CN213890025U - Counter docking system with coiled material grabbing robot - Google Patents
Counter docking system with coiled material grabbing robot Download PDFInfo
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- CN213890025U CN213890025U CN202021485463.9U CN202021485463U CN213890025U CN 213890025 U CN213890025 U CN 213890025U CN 202021485463 U CN202021485463 U CN 202021485463U CN 213890025 U CN213890025 U CN 213890025U
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Abstract
The utility model discloses a packing cupboard butt joint system with coil material snatchs robot, include: automatic packing cupboard and dispatch control computer communication, wherein, still include: the coil material snatchs robot, visual identification device, the coil material snatchs robot, visual identification device with dispatch control computer communication, the coil material snatchs the robot and includes: the lower driving assembly is provided with a support, the support is provided with a workbench, and the workbench is provided with a manipulator and a material turnover box; a manipulator driving assembly is arranged in the bracket; the manipulator driving assembly is connected with the manipulator. The automatic container matching material tray grabbing robot is characterized in that a support is mounted on a lower driving assembly of the material tray grabbing robot, a workbench is arranged on the support, a manipulator and a material turnover box are matched with the workbench, and a scheduling control computer controls recognition devices of the material tray grabbing robot, the automatic container and vision respectively, so that mechanized operation of material tray grabbing and transportation is realized.
Description
Technical Field
The utility model relates to a robot especially relates to a packing cupboard butt joint system that has the coiled material and snatchs robot that snatchs electronic reel material.
Background
The electronic coil stock is a necessary product in the production process of the electronic industry, and the quantity and the types of the electronic coil stock are extremely huge.
Automatic containers in the prior art are used for the storage and sorting of materials in large quantities, wherein operations can be carried out on electronic coil materials.
Specifically, according to the instruction, the automatic packing cupboard can be automatic carry required material to the opening part, promptly goods to people.
However, the last step is always faced, namely the target goods finally reach the opening and need to be taken manually, and a mechanical butt joint system is lacked.
Accordingly, the present invention is directed to a docking system that can grasp and move a material in a tray in a controllable machine.
SUMMERY OF THE UTILITY MODEL
The above object of the present invention is achieved by the following technical solutions:
a container docking system with a coil grasping robot, comprising: automatic packing cupboard and dispatch control computer communication, wherein, still include: the coil material snatchs robot, visual identification device, the coil material snatchs robot, visual identification device with dispatch control computer communication, the coil material snatchs the robot and includes: the lower driving assembly is provided with a support, the support is provided with a workbench, and the workbench is provided with a manipulator and a material turnover box; a manipulator driving assembly is arranged in the bracket; the manipulator driving assembly is connected with the manipulator.
The container docking system with the coil grabbing robot is characterized in that a battery assembly is installed in the frame, and the battery assembly is connected with the lower driving assembly, the manipulator and the manipulator driving assembly to supply power.
The container docking system with the coil grabbing robot as described above, wherein the robot arm includes: the mechanical arm is provided with a clamping device.
The container docking system with the coil grabbing robot as described above, wherein the visual recognition device is a two-dimensional code reading head.
The container docking system with a coil grabbing robot as described above, wherein the lower drive assembly is an AGV cart.
The container docking system with the coil grabbing robot as described above, wherein the AGV trolley is further connected with an operation panel, and the operation panel is installed on the workbench.
The container docking system with a coil grabbing robot as described above, wherein the AGV cart comprises: the laser navigation assembly is arranged on the side edge of the workbench and is arranged on the laser navigation mounting piece.
The container docking system with the coil grabbing robot as described above, wherein the AGV trolley is provided with a safety contact edge at the side edge.
The container docking system with the coil grabbing robot as described above, wherein the AGV includes a laser obstacle sensor mounted on the side.
The container docking system with the coil grabbing robot as described above, wherein the laser navigation assembly comprises: a security laser scanner.
