CN206562179U - A kind of automatic material loading machine arm control system - Google Patents

A kind of automatic material loading machine arm control system Download PDF

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Publication number
CN206562179U
CN206562179U CN201720211106.5U CN201720211106U CN206562179U CN 206562179 U CN206562179 U CN 206562179U CN 201720211106 U CN201720211106 U CN 201720211106U CN 206562179 U CN206562179 U CN 206562179U
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sensor
mechanical arm
entrucking
lower feed
feed box
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王建军
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Mianyang Lan Ao Heavy-Duty Machinery Manufacturing Co Ltd
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Mianyang Lan Ao Heavy-Duty Machinery Manufacturing Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/04—Loading land vehicles
    • B65G67/08—Loading land vehicles using endless conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/04—Loading land vehicles
    • B65G67/10—Loading land vehicles using conveyors covering the whole length of vehicle trains
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Automatic Assembly (AREA)
  • Specific Conveyance Elements (AREA)
  • Agricultural Machines (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

The utility model discloses a kind of automatic material loading machine arm control system, including sensing device, control module, executing agency, editor and display system, for controlling loading machine arm that material is carried out into entrucking automatically；Simultaneously, the utility model also provides the control method of above-mentioned mechanical arm control system, for realize mechanical arm from the entrance of material, be transported to automatic loading, only need to be manually entered the material entrucking total amount or cumulative volume of needs, mechanical arm can pass through above-mentioned control method, it is automatic to carry out computing entrucking, after the completion of be automatically stopped entrucking, realize complete automation and intelligent.Compared with prior art, the utility model provides driving force using servo-actuating device, and all rectilinear paths are controlled using NC closed loop control process, information processing is controlled using advanced EPC controllers, realize us grades of response cycle, computer advanced language is supported simultaneously, solve that traditional PLC can not realize is quick in ring control, realize the process algorithms of multiaxis level coordinated signals, solve response cycle present in the control algolithm of prior art slowly, the few limitation of processing number of motion axes.

Description

A kind of automatic material loading machine arm control system
Technical field
The utility model is related to plant equipment automatic control system field, more particularly, to controls automatic loading, automatic The system of stacking machinery equipment and control method field, are a kind of automatic material loading machine arm control systems specifically.
Background technology
With the propulsion and innovation of industrialized production, the efficiency of existing industrial products production is very high, in order to further Matching current efficient material production and transport, in the entrucking transportation of material, mechanized equipment is gradually substituted Original artificial carrying.And existed in the prior art it is a variety of can independently realize the mechanical arm of material entrucking, but due to In containing the car sizes of material, material appearance and size difference, therefore, existing mechanical arm is carrying out material automatic loading During easily material stacking occur irregular, it is necessary to manually be finely adjusted and correct in stacking procedure, to avoid entrucking During big, the problem of space hold is not enough that neglected loading, closed assembly and material aligned gaps occur.Meanwhile, existing entrucking machine Use segmented programme-control more people, i.e., during material entrucking, can rely on and artificial find accurately, calculate and control to realize Entrucking.For example when the existing clipping stacking machinery arm of three arms is used for material entrucking, for different railway carriage cubical contents and size Have to rely on that the artificial initial alignment by mechanical arm is new to be found accurately and positioned before entrucking, then to for mechanical arm entrucking Corresponding program carry out injection realize entrucking；On the other hand, existing stacking or loading machine arm is that fixed rotation is more Arm is hinged mechanical arm, and its base installed must be stably fixed at ground, and material can only be in specified area before transport Domain, otherwise can not realize automatic clamping, the limitation problem of existence material clamping；On the other hand, due to the length of multi-arm radial type It is limited, there are problems that high-capacity container entrucking can not be carried out and the stacking height of material is very limited, if for existing semi-mounted Exemplified by car container, it is necessary to mobile vehicle repeatedly, and artificial progress material carrying is needed in the hinged place of stacking material, gram Take the problem of stacking is uneven；Thus, can also human input be brought to increase, the problem of bulk period is long.Therefore, existing mechanical arm Or robot is limited to by this body structure of equipment and control system, in material entrucking field, intelligence degree is not high, it is impossible to Realize autonomous entrucking；On the other hand, clipping mechanical arm or robot are not applied for the material for packed in cases, deposit The problem of packaging is damaged.
