control system, wherein, device for transporting objects is used for the conveying of material, positioning
Device is then used for providing mobile support for alignment sensor, and dumper is accurately positioned by alignment sensor, material grasping
Mechanical hand then can be used in the handling of material, and material grasping mechanical hand is connected with positioner and positioner can drive material grasping mechanical hand
It is mobile.
When the device works, dumper first docks to entrucking position, and the process of entrucking is as follows.
Positioner include the first guide rail, can along the first motion of the first guide rail relative movement, the second motion,
First guide rail is one group.First motion includes the first support arm, the first driving wheel and for driving the first support arm
The first motor that one driving wheel is engaged, the first driving wheel are separately positioned on the two ends of the first support arm and the first driving wheel energy band
Dynamic first support arm is moved relative to the first guide rail, and the second motion is arranged on the first motion and the second motion energy
Move along the first support arm.Device for transporting objects, the first motor, the second motion, alignment sensor, material grasping mechanical hand difference
It is connected with control system.
Using the structure, with the first guide rail place direction as X-axis, the first support arm place direction is Y-axis, with vertical direction
Coordinate system is set up for Z axis.By cooperating between the first motion, the second motion, the first guide rail, can drive
Alignment sensor is moved in X/Y plane coordinate system, while alignment sensor can determine corresponding Z values, so as to carry out to dumper
Scanning, and then the length and width of material mover carriage, terrain clearance are calculated, and the angle of dumper vehicle body and device for transporting objects.Thing
Material conveying device will treat that entrucking material is transported to material grasping mechanical hand material grasping station, control system according to the dumper size of scanning and
Angle information, control material grasping mechanical hand carry out automatic material grasping.
Further, device for transporting objects is roller pipeline.In entrucking, roller pipeline completes material transportation work,
Treating that entrucking material is transported to system specified location, the crawl entrucking of material grasping mechanical hand is treated.
Material grasping mechanical hand can adopt hydraulic cylinder or electric cylinders to drive, and complete material crawl work.Further, material grasping mechanical hand
On be provided with rotary shaft and rotary shaft and the material for capturing can be rotated.By arranging rotary shaft, be conducive to the thing to capturing
Material angle is adjusted, so as to ensure that the material bag after entrucking does not project compartment.
Further, the first support arm is integrated to be connected with each other between one group and the first support arm, the first support arm and the
One guide rail is mutually perpendicular to.Using which, the first motion traveling comfort is advantageously ensured that, it is ensured that the standard of measurement result
True property.
Meanwhile, this utility model provides a kind of specific constructive form of the second motion, and which includes the second support arm, uses
In the second motor that is engaged with the second driving wheel of the second driving wheel for driving the second support arm, the second driving wheel is arranged on the
On two support arms and the second driving wheel can drive the second support arm to move relative to the first support arm, the second motor and control system phase
Even.Using which, the second motion simple structure, reliable and stable, application is good, with preferable using value.
The first barcode strip is provided with first guide rail, be engaged with the first barcode strip on the first motion, is provided with
One bar code sensor, the first bar code sensor are connected with control system；The second barcode strip, the second fortune are provided with first support arm
The second bar code sensor being engaged with the second barcode strip, the second bar code sensor and control system phase are provided with motivation structure
Even.Using which, X-direction, Y direction are respectively adopted barcode strip and are positioned, and it is fixed that Z-direction is carried out using encoder
Position, is capable of the length and width of real-time detection dumper, liftoff information, so as to be accurately positioned, carries out ensureing the peace of entrucking process
Entirely, it is stable, reliable.
Compared with existing automatic loading system, this utility model disclosure satisfy that different model, the entrucking of size dumper will
Ask, effectively solving foregoing problems.This utility model can realize the quick and precisely positioning to dumper, strong adaptability, while logical
The cooperation of material grasping mechanical hand is crossed, the quick despatch of material can be realized, with preferable effect.This utility model is skillfully constructed,
Reasonable in design, easy to use, efficiency high, strong adaptability, operational effect are good, with preferable market prospect and using value, value
Obtain large-scale promotion and application.
In sum, as a result of above-mentioned technical proposal, the beneficial effects of the utility model are：
（1）This utility model is scanned to dumper from top to bottom, is automatically determined by cooperating between part
The length and width of material mover carriage, terrain clearance, and dumper and the angle of device for transporting objects, adapt to different size haul automatically
The charging demand of car；
（2）Material can be accurately loaded and unloaded using this utility model, it is ensured that entrucking effect is smooth, the non-bulging car of material
Outward, with preferable effect；
（3）This utility model realizes material handling and automatic loading, realizes the direct material for participating in of prosthetic automatic
Entrucking, can effectively improve enterprises production efficiency, reduce human cost and management cost, with preferable application prospect, be worth big
Scale promotion and application.
