CN208916317U - A kind of banknote luggage automatic stacking device - Google Patents
A kind of banknote luggage automatic stacking device Download PDFInfo
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- CN208916317U CN208916317U CN201821714025.8U CN201821714025U CN208916317U CN 208916317 U CN208916317 U CN 208916317U CN 201821714025 U CN201821714025 U CN 201821714025U CN 208916317 U CN208916317 U CN 208916317U
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Abstract
A kind of banknote luggage automatic stacking device, including luggage plummer, multi-axis mechanical arm, robot base, multi-axis mechanical arm is mounted in robot base by base shaft, and it can be rotated around base shaft any direction, multi-axis mechanical arm includes preceding large arm and the rear forearm connecting with preceding large arm by arm shaft, forearm end is fixedly connected with banknote luggage special fixture by fixture shaft afterwards, luggage information recognition device is additionally provided with by multi-axis mechanical arm, multi-axis mechanical arm is electrically connected with PLC controller further through arm solenoid valve, PLC controller is electrically connected further through information solenoid valve and luggage information recognition device；Banknote luggage special fixture includes that suction unit, clamping unit and hook hang unit again；Luggage information recognition device can be the combination of device for visual identification and ultrasonic positioner or the combination of device for visual identification and laser locating apparatus.The utility model can grab the material of a variety of different dimensions and different location.
Description
Technical field
The utility model relates to warehouse stacking Sorting Technique field, in particular to a kind of banknote luggage automatic stacking device.
Background technique
Money bundle in bank vault is usually to pile up in national treasury after packing, and the size difference of different denomination money bundles causes outer
Package size has certain difference.It is by manual handling, labour that the money bale packaging of bank vault, which goes out to be put in storage, under normal circumstances
Intensity is big, low efficiency.Some stacking devices can solve the above problem, but have stronger limitation, cannot fit well
Answer various sizes of packaging.
Such as in the prior art, Authorization Notice No. is 206840088 U of CN, and the utility model of entitled palletizing apparatus is special
Benefit discloses a kind of palletizing apparatus, including pedestal, and pedestal is equipped with bottom swivel base, and bottom swivel base is equipped with L-type erecting bed, L-type
Erecting bed is equipped with external end cap, and control main body is equipped in external end cap, and the horizontal plane of L-type erecting bed is equipped with the first ball wire
Bar, the first ball screw are connect with control main body, and the vertical plane of L-type erecting bed is equipped with the second ball screw, the second ball wire
Bar is connect with control main body, and the one end for controlling main body is hinged with preceding large arm, and the other end for controlling main body is hinged with the first large arm pair
Bar and the second large arm secondary bar, the first large arm secondary bar and the second large arm secondary bar are connected on tripod by pin shaft, are connected on tripod
It is connected to upper arm, axis connection is sold on tripod upper torque arm, and upper arm is handled wrist body with upper torque arm and connected, and wrist body is equipped with machinery
Pawl.The utility model has the advantages that motion range is big, handling efficiency is high.But its mechanical gripping size is single, is unable to satisfy and grabs
Take the actual demand of different size luggages.Likewise, prior art application publication number is 107673067 A of CN, entitled one kind
The application for a patent for invention of robot palletizer, a kind of disclosed robot palletizer, comprising: pedestal；Rack is set on pedestal, can phase
It rotates for pedestal；Linking arm, including forearm and postbrachium, forearm are fixedly connected with postbrachium, straight line where forearm and ground
Face is arranged in parallel, and postbrachium is connected with rack；Mechanism is driven upside down, is set in rack, for being drivingly connected the up and down motion of arm；It grabs
Mechanism is taken, is set to the one end of the forearm far from the postbrachium, grasping mechanism is for grabbing stacking object.The robot palletizer
Structure is simple, and manufacturing cost is low, but manually there is also be unable to satisfy the different size casees of crawl using robot palletizer substitution
The actual demand of packet.