Utility model content
The purpose of this utility model is that providing a kind of automatic material loading machine arm control system is used to solve existing skill System integration present in art, intellectuality be not high, entirely autonomous can not sentence for different railway carriages during material entrucking Break and correct and complete entrucking, still in the presence of needing manually to be intervened and adjusted, cause entrucking efficiency low, stacking effect is bad The problem of；Meanwhile, also need to mobile vehicle for overlength railway carriage and carry out repeatedly docking stacking, so just can not be real in restricted area Existing entrucking problem.The utility model also provides a kind of control method for being used to control above-mentioned mechanical arm control system, for accurate Detection, calculate and control the mechanical arm to carry out full automatic entrucking, and being capable of entrucking order optimal at calculating automatically And arrangement mode, the practical railway carriage from different sizes, different length, different depth and width, solve existing assembly method not Intelligent the problem of, so that avoid manually being modified the need for because entrucking is uneven causing, it is time-consuming, the problem of laborious.
In order to solve the above-mentioned technical problem, the automation of material entrucking is improved, it is intelligent, reduce artificial input, improve dress Car efficiency, the utility model is achieved through the following technical solutions：
A kind of automatic material loading machine arm control system, including sensing device：It is separately mounted to mechanical arm blanking termination Lower feed box on four sides and bottom surface be used for the air line distance that senses charging vehicle and the sensing device；Control module： Be connected with the sensing device be used for receive, contrast, computing, record and control signal output；Executing agency：With the control Module connects and performs the signal of the control module output；Detection means：In the executing agency and with the control Molding block is connected, the physical location for feeding back the executing agency；Editor and display system：It is connected with the control module For receiving, showing and reporting the material assembly information being manually entered and equipment working state information.
For precision that is further clear and definite and improving the sensing device, shorten the cycle in reaction time, it is preferable that this practicality New especially to use following structures, the sensing device includes being arranged on first sensing of the lower feed box close to the mechanical arm side Device, the 3rd sensor with being installed where first sensor on the corresponding surface of face, the 5th sensor installed in bottom, and install Along the 4th sensor and the second sensor on right side on the left of material conveying direction, and the sensor is infrared ray distance Sensor.
For precision that is further clear and definite and improving the executing agency, shorten the cycle in reaction time, and executing agency Stability, it is preferable that the utility model especially use following structures, the executing agency include be used for drive mechanical arm longitudinal direction The first servo drive unit for moving back and forth, for driving the second servo drive unit that mechanical arm is moved back and forth, being used for Drive the 3rd servo drive unit of mechanical arm rotary oscillation, for driving lower feed box relative to the 4th of mechanical arm horizontal extension Servo drive unit, for driving the 5th servo drive unit that lower feed box horizontally rotates, for driving lower feed box laterally rolling The 6th servo drive unit, for driving lower feed box to carry out the telescopic cylinder of blanking, and for by material and lower feed box base The electronic push pedal of quasi- side alignment.
Preferably, the detection means include be used for detect mechanical arm vertically move displacement first position sensor and Second place sensor for detecting mechanical arm transverse shifting displacement.
Preferably, the control module is EPC controllers.
A kind of control method of automatic material loading machine arm control system, oneself of material is realized by above-mentioned control system Dynamic entrucking stacking, specifically includes following steps：
(1) the control system self-inspection, and display control program state on the display system；
(2) user inputs material data information by editing system, and the material data information includes the single outer of material Shape size, weight and required material total amount information；
(3) mechanical arm drives lower feed box to do straight horizontal along railway carriage axis direction and move and moved with vertical straight line, The length, width and height information acquisition railway carriage volume data of each position of railway carriage obtained by sensing device is simultaneously recorded in the control module；
(4) control module passes through the railway carriage volume that will obtain in the material data information in step (2) and step (3) Data carry out logical operation, obtain putting in order and entrucking quantity for material entrucking；
(5) the railway carriage length and width information that control module is obtained by step (3) determines the axis in body length direction simultaneously Mechanical arm is moved and adjusted by executing agency makes the axis line projection of mechanical arm length direction and the body length direction Axis alignment is overlapped, and control module is recorded as original position；
(6) control module sends entrucking instruction according to putting in order described in step (4) to executing agency, by holding Row mechanism drives mechanical arm and lower feed box that material is carried out into entrucking successively, is inputted until material entrucking quantity is equal in step (2) Material total amount information, control module be automatically stopped transmission entrucking instruct and automatically return to the start bit described in step (5) Put.
