CN212711707U

CN212711707U - Novel automatic stacking robot

Info

Publication number: CN212711707U
Application number: CN202020788363.7U
Authority: CN
Inventors: 李鑫华; 张海华; 卞寅驰
Original assignee: Changshu Yintian Intelligent Technology Co ltd
Current assignee: Changshu Yintian Intelligent Technology Co ltd
Priority date: 2020-05-13
Filing date: 2020-05-13
Publication date: 2021-03-16
Anticipated expiration: 2030-05-13

Abstract

A novel automatic stacking robot comprises an automatic column type stacking robot body, a magnet, a reed switch, a voltage-stabilized power supply and an electromagnet; also has a control circuit; the electromagnet is arranged at the lower end of a support plate of the vertical column type stacker crane of the robot body; the magnet is arranged at the upper part of the outer side end of a plunger rod of one cylinder of the column stacker crane, and the two reed pipes are arranged at the lower part of one side end of the supporting plate; the stabilized voltage supply and the control circuit are arranged in the element box and are electrically connected with the reed switch and the electromagnet. This novel during operation, in the outside side movement of plunger rod and chuck of two cylinders of column hacking machine, the electro-magnet must not be electrified, has made things convenient for automatic pile up neatly machine people body to pick and pick the back to the steel part, follow-up put the steel part in the pile up neatly region of needs, and in the inside side movement, the electro-magnet must be electrified, produces magnetism to the part is automatic, under chuck and the dual effort of electro-magnet, has reduced and has been got the probability that the back part landing from between two chucks by the clamp, has reduced the potential safety hazard.

Description

Novel automatic stacking robot

Technical Field

The utility model relates to a hoist and mount pile up neatly equipment field, especially a novel automatic pile up neatly machine people.

Background

The automatic column type palletizing robot (comprising a column type palletizing machine, a crown block, a trolley, a PLC and the like which drive the column type palletizing machine to move front and back and left and right) can prevent the articles from swinging in the working process, so that the automatic column type palletizing robot works more stably and is widely applied. When the automatic column type stacking robot works, under the control of a PLC or an upper computer, the overhead traveling crane of the automatic column type stacking robot drives the column type stacker crane to move back and forth to a grabbing or stacking station, the traveling crane of the automatic column type stacking robot drives the column type stacker crane to move left and right to the grabbing or stacking station, the column type stacker crane moves to the grabbing or stacking station, under the effects of a motor, a screw rod and the like of the column stacker crane, the column can drive a gripping apparatus at the lower end of a supporting plate of the column stacker crane (the gripping apparatus mainly comprises a cylinder and a chuck, and under the control action of a PLC and the like during working, plunger rods of the two cylinders respectively drive the two chucks to inwards fold or outwards open to finish clamping and putting down the clamped goods) to upwards or downwards move to approach to an article to be grabbed or a stacking station, so that the goods are grabbed or put down to the stacking station after being grabbed.

The pile up neatly needs to snatch the pile up neatly to steel part many times in the actual production of current automatic column pile up neatly machine people, for example carries out the pile up neatly operation to the wheel hub of freight train, carries out pile up neatly operation etc. to belt pulley etc.. Because the existing automatic column type stacking robot only depends on the clamping heads of the gripping apparatus to clamp the products to be stacked, and the outer end faces of a plurality of metal components to be stacked are smooth, in the actual stacking process, after the gripping apparatus clamps goods, the clamping of the components by the two clamping heads cannot be effectively guaranteed, and particularly when the components have large weight, the probability that the components slide down to the ground between the two clamping heads is high, certain influence can be brought to stacking production, and certain potential safety hazards exist.

