CN206624390U - A kind of sheet material handling robot system - Google Patents

Abstract

The utility model relates to a board material handling robot system, which relates to the board material automatic handling operation. The utility model is composed of a board separation system, a board transportation system, a material unloading system and a control system. The utility model realizes the automatic handling of the board through the automatic control technology, and reduces the labor intensity of the staff; it adopts the supporting type of handling, does not need the suction cup to absorb, and can be applied to the handling of the board with uneven surface and poor air tightness. The utility model can carry multiple boards at the same time, and according to the use requirements and the characteristics of the boards, multiple boards can be separated at one time for handling operations. The utility model is equipped with an unloading system, which can realize that multiple unloading stations share the same handling robot and plate separation system, has high operating efficiency, and can satisfy multiple operating stations to work at the same time. The plate transportation system in the utility model adopts ground trajectory lines to guide the traveling route, which is accurate in guidance, low in cost, and has good economy and practicability.

Description

A plate handling robot system

technical field

The technical proposal of the utility model relates to an automatic board material handling system, in particular to a board material handling robot system.

Background technique

In recent years, various automated production operations have developed on a large scale, among which robot automated handling operations are a typical link. As an important means of production, plates appear in large quantities in various production and life, and plate handling is an important part of plate operations. The automatic handling of plates by robots is an important technical field for robot automation and the plate industry. At present, because of the wide variety of plates, different mechanical characteristics, and different surface features, there are different technical means for automatic plate handling operations, which are mainly divided into the following: Classes: serial robots, rectangular coordinate robots, parallel robots; however, most of these robots rely on suction cups, and the end load capacity is insufficient, making it difficult to handle plates with heavy weight and uneven surfaces. For example: CN105151772A discloses a plate handling robot, which includes a suction cup manipulator, a lifting drive device, a walking device and a control system. The robot can automatically carry plates with smooth surfaces, good airtightness and moderate quality. , or poor air tightness, or plates with high quality plates, the robot will have insurmountable technical defects such as inability to absorb and lack of balance.

In a word, the prior art products cannot well solve the problem of plate automatic handling.

Utility model content

The technical problem to be solved by the utility model is: to provide a board handling robot system, which can carry out automatic board handling operations, and can adapt to the automatic handling of boards with uneven surfaces, poor airtightness and high quality boards, and can After transporting the plate to the working station and unloading it, continue to move it to other stations, which has the function of multi-station sharing.

The technical scheme adopted by the utility model to solve the technical problem includes a plate handling robot system, which is composed of a plate separation system, a plate transportation system, a discharge system and a control system. The plate separation system includes: plates, rubber cushions, and fixed plates. A. Base frame, optical rod B, electric push rod, fixed plate B, moving plate, pressure sensor B, wherein the base frame is fixed on the ground, fixed plate A is installed on the right side of the base frame, and fixed plate B is installed on the base frame On the left side, light bar B is installed between fixed plate A and fixed plate B, the moving plate is installed on light bar B, and is located between fixed plate A and fixed plate B, and the right side of the moving plate is attached with a rubber pad , a pressure sensor is pasted between the moving plate and the rubber cushion, an electric push rod is installed on the right side of the fixed plate B, the other end of the electric push rod is installed on the left side of the moving plate, and a rubber cushion is attached to the left side of the fixed plate A , the plate is clamped between the movable plate and the fixed plate A; the plate transport system includes: loading area, loading area identification code, unloading area, unloading area identification code, track ribbon, floor, jack, light bar A , pallet, pressure sensor A, rubber top pad, transport platform, visual sensor, wherein the loading area is located below the plate separation system, the identification code of the loading area is located in the center of the loading area, and the unloading area is located near the plate use station, The identification code of the unloading area is located in the center of the unloading area. The identification code of the loading area and the identification code of the unloading area are connected by a track ribbon. The track ribbon is attached to the ground. The transportation platform is located on the ground. The sensor is equipped with a pallet on the transport platform, and the pallet and the transport platform are connected by light bars A. The lower end of the jack is fixed at the upper center of the transport platform, and the upper end of the jack is connected to the lower surface of the pallet. A rubber top pad is installed on the upper surface, and a pressure sensor A is pasted between the supporting plate and the rubber top pad; the unloading system includes: a beam, a vertical beam, and a touch switch, wherein the vertical beam is fixed on the ground, and a cross beam is arranged on the vertical beam , A touch switch is installed in the middle of the beam; the control system is an industrial PLC control system.