In order to preferably realize the utility model, it is preferable that the railway carriage length, width and height acquisition of information tool in the step (3) Body is：The mechanical arm drives lower feed box to do straight horizontal along railway carriage axis direction and moved, until first sensor or the Stopping is acted when the distance value of three sensor senses is equal to the safe distance value of control module setting；Mechanical arm drives blanking simultaneously Case vertically moves along a straight line, until first sensor, second sensor, 3rd sensor and the 4th sensor occur Constantly stopping is acted detecting distance data invalid, and records when each sensor distance sensing data invalid occurs for the first time the The distance value that five sensors are sensed, is used as the highest breast board height of correspondence railway carriage side；
Body length value be equal to the first sensor sense air line distance, 3rd sensor sensing air line distance with The width numerical value sum of lower feed box；
Railway carriage width value be equal to the second sensor sense air line distance, the air line distance of the 4th sensor senses with The length value sum of lower feed box；
Railway carriage height value is equal to the air line distance of the 5th sensor senses.
In order to preferably realize the utility model, it is preferable that described put in order is contained for material in railway carriage using horizontal The maximum of monolayer alignment material quantity during dress or longitudinal direction are contained, line by line successively stacking entrucking and adjacent rows material stacking it Between stacking sequence conversely carry out.
In order to preferably realize the utility model, it is preferable that the determination of original position is specifically included in the step (3) Following steps：
5.1 lower feed boxs are firstly moved to railway carriage one end, and EPC controllers are recorded under moment second sensor acquisition respectively Air line distance L3 of the lower feed box that hopper is obtained apart from the air line distance L2 of railway carriage and the 4th sensor apart from railway carriage；
5.2 lower feed boxs are moved to the railway carriage other end, and EPC controllers record the blanking of moment second sensor acquisition respectively The air line distance L5 of railway carriage with a distance from the lower feed box that spacing is obtained from the air line distance L4 of railway carriage and the 4th sensor；
5.3 obtain the axis of railway carriage along its length by contrasting Δ L1=L2-L3 and Δ L2=L4-L5 numerical relation Relation between the projection of line and mechanical arm axis, EPC controllers send instruction adjustment machinery to the 3rd servo drive unit Arm to parallel to railway carriage axis direction deflection angle, meanwhile, EPC controllers send instruction adjustment to the second servo drive unit Mechanical arm is moved to railway carriage axis side, until L2-L3, L4=L5, Δ L1=Δ L2=0, and now mechanical arm stopping is acted, EPC controllers will position mark be now original position.
In order to preferably realize the utility model, it is preferable that control module is according in step (4) in the step (6) Described putting in order sends entrucking instruction to executing agency, specifically includes：
6.1EPC controllers send rotation instruction to the 3rd servo drive unit, while EPC controllers are electric to the 5th servo Driver element sends identical with the 3rd servo drive unit anglec of rotation, the instruction of opposite direction of rotation, until 3rd sensor, Second sensor or the 4th distance sensing sensor are equal to the default minimum safe distance of EPC controllers and stop any action；
6.2EPC controllers send instruction control machinery arm to elevating mechanism and lifted, while being sent out to the 6th servo drive unit Instruction control lower feed box is sent laterally to roll, and mechanical arm lifting deflection angle and lower feed box roll angle are in opposite direction, angle phase Deng until the air line distance of the 5th sensor senses is equal to stopping action after the default blanking height value of EPC controllers；
6.3EPC controllers are to controlling the servo unit of electronic push pedal to send pusher instruction, until material and blanking chamber interior wall Contact；
The servo unit of 6.4EPC controllers to control telescopic cylinder sends feeding instruction, and the blanking plate of lower feed box is opened, Material automatically falls into railway carriage specified location；
The sized data L1 that 6.5EPC controllers are put according to single-piece material along railway carriage width calculate put it is same The deflection angle a of the mechanical arm of the next material of row, calculation formula is as follows：
L1The appearance and size value for being entrucking material along railway carriage width；
L0The appearance and size value for being entrucking material along body length direction；
O1When O is that lower feed box is located at original position, the distance sensing value of first sensor；
R is the length value of mechanical arm；
6.6EPC controllers send to the first servo drive unit and instructed, and drive mechanical arm along the second of material entrucking order Row longitudinal direction retreats L0, and entrucking is carried out according to the opposite direction of the entrucking order of the first row, with the assembling of next material of a line Deflection angle a computational methods are identical with step 6.5, until first sensor, second sensor or the 4th sensor senses away from From the default minimum safe distance of EPC controllers is equal to, stopping action completing first layer material and installed；
6.7EPC controllers send climb command to elevating mechanism, until the lifting height of lower feed box is equal to single material Height of contour value, elevating mechanism stopping action；Above-mentioned steps 6.1-6.6 assembling process is repeated, until practical set material When quantity is equal to the entrucking quantity described in step (4), stop everything, complete material entrucking；
The utility model compared with prior art, with advantages below and beneficial effect：
(1) control system in the utility model passes through four sides of the termination lower feed box in loading machine arm and ground Range sensor is mounted on, the distance with four sides and bottom surface can be accurately obtained, and by EPC controllers to data The solid space that processing obtains railway carriage is carried out, the optimal stacking scheme of material entrucking is gone out automatically according to Material calculation, from positioning inspection Measure entrucking to finish, the weight or cumulative volume of entrucking material needed for only need to once inputting, the control system can be automatically complete Into entrucking, and entrucking state is shown in real time.Solving needs manually to be intervened in the prior art, and amendment, adjustment is even continuous Mobile railway carriage to realize material entrucking the problem of.The automation of system described in the utility model and intelligence degree are high, are applicable Scope is wide.