SUMMERY OF THE UTILITY MODEL

In order to overcome the existing automatic column type pile up neatly machine people, snatch pile up neatly to steel part, because only rely on the chuck of gripping apparatus to press from both sides the product that needs the pile up neatly, in the actual pile up neatly, there is the probability that the part falls to the ground from between two chucks, can bring certain influence to pile up neatly production, and there is the drawback of certain potential safety hazard, the utility model provides a based on current automatic column type pile up neatly machine people body, be provided with permanent magnet in the cylinder plunger outside of the column stopper pole of column pile up neatly machine lower part one side of automatic column type pile up neatly machine people body, be provided with the electro-magnet in the middle of the lower extreme that lies in column pile up neatly machine, be provided with the tongue tube at casing one side middle part of column pile up neatly machine, during operation, under control circuit combined action, in the plunger pole and the chuck of two cylinders of column pile up neatly machine move to the outside, Follow-up putting the part in the pile up neatly region that needs, in the inside side motion of plunger rod and chuck of two cylinders of column hacking machine, the electro-magnet can be got electric, produces magnetism to the part is automatic, and before the part snatchs the region that needs the pile up neatly through the overhead traveling crane like this, under chuck and the dual effort of electro-magnet, reduced and got the probability that back part slided from between two chucks, reached from this that pile up neatly production is safer relatively, reduced the novel automatic pile up neatly machine people of potential safety hazard.

The utility model provides a technical scheme that its technical problem adopted is:

a novel automatic stacking robot comprises an automatic column type stacking robot body, a magnet, a reed switch, a voltage-stabilized power supply and an electromagnet; it is characterized by also comprising a control circuit; the electromagnet is arranged at the lower end of a support plate of the column stacker crane of the robot body; the magnet is arranged at the upper part of the outer side end of a plunger rod of one cylinder of the column stacker crane, the number of the reed pipes is two, and the two reed pipes are arranged at the lower part of one side end of the supporting plate; the stabilized voltage supply and the control circuit are arranged in the element box; the positive electrode of the power output end of the voltage-stabilized power supply is electrically connected with one end of the first reed switch and one end of the second reed switch, the other end of the first reed switch is electrically connected with the first signal input end of the control circuit, and the other end of the second reed switch is electrically connected with the second signal input end of the control circuit; the alternating current power supply is electrically connected with the control power supply input end of the control circuit, and the power supply output end of the control circuit is electrically connected with the power supply input end of the electromagnet.

Further, a distance is reserved between the reed switch and the magnet.

Further, the inner contact of the first reed pipe is in a normally open structure, and the inner contact of the second reed pipe is in a normally closed structure.

Further, the stabilized voltage supply is an alternating current to direct current switching power supply module.

Furthermore, the control circuit comprises a resistor, a thyristor and a relay, wherein the resistor, the thyristor and the relay are connected through a circuit board in a wiring mode, one end of the resistor is connected with a control electrode of the thyristor, an anode of the thyristor is connected with a control power input end of a first relay, a cathode of the thyristor is connected with a positive power input end of the first relay, a normally open contact end of the first relay is connected with a positive power input end of a second relay, and negative power input ends of the two relays are connected.

Further, the electromagnet is an alternating current electromagnet.

The utility model has the advantages that: this novel all other whole working processes are unanimous completely with current automatic column pile up neatly machine people. In the novel stacking robot, when the stacking robot works, under the combined action of the control circuit, the plunger rods and the chucks of the two cylinders of the column stacker crane move outwards, the electromagnets are not powered on, and the automatic stacking robot is convenient for grabbing steel parts and then subsequently placing the steel parts in a required stacking area. This is novel, in the plunger rod and the chuck of two cylinders of column hacking machine moved to the inboard, the magnetic force of magnet can act on first tongue tube, the closed back of tongue tube internal contact, under control circuit combined action, the electro-magnet gets electricity, to the automatic magnetism that produces of part, after the part snatchs like this before the region that needs the pile up neatly is transported to the overhead traveling crane, under chuck and the dual effort of electro-magnet, reduced and got the probability of back part landing from between two chucks by the clamp, reached from this that the pile up neatly production is relatively safer, the effect of potential safety hazard has been reduced. Based on the above, this is novel has good application prospect.