In the aforementioned plate handling robot system, there are two electric push rods.

In the aforementioned plate handling robot system, there are four vertical beams.

In the aforementioned plate handling robot system, there are two beams.

In the above-mentioned plate handling robot system, the color track ribbon is black.

In the aforementioned plate handling robot system, the trigger end of the touch switch is higher than the upper surface of the beam.

The components used in the above plate handling robot system are well known to those skilled in the art, and are all obtained through known means. The connection method of the components is within the grasp of those skilled in the art.

The beneficial effects of the utility model are: compared with the prior art, the outstanding features and significant progress of the panel handling robot system of the utility model are:

(1) The utility model realizes the automatic handling of the plate through the automatic control technology, and reduces the labor intensity of the staff.

(2) The utility model is transported by support without sucker adsorption, and can be applied to the transport of boards with uneven surfaces and poor air tightness.

(3) The utility model can carry multiple boards at the same time, and according to the requirements of use and the characteristics of the boards, multiple boards can be separated at one time for handling operations.

(4) The utility model is equipped with an unloading system, which can realize that multiple unloading stations share the same handling robot and plate separation system. The operation efficiency is high, and it can meet the simultaneous operation of multiple operation stations.

(5) The plate transportation system in the utility model adopts ground track lines to guide the traveling route, which is accurate in guidance, low in cost, and has good economy and practicability.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Fig. 1 is a schematic diagram of the operation of the board transportation system of a board handling robot system of the present invention.

Fig. 2 is a structure diagram of a plate separation system and a transport system of a plate handling robot system of the present invention.

Fig. 3 is a structural diagram of the unloading system of a plate handling robot system of the present invention.

Fig. 4 is a schematic diagram of the operation of the unloading system of a plate handling robot system of the present invention.

Fig. 5 is a schematic diagram of the completion of operation of the unloading system of a plate handling robot system of the present invention.

In the figure, 1. Loading area, 2. Identification code of loading area, 3. Unloading area, 4. Identification code of unloading area, 5. Track ribbon, 6. Ground, 7. Jack, 8. Light bar A , 9. Pallet, 10. Pressure sensor A, 11. Rubber top pad, 12. Plate, 13. Rubber pad, 14. Fixed plate A, 15. Base frame, 16. Light bar B, 17. Electric push rod , 18. Fixed plate B, 19. Mobile plate, 20. Transport platform, 21. Vision sensor, 22. Beam, 23. Vertical beam, 24. Touch switch, 25. Pressure sensor B.

detailed description

The embodiment shown in Fig. 1 shows that the plate transportation system of a plate handling robot system of the present invention includes a loading area 1, a loading area identification code 2, an unloading area 3, an unloading area identification code 4, and a track ribbon 5 , Ground 6, wherein the loading area identification code 2 is located in the center of the loading area 1, the unloading area 3 is located near the working station of the plate 12, the unloading area identification code 4 is located in the center of the unloading area 3, and the loading area identification code 2 and The unloading area identification codes 4 are connected by track ribbons 5 , and the track ribbons 5 are attached to the ground 6 .