(2) the utility model provides driving force using servo-actuating device, and all using the control of NC closed loop control process Rectilinear path, information processing is controlled using advanced EPC controllers, realizes us grades of response cycle, is supported simultaneously Computer advanced language, solve that traditional PLC can not realize is quick in ring control, the technique for realizing multiaxis level coordinated signals Algorithm, solves response cycle present in the control algolithm of prior art slowly, the few limitation of processing number of motion axes.
Brief description of the drawings
Fig. 1 is the structure chart of loading machine arm described in the utility model；
Fig. 2 is support row frame top view；
Fig. 3 is the three-dimensional structure diagram of lower feed box and fourth, fifth, six servo drive units；
Fig. 4 is lower feed box structure chart；
Fig. 5 is sensing device schematic view of the mounting position for Fig. 4 top view；
Fig. 6 is the attachment structure block diagram of the utility model control system；
Fig. 7 is the attachment structure schematic diagram of the utility model control system；
Fig. 8 is utility model works flow chart；
Fig. 9 is the mathematical modeling figure of the 4th servo drive unit level compensating offset when mechanical arm is lifted；
Figure 10 is Fig. 9 simplification mathematical modeling figure；
Figure 11 is the mathematical modeling figure of material size and mechanical arm deflection angle a when mechanical arm is swung；
Figure 12 is that material size and mechanical arm deflection angle a and lower feed box are counter-rotational when mechanical arm is swung Mathematical modeling figure；
Wherein 1- bases；2- elevating mechanisms；3- mechanical arms；4- lower feed boxs；5- feed devices；6- supports row frame；61- first Transverse arm；The transverse arms of 62- second；7- slide rails；8- railway carriages；The servo drive units of 101- first；The servo drive units of 102- second；103- 3rd servo drive unit；The servo drive units of 104- the 4th；The servo drive units of 105- the 5th；The servo-drive lists of 106- the 6th Member；107- telescopic cylinders；The electronic push pedals of 108-；201- first sensors；202- second sensors；203- 3rd sensors； The sensors of 204- the 4th；The sensors of 205- the 5th；301-EPC controllers；302- first positions sensor；The 303- second places are passed Sensor.
Embodiment
The utility model is described in further detail with reference to preferred embodiment of the present utility model, but this practicality New embodiment not limited to this.
The utility model using before embodiment description and interpretation, the noun being related in the utility model is done first as It is lower to illustrate：
1st, EPC controllers：EPC controllers are a kind of deviation correcting devices, are a kind of edge for tracking work materials or printing Lines carry out differential and swing optional deviation correcting device, are integrated into circuit by large-scale industry and constitute, with harsh Environment interference is strong, and reliability is high, the advantages of service life is long, and very adaptation packaging industry is not shut down production work continuously and needed Will.
2nd, us grades：Microsecond grade reaction time.