To sum up, owing to adopted above-mentioned technical scheme, the utility model provides a need the artifical problem of taking the coiled material among the prior art, set up the charging tray that supporting automatic packing cupboard work and snatch the robot, the installing support on the lower part drive assembly that the charging tray snatchs the robot to set up the workstation on the support, the supporting manipulator of workstation, material turnover box, the dispatch control computer is controlled the coiled material snatchs the robot, automatic packing cupboard, the recognition device of vision respectively, realizes that the coiled material snatchs and the mechanized operation of transportation. The utility model discloses can reduce artifical quantity, reduce intensity of labour simultaneously.
Drawings
FIG. 1 is a schematic structural view of a coil grabbing robot with a container docking system having a coil grabbing robot according to the present invention;
FIG. 2 is a schematic structural view of an automatic container of the container docking system with the coil grabbing robot of the present invention.
Detailed Description
The invention will be further described with reference to the following figures and examples:
fig. 1 is a schematic structural diagram of the coil grabbing robot of the present invention, please refer to fig. 1, a container docking system with a coil grabbing robot, comprising: automatic packing cupboard and dispatch control computer communication, wherein, still include: the coil material snatchs robot, visual identification device, and the coil material snatchs robot, visual identification device and dispatch control computer communication, and the coil material snatchs the robot and includes: a bracket 13 is arranged on the lower driving component 11, a workbench is arranged on the bracket 13, and a manipulator and the material turnover box 3 are arranged on the workbench; a manipulator driving assembly 7 is arranged in the bracket 13; the manipulator drive assembly 7 is connected to the manipulator. The utility model discloses a dispatch control computer control dish material snatchs robot and moves between the target location of automatic packing cupboard and dish material, and vision recognition device discerns target dish material, and the manipulator snatchs the dish material and puts into material turnover box 3, realizes mechanized dish material snatchs and removes.
Specifically, the utility model discloses an automatic packing cupboard, dispatch control computer are prior art, and automatic packing cupboard can adopt vertical rotation packing cupboard, vertical lift formula packing cupboard or horizontal rotation packing cupboard, is equipped with in advance in the dispatch control computer and is used for carrying out the software controlled to lower part drive assembly 11 and manipulator, can communicate with manipulator drive assembly 7, and manipulator drive assembly 7 controls the manipulator, and what its adopted equally is the hardware among the prior art.
Specifically, the utility model discloses an automatic packing cupboard can comprise transmission system, memory cell, control system, exterior structure etc..
Fig. 2 is a schematic structural diagram of an automatic container of a container docking system with a coil grabbing robot of the present invention, please refer to fig. 2, the automatic container includes: an operation table 111, an operation panel 112, a hopper 113 and a safety protection grating 114. In the working process of the automatic container, when goods are stored or taken out, firstly, a command is input through the dispatching control computer, the transmission system can send the storage unit to the opening, and therefore the materials can be stored and taken out through the material-handling grabbing robot. The automatic container interface is in a TCP/IP mode and is connected with the Ethernet.
Furthermore, a battery assembly 1 is installed in the frame, and the battery assembly 1 is connected with a lower driving assembly 11, a manipulator and a manipulator driving assembly 7 for power supply. Battery pack 1 adopts prior art, can charge to the battery, and the battery is: a DC24V battery. Meanwhile, the battery assembly 1 comprises an inverter 8 which can output alternating current and a matched electrical assembly 9, so that different power requirements can be met. Specifically, the inverter 8 may be of the type: TS-700.
Further, the robot includes: the mechanical arm 5 is provided with a clamping device 4. The utility model discloses a manipulator 5, clamp get device 4 and the manipulator controller 7 that corresponds all adopt the hardware among the prior art.
Specifically, the mechanical arm of the present invention may be MZ07-01 robot manufactured by Nachi corporation.
Further, the visual recognition device is a two-dimensional code reading head 12, and the two-dimensional code reading head 12 adopts: PGV 100-F200A-B16-V15.
