CN210437869U

CN210437869U - Stacking robot

Info

Publication number: CN210437869U
Application number: CN201921034935.6U
Authority: CN
Inventors: 肖占春; 谢金辉; 杜晨曦; 张东阳; 印柏华; 汪益停
Original assignee: Anji Bata Robot Co ltd
Current assignee: Anji Bata Robot Co ltd
Priority date: 2019-07-04
Filing date: 2019-07-04
Publication date: 2020-05-01
Anticipated expiration: 2029-07-04

Abstract

The utility model relates to an automation equipment design field, concretely relates to stacking robot. The utility model discloses a can realize through following technical scheme: the utility model provides a stacking robot, contains the organism, the organism contain the revolving stage and with the revolving stage is connected and be in the drive of revolving stage down can the horizontal direction pivoted multisection arm, multisection arm end is equipped with the tongs, be equipped with the vision camera on the tongs. The utility model aims at providing a stacking robot, degree of automation is high, and the stacking speed is fast, and is accurate to material discernment.

Description

Stacking robot

Technical Field

The utility model relates to an automation equipment design field, concretely relates to stacking robot.

Background

With the development of industrial technology and the popularization of intelligent degree, the industrial mode is also changed newly. The traditional industrial mode mostly depends on manual work, and in the manual operation process of workers, the phenomena of low efficiency, high labor cost, low industrial control precision and the like generally exist. In a new industrial mode, automation and intellectualization are more widely introduced, and various industrial process links, such as material conveying and material stacking links, can use automation equipment to complete corresponding operations.

A stacker disclosed in chinese patent document No. cn201810444922.x includes a slidable fork and a sensor mounted on the fork, and the position of the fork is adjusted under the instruction of the sensor, so that articles on a shelf can be accessed and stacked. However, such an operation has some disadvantages: on one hand, the automation degree is not high enough, no manual participation can be realized in the whole process, and workers are required to drive the stacker to be close to the goods shelf; on the other hand, the efficiency is low, the stacker needs to be moved when the stacking operation is completed at one position and then the stacking operation is performed at the next position, and the stacking speed is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a stacking robot, degree of automation is high, and the stacking speed is fast, and is accurate to material discernment.

The above technical purpose of the present invention can be achieved by the following technical solutions: the utility model provides a stacking robot, contains the organism, the organism contain the revolving stage and with the revolving stage is connected, and be in the drive of revolving stage down can the horizontal direction pivoted multisection arm, the end of multisection arm is equipped with the tongs, be equipped with the vision camera on the tongs.

As the utility model discloses a preferred, multisection arm contain with the fixed arm that the revolving stage is connected, with fixed arm articulated rotor arm one, with rotor arm one articulated rotor arm two and with rotor arm two articulated rotor arm three, rotor arm one rotor arm two with the direction of rotation of rotor arm three is vertical direction, the end of rotor arm three is equipped with the tongs.

As the utility model discloses a preferred, the tongs contain with the tongs frame that multisection arm is connected, with the sucking disc frame and a plurality of sucking discs of setting on the sucking disc frame that the tongs frame is connected.

As the utility model discloses a preferred, the light source with the vision camera all sets up on the gripper frame.

As the utility model discloses a preferred, be equipped with on the material that the tongs acquireed and be used for supplying vision camera catches the label in order to confirm the material direction.

As the utility model discloses a preferred, there are finished product buttress and buffering buttress around the machine, what stack on the buffering buttress is quilt the stack region of NG article is judged in vision camera discernment.

As the utility model discloses a preferred, the organism finished product buttress with be equipped with the protection inductor around the buffer memory buttress.

As the utility model discloses a preferred, still contain the switch board, be equipped with the pause button that is used for pausing this kind of stacking robot on the switch board.

As the utility model discloses a preferred, the switch board is connected with workshop MES system communication.

As the utility model discloses an it is preferred, still contain and fill electric pile.

To sum up, the utility model discloses following beneficial effect has:

1. the automatic degree is high, replaces three manual operation posts of finished product carriers, raw material carriers and palletizers, and the AGV car and the stacking robot are used for running in the whole process.