Embodiment 1：With reference to shown in accompanying drawing 1 and 6, a kind of automatic material loading machine arm control system, including sensing device： Four sides and bottom surface being separately mounted on the lower feed box 4 of the blanking termination of mechanical arm 3 are used to sense charging vehicle and the biography The air line distance of induction device；
Control module：Be connected with the sensing device be used for receive, contrast, computing, record and control signal output；
Executing agency：The signal of the control module output is connected and performed with the control module；
Detection means：It is connected in the executing agency and with the control module, for feeding back the execution machine The physical location of structure；
Editor and display system：Be connected with the control module be used for receive, show and report the material being manually entered Assembly information and equipment working state information.
Operation principle and operating method：
Before entrucking is carried out, control system carries out self-inspection first, if there is failure, if there is failure, will related event Hinder information by showing that system is shown；If all devices are normal, ready, then show that system is shown ready.
Then single-piece material information is artificially injected by editing system and needs the material total amount information of splendid attire, wherein, it is single Part material information includes the appearance and size of material：Length, weight；Material total amount information includes gross weight or cumulative volume. What deserves to be explained is, if the utility model is used for the entrucking of single material for a long time, such as：The things such as bagged cement, packed rice, soybean Expect the material that Package size is fixed, then only need to inject gross mass to editing system or cumulative volume control module can be counted automatically The quantity that the car needs to contain is calculated, when the material quantity of splendid attire is equal to theoretical quantity, system stalls are kept ready State.
Control module sends to executing agency and is infused in self-check program set in control module, and is obtained by sensing device Know the length, width and height information of railway carriage, realize and be compared and computing with single material length, width and height information.
The railway carriage dimension information that control module is obtained after being run according to self-check program calculate automatically and optimize entrucking order and Material placing direction, and send entrucking instruction entrucking successively to executing agency.Entrucking order is：In terms of railway carriage depression angle For from top to bottom, contain the first row material from left to right, after the first row material entrucking is finished, the second row material is then used from the right side Contained to left, until first layer material entrucking is finished, and start second layer material entrucking.The material placing direction is：By thing The long side or broadside of material are alignd with the side wall of railway carriage, that is, are put to be divided into traverse and indulge and put.Control module calculates above-mentioned pendulum automatically Mode and entrucking order are put, and mechanical arm stroke during entrucking is most short, and the minimum truck-loading scheme of loading time is defined as reality Border truck-loading scheme, and performed, until entrucking is finished.
Especially what deserves to be explained is：The loader program of EPC controllers can customize, including but not limited to above-mentioned filling side Formula, and EPC controllers belong to existing product, so, internal logic Computing Principle of controller is repeated no more at this, closed In sensing device can use including but not limited to laser sensor, infrared sensor including in any one, as long as can essence Standard reads can be achieved for positional distance.
Embodiment 2：
For precision that is further clear and definite and improving the sensing device, shorten the cycle in reaction time, in the base of embodiment 1 On plinth, with reference to shown in accompanying drawing 1-7, the utility model especially uses following structures, and the sensing device includes being arranged on lower feed box 4 First sensor 201 close to the side of mechanical arm 3, the 3rd biography with being installed on the place face corresponding surface of first sensor 201 Sensor 203, the 5th sensor 205 installed in bottom, and installed in along the 4th sensor 204 on the left of material conveying direction With the second sensor 202 on right side, and the sensor is infrared ray range sensor.
For precision that is further clear and definite and improving the executing agency, shorten the cycle in reaction time, and executing agency Stability, it is preferable that the utility model especially use following structures, the executing agency include be used for drive mechanical arm longitudinal direction The first servo drive unit 101, the second servo drive unit for driving mechanical arm to be moved back and forth moved back and forth 102nd, for driving the 3rd servo drive unit 103 of mechanical arm rotary oscillation, for driving lower feed box 4 relative to mechanical arm 3 4th servo drive unit 104 of horizontal extension, for driving the 5th servo drive unit 105 that lower feed box 4 horizontally rotates, using The 6th servo drive unit 106 laterally rolled in driving lower feed box 4, the telescopic cylinder for driving the progress blanking of lower feed box 4 107, and the electronic push pedal 108 for material to be alignd with lower feed box reference side.
Preferably, the detection means includes being used to detect that mechanical arm 3 vertically moves the first position sensor of displacement 302 and for detecting the second place sensor 303 of the transverse shifting displacement of mechanical arm 3.
Preferably, the control module is EPC controllers.