In order to allow same robot palletizer to grab various sizes of cargo, nowadays there is new technical solution.Example
If Authorization Notice No. is 207121220 U of CN, the utility model patent of entitled stacking sorting equipment provides a kind of stacking point
Pick device comprising control system, transport mechanism, the first stock stop, barcode scanning mechanism, the second stock stop and grasping mechanism.
Transport mechanism sets gradually feed zone, barcode scanning area and catching block；The top in barcode scanning area is arranged in first stock stop；Barcode scanning mechanism
The side in barcode scanning area is set；The end of catching block is arranged in second stock stop；The side of catching block is arranged in grasping mechanism.
Firstly, product is fed from the feed zone of transport mechanism, and scanning area is reached under the transmission of conveyer belt, at this moment the of sweep mechanism
One inductor senses product, and triggering code reader carries out barcode scanning；Then, code scaning information is sent to control system by code reader, control
After system processed receives information code information, information code is handled, by finished product type, searching database MYPARA table is obtained
To information such as l ength (length), width (width), he ight (height), maxno (maximum stacking number), robno (program number).Most
Afterwards, product enters catching block, and the second inductor senses that product triggering grasping mechanism grabs product and completes stacking behaviour
Make.
Grasping mechanism includes fixing seat, is arranged in fixing seat and the turntable of fixing seat rotation connection, setting are on turntable
Mechanical arm and the suction piece of mechanical arm tail end is set；Suction piece include fixed setting suction piece ontology on the robotic arm and
Vacuum chuck of the suction piece ontology towards catching block is set, and vacuum chuck is arranged in suction piece sheet in endian format.Nine
The vacuum chuck of palace format arrangements can carry out vacuum chuck according to the size of the shape and size of product and partially open and part
It closes, to adapt to different product sizes.
But gripper has been altered to vacuum to enable mechanical arm to grab various sizes of packing case by the patent
Sucker.And vacuum chuck is in actual use, is easy to happen gas leak phenomenon, and the suction of vacuum chuck is generally lower, it is easy to
Causing packing case to fall off causes cargo impaired.Meanwhile the patent is to record packing case by pasting two dimensional code in packaging in advance
Dimension information, then swept by the two dimensional code surface sweeping device before mechanical arm and to take the two-dimensional barcode information in packaging and pass the information on
To manipulator.Since needs are first manually taken measurements and size is generated two dimensional code, then two dimensional code is puted up, then need to scan two dimension again
Code, thus causes secondary operation, efficiency is lower.
In another example existing publication No. is 108082571 A of CN, patent name is that a kind of invention of cabinet Palletizer is special
Benefit application, including bracket, cabinet transportation system, article conveying system, move left and right system, back-and-forth motion system, move up and down
System, control system；Required article is delivered in cabinet Palletizer by the cabinet Palletizer by article conveying system
Portion, shape and position using article at the visual angle sensor resolution being arranged in by mechanical clamp hand, by moving left and right system, preceding
Afterwards mobile system, move up and down the linkage effect of system, the control system can automatically select optimal path, article is picked up
And be placed into the cabinet to be come by the conveying of cabinet transportation system, the cabinet Palletizer only need to directly divide article with cabinet
It is not placed in article conveying system and cabinet transportation system, the stacking to article can be automatically performed and complete to case, use
Viewing angle control, the operation is stable, the machinery clamp hand can be replaced according to the shape of article, can be applicable in the code of the different article of body
Pile and vanning.
The patent is provided with the size that visual angle sensor carrys out real-time judge cargo before manipulator.But the patent is in order to full
The various sizes of cargo of foot needs to replace manipulator according to cargo size in use, there are problems that inefficiency.Together
When, visual angle sensor can only judge cargo shape, and can not judge cargo location, and when cargo location is offset, manipulator is just
It can not be grabbed according to its position, cause job interruption.