2. By adopting the technical scheme of stereoscopic vision, the aligning mechanism in the traditional technology is saved, and the automatic aligning device can automatically adapt to cartons with different sizes and specifications.

3. The vision improves the position precision of stacking process to the accurate discernment of carton position.

4. The safety is high, if the robot illegally enters a robot working area, laser guard rails around the palletizing robot are triggered, and the robot immediately stops moving.

Description of the drawings:

FIG. 1 is a schematic diagram of a first embodiment;

FIG. 2 is a schematic view at a processing facility;

FIG. 3 is a schematic view of an AGV;

FIG. 4 is a schematic view of a palletizing robot;

FIG. 5 is an enlarged detail view of the housing of FIG. 4;

FIG. 6 is a schematic view of the hand grip.

In the figure: 1. the automatic control device comprises a control cabinet, 2, a robot base, 21, a top plate, 22, an outer scattered side plate, 23, a central hole, 3, a machine body, 31, a rotating table, 32, a plurality of sections of mechanical arms, 321, a fixed arm, 322, a first rotating arm, 323, a second rotating arm, 324, a third rotating arm, 4, a pallet, 41, an extending edge, 42, a pallet, 5, a gripper, 51, a vision camera, 52, a gripper frame, 53, a suction frame, 54, a suction cup, 61, a finished product stack, 62, a buffer stack, 63, a charging pile, 71, processing equipment, 72, a calling device, 8, an AGV car, 81, a car body, 82, a traveling wheel, 83, a cargo carrying plate, 831, a processing material placing area, 832, a raw material placing area, 84, a trolley stand column, 85, a trolley touch screen, 86, a photoelectric sensor, 91, a processing workshop, 92, an AGV driving road, 93, a stacking area, 94 and a trolley passing port.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.

Example 1, as shown in fig. 1 and 2. Including the process plants 91, the process plants 91 are arranged in a plurality of rows, each row having a plurality of processing tools 71. The specific type of the processing device 71 is not limited, and may be a hole punch, a packaging machine, or a film laminating machine, depending on the actual plant. An AGV traveling passage 92 is provided between adjacent rows of the processing devices 71 for the AGV traveling.

As shown in fig. 2, there is a corresponding calling device 72 on each processing tool 71. The processing device 71 is exemplified as a punch. When the finished products of the punching machine are discharged and the delivery inspection of the last finished product is qualified, a worker drags the packing trolley to the position of the punching machine, the worker firstly presses a calling device 72 on the punching machine, such as a calling AGV button of a touch screen, and the AGV8 starts to run to the calling position. At the same time, the worker starts packing on the packing trolley.

As shown in fig. 2 and 3, the AGV vehicle 8 includes a vehicle body 81, and traveling devices, such as traveling wheels 82, are provided at the lower end of the vehicle body 81, and a loading plate 83 is provided at the upper end. It should be noted that, in this technical solution, a "two-material partition design" is adopted. That is, the cargo board 83 is divided into two regions, i.e., a processed material placement region 831 and a raw material placement region 832 respectively on the left and right sides of the cargo board in fig. 3. The material placement area 832 is an item that has not been processed by the processing device 72, hereinafter simply referred to as material. The processing material placement region 831 places thereon the articles, hereinafter simply referred to as materials, that have been processed by the processing device 72.

The AGV car 8 includes guiding and positioning devices, and specifically, may use laser range finder and a variety of compound sensing modes such as ultrasonic wave, infrared ray, gyroscope. The method comprises the steps of automatically detecting terrain and obstacles, establishing a map, positioning, navigating and avoiding obstacles. This has the advantage that the AGV path 92 does not need to be laid with cables, magnetic strips, color strips, etc., but with a common floor.

After receiving the instruction of the AGV button, the AGV car 8 stops at the distance of 1 meter from the calling punching machine to wait, and after the packaging is completed, a worker puts a previous carton which is subjected to qualified delivery inspection on the AGV car, takes away a raw material on the AGV car 8, presses the OK button of the trolley touch screen 85 on the AGV, and informs the AGV that the raw material unloading and the finished product loading are finished. The AGV8 moves forward to the idle area, waits for the next call and loads and unloads the goods, and waits until a specified number of cartons, for example 4, are loaded, the AGV8 passes through the AGV-specific door opening in the wall of the workshop, i.e. the trolley passage opening 94 in fig. 1, and automatically moves to the stacking area 93.