Description of the drawings
Structural representations of the Fig. 1 for embodiment 1.
Labelling in figure：1 is dumper, and 2 is material grasping mechanical hand, and 3 is positioner, and 4 to treat entrucking material, and 5 is that material is defeated
Device is sent, 6 is alignment sensor.
Specific embodiment
Below in conjunction with the accompanying drawings, this utility model is described in detail.
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only to explain
This utility model, is not used to limit this utility model.
Embodiment 1
As illustrated, the full-automatic handler of the present embodiment includes the device for transporting objects 5 conveyed for material, is used for
Positioner 3, alignment sensor 6 to the positioning of dumper 1, the material grasping mechanical hand 2 for being captured to material, control system
System, positioner 3 include the first guide rail, can along the first motion of the first guide rail relative movement, the second motion, first
Guide rail is one group.
In the present embodiment, the first motion include the first support arm, for drive the first support arm the first driving wheel,
The first motor being engaged with the first driving wheel, the first driving wheel are separately positioned on the two ends of the first support arm and the first driving wheel
The first support arm can be driven to move relative to the first guide rail.First support arm is to be connected to one between one group and the first support arm
Body, the first support arm are mutually perpendicular to the first guide rail.Meanwhile, the first barcode strip, the first motion are provided with the first guide rail
On be provided with the first bar code sensor being engaged with the first barcode strip, the first bar code sensor is connected with control system.
In the present embodiment, the second motion include the second support arm, for drive the second support arm the second driving wheel,
The second motor being engaged with the second driving wheel, the second driving wheel is arranged on the second support arm and the second driving wheel can drive
Two support arms are moved relative to the first support arm, and the second motor is connected with control system.The second bar code is provided with first support arm
Band, is provided with the second bar code sensor being engaged with the second barcode strip, the second bar code sensor and control on the second motion
System processed is connected.
In the present embodiment, alignment sensor 6 is one group, and alignment sensor 6 is separately positioned on the second support arm, and second
Motion can drive alignment sensor 6 to move.
In the present embodiment, device for transporting objects 5 adopts roller pipeline, and rotary shaft and rotation are provided with material grasping mechanical hand 2
Rotating shaft can be rotated to the material for capturing.Device for transporting objects 5, the first motor, the first bar code sensor, the second motor,
Two bar code sensors, material grasping mechanical hand 2, alignment sensor 6 are connected with control system respectively.
When the device works, treat that entrucking material 4 is transported to material grasping position by device for transporting objects 5.
Dumper 1 is reached automatic loading position by driver, and starts automatic loading process by control system.By fixed
Cooperating between position device 3 and alignment sensor 6, alignment sensor 6 is completed to dumper under the drive of positioner 3
1 car body loading space length and width, the measurement of terrain clearance, and calculate the angle information of dumper 1 and roller pipeline.1 goods of dumper
After the completion of the dimension information scanning of railway carriage or compartment, positioner 3 drives material grasping mechanical hand 2 to move to material grasping position, and will treat that entrucking material 4 is captured
First material for being attached to dumper 1 places position.Repeat said process, will treat that entrucking material 4 is attached to 1 different positions of dumper automatically
Put, until being automatically filled with a car.After filling, the dumper 1 for filling material is driven away by driver, and system prepares to load a car.
More than, material automatic loading is completed.Conversely, can also realize the discharging to dumper 1 using this utility model.
Furthermore, it is necessary to explanation, the specific embodiment described in this specification, is named the shape of its parts and components
Claiming etc. can be with difference, and above the content described in this specification is only to present configuration example explanation.It is all according to
The equivalence changes done according to the construction described in inventional idea of the present invention, feature and principle or simple change, are included in this
In the protection domain of bright patent.Those skilled in the art can do various to described specific embodiment
The modification of various kinds or supplement are substituted using similar mode, structure without departing from the present invention or surmount present claims
Scope defined in book, all should belong to protection scope of the present invention.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in this utility model
Protection domain within.
Claims (8)
1. a kind of full-automatic handler, it is characterised in that include the device for transporting objects for material conveying（5）, for right
Dumper（1）The positioner of positioning（3）, alignment sensor（6）, material grasping mechanical hand for being captured to material（2）, control
System processed, the material grasping mechanical hand（2）With positioner（3）It is connected and positioner（3）Material grasping mechanical hand can be driven（2）Move
It is dynamic, the positioner（3）Including the first guide rail, can be along the first motion of the first guide rail relative movement, the second fitness machine
Structure, first guide rail are one group；
First motion includes that the first support arm, the first driving wheel for driving the first support arm and first drive
The first motor that wheel is engaged, first driving wheel is separately positioned on the two ends of the first support arm and the first driving wheel can drive
First support arm is moved relative to the first guide rail；
Second motion is arranged on the first motion and the second motion can be moved along the first support arm, described
Alignment sensor（6）It is arranged on the second motion and the second motion can drives alignment sensor（6）It is mobile；
The device for transporting objects（5）, the first motor, the second motion, alignment sensor（6）, material grasping mechanical hand（2）Respectively
It is connected with control system.
