CN216335292U

CN216335292U - Stacking robot system

Info

Publication number: CN216335292U
Application number: CN202120391586.4U
Authority: CN
Inventors: 张传斌; 衣凡; 赵欣
Original assignee: Shandong Province Metallurgical Engineering Co Ltd
Current assignee: Shandong Province Metallurgical Engineering Co Ltd
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2022-04-19
Anticipated expiration: 2031-02-22

Abstract

The present application provides a palletizing robot system; the utility model relates to a metallurgical robot technical field, including industrial robot, gripping apparatus and relocation mechanism, the gripping apparatus is installed at industrial robot terminal, relocation mechanism is located the motion path of gripping apparatus, relocation mechanism includes the hang plate and arranges the multiunit positioning mechanism that sets gradually on the hang plate, every group positioning mechanism includes a pair of locating piece, the locating piece forms along the high recess that reduces gradually to the low side width of hang plate, a work piece for snatching the gripping apparatus is redetermined, through the robot that has vacuum chuck, form and snatch industrial robot structure, the vacuum chuck that the array was arranged can improve the success rate of snatching, allow certain error, arrange the position through relocation device after snatching the work piece, then snatch the stacking again, improve the degree of accuracy after the stacking.

Description

Stacking robot system

Technical Field

The application relates to the technical field of metallurgical robots, in particular to a stacking robot system.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In the powder metallurgy industry, the briquettes are output by a metal wire mesh belt in a sintering furnace after being sintered, the briquettes are generally arranged in rows or in a triangular shape according to the area size, and a graphite plate is laid below the briquettes. And (4) manually grabbing the blanking part, and stacking the finished product and the graphite plate on the corresponding code discs respectively.

The mode of artifical unloading code wheel has multiple drawback: the mechanical carrying of workers is required to be ceaselessly carried, and the labor intensity of the workers is high. Dust flies at the outlet, and the working environment is severe. The finished parts fall to cause the injury of staff or the damage of workpieces, and certain potential safety hazards exist. Continuous production needs many shifts of workers, and the labor cost is high.

The inventor finds that the existing solutions generally include: a mechanical truss structure or a manipulator with a magnetic sucker or an internal support type gripping apparatus. These solutions can solve some problems to some extent, but have the following drawbacks: only a fixed type of finished part can be grasped. Only a fixed number of finished parts can be grasped. And the method cannot adapt to various arrangement modes of finished products. The magnetic suction type can only grab metal finished products, and the graphite plate cannot grab. The buffer mechanism is not arranged, and finished products or gripping tools are damaged when the collision happens. The requirements on the placing shape of the finished product and the precision of grabbing and positioning are too high, so that the grabbing success rate is low and the reliability of system operation is poor. The gripping apparatus has heavy weight, needs to select equipment with large rated load and has high cost.

SUMMERY OF THE UTILITY MODEL

The robot palletizer system aims at overcoming the defects in the prior art and provides the robot palletizer system; through the robot that has vacuum chuck, form and snatch industrial robot structure, the vacuum chuck of array arrangement can improve the success rate of snatching, allows certain error, arranges the position through relocating device after snatching the work piece, then snatchs the pile up again, improves the degree of accuracy after the pile up.

In order to realize the purpose, the following technical scheme is adopted:

the utility model provides a pile up neatly machine people system, includes industrial robot, gripping apparatus and relocation mechanism, and the gripping apparatus is installed at industrial robot end, and relocation mechanism is located the motion path of gripping apparatus, and relocation mechanism includes the hang plate and arranges the multiunit positioning mechanism that sets gradually on the hang plate, and every group positioning mechanism includes a pair of locating piece, and the locating piece forms the recess that the width reduces gradually along the hang plate height to low direction for work piece to gripping of gripping apparatus is relocated.

Furthermore, the positioning mechanisms are arranged at the lower end of the inclined surface at the top of the inclined plate, and the multiple groups of positioning mechanisms are sequentially arranged along a straight line.