As shown in fig. 3, the cart body 81 is provided with cart pillars 84, which are provided with photoelectric sensors 86 at different height positions and are provided with a material placing area 831 and a material placing area 832 facing the processed material, so that the quantity of the materials and the raw materials on the current AGV8 can be conveniently known according to the sensor signals.

As shown in fig. 4, 5 and 6, the palletizing zone 93 contains a palletizing robot. The stacking robot comprises a control cabinet 1, a robot base 2 and a machine body 3 arranged on the base 2. Be equipped with in 1 below of switch board and fill electric pile 63, be equipped with the electric quantity measuring circuit on the AGV car 8, can survey the battery power of AGV car. When the electric quantity is lower than the preset value, the electric quantity is judged to be insufficient, and then the charging is automatically carried out at the charging pile 63. When the amount of charge reaches a certain amount, e.g., above 30%, the AGV car 8 may be forcibly dispatched by the AGV dispatching system to operate.

In the technical scheme, a workshop MES system is arranged in a factory workshop. The calling device 72, the AGV car 8, the AGV dispatching system, the palletizing robot and the customer MES system are communicated and coordinated through wireless signals.

The base 2 comprises an outer scattered side plate 22 which is obliquely arranged and a top plate 21 connected with the outer scattered side plate 22, wherein a central hole 23 is formed in the outer scattered side plate 22. The body 3 is mounted on the top plate 21.

As shown in fig. 5, the body 3 includes a rotating table 31 and a multi-link robot arm 32, and the multi-link robot arm 32 can rotate in the horizontal direction under the influence of the rotation of the rotating table 31. The multi-section mechanical arm 32 adopts a multi-section articulated design, specifically, a fixed arm 321 is connected with the rotating platform 31, and then a rotating arm one 322, a rotating arm two 323 and a rotating arm three 324 are sequentially articulated, the three sections of rotating arms can rotate in the vertical direction under the driving of a driving component such as a motor, and the multi-section articulated design and the design of the rotating platform 31 enable the position of the gripper 5 to be flexibly adjusted.

As shown in fig. 6, the gripper 5 is pivotally connected to the end of the multi-link robot arm 32 and includes a gripper frame 52 and a suction cup frame 53 connected to the gripper frame 52. The suction cup frame 53 can be two, each suction cup frame 53 comprises a plurality of suction cups 54, and the suction cups 54 can obtain enough suction force to suck materials under the action of the vacuum generator.

A vision camera 51 and a light source are provided on the gripper frame 52. The vision camera 51 and light source cooperating therewith can ascertain the specific location of the AGV vehicle and the material thereon and direct the movement of the body 3 so that the gripper 5 sucks up the material and stacks it.

In this process, the vision camera 51 is aimed at the carton on the AGV, which is provided with an identification device, such as a tag. The vision camera 51 recognizes the bar code information of the cartons and stacks the cartons according to the requirements input in the MES according to the customer MES information corresponding to the bar codes. Such as stack position, stack level, label orientation, etc. All the material eventually needs to be stacked onto the pallet 4. The robot moves the gripper 5 to the position above the pallet 4, the vision camera 51 identifies the position and the size specification of the wood pallet, identifies the position information of the carton on the wood pallet, and the suction disc 54 sucks the carton for stacking. When full buttress, the signal lamp scintillation, screen suggestion simultaneously, the suggestion workman transports the warehouse with wooden pallet.

The pallet 4 comprises extended ribs 41 and pallets 42 arranged thereon, and the AGV removing a full stack of pallets 4 may be a heavy duty AGV system, automatically transporting pallets full of cartons to a warehouse. Sometimes, the warehouse is on another floor, and the heavy-load AGV system automatically controls the goods elevator through the wireless system and automatically gets on and off the goods elevator. The heavy-load AGV load is more than 1 ton.