Drawings

Fig. 1 is a schematic view of a partial structure of the present invention.

Fig. 2 is a schematic view of the overall structure of the present invention.

Fig. 3 is a circuit diagram of the present invention.

Detailed Description

As shown in fig. 1 and 2, a novel automatic palletizing robot comprises an automatic column palletizing robot body 4, a bar-shaped permanent magnet 5, a reed switch 6, a stabilized voltage power supply 7 and an electromagnet 8, wherein the automatic column palletizing robot body 4 is provided with a column palletizing machine 1, a crown block 2 for driving the automatic palletizing robot to move back and forth, left and right, a trolley 3, a PLC and the like; also has a control circuit 9; the electromagnet 8 is arranged in the middle of the lower end of a supporting plate 101 of the automatic palletizing robot body column stacker crane through a screw and a nut, the electromagnet 8 is positioned between two cylinders 102 of the column stacker crane, and the downward height of the electromagnet 8 is slightly larger than the downward height of the lower ends of the cylinders of the two cylinders 102; the bar-shaped permanent magnet 5 is bonded on the upper part of the outer end of the plunger rod 1021 of the cylinder at the left end by glue (or fixed by a screw nut and a fixing clamp), the number of the reed pipes 6 is two, the two reed pipes 6 are transversely connected in the lower end of a plastic box 10 by glue at certain intervals, the upper end of the plastic box 10 is bonded on the lower middle part of the left end of the supporting plate 101 by glue, and the movable contact of the reed pipe 6 is horizontally positioned on the upper part of the inner lower end of the plastic box 10; the stabilized voltage power supply 7 and the control circuit 9 are installed on a circuit board, the circuit board is installed in an element box 11, and the element box 11 is installed on the right side of the upper end of a supporting plate 101 of the automatic stacking robot body. The two reed pipes 6 and the magnet 5 are positioned on a vertical plane from top to bottom, and the interval between the lower end of the plastic box 10 and the upper end of the magnet 5 is 1 mm. Reference numeral 13 denotes a crown block holder, and 14 denotes a crown block rail.

As shown in figures 1, 2 and 3, the internal contact of a first reed switch GH1 is in a normally open structure (model number GC3817-NO), the internal contact of a second reed switch GH2 is in a normally closed structure (model number GC3817-NC), the first reed switch GH1 is located in the middle of the element box, and the second reed switch GH2 is located on the left side of the element box. The stabilized voltage supply A is a finished product of a switching power supply module for converting alternating current 220V into 12V with the model of S-60-12 and has the power of 200W. The control circuit comprises a resistor R1, a thyristor VS and a relay J, J3, wherein the resistor R1, the thyristor VS and the relay J, J3 are connected through circuit board wiring, one end of a resistor R1 is connected with a thyristor VS control electrode, a thyristor VS anode is connected with a control power supply input end of a first relay J, a thyristor VS cathode is connected with a positive power supply input end of the first relay J, a normally open contact end of the first relay J is connected with a positive power supply input end of a second relay J3, and negative power supply input ends of the two relays J, J3 are connected. The electromagnet DC is an AC 220V electromagnet with model YHN-P30, the disk diameter is 16cm, and the power is 200W. The power input ends 1 and 2 of the stabilized voltage power supply A are respectively connected with two poles of an alternating current 220V power supply through leads; the positive 3 feet of a power output end of a voltage-stabilized power supply A are connected with one end of a first reed switch GH1 and one end of a second reed switch GH2 through leads, the other end of the first reed switch GH1 is connected with the other end of a first signal input end resistor R1 of a control circuit through a lead, and the other end of the second reed switch GH2 is connected with a second signal input end silicon controlled rectifier VS anode of the control circuit and a control power input end of a relay J through leads; the two control power supply input ends of a relay J3 of the 220V alternating current power supply and the control circuit are respectively connected through a lead, and the two normally open contact ends of a power supply output end relay J3 of the control circuit and the power supply input end of the electromagnet DC are respectively connected through a lead. A power switch S is connected in series between the power input end of the stabilized power supply A and the 220V alternating current end, and an operating button of the power switch S is positioned outside an opening at the front side end of the element box.