The embodiment shown in Figure 2 shows that a plate separation system and a plate transport system of a plate handling robot system, the plate separation system is located above the loading area 1, and the plate separation system includes: plates 12, rubber cushions 13, fixed plates A14 , pedestal 15, light bar B 16, electric push rod 17, fixed plate B 18, moving plate 19, pressure sensor B 25, wherein pedestal 15 is fixed on the ground 6, and fixed plate A 14 is installed on the right side of pedestal 15 side, the fixed plate B 18 is installed on the left side of the base frame 15, the light bar B 16 is installed between the fixed plate A14 and the fixed plate B 18, the moving plate 19 is installed on the light bar B 16, and is located between the fixed plate A 14 and the fixed Between the plates B18, the moving plate 19 can slide left and right on the light bar B 16, and the right side of the moving plate 19 is attached with a rubber cushion 13, which can increase the friction force and balance the clamping force simultaneously, and the moving plate 19 A pressure sensor is pasted between the rubber pad 13 to detect the clamping force. An electric push rod 17 is installed on the right side of the fixed plate B 18, and the other end of the electric push rod 17 is installed on the left side of the moving plate 19. The electric push rod 17 can control the left and right movement of the movable plate 19. The left side of the fixed plate A 14 is attached with a rubber cushion 13, which can increase the friction force and balance the clamping force at the same time. The plate 12 is clamped on the movable plate 19. Between the fixed plate A14; the plate transport system includes: ground 6, jack 7, light bar A8, supporting plate 9, pressure sensor A10, rubber top pad 11, transport platform 20, visual sensor 21, wherein the transport platform 20 is located on the ground 6 On the bottom of the transport platform 20, a visual sensor 21 is installed to detect the trajectory ribbon 5 and the identification code. The transport platform 20 is provided with a supporting plate 9, and the supporting plate 9 and the transport platform 20 are connected by a light bar A 8, and the jack The lower end of the jack 7 is fixed at the upper center of the transport platform 20 to ensure a balanced lifting force. The upper end of the jack 7 is connected to the lower surface of the supporting plate 9, and the supporting plate 9 can slide up and down driven by the jack 7. A rubber top pad 11 is installed on the upper surface. The rubber top pad 11 can buffer the pressure while increasing friction and stability. A pressure sensor A 10 is attached between the supporting plate 9 and the rubber top pad 11. The pressure sensor A 10 is used to detect the load. Pressure and the jacking force of the jack 7.

The embodiment shown in Fig. 3 shows that the unloading system of a plate handling robot system includes a crossbeam 22, a vertical beam 23, and a touch switch 24, wherein the vertical beam 23 is fixed on the ground 6, and the vertical beam 23 is provided with a crossbeam 22, There are two beams 22, the width between the two beams 22 is smaller than the width of the plate 12, the beam 22 is used to hold up the plate, a touch switch 24 is installed in the middle of the beam 22, and the touch switch 24 is used to detect whether there is a plate 12 On the beam 22; in this figure, the transport platform 20 transports the plate 12 to the vicinity of the unloading system, and the unloading operation will be performed soon.

The embodiment shown in FIG. 4 shows that the unloading system of a plate handling robot system is working. In the figure, the transport platform 20 transports the plate 12 directly above the unloading system, and the lower surface of the plate 12 is higher than the upper surface of the beam 22. .

The embodiment shown in Figure 5 shows that the unloading system of a plate handling robot system has been completed. In the figure, the plate 12 has been placed on the beam 22 of the unloading system, and the lower surface of the plate 12 is attached to the upper surface of the beam 22. , so that the plate 12 can depress the trigger end of the touch switch 24, the touch switch 24 is turned on, and the information that the plate 12 is unloaded is sent back to the control system.

Example 1

According to the above-mentioned figures 1 to 5, a plate handling robot system is prepared, in which there are two electric push rods 17, four vertical beams 23, two cross beams 22, and the track ribbon 5 is a black touch switch The trigger end of 24 is higher than the upper surface of beam 22 .

Let's take a plate handling as an example.

The first step, manual batch loading

The stacked plates 12 are manually transported between the fixed plate A 14 and the fixed plate B 18 by a forklift or other means, and the electric push rod 17 is extended to clamp the stack of plates 12 as a whole. When the pressure sensor B 25 returns data reaching the predetermined If the value is set, the electric push rod 17 remains in a locked state, and the feeding is completed.

The second step, the system starts

The robot system is started, and the robot system performs a self-inspection. After the self-inspection is completed, the transport platform 20 moves to the loading area 1 under the guidance of the trajectory ribbon 5 and the identification code.