Operation principle：
When mechanical arm 3 is in original position and when carrying out same row material entrucking, by from left to right successively exemplified by entrucking.It is first First, EPC controllers send identical anglec of rotation a to the 3rd servo drive unit 103 and the 5th servo drive unit 105 simultaneously, The opposite driving instruction signal in direction of rotation, the direction that now mechanical arm 3 rotates is counterclockwise, the lower feed box 4 times the 5th overlooked Direction of rotation under the driving of servo drive unit 105 is clockwise, until 3rd sensor 203, second sensor 202 are sensed Distance is equal to the default minimum safe distance of EPC controllers and stops any action；Now, EPC controllers are to for driving blanking The driving source that case 4 carries out the telescopic cylinder 107 of blanking sends instruction, opens the blanking plate for being located at the lower section of lower feed box 4, completes one The entrucking of material.EPC controllers send the blanking plate that the lower section of lower feed box 4 is closed in instruction to the driving source of telescopic cylinder 107 again, so Send identical anglec of rotation a, rotation side to the 3rd servo drive unit 103 and the 5th servo drive unit 105 simultaneously immediately afterwards To opposite driving instruction signal, the direction that now mechanical arm 3 rotates is clockwise for what is overlooked, and 4 times the 5th servos of lower feed box are driven Direction of rotation under the driving of moving cell 105 is counterclockwise, and the horizontal range of the horizontal deflection to the right of lower feed box 4 is material bag the The numerical value of the length of side where a line entrucking direction, by that analogy, entrucking one by one.
It is mechanical arm 3 with reference to above-mentioned control system in order to which truck fill flow of the present utility model, order and principle is described in detail Structure, entrucking control method of the present utility model is further described.
With reference to shown in accompanying drawing 1-12, a kind of control method of automatic material loading machine arm control system passes through above-mentioned control System processed realizes the automatic loading stacking of material, specifically includes following steps：
(1) the control system self-inspection, and display control program state on the display system；
(2) user inputs material data information by editing system, and the material data information includes the single outer of material Shape size, weight and required material total amount information；
(3) mechanical arm 3 drives lower feed box 4 to do straight horizontal along railway carriage axis direction and moved and vertical straight line fortune Dynamic, the length, width and height information acquisition railway carriage volume data of each position of railway carriage obtained by sensing device is simultaneously recorded in control module In；
(4) control module passes through the railway carriage volume that will obtain in the material data information in step (2) and step (3) Data carry out logical operation, obtain putting in order and entrucking quantity for material entrucking；
(5) the railway carriage length and width information that control module is obtained by step (3) determines the axis in body length direction simultaneously Mechanical arm 3 is moved and adjusted by executing agency makes the axis line projection of the length direction of mechanical arm 3 and the body length direction Axis alignment overlap, control module is recorded as original position；
(6) control module sends entrucking instruction according to putting in order described in step (4) to executing agency, by holding Row mechanism drives mechanical arm 3 and lower feed box 4 that material is carried out into entrucking successively, until material entrucking quantity is defeated equal in step (2) The material total amount information entered, control module is automatically stopped transmission entrucking and instructs and automatically return to the start bit described in step (5) Put.
Preferably, as shown in Fig. 3-5,7, the railway carriage length, width and height acquisition of information in the step (3) is specially：The machine Tool arm 3 drives lower feed box 4 to do straight horizontal along railway carriage axis direction and moved, until first sensor 201 or the 3rd is sensed Stopping is acted when the distance value that device 203 is sensed is equal to the safe distance value of control module setting；Mechanical arm 3 drives lower feed box simultaneously 4 vertically move along a straight line, until first sensor 201, second sensor 202,3rd sensor 203 and the 4th are sensed Device 204 occur detecting distance data invalid constantly stopping act, and record each sensor for the first time there is distance sensing The distance value that the 5th sensor 205 is sensed during data invalid, is used as the highest breast board height of correspondence railway carriage side；
Body length value is equal to air line distance, the straight line of the sensing of 3rd sensor 203 that the first sensor 201 is sensed Distance and the width numerical value sum of lower feed box 4；
Railway carriage width value is equal to air line distance, the straight line of the 4th sensor 204 sensing that the second sensor 202 is sensed Distance and the length value sum of lower feed box 4；
Railway carriage height value is equal to the air line distance that the 5th sensor 205 is sensed.
Preferably, described put in order uses monolayer alignment thing in laterally splendid attire or longitudinal direction splendid attire for material in railway carriage Expect the maximum of quantity, the stacking sequence between successively stacking entrucking and adjacent rows material stacking is conversely carried out line by line.
