CN206624390U - A kind of sheet material handling robot system - Google Patents
A kind of sheet material handling robot system Download PDFInfo
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- CN206624390U CN206624390U CN201720393634.7U CN201720393634U CN206624390U CN 206624390 U CN206624390 U CN 206624390U CN 201720393634 U CN201720393634 U CN 201720393634U CN 206624390 U CN206624390 U CN 206624390U
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- handling robot
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Abstract
A kind of sheet material handling robot system of the utility model, is related to sheet material automated handling operation.The utility model is made up of sheet material piece-rate system, conveying sheet system, discharge system and control system.The utility model realizes the automated handling of sheet material by automated control technology, alleviates the labor intensity of staff；Carried using brace type, without sucker suction, go for surface irregularity, the sheet material of poor air-tightness is carried.The utility model can be realized while carry multi-sheets, according to requirements with sheet material feature, multi-sheets can be gone out with first separation and carry out transport operation.The utility model is provided with discharge system, it is possible to achieve multiple unloading stations share same transfer robot and sheet material piece-rate system, and operating efficiency is high, can meet the operation simultaneously of multiple operation stations.For conveying sheet system in the utility model using ground trace lines guiding course, guiding is accurate, cheap, has good economy and practicality.
Description
Technical field
The technical solution of the utility model is related to sheet material automated handling system, specifically a kind of sheet material conveying robot
People's system.
Background technology
In recent years, each automated production operation extensive development, wherein robot automation's transport operation are a typical cases
Link.Sheet material is largely appeared in various production and living, it is sheet material operation that sheet material, which is carried, as the important means of production
Important component.Robot automatic transporting sheet material operation be robot automation's operation and sheet material industry it is important technology neck
Domain, at present, because the species of sheet material is various, mechanical characteristics are different, and surface characteristics is different, and the operation of sheet material automated handling respectively has not
Same technological means, is broadly divided into following a few classes：Serial manipulator, Cartesian robot, parallel robot；But these machines
The device National People's Congress is dependent on sucker more, and the load capacity deficiency of end, it is difficult to solves that weight is big, the sheet material of surface irregularity.Such as：
CN105151772A discloses a kind of sheet material transfer robot, including sucker manipulator, lifting driving device, running gear and control
System processed, the robot can, sheet material that air-tightness good quality moderate smooth to surface carry out automated handling, but work as sheet material
Surface irregularity, or poor air-tightness, then or the larger sheet material of board quality, the robot will appear from not adsorbing and balancing
Property deficiency etc. can not surmountable technological deficiency.
In a word, prior art products not can solve the problem of sheet material automated handling.
Utility model content
Technical problem to be solved in the utility model is：A kind of sheet material handling robot system is provided, andante can be entered
Material automated handling operation, and be adapted to the sheet material of surface irregularity, the big sheet material of the sheet material and quality of poor air-tightness from
Dynamicization is carried, and sheet material can be carried to after work station unload after continue to remember that his carries station, shared with multistation
Function.
Technical scheme includes a kind of sheet material handling robot system used by the utility model solves the technical problem, by
Sheet material piece-rate system, conveying sheet system, discharge system and control system composition, sheet material piece-rate system include：Sheet material, rubber blanket
Layer, fixed plate A, pedestal, feed rod B, electric pushrod, fixed plate B, movable plate, pressure sensor B, wherein pedestal are fixed on ground
On, fixed plate A is arranged on the right side of pedestal, and fixed plate B is arranged on the left side of pedestal, is provided between fixed plate A and fixed plate B
Feed rod B, movable plate are arranged on feed rod B, and between fixed plate A and fixed plate B, the right flank of movable plate is attached with rubber blanket
Layer, posts pressure sensor between movable plate and rubber spacer, be provided with electric pushrod on the right side of fixed plate B, electric pushrod it is another
One end is arranged on the left side of movable plate, is attached with rubber spacer on the left of fixed plate A, sheet material is clamped in movable plate and fixed plate A
Between；Conveying sheet system includes：Material contained district, material contained district identification 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 sheet material
The lower section of piece-rate system, material contained district identification code are located at material contained district center, and discharge zone is located at sheet material using near station, and discharge zone is known
Other code bit is connected, track colour band patch in discharge zone center between material contained district identification code and discharge zone identification code by track colour band
On the ground, shipping platform is rest on the ground, and vision sensor is housed below shipping platform, support is provided with above shipping platform
Plate, connected between supporting plate and shipping platform by feed rod A, the lower end of jack is fixed on position central above shipping platform
Put, the upper end of jack and the lower surface of supporting plate connect, and the upper surface of supporting plate is provided with rubber top pad, and supporting plate pads it with rubber top
Between post pressure sensor A；Discharge system includes：Crossbeam, vertical beam, touching switch, wherein vertical beam fix on the ground, on vertical beam
Face is provided with crossbeam, and the centre of crossbeam is provided with touching switch；Control system is industrial PLC control system.