During stacking, sometimes the labels on the cartons are misplaced. When the label bar code is not identified in the default direction by the bar code identification system of the robot palletizer system during misplacing, the AGV is informed of the original-place rotation of the AGV car 8 by a wireless system for one circle to search the bar code. The AGV car 8 contains the structure that the pivot turned to, for example, the AGV car contains two drive wheels, and every drive wheel is by solitary motor drive, according to the positive and negative rotation of motor, can realize the pivot of AGV car and turn to.

As shown in fig. 4, a finished product stack 61 and a buffer stack 62 are included in the stacking area. The stacks 61 are normal stacks and the buffer stacks 62 are NG, i.e. no good, stacked. When a worker mistakenly loads NG product cartons onto the AGV car 8 and the AGV car 8 walks to a stacking area, the visual sense of the stacking robot can detect the bar code information of the NG product cartons, the bar code information is reported to the MES system, the MES system inquires the bar code information, and when NG products are found, the MES changes the data state command table to control the stacking robot to place the NG product cartons at a specific position for independent stacking, namely, the buffer stack 62. The MES notifies the punching machine and the worker to retrieve the NG.

The stacking robot system also has a protection function, and laser sensors are arranged on the periphery of the stacking area 93 to form laser protective barriers. If the robot illegally enters the robot working area, laser guard rails around the palletizing robot are triggered, and the robot immediately stops moving. When in some embodiments it is desired to remove a stack of palletized finished products with a forklift truck, the pause button of the touch screen of the robot control cabinet 1 should be pressed first and the stack of finished products then be transported away.

Further, in order to improve the utilization rate of the AGV car 8, after the AGV car 8 sends finished product stacking, the mode is switched to a raw material mode according to MES information command, a raw material loading area is automatically removed, and a specified amount of raw materials, such as 4 rolls of raw materials, are loaded manually or by a robot. And then comes to the area of the processing equipment 71 to stand by, waiting for the worker to press the calling device 72.

In the above, the AGV8 repeats three steps of unloading and loading the raw material, stacking and carrying, and loading the raw material.

Claims

1. A palletizing robot comprises a body (3), and is characterized in that: organism (3) contain revolving stage (31) and with revolving stage (31) are connected and be in can horizontal direction pivoted multisection arm (32) under the drive of revolving stage (31), multisection arm (32) end is equipped with tongs (5), be equipped with vision camera (51) on tongs (5).

2. A palletizing robot as in claim 1, characterized in that: the multi-section mechanical arm (32) comprises a fixed arm (321) connected with the rotating table (31), a first rotating arm (322) hinged to the fixed arm, a second rotating arm (323) hinged to the first rotating arm (322) and a third rotating arm (324) hinged to the second rotating arm (323), the first rotating arm (322), the second rotating arm (323) and the third rotating arm (324) are both in a vertical direction, and a gripper (5) is arranged at the tail end of the third rotating arm (324).

3. A palletizing robot as in claim 1, characterized in that: the gripper (5) comprises a gripper frame (52) connected with the multi-section mechanical arm (32), a suction disc frame (53) connected with the gripper frame (52) and a plurality of suction discs (54) arranged on the suction disc frame (53).

4. A palletizing robot as in claim 3, characterized in that: the light source and the vision camera (51) are both arranged on the gripper frame (52).

5. A palletizing robot as in claim 1, characterized in that: the material obtained by the hand grip (5) is provided with a label for the visual camera (51) to capture so as to determine the direction of the material.

6. A palletizing robot as in claim 1, characterized in that: there are finished product buttress (61) and buffer stack (62) around organism (3), what stack on buffer stack (62) is by vision camera (51) discernment is the stack region of NG article.

7. A palletization robot as in claim 6, characterized in that: and protective sensors are arranged around the machine body (3), the finished product stack (61) and the buffer stack (62).

8. A palletizing robot as in claim 7, characterized in that: the stacking robot further comprises a control cabinet (1), wherein a pause button for pausing the stacking robot is arranged on the control cabinet (1).

9. A palletizing robot as in claim 8, wherein: and the control cabinet (1) is in communication connection with a workshop MES system.

10. A palletizing robot as in claim 1, characterized in that: also comprises a charging pile (63).