As shown in fig. 1, 2 and 3, all the other working processes of the robot are completely consistent with the existing automatic palletizing robot. When the automatic column type palletizing robot body 4 works, under the control action of a PLC or an upper computer, a crown block 2 of the automatic column type palletizing robot body 4 drives a column type palletizing machine 1 to move back and forth to a grabbing or palletizing station, a trolley 3 of the automatic column type palletizing robot body 4 drives the column type palletizing machine 1 to move left and right to the grabbing or palletizing station, after the column type palletizing machine 1 moves to the grabbing or palletizing station, a column 103 of the automatic column type palletizing robot body 4 drives a gripping tool (the gripping tool mainly comprises two air cylinders 102 and a gripping head 1022) at the lower end of a supporting plate 101 of the automatic column type palletizing robot body, under the control action of the PLC and the like, 1021 of the two air cylinders respectively drives the two gripping heads 1022 to be folded inwards or outwards to complete the grabbing of goods 12 and the goods to be put down and gripped) to move upwards or downwards to be close to an article to be grabbed or a station during palletiz, and then the goods 12 are grabbed or placed at the stacking station after being grabbed.

As shown in fig. 1, 2 and 3, after the 220V power supply enters pins 1 and 2 of the regulated power supply a, the regulated power supply a outputs a stable 12V power supply positive electrode to one end of the reed switches GH1 and GH2 under the action of an internal circuit of the regulated power supply a. When the automatic column type robot palletizer body 4 works, under the control action of a PLC and the like, the plunger rods 1021 of the two cylinders respectively drive the two chucks 1022 to fold inwards to finish clamping of goods 12, the plunger rod 1021 of the left cylinder moves rightwards and simultaneously drives the magnet CT to move rightwards, the magnetic acting force of the magnet CT in the rightward movement can respectively act on the reed switch GH2 and the first reed switch GH1, therefore, at the moment of the magnetic acting force of the reed switches GH2 and GH1, the movable contact and the static contact in the reed switch GH2 can be opened (as the plunger rod 1021 of the left cylinder continues to move rightwards and simultaneously drives the magnet CT to move rightwards, the magnetic acting force of the magnet CT does not act on the reed switch GH2 any more, and the movable contact and the static contact in the reed switch GH2 are closed), and the movable contact and the static contact in the reed switch GH1 can be closed. When the movable contact and the fixed contact in the reed switch GH1 are closed, the positive pole of the 12V power supply can be subjected to voltage reduction and current limitation through the reed switch GH1 and the resistor R1 which are closed, and then the positive pole of the 12V power supply enters the control pole of the controllable silicon VS, so that the controllable silicon VS can be triggered and conducted, the relay J is electrified to attract the input end of the control power supply and the normally open contact end of the relay J to be closed (after the controllable silicon VS is triggered and conducted, as long as the anode power supply is not powered off, the relay J can continuously keep electrified to attract). Because the normally open contact end of the relay J is connected with the positive power supply input end of the relay J3, the relay J3 can be electrically attracted at the moment, the two control power supply input ends and the two normally open contact ends are respectively closed, and then the 220V power supply can enter the two input ends of the DC power supply of the electromagnet, so that the DC power supply of the electromagnet can be electrically operated to generate magnetic acting force on the steel part clamped by the chucks, and thus, the steel part 12 (goods) is clamped and then transferred to an area needing stacking through the crown block 2, and under the double acting force of the chucks 1022 and the DC power supply of the electromagnet, the probability that the clamped part 12 slides down from the two chucks 1022 is reduced, so that the stacking production is relatively safer, and the potential safety hazard is reduced (the electromagnet DC is far away from the reed pipe 1 and GH2 and is positioned at the right side end of the reed pipe, and the generated magnetic force cannot influence the GH1, Normal operation of GH 2).