A kind of above-mentioned sheet material handling robot system, the electric pushrod have two.
A kind of above-mentioned sheet material handling robot system, the vertical beam have four.
A kind of above-mentioned sheet material handling robot system, the crossbeam have two.
A kind of above-mentioned sheet material handling robot system, the track colour band are black.
A kind of above-mentioned sheet material handling robot system, the triggering end of the touching switch are higher than the upper surface of crossbeam.
A kind of above-mentioned sheet material handling robot system, used unit be it is known to those skilled in the art,
Obtained by known approach.The connection method of the part is that those skilled in the art can grasp.
The beneficial effects of the utility model are：Compared with prior art, a kind of sheet material transfer robot system of the utility model
The outstanding feature of system and marked improvement are：
(1) the utility model realizes the automated handling of sheet material by automated control technology, alleviates staff
Labor intensity.
(2) the utility model is carried by brace type, without sucker suction, goes for surface irregularity, air-tightness
The sheet material of difference is carried.
(3) the utility model can be realized while carry multi-sheets, can be once according to requirements with sheet material feature
Isolate multi-sheets and carry out transport operation.
(4) the utility model is provided with discharge system, it is possible to achieve multiple unloading stations share same transfer robot
With sheet material piece-rate system, operating efficiency is high, can meet the operation simultaneously of multiple operation stations.
(5) for the conveying sheet system in the utility model using ground trace lines guiding course, guiding is accurate, makes
Valency is cheap, has good economy and practicality.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is a kind of conveying sheet system job schematic diagram of sheet material handling robot system of the utility model.
Fig. 2 is that a kind of sheet material piece-rate system of sheet material handling robot system of the utility model and transportation system form structure
Figure.
Fig. 3 is that a kind of discharge system of sheet material handling robot system of the utility model forms structure chart.
Fig. 4 is a kind of discharge system operation schematic diagram of sheet material handling robot system of the utility model.
Fig. 5 is that a kind of discharge system operation of sheet material handling robot system of the utility model finishes schematic diagram.
In figure, 1. material contained districts, 2. material contained district identification codes, 3. discharge zones, 4. discharge zone identification codes, 5. track colour bands, 6. ground
Face, 7. jack, 8. feed rod A, 9. supporting plates, 10. pressure sensor A, 11. rubber tops pad, 12. sheet materials, 13. rubber spacers, 14.
Fixed plate A, 15. pedestals, 16. feed rod B, 17. electric pushrods, 18. fixed plate B, 19. movable plates, 20. shipping platforms, 21. visions
Sensor, 22. crossbeams, 23. vertical beams, 24. touching switch, 25. pressure sensor B.
Embodiment
Embodiment illustrated in fig. 1 shows that a kind of conveying sheet system of sheet material handling robot system of the utility model includes
Material contained district 1, material contained district identification code 2, discharge zone 3, discharge zone identification code 4, track colour band 5, ground 6, wherein material contained district identification code 2
Positioned at the center of material contained district 1, discharge zone 3 is located at sheet material 12 using near station, and discharge zone identification code 4 is located at the center of discharge zone 3, carries
Connected between material area's identification code 2 and discharge zone identification code 4 by track colour band 5, track colour band 5 is attached on ground 6.