Although in conclusion occurring the technical solution of mechanical arm substitution manual handling stacking in the prior art, and being
So that mechanical arm is can adapt to various sizes of packing case, also occur for gripper being changed to vacuum chuck, or in real time
According to the technical solution of cargo size change gripper, meanwhile, in order to judge cargo shape, also occur using visual angle sensor
Read the technical solution of packing case size.But still it easily falls cargo there are sucker and causes damaged, real-time change gripper effect
Rate is low, cargo location is grabbed and can not be carried out the problem of leading to job interruption after deviating.
Summary of the invention
The utility model is to solve technical solution used by its technical problem:
A kind of banknote luggage automatic stacking device, including luggage plummer, multi-axis mechanical arm, mechanical arm bottom are provided
Seat, the multi-axis mechanical arm are mounted in the robot base by base shaft, and can be appointed around the base shaft
The rotation of meaning direction, the multi-axis mechanical arm are connect including at least preceding large arm and with the preceding large arm by arm shaft rear small
Two arms of arm can be rotated between the preceding large arm and the rear forearm by the arm shaft any direction.
It is characterized in that the rear forearm end of the multi-axis mechanical arm also passes through fixture shaft and is fixedly connected with banknote luggage
Special fixture is additionally provided with luggage information recognition device by the multi-axis mechanical arm, and the multi-axis mechanical arm is further through hand
Arm solenoid valve is electrically connected with PLC controller, and the PLC controller is filled further through information solenoid valve and luggage information identification
Set electric connection.
The banknote luggage special fixture includes that suction unit, clamping unit and hook hang unit again, and the banknote luggage is special
Clamp top is provided with support plate, the support plate upper surface is connected by the fixture shaft with the rear forearm end,
Horizontal clamping cylinder is fixedly connected at left and right sides of the support plate lower surface, clamping cylinder end connects vertical two sides clamping plate,
The clamping cylinder and the two sides clamping plate form the clamping unit, and longitudinal hook gas is arranged in the outer side elevation of the two sides clamping plate
Cylinder, hook cylinder lower end axis connection hook, hook have hook shaft to connect again with two sides clamping plate, and the hook cylinder, hook turn
Axis and the hook composition hook hang unit, and the support plate lower plane is also fixedly connected with fixed link and guide rod, fixed link and guide rod
Lower end is fixedly connected with suction disc support plate, suction disc support plate lower surface connecting sucker, and vacuum control check valve, the suction is arranged in sucker upper end
Disk support plate, sucker and vacuum control check valve form the suction unit.
The luggage information recognition device can be the combination of device for visual identification and ultrasonic positioner, or view
Feel the combination of identification device and laser locating apparatus.
Ultrasonic positioner is the spatial characteristic using ultrasonic wave, to determine the specific location of target.It will be ultrasonic
Wave producer is placed in above the target positioned, ultrasonic pulse is sent according to certain time interval to surrounding, 3 around
The pulse signal that ultrasonic transmission device issues is received respectively on fixed position, since ultrasonic wave compares in space transmission speed
Slowly, so receiving the time order and function of signal by comparing three reception devices, the specific position of supersonic generator can be finally inversed by
It sets, that is, by the position of positioning target, waits when the object moves, the movement rail of target can be described by uninterruptedly measuring
Mark.The technical indicator of ultrasonic wave automatic position indicator includes positioning accuracy, response speed, orientation range.Positioning accuracy 5cm it
Interior, response speed is 0.1 second, and orientation range is the section that 30 meters of radius in place.
The luggage information recognition device judges cargo attribute and position for identifying to goods information,
And the information of acquisition is transferred to the PLC controller.The banknote luggage special fixture is for grabbing cargo.
The PLC controller is used to judge and control the operation of the multi-axis mechanical arm according to the goods information obtained
Track.
For the goods movement that the multi-axis mechanical arm grabs banknote luggage special fixture to designated position, banknote luggage is special
Cargo, which is unclamped, with fixture is placed into designated position.
The cargo is paper money bale packaging, can be ordinary soft packaging, box hard packing.