Furthermore, the adjacent positioning mechanisms are arranged in a fitting mode, the tops of the positioning blocks of the positioning mechanisms at the edge positions are higher than those of the positioning blocks at other positions, and the opening edges of the grooves of the positioning mechanisms at the non-edge positions are flush with the opening edges of the grooves of the adjacent positioning mechanisms.

Furthermore, the repositioning mechanism further comprises a positioning rack, one end of the inclined plate is connected with the positioning rack through a hinge, the other end of the inclined plate is hinged with a telescopic rod, one end, far away from the inclined plate, of the telescopic rod is hinged to the positioning rack, and the positioning rack, the telescopic rod and the inclined plate form a triangular structure with a changeable shape.

Further, the gripping apparatus comprises suckers, a sucker support and a buffer mechanism, wherein the suckers are installed on the sucker support, and the sucker support is connected with the tail end of the industrial robot through the buffer mechanism.

Furthermore, the sucker array is arranged on the sucker bracket, the suckers are communicated with quick change connectors, and the quick change connectors are respectively communicated with a negative pressure source through pipelines.

Furthermore, a pipeline of the sucker communicated with the negative pressure source is provided with an electromagnetic valve, and the sucker support is provided with a laser range finder.

Further, buffer gear includes flexible slide bar and elastic component, and flexible slide bar is flexible under the combined action of elastic component and sucking disc support to change sucking disc support and the terminal interval of industrial robot.

Further, the position of the telescopic sliding rod connected with the industrial robot is provided with a pressure sensor.

Further, the code disc is further included and arranged around the industrial robot.

Compared with the prior art, the application has the advantages and positive effects that:

(1) through the robot that has vacuum chuck, form and snatch industrial robot structure, the vacuum chuck of array arrangement can improve the success rate of snatching, allows certain error, arranges the position through relocating device after snatching the work piece, then snatchs the pile up again, improves the degree of accuracy after the pile up.

(2) By utilizing the repositioning mechanism, finished products are rearranged regularly by utilizing the self gravity, and stacking arrangement deviation caused by untidy placement of workers in the front process can be solved. After the finished products are grabbed, the robot places the finished products on the rearrangement device, and after the arrangement position is corrected, the robot grabs the finished products to move to the code disc for stacking, so that the stacking is guaranteed to be neat and correct.

(3) The tail end of the motion path of the metal wire mesh belt is provided with a recovery mechanism for receiving the metal plate and the graphite plate which are not grabbed by the industrial robot, the metal plate left on the metal wire mesh belt and the graphite plate which are not grabbed can slide along with the metal wire mesh belt into the recovery mechanism, and the collision problem caused by the metal plate residue is avoided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is a schematic overall structure diagram of a palletizing robot system in embodiment 1 of the present application.

Fig. 2 is a schematic plan view of the palletizing robot system in embodiment 1 of the present application.

In the figure, 1, a sintering machine, 2, a metal wire mesh belt, 3, a gripping apparatus, 4, a repositioning device, 5, an air channel accessory, 6, a robot, 7, a first coded disc, 8, a second coded disc, 9, a third coded disc, 10, a fourth coded disc, 11, a robot base, 12, a control box, 13, a human-computer interface, 14, a graphite plate, 15 and a metal workpiece.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

For convenience of description, the words "up", "down", "left" and "right" in this application, if any, merely indicate that the directions of movement are consistent with those of the figures themselves, and are not limiting in structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting in this application.

Just as introducing in the background art, the manipulator of magnetism type sucking disc/internal stay formula gripping apparatus exists not enoughly among the prior art, is difficult to realize snatching to the graphite cake to it is put, snatchs positioning accuracy and requires highly, is difficult to satisfy the pile up neatly demand of snatching of putting uneven graphite cake on the conveyer belt, to technical problem, this application has proposed a pile up neatly machine people system.

Example 1

In an exemplary embodiment of the present application, a palletizing robot system is presented, as shown in the figures.