Embodiment illustrated in fig. 2 shows, the sheet material piece-rate system and conveying sheet system of a kind of sheet material handling robot system,
Sheet material piece-rate system is located at the top of material contained district 1, and sheet material piece-rate system includes：Sheet material 12, rubber spacer 13, fixed plate A14, base
Frame 15, feed rod B 16, electric pushrod 17, fixed plate B 18, movable plate 19, pressure sensor B 25, wherein pedestal 15 are fixed on
On ground 6, fixed plate A 14 be arranged on pedestal 15 right side, fixed plate B 18 be arranged on pedestal 15 left side, fixed plate A14 with
Feed rod B 16 is installed, movable plate 19 is arranged on feed rod B 16, positioned at fixed plate A 14 and fixed plate B between fixed plate B 18
Between 18, movable plate 19 can horizontally slip on feed rod B 16, and the right flank of movable plate 19 is attached with rubber spacer 13, rubber
Bed course 13 can balance chucking power simultaneously with increasing friction force, and pressure sensor is posted between movable plate 19 and rubber spacer 13, is used
To detect the size of chucking power, the right sides of fixed plate B 18 are provided with electric pushrod 17, and the other end of electric pushrod 17, which is arranged on, to be moved
The left side of dynamic plate 19, electric pushrod 17 can control moving left and right for movable plate 19, and fixed plate A 14 left side is attached with rubber
Bed course 13, rubber spacer 13 can balance chucking power simultaneously with increasing friction force, and sheet material 12 is clamped in movable plate 19 and fixed plate A
Between 14；Conveying sheet system includes：Ground 6, jack 7, feed rod A8, supporting plate 9, pressure sensor A10, rubber top pad 11,
Shipping platform 20, vision sensor 21, wherein shipping platform 20 are located on ground 6, and shipping platform 20 is equipped with visual sensing below
Device 21, for detecting track colour band 5 and identification code, shipping platform 20 is provided with supporting plate 9 above, supporting plate 9 and shipping platform 20 it
Between connected by feed rod A 8, the lower end of jack 7 is fixed on position central above shipping platform 20, ensures that top lift is equal
Weighing apparatus, the upper end of jack 7 are connected with the lower surface of supporting plate 9, and supporting plate 9 can be realized under the drive of jack 7 and slided up and down, support
The upper surface of plate 9 is provided with rubber top pad 11, and rubber top pad 11 can increase frictional force and stability, supporting plate simultaneously with compensator or trimmer pressure
Pressure sensor A 10 is posted between 9 and rubber top pad 11, pressure sensor A 10 is used for detecting the pressure and jack 7 of load
Top lift.
Embodiment illustrated in fig. 3 shows, a kind of discharge system of sheet material handling robot system include crossbeam 22, vertical beam 23,
Touching switch 24, wherein vertical beam 23 are fixed on ground 6, and vertical beam 23 is provided with crossbeam 22 above, and crossbeam 22 has two, two horizontal strokes
Width between beam 22 is less than the width of sheet material 12, and crossbeam 22 is used to hold up sheet material, and the centre of crossbeam 22 is provided with touching switch
24, touching switch 24 is used for having detected whether sheet material 12 on crossbeam 22；Sheet material 12 is carried to and unloaded by shipping platform 20 in this figure
Expect arrangement adjacent, discharge operation will be carried out.
Embodiment illustrated in fig. 4 shows that a kind of discharge system of sheet material handling robot system transports flat just in operation, figure
Sheet material 12 is carried to the surface of discharge system by platform 20, and the lower surface of sheet material 12 is higher than the upper surface of crossbeam 22.
Embodiment illustrated in fig. 5 shows that a kind of discharge system operation of sheet material handling robot system finishes, sheet material 12 in figure
Have been placed in above discharge system crossbeam 22, the lower surface of sheet material 12 has been attached on the upper surface of crossbeam 22 so that sheet material
12 can depress the triggering end of touching switch 24, connect touching switch 24, and the information that the discharging of sheet material 12 finishes beams back control system
System.
Embodiment 1
According to shown in above-mentioned Fig. 1~Fig. 5, a kind of sheet material handling robot system is made, wherein electric pushrod 17 has two,
Vertical beam 23 has four, and crossbeam 22 has two, and track colour band 5 is higher than the upper table of crossbeam 22 for the triggering end of black touching switch 24
Face.
Below by will be so that sheet material is carried as an example.
