CN207030457U - One kind is used for robot stacking laser scanning automatic feeding system - Google Patents
One kind is used for robot stacking laser scanning automatic feeding system Download PDFInfo
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- CN207030457U CN207030457U CN201720349022.8U CN201720349022U CN207030457U CN 207030457 U CN207030457 U CN 207030457U CN 201720349022 U CN201720349022 U CN 201720349022U CN 207030457 U CN207030457 U CN 207030457U
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- robot
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- displacement sensor
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- laser displacement
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Abstract
The utility model discloses one kind to be used for robot stacking laser scanning automatic feeding system, the laser scanning automatic feeding system includes four axle robots, the robot teaching box being arranged in the four axles robot, material grasping fixture, laser displacement sensor and robot PLC control cabinet, control method and comprised the following steps：A, the rule that material follows the procedure is positioned on pallet；B, pallet detection electrooptical device has detected pallet, and robot opens laser displacement sensor and laser displacement sensor is lifted into level altitude simultaneously, and laser displacement sensor starts scanning imaging system；C, laser displacement sensor completes scanning by the order of scanning constant, send data to PLC, PLC identifies that each layer pallet lacks material number and output signal feed supplement by the sequential operation of inside, identifying the placement order of discharging simultaneously has inerrancy and output alarm signal, and the number and automatic feeding of automatic identification institute of robot code pallet feeding can be realized by the utility model.
Description
Technical field
It the utility model is related to one kind and be used for robot stacking laser scanning automatic feeding system.
Background technology
As robot uses more and more extensive, robot popularizes in stacking industry and increasingly, from simple
Technological process changes to highly difficult technological process, changes from semi-automation to full-automation, and gradually overcoming some has row
The stacking occasion of industry feature.Such as in chemical fibre industry, for the product to get off from process equipment, due to industrial nature, product
Kind is more, and periodically short, total output is big, does not completely disengage the situation of hand stowage also, it is necessary to which artificial fast package and stacking, subtract
Small storage pressure.This may result in, and each kind does not have the complete pallet of code also, and product is just without at this moment with regard to needing to wait until
This kind continues up code sometimes again next time, and traditional robot palletizer there is no method to accomplish this work(of automatic feeding
Energy.
Utility model content
The utility model aims to overcome that above-mentioned the deficiencies in the prior art, there is provided it is a kind of flexibly, fast and efficiently machine
People's stacking laser scanning automatic feeding system.
The technical solution of the utility model is：One kind is used for robot stacking laser scanning automatic feeding system, the laser
Scanning automatic feeding system includes four axle robots, the robot teaching box being arranged in the four axles robot, is arranged at institute
State four axle robotics material grasping fixture on hand, the laser displacement sensor and robot PLC being arranged above the fixture
Switch board, material detection electrooptical device and pallet detection electrooptical device, the pallet detection light Denso are additionally provided with stacking machine pallet
Put and be connected with the laser displacement sensor with the PLC in the PLC control cabinet, the PLC is communicated by Canopen and institute
State robot demonstrator to be connected, control method comprises the following steps：
A, the rule that material follows the procedure is positioned on pallet；
B, pallet detection electrooptical device has detected pallet, and laser displacement sensor is opened by robot, while by laser position
Displacement sensor is lifted to the level altitude set on pallet, and laser displacement sensor starts scanning imaging system；
C, laser displacement sensor completes scanning by the order of scanning constant, sends data to PLC, PLC passes through inside
Sequential operation identify that each layer pallet lacks material number and output signal feed supplement, while identify that the placement order of discharging has inerrancy,
And output order places error alarm signal, reminds worker to reappose.
Further, in step C, when every layer of material on pallet is even number, each position for expecting plane is as machine
One point of people's scanning, four values are determined by laser displacement sensor scanning, PLC inside program by comparing this four values
To determine the height of pallet peak value, this value divided by single material, the current pallet number of plies is calculated, further according to machine
The order of people's scanning constant, relatively determined further according to the size of individual four values from this layer since which feed supplement.
Further, in step C, when every layer of material on pallet is odd number, depending on every layer of cross-superimposed situation, laser position
Displacement sensor first each expects that the sequencing of placement and position take a value during scanning according to odd-level, further according to
The placement sequencing and position that even level is each expected take a value, are divided into two groups of data totally 10 values, PLC by program inside
Compare and take a maximum, the height of maximum divided by single material determine current layer number be it is several layers of and whether be odd-level still
Even level, if odd-level, PLC is then worth into line program inside according to 5 of the acquirement of the scan mode of odd-level and compared, and draws
The feed supplement since which material is needed, even level is similarly；When placement need not be intersected for every layer with reference to the even number bed of material.
The beneficial effects of the utility model are：Automatic identification institute of robot code pallet feeding can be realized by the utility model
Number and automatic feeding, make robot working at high speed, accelerate rhythm of production, complete frequently to reload feed supplement, realize and remove code
Complete pallet pulls away outer whole-course automation.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model robot；
Fig. 2 is the utility model control principle frame diagram.