Preferably, as depicted in figs. 11-12, the determination of original position specifically includes following steps in the step (3)：
5.1 lower feed boxs 4 are firstly moved to railway carriage one end, and EPC controllers record the moment second sensor 202 and obtained respectively The lower feed box 4 that obtains apart from the air line distance L2 of railway carriage and the 4th sensor 204 of lower feed box 4 apart from railway carriage air line distance L3；
5.2 lower feed boxs 4 are moved to the railway carriage other end, and EPC controllers record the moment second sensor 202 acquisition respectively Air line distance L5 of the lower feed box 4 that lower feed box 4 is obtained apart from the air line distance L4 of railway carriage and the 4th sensor 204 apart from railway carriage；
5.3 obtain the axis of railway carriage along its length by contrasting Δ L1=L2-L3 and Δ L2=L4-L5 numerical relation Relation between the projection of line and the axis of mechanical arm 3, EPC controllers send instruction adjustment to the 3rd servo drive unit 103 Mechanical arm 3 to parallel to railway carriage axis direction deflection angle, meanwhile, EPC controllers send finger to the second servo drive unit Order adjustment mechanical arm 3 is moved to railway carriage axis side, until L2-L3, L4=L5, Δ L1=Δ L2=0, now mechanical arm 3 Stopping is acted, and EPC controllers will position mark be now original position.
K1 and k2 shown in accompanying drawing 11 are respectively deflection state figure of the mechanical arm 3 in assembling adjacent two bags material with a line, R Represent the length of mechanical arm 3, that is, radius when rotating；O is the pivot point of mechanical arm 3.
Preferably, control module is sent out according to putting in order described in step (4) to executing agency in the step (6) Send entrucking to instruct, specifically include：
6.1 EPC controllers send rotation instruction to the 3rd servo drive unit 103, while EPC controllers are watched to the 5th Take electric drive unit 105 send and the identical anglec of rotation of the 3rd servo drive unit 103, the instruction of opposite direction of rotation, until 3rd sensor 203, second sensor 202 or the distance sensing of the 4th sensor 204 are equal to the default minimum safe of EPC controllers Distance stops any action；
6.2 EPC controllers send instruction control machinery arm 3 to elevating mechanism 2 and lifted, while to the 6th servo-drive list Member 106 sends instruction control lower feed box 4 and laterally rolled, and the lifting deflection angle of mechanical arm 3 and the roll angle direction phase of lower feed box 4 Instead, angle is equal, stops after the air line distance of the 5th sensor 205 sensing is equal to the default blanking height value of EPC controllers Stop is made；
6.3 EPC controllers are to controlling the servo unit of electronic push pedal 108 to send pusher instruction, until material and lower feed box 4 inwalls are contacted；
The servo unit of 6.4 EPC controllers to control telescopic cylinder 107 sends feeding instruction, the blanking plate of lower feed box 4 Open, material automatically falls into railway carriage specified location；
The sized data L1 that 6.5 EPC controllers are put according to single-piece material along railway carriage width calculate put it is same The deflection angle a of the mechanical arm 3 of the next material of row, calculation formula is as follows：
As depicted in figs. 11-12, wherein, L1The appearance and size value for being entrucking material along railway carriage width；
L0The appearance and size value for being entrucking material along body length direction；
O1When O is that lower feed box is located at original position, the distance sensing value of first sensor；
R is the length value of mechanical arm；
6.6 EPC controllers send to the first servo drive unit 101 and instructed, and drive mechanical arm 3 along material entrucking order The second row longitudinally retreat L0, and entrucking is carried out according to the opposite direction of the entrucking order of the first row, with next material of a line Assembling deflection angle a computational methods it is identical with step 6.5, until first sensor 201, second sensor 202 or the 4th The distance sensing of sensor 204 is equal to the default minimum safe distance of EPC controllers, and stopping action completing first layer material peace Dress；
6.7 EPC controllers send climb command to elevating mechanism 2, until the lifting height of lower feed box 4 is equal to single thing The height of contour value of material, the stopping of elevating mechanism 2 action；Above-mentioned steps 6.1-6.6 assembling process is repeated, until practical set When material quantity is equal to the entrucking quantity described in step (4), stop everything, complete material entrucking.