As shown in fig. 1, 2 and 3, when the automatic palletizing robot body 4 is used for grabbing steel components before and after the steel components are grabbed and then placing the steel components in a required palletizing area, two chucks 1022 move outwards, the plunger rod 1021 of the left cylinder moves leftwards, the magnet CT is simultaneously driven to move leftwards, the magnetic acting force of the magnet CT acts on the reed pipe GH1 and the reed pipe GH2 respectively during the leftward movement of the magnet CT, so that at the moment of the magnetic acting force of the reed pipes 1 and GH2, the movable contact and the static contact inside the reed pipe GH1 are closed (as the plunger rod 1021 of the left cylinder continues to move leftwards and simultaneously drives the magnet CT to move leftwards, the magnetic acting force of the magnet CT does not act on the reed pipe GH1 any more, and the movable contact and the static contact inside the reed pipe GH1 are opened), and the movable contact and the static contact inside the reed pipe GH2 are opened. At the moment when the movable contact and the fixed contact in the reed switch GH2 are opened, the positive electrode of the 12V power supply does not enter the positive electrode of the controllable silicon VS any more through the movable contact and the fixed contact in the reed switch GH2, so that the positive electrode of the controllable silicon VS is not conducted any more when power is lost, the relay J is not pulled to open the circuit of the input end of the control power supply and the end of the normally open contact when the power is lost, and further, the relay J3 is powered off and the electromagnet CT is powered off; therefore, when the automatic stacking robot body is used for placing the steel parts in a required stacking area before and after the steel parts are grabbed, the electromagnet DC is not electrified, so that magnetic acting force is not generated on the steel parts 12 any more, the separation of the parts 12 and the electromagnet DC is facilitated, and the influence on the work is prevented. The resistance R1 is 1K; the VS model of the controlled silicon is MCR 100-1; the relay J, J3 is a DC12V relay.

Having shown and described the fundamental principles and essential features of the invention, and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A novel automatic stacking robot comprises an automatic column type stacking robot body, a magnet, a reed switch, a voltage-stabilized power supply and an electromagnet; it is characterized by also comprising a control circuit; the electromagnet is arranged at the lower end of a support plate of the column stacker crane of the robot body; the magnet is arranged at the upper part of the outer side end of a plunger rod of one cylinder of the column stacker crane, the number of the reed pipes is two, and the two reed pipes are arranged at the lower part of one side end of the supporting plate; the stabilized voltage supply and the control circuit are arranged in the element box; the positive electrode of the power output end of the voltage-stabilized power supply is electrically connected with one end of the first reed switch and one end of the second reed switch, the other end of the first reed switch is electrically connected with the first signal input end of the control circuit, and the other end of the second reed switch is electrically connected with the second signal input end of the control circuit; the control power input end of the control circuit is electrically connected with the alternating current power supply, and the power output end of the control circuit is electrically connected with the power input end of the electromagnet.

2. The novel automatic palletizing robot as claimed in claim 1, wherein a reed switch and a magnet are spaced by a distance.

3. The robot palletizer as in claim 1, wherein the internal contact of the first reed pipe is of a normally open type, and the internal contact of the second reed pipe is of a normally closed type.

4. The novel automatic palletizing robot as claimed in claim 1, wherein the regulated power supply is an AC-to-DC switching power supply module.

5. The robot palletizer as in claim 1, wherein the control circuit comprises a resistor, a thyristor and a relay, the resistor, the thyristor and the relay are connected through circuit board wiring, one end of the resistor is connected with a thyristor control electrode, a thyristor anode is connected with a first relay control power input end, a thyristor cathode is connected with a first relay positive power input end, a first relay normally open contact end is connected with a second relay positive power input end, and two relay negative power input ends are connected.

6. The novel automatic palletizing robot as claimed in claim 1, wherein the electromagnet is an ac electromagnet.