The banknote luggage special fixture is mounted on the multi-axis mechanical arm, is that one kind can grab plurality of specifications object
The flexible fixture of material unit.Stacking and de-stacking, the banknote luggage exclusive clamps are carried out by way of first drawing and clamping material afterwards
Cargo is sucked suction unit on tool lifts certain altitude, the clamping unit and hook of two sides hang unit respectively in cargo side and
It protrudes into cargo bottom surface closure to clamp, cargo is held.When fixture discharges cargo, first unclamps clamping unit and hook and hang unit, then pine
Suction unit is opened to discharge cargo.
The size of the banknote luggage special fixture can be customized according to cargo size, with upper surface area in use environment
Subject to maximum cargo, the cargo size that can be clamped is backward compatible, and cargo minimum upper surface area is not less than the face of a sucker
Product.There is no need to replace fixture the cargo of processing sizes can be realized.
The information recognition device can be fixed on fixture or on special stand, can also be fixed on manipulator
On arm perhaps on arm support or ground.
The luggage information recognition device has the ability to cargo identification, identifies cargo by luggage information recognition device
Size, location information, and pass information to the PLC controller, the PLC controller passes through obtained goods information
To determine the position that banknote luggage special fixture should clamp and the correct position that this cargo should be placed, and then the control multiaxis
Mechanical arm and the banknote luggage special fixture carry out corresponding actions and realize cargo crawl.
Detailed description of the invention
The present invention will be further described with example with reference to the accompanying drawing
Fig. 1 is the main view of the utility model embodiment 1
Fig. 2 is the main view of the utility model embodiment 2
Fig. 3 is the structural schematic diagram of the utility model banknote luggage special fixture
Main appended drawing reference:
1, luggage plummer 2, multi-axis mechanical arm 3, robot base 4, base shaft
5, preceding large arm 6, arm shaft 7, rear forearm 8, fixture shaft
9, banknote luggage special fixture 10, luggage information recognition device 11, arm solenoid valve
12, PLC controller 13, information solenoid valve 14, device for visual identification
15, ultrasonic positioner 16, laser locating apparatus 17, cargo pallet
15-1, ultrasonic transmission device 15-2, ultrasonic probe, ultrasonic receiver
9-1, support plate 9-2, clamping cylinder 9-3, two sides clamping plate 9-4, hook cylinder
9-5, hook 9-6, hook shaft 9-7, fixed link 9-8, guide rod
9-9, suction disc support plate 9-10, sucker 9-11, vacuum control check valve.
Specific embodiment
As shown in Figure 1 to Figure 3, a kind of banknote luggage automatic stacking device, including luggage plummer (1), multiaxis are provided
Mechanical arm (2), robot base (3), the multi-axis mechanical arm (2) are mounted on the machinery by base shaft (4)
It on arm pedestal (3), and can be rotated around the base shaft (4) any direction, before the multi-axis mechanical arm (2) includes at least
Large arm (5) and (7) two arms of rear forearm being connect with the preceding large arm (5) by arm shaft (6), the preceding large arm (5)
It can be rotated by arm shaft (6) any direction between the rear forearm (7).
Rear forearm (7) end of the multi-axis mechanical arm (2) also passes through fixture shaft (8) and is fixedly connected with banknote luggage
Special fixture (9), the multi-axis mechanical arm (2) is other to be additionally provided with luggage information recognition device (10), the multi-spindle machining hand
Arm (2) is electrically connected with PLC controller (12) further through arm solenoid valve (11), and the PLC controller (12) is further through information
Solenoid valve (13) and the luggage information recognition device (10) are electrically connected.