Embodiment
Below by embodiment, the technical solution of the utility model is described in further detail.
One kind is used for robot stacking laser scanning automatic feeding system, and with reference to shown in Fig. 1 and Fig. 2, the laser scanning is certainly
Dynamic feeding-system includes four axle robots 1, the robot teaching box being arranged in the four axles robot 1, is arranged at described four
Material grasping fixture 2 on the manipulator of axle robot 1, the laser displacement sensor 3 and robot for being arranged at the top of fixture 2
PLC control cabinet, material detection electrooptical device and pallet detection electrooptical device, the laser displacement sensing are additionally provided with stacking machine pallet
Device 3 is connected with the PLC in the PLC control cabinet, and the PLC is communicated by Canopen to be connected with the robot demonstrator.
Control method comprises the following steps：
One kind is used for robot stacking laser scanning automatic feeding system, and the laser scanning automatic feeding system includes four axles
Robot, the robot teaching box being arranged in the four axles robot, it is arranged at the four axles robotic grabbing on hand
Material clamp, the laser displacement sensor being arranged above the fixture and robot PLC control cabinet, in the four axles robot
Pallet detection electrooptical device is additionally provided with, the pallet detection electrooptical device and the laser displacement sensor control with the PLC
PLC connections in cabinet, the PLC is communicated by Canopen to be connected with the robot demonstrator, and control method includes following step
Suddenly：
A, the rule that material follows the procedure is positioned on pallet；
B, pallet detection electrooptical device has detected pallet, and laser displacement sensor is opened by robot, while by laser position
Displacement sensor is lifted to the level altitude set on pallet, and laser displacement sensor starts scanning imaging system；
C, robot stops 1 second time in the top of each material, ensures the stability of gathered data, laser displacement sensor
It is scanned by scanning constant order, while sends data to PLC, every layer of the material that PLC is calculated on current pallet is even
When several, a point of each position for expecting plane as Robot Scanning, four are determined by laser displacement sensor scanning
Individual value, PLC inside program by comparing this four values to determine the height of pallet peak value, this value divided by single material
Degree, calculates the current pallet number of plies, further according to the order of robot scanning constant, relatively comes really further according to the size of individual four values
It is fixed from this layer since which feed supplement；
When every layer of the material that PLC is calculated on current pallet is odd number, depending on every layer of cross-superimposed situation, laser displacement passes
Sensor first each expects that the sequencing of placement and position take a value during scanning according to odd-level, further according to even number
The placement sequencing and position that layer is each expected take a value, are divided into two groups of data totally 10 values, PLC inside program by comparing
Take a maximum, the height of maximum divided by single material determines that current layer number is several layers of and whether is odd-level or even number
Layer, if odd-level, PLC is then worth into line program inside according to 5 of the acquirement of the scan mode of odd-level and compared, and draws needs
The feed supplement since which material, even level is similarly；When placement need not be intersected for every layer with reference to the even number bed of material.
After the completion of scanning, PLC identifies that the placement order of discharging has inerrancy simultaneously, and output order places false alarm letter
Number, remind worker to reappose.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (1)
1. one kind is used for robot stacking laser scanning automatic feeding system, it is characterised in that：The laser scanning automatic feeding system
System includes four axle robots, the robot teaching box being arranged in the four axles robot, to be arranged at the four axles machine man-machine
Tool material grasping fixture on hand, the laser displacement sensor being arranged above the fixture and robot PLC control cabinet, stacking machine stack
Material detection electrooptical device and pallet detection electrooptical device, the pallet detection electrooptical device and the laser displacement are additionally provided with plate
Sensor is connected with the PLC in the PLC control cabinet, and the PLC passes through Canopen communications and the robot demonstrator phase
Even.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720349022.8U CN207030457U (en) | 2017-04-05 | 2017-04-05 | One kind is used for robot stacking laser scanning automatic feeding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720349022.8U CN207030457U (en) | 2017-04-05 | 2017-04-05 | One kind is used for robot stacking laser scanning automatic feeding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207030457U true CN207030457U (en) | 2018-02-23 |
Family
ID=61473241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720349022.8U Active CN207030457U (en) | 2017-04-05 | 2017-04-05 | One kind is used for robot stacking laser scanning automatic feeding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207030457U (en) |
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2017
- 2017-04-05 CN CN201720349022.8U patent/CN207030457U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190918 Address after: 312030 Two blocks-2 on the west side of Xiamawan Village East Ring Line, Fuquan Street, Keqiao District, Shaoxing City, Zhejiang Province (Commitment Declaration) Patentee after: Zhejiang Smecta Intelligent Equipment Co., Ltd. Address before: 312000 Zhejiang Province, Shaoxing city Keqiao district town Anchang village Jiuding Lou spoon Patentee before: Shaoxing Jicheng Packing Machinery Co., Ltd. |
|
| TR01 | Transfer of patent right |