Further, the lower driving component 11 is an AGV, and the AGV can adopt a product in the prior art and can be controlled by a Vehicle App.
Specifically, the AGV dolly is including the system of marcing, and the system of marcing comprises motor, speed reducer etc. and the motor model: SMS60S-0040-30JBK-3DKU, reducer model: TIB060L2-S2-14-30-50-70-M5, all of which are conventional drive configurations for AGV carts in the art.
The utility model discloses a software is equipped with in advance in the dispatch control computer: and the Vehicle App can realize the control of the AGV through the dispatching control computer after being installed. Meanwhile, software for driving the visual recognition device and the manipulator is preset in the dispatching control computer. It all adopts current software, can be through current software control the utility model discloses a hardware realizes reading of two-dimensional code discernment and manipulator's operation control.
Furthermore, the AGV trolley is also connected with an operation panel 6, and the operation panel 6 is installed on the workbench.
Specifically, the utility model discloses an operating panel 6 that AGV dolly is connected, equally be prior art, the utility model discloses install it on the workstation to can realize the manual control of AGV dolly.
Specifically, the operating panel 6 is a manual controller for manually controlling the AGV, and the manual controller specifically includes:
1) jack of manual controller MCD 8: the plug of the AGV car manual controller MCD8 is inserted here. The AGV may be manually steered by operating the manual controller MCD 8.
2) Starting a key switch: steerable AGV circular telegram, rotatory key switch (6) after inserting the battery and connecting can open the power of dolly.
3) Power indicator: after the AGV dolly circular telegram, this pilot lamp can light.
4) Dolly position determination pilot lamp: when the AGV knows the position point of the AGV, the indicating lamp can be lightened.
5) An emergency stop indicator lamp: the AGV is in an emergency stop state, and the indicator light can be lightened.
6) Electric quantity indicator lamp: when the electric quantity of the AGV trolley is lower than the preset value, the indicating lamp can be lightened.
7) Manual automatic change over switch: the switch allows the operator to select the operating mode, automatic mode or manual mode, of the AGV as follows.
8) A reset button.
The method for operating the AGV by using the manual controller is the prior art.
Further, the AGV includes: laser navigation subassembly, workstation side installs laser navigation installed part 2, and laser navigation subassembly is installed on laser navigation installed part 2.
Further, a safety touch edge 10 is installed on the lateral side of the AGV trolley, and the safety touch edge 10 is ASO-ELMOM.
Further, AGV dolly includes that the side still installs laser obstacle sensor 13, and laser obstacle sensor 13 can adopt: UST-05 LNP.
Further, the laser navigation assembly comprises: safety laser scanner, the hardware is also known in the art.
Specifically, the laser navigation assembly, the safety contact edge 10 and the laser obstacle sensor 13 together form an environment sensing device of the AGV. The environment sensing device is used for monitoring obstacles in the working environment, the traveling speed of the AGV trolley, the positioning position, target objects and obstacle objects.
Furthermore, the utility model discloses can also install: the binocular Camera can adopt an IMX219-83 Stereo Camera binocular Camera, which is a binocular Camera module and is provided with double IMX219 cameras, and each Camera has 8 megapixels. The module supports the NVIDIA Jetson Nano developer tool kit version B01 and a Raspberry PI CM3/CM3+ expansion board, such as a calculation module IO board, a calculation module POE board and the like. The binocular camera is communicated with the scheduling control computer, and possibility is provided for subsequent vision identification expansion.
The utility model discloses an in the concrete use, the software that can control automatic packing cupboard is equipped with in advance in the dispatch control computer, and this software has general application in this field. An operator can control the AGV to run to a target automatic container through the scheduling control computer, operate the scheduling control computer to enable the automatic container to move to send target materials to the opening, and control the mechanical arm to move through the scheduling control computer to clamp the materials to the material turnover box 3, and then control the designated position of the AGV to move through the operator.