The banknote luggage special fixture (9) includes that suction unit, clamping unit and hook hang unit, the banknote luggage again
It is provided with support plate (9-1) at the top of special fixture (9), the support plate upper surface (9-1) passes through the fixture shaft (8) and institute
It states rear forearm (7) end to be connected, is fixedly connected with horizontal clamping cylinder (9-2) at left and right sides of support plate (9-1) lower surface,
The clamping cylinder end (9-2) connects vertical two sides clamping plate (9-3), the clamping cylinder (9-2) and the two sides clamping plate (9-3) group
At the clamping unit, longitudinal hook cylinder (9-4), the hook cylinder (9- is arranged in the outer side elevation of two sides clamping plate (9-3)
4) lower end axis connection hook (9-5) has hook shaft (9-6) even between the hook (9-5) and the two sides clamping plate (9-3) again
It connects, the hook cylinder (9-4), hook shaft (9-6) and hook (9-5) the composition hook hang unit, the support plate (9-1)
Lower plane is also fixedly connected with fixed link (9-7) and guide rod (9-8), and the fixed link (9-7) and the lower end guide rod (9-8) are fixedly connected
Suction disc support plate (9-9), suction disc support plate (9-9) the lower surface connecting sucker (9-10), sucker (9-10) upper end are set
It sets vacuum control check valve (9-11), the suction disc support plate (9-9), sucker (9-10) and vacuum control check valve (9-11) form the suction
Take unit.
The luggage information recognition device (10) can be device for visual identification (14) and ultrasonic positioner (15)
Combination or the combination of device for visual identification (14) and laser locating apparatus (16).
In embodiment 1 as shown in Figure 1, when the luggage information recognition device (10) be the device for visual identification (14) with
When the combination of the ultrasonic positioner (15), the device for visual identification (14) is arranged in the banknote luggage special fixture
(9) other, setting cargo pallet (17) is needed on the luggage plummer (1), and ultrasonic wave hair is provided on the cargo pallet (17)
Injection device (15-1), luggage plummer (1) left and right sides and the banknote luggage special fixture (9) side are each provided with one
A ultrasonic probe, ultrasonic receiver (15-2), the device for visual identification (14) and the ultrasonic probe, ultrasonic receiver (15-2) respectively with
The PLC controller (12) is electrically connected.
In embodiment 2 as shown in Figure 2, when the luggage information recognition device (10) be the device for visual identification (14) with
When the combination of the laser locating apparatus (16), the device for visual identification (14) is respectively provided with the laser locating apparatus (16)
It is other in the banknote luggage special fixture (9).The device for visual identification (14) is distinguished with the laser locating apparatus (16)
It is electrically connected with the PLC controller (12).
The laser locating apparatus (13) can be in the prior art, and Authorization Notice No. is 207148320 U of CN, patent
Device provided by the utility model patent of entitled laser locating apparatus.
In actual use, the luggage information recognition device (10) has the ability to cargo identification, passes through luggage information
Identification device (10) identifies the size of cargo, location information, and passes information to the PLC controller (12), the PLC
Controller (12) determines that the position that banknote luggage special fixture (9) should clamp and this cargo are answered by obtained goods information
The correct position of placement, and then the control multi-axis mechanical arm (2) and the banknote luggage special fixture (9) are accordingly moved
Stock object of putting into effect crawl.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row
The technical staff of industry is not it should be appreciated that the utility model is limited by above-mentioned case study on implementation, in above-mentioned case study on implementation and specification
Description only illustrates the principles of the present invention, and on the premise of not departing from the spirit and scope of the utility model, this is practical new
Type will also have various changes and improvements, and these various changes and improvements fall within the scope of the claimed invention.