What deserves to be explained is：During mechanical arm 3 drives the progress elevating movement of lower feed box 4, the lower feed box 4 is in longitudinal direction It with mechanical arm 3 is circle drawn by radius that the track of motion, which is, due in the stacking procedure of material entrucking, first layer material and the The putting position and area of two layers of material are all identicals.Therefore, when mechanical arm 3 is upwardly or downwardly moved from horizontal attitude When, the projection of lower feed box 4 and the projector distance of mechanical arm 3 are gradually reduced, and the material of the different levels of same position should be placed on Same position could realize the regularity of entrucking stacking, accordingly, it would be desirable to which one rises or decline front and rear horizontal range skew The compensation (the EF line segments in such as Figure 10) of amount.
Known quantity has line segment CE, i.e., equal to the air line distance between adjacent two layers material, equal to the height of material, under being equal to The height that hopper 4 rises or falls；The length of known line segment OC=OF=R=mechanical arms；It follows that
EF2=(2DF)2-CE2 ④
OD2=OF2-DF2 ⑤
By above-mentioned equation 1. -5. can obtain relational equation：
Wherein, CE is, it is known that and equal to material height of contour size；
OF is, it is known that equal to the length R of mechanical arm；
6. line segment DF length can be drawn according to above-mentioned formula, wherein,
It can be seen from Pythagorean theorem
6. and 8. understood according to formula, the corresponding relation between line segment CE and EF, so, when inputting thing to EPC controllers During the length, width and height information of material, 6. and 8. EPC controllers can obtain EF according to above-mentioned formula automatically according to the height dimension of its material Length, and longitudinal back-off instruction is sent to the first servo drive unit 101, until first position sensor 302 reads shifting Stopping is acted when dynamic air line distance is equal to line segment EF length value, and carries out blanking according to step 6.4, the like, piece by piece Material entrucking.
Similarly, when mechanical arm 3 needs transverse horizontal to move, EPC controllers to the second servo drive unit 102 send to Instruction that is right or being moved to the left, it is assumed that order-driven distance is x, when second place sensor 303 reads actual movement directly When linear distance is equal to x, stop shift action, repeat the above steps 6.4 carry out blankings.
It is described above, only it is preferred embodiment of the present utility model, any formal limit is not done to the utility model System, every any simple modification made according to technical spirit of the present utility model to above example, equivalent variations are each fallen within Within protection domain of the present utility model.

Claims (5)

1. a kind of automatic material loading machine arm control system, it is characterised in that
Including sensing device：Four sides and bottom surface being separately mounted on the lower feed box (4) of mechanical arm (3) blanking termination are used for The air line distance of sensing charging vehicle and the sensing device；
Control module：Be connected with the sensing device be used for receive, contrast, computing, record and control signal output；
Executing agency：The signal of the control module output is connected and performed with the control module；
Detection means：It is connected in the executing agency and with the control module, for feeding back the executing agency Physical location；
Editor and display system：What is be connected with the control module is used to receive, show and report the material assembling being manually entered Information and equipment working state information.
2. a kind of automatic material loading machine arm control system according to claim 1, it is characterised in that the sensing dress Put including the first sensor (201) and first sensor (201) installed in the close mechanical arm (3) side of lower feed box (4) The 3rd sensor (203) installed on the corresponding surface of place face, the 5th sensor (205) installed in bottom, and installed in edge The second sensor (202) of the 4th sensor (204) and right side on the left of material conveying direction, and the sensor is infrared Linear distance sensor.
3. a kind of automatic material loading machine arm control system according to claim 2, it is characterised in that the execution machine Structure includes being used for driving the first servo drive unit (101) that mechanical arm longitudinally moves back and forth, for driving mechanical arm laterally to come Dynamic the second servo drive unit (102) of return, the 3rd servo drive unit (103) for driving mechanical arm rotary oscillation, For driving lower feed box (4) relative to the 4th servo drive unit (104) of mechanical arm (3) horizontal extension, for driving blanking The 5th servo drive unit (105) that case (4) horizontally rotates, the 6th servo-drive for driving lower feed box (4) transverse direction rolling Unit (106), for driving lower feed box (4) to carry out the telescopic cylinder (107) of blanking, and for by material and lower feed box benchmark The electronic push pedal (108) of side alignment.
4. a kind of automatic material loading machine arm control system according to claim 3, it is characterised in that the detection dress Put including for detecting that mechanical arm (3) vertically moves the first position sensor (302) of displacement and for detecting mechanical arm (3) The second place sensor (303) of transverse shifting displacement.
5. a kind of automatic material loading machine arm control system according to claim 4, it is characterised in that the control mould Block is EPC controllers.
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