The utility model integrates an AGV trolley, a dispatching control computer, a coil material grabbing robot and a visual identification device, and a traveling system comprising the AGV trolley is arranged at the bottom of an AGV body and is used for driving the AGV trolley to move according to a control direction; the environment sensing device is used for monitoring obstacles in a working environment, the traveling speed of the AGV trolley, the positioning position, target objects and obstacle objects; the mechanical arm 5 and the clamping device 4 are mounted on the AGV body through a support 13, the mechanical arm 5 can do lifting, stretching and other movements relative to the AGV body, and the clamping device 4 is fixedly connected with the mechanical arm 5 and used for clamping a target object; and the dispatching control computer receives various working environment signals fed back by the environment sensing device and drives the AGV to a target position through the existing software. After the target position is reached, the dispatching control computer can control the mechanical arm 5 to move in an extending and contracting way and the clamping device 4 to clamp the target object through the existing software; the vision recognition device, when AGV dolly reachd the target location, arm 5 and press from both sides and get device 4 and prepare to press from both sides and get the target object, the vision recognition device plays, discerns the position of target object, presss from both sides and gets device 4 and stretch into to press from both sides and get target coil stock.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations could be devised in accordance with the principles of the present invention by those skilled in the art without the use of inventive faculty, or through software programming. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A container docking system with a coil grasping robot, comprising: automatic packing cupboard and dispatch control computer communication, its characterized in that still includes: the coil material snatchs robot, visual identification device, the coil material snatchs robot, visual identification device with dispatch control computer communication, the coil material snatchs the robot and includes: the lower driving assembly is provided with a support, the support is provided with a workbench, and the workbench is provided with a manipulator and a material turnover box; a manipulator driving assembly is arranged in the bracket; the manipulator driving assembly is connected with the manipulator.
2. The container docking system with a coil grabbing robot as claimed in claim 1, wherein a battery pack is installed in the rack and is connected to the lower driving assembly, the manipulator and the manipulator driving assembly for supplying power.
3. The container docking system with a coil grabbing robot as claimed in claim 1 wherein the robot arm comprises: the mechanical arm is provided with a clamping device.
4. The container docking system with a coil grabbing robot as claimed in claim 1 where the visual recognition device is a two-dimensional code reader head.
5. The container docking system with a coil grabbing robot as claimed in claim 1 where the lower drive assembly is an AGV cart.
6. The container docking system with a coil grabbing robot as claimed in claim 5, wherein an operating panel is further attached to the AGV car, said operating panel being mounted on said workbench.
7. The container docking system with a coil grasping robot as claimed in claim 5 wherein the AGV includes: the laser navigation assembly is arranged on the side edge of the workbench and is arranged on the laser navigation mounting piece.
8. The container docking system with a coil grabbing robot as claimed in claim 5 where the AGV car is mounted with safety contact edges on its sides.
9. The container docking system with a coil grabbing robot as claimed in claim 5 where the AGV includes a side edge further mounted laser obstacle sensor.
10. The container docking system with a coil grabbing robot as claimed in claim 7 where the laser navigation assembly comprises: a security laser scanner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021485463.9U CN213890025U (en) | 2020-07-24 | 2020-07-24 | Counter docking system with coiled material grabbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021485463.9U CN213890025U (en) | 2020-07-24 | 2020-07-24 | Counter docking system with coiled material grabbing robot |
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| Publication Number | Publication Date |
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| CN213890025U true CN213890025U (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021485463.9U Active CN213890025U (en) | 2020-07-24 | 2020-07-24 | Counter docking system with coiled material grabbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115072243A (en) * | 2022-07-07 | 2022-09-20 | 中国科学技术大学 | A seek goods device and system for logistics storage |
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2020
- 2020-07-24 CN CN202021485463.9U patent/CN213890025U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115072243A (en) * | 2022-07-07 | 2022-09-20 | 中国科学技术大学 | A seek goods device and system for logistics storage |
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