Claims (3)
1. a kind of banknote luggage automatic stacking device, including luggage plummer (1), multi-axis mechanical arm (2), robot base
(3), the multi-axis mechanical arm (2) is mounted on the robot base (3) by base shaft (4), and can be around described
Base shaft (4) any direction rotation, the multi-axis mechanical arm (2) include at least preceding large arm (5) and with the preceding large arm (5)
(7) two arms of rear forearm connected by arm shaft (6) can pass through between the preceding large arm (5) and the rear forearm (7)
Arm shaft (6) any direction rotation,
It is characterized in that rear forearm (7) end of the multi-axis mechanical arm (2) also passes through fixture shaft (8) and is fixedly connected with paper money
Ballot box packet special fixture (9), the multi-axis mechanical arm (2) is other to be additionally provided with luggage information recognition device (10), the multiaxis
Mechanical arm (2) is electrically connected with PLC controller (12) further through arm solenoid valve (11), and the PLC controller (12) is led to again
It crosses information solenoid valve (13) and the luggage information recognition device (10) is electrically connected；
The banknote luggage special fixture (9) includes that suction unit, clamping unit and hook hang unit again, and the banknote luggage is dedicated
Be provided with support plate (9-1) at the top of fixture (9), the support plate upper surface (9-1) by the fixture shaft (8) with it is described after
Forearm (7) end is connected, and is fixedly connected with horizontal clamping cylinder (9-2) at left and right sides of support plate (9-1) lower surface, clamps
The cylinder end (9-2) connects vertical two sides clamping plate (9-3), and the clamping cylinder (9-2) and the two sides clamping plate (9-3) form institute
State clamping unit, the outer side elevation of two sides clamping plate (9-3) is arranged longitudinal hook cylinder (9-4), under the hook cylinder (9-4)
It holds axis connection hook (9-5), there is hook shaft (9-6) connection between the hook (9-5) and the two sides clamping plate (9-3) again,
The hook cylinder (9-4), hook shaft (9-6) and described hook of hook (9-5) composition hang unit, under the support plate (9-1)
Plane is also fixedly connected with fixed link (9-7) and guide rod (9-8), and the fixed link (9-7) and the lower end guide rod (9-8) are fixedly connected with suction
Disk support plate (9-9), suction disc support plate (9-9) the lower surface connecting sucker (9-10), the sucker upper end (9-10) setting
Vacuum control check valve (9-11), the suction disc support plate (9-9), sucker (9-10) and vacuum control check valve (9-11) form the absorption
Unit；
The luggage information recognition device (10) can be the combination of device for visual identification (14) Yu ultrasonic positioner (15),
The either combination of device for visual identification (14) and laser locating apparatus (16).
2. banknote luggage automatic stacking device according to claim 1, it is characterized in that the luggage information recognition device
(10) be the device for visual identification (14) Yu the ultrasonic positioner (15) combination, the device for visual identification (14)
Setting is other in the banknote luggage special fixture (9), and setting cargo pallet (17), the goods are needed on the luggage plummer (1)
It is provided on object pallet (17) ultrasonic transmission device (15-1), luggage plummer (1) left and right sides and the banknote box
Be each provided with a ultrasonic probe, ultrasonic receiver (15-2) by packet special fixture (9), the device for visual identification (14) with it is described
Ultrasonic probe, ultrasonic receiver (15-2) is electrically connected with the PLC controller (12) respectively.
3. banknote luggage automatic stacking device according to claim 1, it is characterized in that the luggage information recognition device
(10) be the device for visual identification (14) Yu the laser locating apparatus (16) combination, the device for visual identification (14) with
It is other that the laser locating apparatus (16) is arranged at the banknote luggage special fixture (9), the device for visual identification (14) with
The laser locating apparatus (16) is electrically connected with the PLC controller (12) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821714025.8U CN208916317U (en) | 2018-10-23 | 2018-10-23 | A kind of banknote luggage automatic stacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821714025.8U CN208916317U (en) | 2018-10-23 | 2018-10-23 | A kind of banknote luggage automatic stacking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208916317U true CN208916317U (en) | 2019-05-31 |
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ID=66710217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821714025.8U Active CN208916317U (en) | 2018-10-23 | 2018-10-23 | A kind of banknote luggage automatic stacking device |
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| Country | Link |
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| CN (1) | CN208916317U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112850114A (en) * | 2020-12-22 | 2021-05-28 | 辽宁科技大学 | Automatic sorting and boxing equipment for paper money processing assembly line |
-
2018
- 2018-10-23 CN CN201821714025.8U patent/CN208916317U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112850114A (en) * | 2020-12-22 | 2021-05-28 | 辽宁科技大学 | Automatic sorting and boxing equipment for paper money processing assembly line |
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