The third step, plate separation and loading

The jack 7 lifts the supporting plate 9 so that the supporting plate 9 supports the bottom plate 12 in the material stack. When the value returned by the pressure sensor A 10 reaches the preset value, the jack 7 stops lifting, and the electric push rod 17 retracts for a while. distance, the material stack is released from the clamped state, the material stack is pressed on the supporting plate 9, the jack 7 starts to fall to a preset height (such as the thickness of a plate 12), the material stack as a whole falls to the same height, and then the jack 7 stops falling, and the electric push The rod 17 is elongated to hold the stack of materials again, and the jack 7 falls to a certain height again, so that the plate 12 is independently located above the supporting plate 9 and separated from the stack of materials.

The fourth step, plate transportation

The transportation platform 20 relies on the guidance of the trajectory ribbon 5 and the control of the control system to transport the plate 12 to the unloading area 3. When the visual sensor 21 under the transportation platform 20 detects the unloading area identification code 4, the transportation platform 20 stops moving.

The fifth step, plate unloading

The height of the beam 22 is set to be just slightly lower than the lower surface of the lowermost plate 12 on the transport platform 20. When the transport platform 20 reaches the unloading station, the jack 7 falls, and the plate 12 falls accordingly, and the plate 12 just falls on the beam 22 , the lower surface of the plate 12 presses down the trigger end of the touch switch, the touch switch 24 is triggered, and the information of the successful unloading of the plate 12 at this station is sent back, the jack 7 continues to fall, and the supporting plate 9 continues to fall, and the supporting plate 9 continues to fall. 9 is disengaged from the plate 12, the transport platform 20 starts to move, leaves the unloading area 3 and returns to the loading area 1, and prepares for follow-up operations.

Claims (6)

1. A kind of 1. sheet material handling robot system, by sheet material piece-rate system, conveying sheet system, discharge system and control system group Into, it is characterised in that：Sheet material piece-rate system includes sheet material, rubber spacer, fixed plate A, pedestal, feed rod B, electric pushrod, fixation Plate B, movable plate, pressure sensor B, wherein pedestal fix on the ground, and fixed plate A is arranged on the right side of pedestal, fixed plate B peaces Mounted in the left side of pedestal, feed rod B is installed, movable plate is arranged on feed rod B, positioned at fixed plate between fixed plate A and fixed plate B Between A and fixed plate B, the right flank of movable plate is attached with rubber spacer, and pressure sensing is posted between movable plate and rubber spacer Device, fixed plate B right sides are provided with electric pushrod, and the other end of electric pushrod is arranged on the left side of movable plate, fixed plate A left side Rubber spacer is attached with, sheet material is clamped between movable plate and fixed plate A；Conveying sheet system includes material contained district, material contained district is known Other code, discharge zone, discharge zone identification code, track colour band, ground, jack, feed rod A, supporting plate, pressure sensor A, rubber top Pad, shipping platform, vision sensor, wherein material contained district are located at the lower section of sheet material piece-rate system, and material contained district identification code is located at material containing Area center, discharge zone are located at sheet material using near station, and discharge zone identification code is located at discharge zone center, and material contained district identification code is with unloading Connected between material area's identification code by track colour band, track colour band is pasted on the ground, and shipping platform is rest on the ground, shipping platform Vision sensor is housed below, supporting plate is provided with above shipping platform, is connected between supporting plate and shipping platform by feed rod A, thousand The lower end on jin top is fixed on position central above shipping platform, and the upper end of jack and the lower surface of supporting plate connect, supporting plate Upper surface be provided with rubber top pad, supporting plate and rubber top pad between post pressure sensor A；Discharge system includes crossbeam, erected Beam, touching switch, wherein vertical beam are fixed on the ground, and crossbeam is provided with above vertical beam, and the centre of crossbeam is provided with touching switch； Control system is industrial PLC control system.
2. A kind of 2. sheet material handling robot system according to claim 1, it is characterised in that：The electric pushrod has two It is individual.
3. A kind of 3. sheet material handling robot system according to claim 1, it is characterised in that：The vertical beam has four.
4. A kind of 4. sheet material handling robot system according to claim 1, it is characterised in that：The crossbeam has two.
5. A kind of 5. sheet material handling robot system according to claim 1, it is characterised in that：The track colour band is black Color.
6. A kind of 6. sheet material handling robot system according to claim 1, it is characterised in that：The triggering of the touching switch Upper surface of the end higher than crossbeam.