The first step, artificial batch feeding
Manually by fork truck or other means by the sheet material 12 into pile transport to fixed plate A 14 and fixed plate B 18 it
Between, electric pushrod 17 is extended, and the material buttress of sheet material 12 is integrally clamped, when the returned datas of pressure sensor B 25 reach default value,
Electric pushrod 17 keeps locking state, completes feeding.
Second step, system start
Robot system starts, and robot system self-test, shipping platform 20 is in track colour band 5 and identification code after the completion of self-test
Guide under move to material contained district 1.
3rd step, sheet material separation and material containing
Jack 7 jacks up supporting plate 9, supporting plate 9 is held nethermost sheet material 12 in material buttress, when pressure sensor A 10 is returned
The numerical value returned reaches preset value, and jack 7 stops jacking up, and one segment distance of retraction of electric pushrod 17, material buttress releases the state of being clamped,
Material buttress is pressed on supporting plate 9, and jack 7 starts whereabouts preset height (thickness of such as one block sheet material 12), and material buttress integrally falls identical
Highly, then jack 7 stops falling, and electric pushrod 17 extends, and holds material buttress again, and jack 7 falls certain high again
Degree, sheet material 12 is independently located at the top of supporting plate 9 and separated with material buttress.
4th step, conveying sheet
Shipping platform 20 transports sheet material 12 to discharge zone 3 by the guide of track colour band 5 and the control of control system, when
Vision sensor 21 below shipping platform 20 detects the stop motion of shipping platform 20 after discharge zone identification code 4.
5th step, sheet material discharging
The height of crossbeam 22 is arranged to the lower surface of bottom sheet material 12 slightly below on shipping platform 20 just, when transport is flat
Jack 7 falls after platform 20 reaches unloading station, and sheet material 12 falls therewith, and sheet material 12 drops down onto on crossbeam 22 just, sheet material 12
The triggering end of touching switch is depressed in lower surface, and touching switch 24 is triggered, the discharging successful information of station sheet material 12 beamed back, thousand
Jin top 7 continues to fall, and with continuing to fall, supporting plate 9 disengages supporting plate 9 with sheet material 12, the setting in motion of shipping platform 20, leaves discharging
Area 3 returns to material contained district 1, prepares subsequent job.
Claims (6)
- 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.
- 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.
- A kind of 3. sheet material handling robot system according to claim 1, it is characterised in that：The vertical beam has four.
- A kind of 4. sheet material handling robot system according to claim 1, it is characterised in that：The crossbeam has two.
- 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.
- 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720393634.7U CN206624390U (en) | 2017-04-15 | 2017-04-15 | A kind of sheet material handling robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720393634.7U CN206624390U (en) | 2017-04-15 | 2017-04-15 | A kind of sheet material handling robot system |
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| Publication Number | Publication Date |
|---|---|
| CN206624390U true CN206624390U (en) | 2017-11-10 |
Family
ID=60205885
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720393634.7U Active CN206624390U (en) | 2017-04-15 | 2017-04-15 | A kind of sheet material handling robot system |
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| Country | Link |
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| CN (1) | CN206624390U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865195A (en) * | 2017-04-15 | 2017-06-20 | 河北建筑工程学院 | A kind of sheet material handling robot system |
| CN110565916A (en) * | 2019-09-29 | 2019-12-13 | 广东博智林机器人有限公司 | Wood floor mounting robot |
| CN110644745A (en) * | 2019-09-29 | 2020-01-03 | 广东博智林机器人有限公司 | Wood floor mounting robot |
-
2017
- 2017-04-15 CN CN201720393634.7U patent/CN206624390U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865195A (en) * | 2017-04-15 | 2017-06-20 | 河北建筑工程学院 | A kind of sheet material handling robot system |
| CN106865195B (en) * | 2017-04-15 | 2024-04-02 | 河北建筑工程学院 | Panel transfer robot system |
| CN110565916A (en) * | 2019-09-29 | 2019-12-13 | 广东博智林机器人有限公司 | Wood floor mounting robot |
| CN110644745A (en) * | 2019-09-29 | 2020-01-03 | 广东博智林机器人有限公司 | Wood floor mounting robot |
| CN110565916B (en) * | 2019-09-29 | 2021-05-04 | 广东博智林机器人有限公司 | Wood floor mounting robot |
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