2. full-automatic handler according to claim 1, it is characterised in that the device for transporting objects（5）It is defeated for roller
Line sending.
3. full-automatic handler according to claim 1, it is characterised in that the material grasping mechanical hand（2）On be provided with rotation
Rotating shaft and rotary shaft can be rotated to the material for capturing.
4. full-automatic handler according to claim 1, it is characterised in that first support arm is a group and first
It is connected with each other between brace and is integrated, first support arm is mutually perpendicular to the first guide rail.
5. full-automatic handler according to claim 4, it is characterised in that be provided with the first bar code on first guide rail
Band, is provided with the first bar code sensor being engaged with the first barcode strip on first motion, first bar code is passed
Sensor is connected with control system.
6. the full-automatic handler according to any one of claim 1 ~ 5, it is characterised in that second motion includes
Second support arm, the second motor that is engaged with the second driving wheel of the second driving wheel for driving the second support arm, described the
Two driving wheels are arranged on the second support arm and the second driving wheel can drive the second support arm to move relative to the first support arm, described
Second motor is connected with control system.
7. full-automatic handler according to claim 6, it is characterised in that be provided with Article 2 on first support arm
Code band, is provided with the second bar code sensor being engaged with the second barcode strip, second bar code on second motion
Sensor is connected with control system.
8. full-automatic handler according to claim 6, it is characterised in that the alignment sensor（6）It is for one group, described
Alignment sensor（6）It is separately positioned on the second support arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620990749.XU CN206068873U (en) | 2016-08-31 | 2016-08-31 | A kind of full-automatic handler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620990749.XU CN206068873U (en) | 2016-08-31 | 2016-08-31 | A kind of full-automatic handler |
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| Publication Number | Publication Date |
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| CN206068873U true CN206068873U (en) | 2017-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620990749.XU Active CN206068873U (en) | 2016-08-31 | 2016-08-31 | A kind of full-automatic handler |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516800A (en) * | 2017-01-06 | 2017-03-22 | 哈尔滨博实自动化股份有限公司 | Full automatic loader |
| CN107572269A (en) * | 2017-09-20 | 2018-01-12 | 四川大学 | A kind of coiled material automatic loading device and its automatic loading technique |
| CN109677954A (en) * | 2019-01-07 | 2019-04-26 | 佛山市杰邦自动化科技有限公司 | A kind of automatic intelligent carloader |
| CN111847009A (en) * | 2020-07-17 | 2020-10-30 | 扬州中欧工业机器人有限公司 | Automatic unloading and feeding system and unloading and feeding method |
| CN112573241A (en) * | 2020-12-25 | 2021-03-30 | 湖北三丰小松自动化仓储设备有限公司 | Automatic loading and unloading system and unloading method for reel materials |
| CN112693924A (en) * | 2021-01-22 | 2021-04-23 | 合肥艾瑞德电气有限公司 | Intelligent shipping system device based on positioning mobile blanking and control system thereof |
-
2016
- 2016-08-31 CN CN201620990749.XU patent/CN206068873U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516800A (en) * | 2017-01-06 | 2017-03-22 | 哈尔滨博实自动化股份有限公司 | Full automatic loader |
| CN107572269A (en) * | 2017-09-20 | 2018-01-12 | 四川大学 | A kind of coiled material automatic loading device and its automatic loading technique |
| CN109677954A (en) * | 2019-01-07 | 2019-04-26 | 佛山市杰邦自动化科技有限公司 | A kind of automatic intelligent carloader |
| CN111847009A (en) * | 2020-07-17 | 2020-10-30 | 扬州中欧工业机器人有限公司 | Automatic unloading and feeding system and unloading and feeding method |
| WO2022012104A1 (en) * | 2020-07-17 | 2022-01-20 | 扬州中欧工业机器人有限公司 | Automatic cart unloading and material feeding system, and cart unloading and material feeding method |
| CN111847009B (en) * | 2020-07-17 | 2022-03-15 | 扬州中欧工业机器人有限公司 | Automatic unloading and feeding system and unloading and feeding method |
| CN112573241A (en) * | 2020-12-25 | 2021-03-30 | 湖北三丰小松自动化仓储设备有限公司 | Automatic loading and unloading system and unloading method for reel materials |
| CN112693924A (en) * | 2021-01-22 | 2021-04-23 | 合肥艾瑞德电气有限公司 | Intelligent shipping system device based on positioning mobile blanking and control system thereof |
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