Mainly comprises a robot 6, a repositioning device and a vacuum gripper; the vacuum gripping apparatus is arranged at the tail end of the robot arm, and the movement of the vacuum gripping apparatus is controlled by the action of the robot, so that the vacuum gripping apparatus is driven to grip a workpiece, the workpiece is conveyed to the repositioning device, and then the positioned workpiece is conveyed to the code disc for stacking and storing.

The structure of the vacuum gripping apparatus comprises a vacuum sucker, a vacuum generator, an electromagnetic valve, a buffer device, a quick-change connector, a laser range finder, a pressure sensor and an air channel accessory 5;

a plurality of vacuum chuck install on the sucking disc support, and the sucking disc support passes through buffer and connects robot arm end, and when the sucking disc support received the power of perpendicular to buffer direction, buffer can contract back to realize cushioning effect, the work piece damage problem that collision work piece caused when avoiding robot arm to drive vacuum chuck and remove.

It can be understood that buffer can adopt the structure of flexible slide bar cooperation spring, the spring housing is established outside flexible slide bar, the sucking disc support is connected to the one end of flexible slide bar, robot arm is connected to the other end, when vacuum chuck received the axial thrust of flexible slide bar, flexible slide bar extrusion spring retracted, the realization was dodged the action to reduced the collision to the work piece, when no longer the atress, the sucking disc support resumes the original position under the spring rebound effect.

The vacuum chuck is connected with a quick-change connector, after the quick-change connector is connected with a pipeline in a butt joint mode, the electromagnetic valve is connected in series to be connected into the vacuum generator, the vacuum generator can adopt a negative pressure pump, the working state of the vacuum chuck is changed by opening and closing the electromagnetic valve, and the vacuum chuck is enabled to adsorb a workpiece or release the workpiece.

In order to ensure the grabbing precision of the workpiece in the working process, a laser range finder is arranged on a sucker support of the vacuum sucker, the distance between the vacuum sucker and the target workpiece is constantly measured, the motion of the vacuum sucker is monitored, and the motion precision is improved; in addition, in order to avoid the collision of the vacuum chuck after the vacuum chuck is contacted with the workpiece and ensure the stable placement of the vacuum chuck during stacking, the pressure sensor is further arranged, the stress of the vacuum chuck is measured, the workpiece is placed at a target position, the position of the workpiece is not changed, the value of the pressure sensor can be changed by the movement of the vacuum chuck at the moment, and the workpiece can be prevented from being collided by the excessive movement of the chuck after the workpiece is stably placed through the upper limit of the pressure threshold of the pressure sensor.

The vacuum chucks are arranged in an array manner, so that a plurality of finished parts and graphite can be grabbed at a time, and the installation number of the vacuum chucks can be adjusted according to the grabbing number required at a time;

on the other hand, in order to guarantee that the work piece of snatching can match with relocation device, in this embodiment, configure vacuum chuck into and be rectangular array distribution to can match the finished product spare and the graphite cake of multiple model, can adapt to the mode of putting of multiple finished product work piece, improve and snatch the success rate.

For the robot, in the embodiment, six-axis industrial robots are selected, and for specific models, finished commercial robots on the market can be selected according to requirements, and the robot is characterized by stable reliability, long fault-free running time and long maintenance interval time; the speed is high, and the operation is flexible; the precision is high, and the track precision and the repeated positioning precision are excellent; the power is high, and the load is large; the product is firm and durable, and is suitable for severe production environments; the universality is strong and the integration is easy.

The six-axis industrial robot is a main power device for blanking and stacking, and drives the suckers to grab finished products and then move corresponding code discs for stacking.

It can be understood that the six-axis industrial robot is used as main equipment for blanking stacking, and also used as an industrial robot for driving the sucker to grab finished workpieces and driving the workpieces to move to the corresponding code disc for stacking.

After the robot drives the vacuum gripping apparatus to grip the finished workpieces from the conveying belt, as the finished workpieces output from the conveying belt are in a scattered state, in order to realize orderly stacking, the finished workpieces are repositioned by a repositioning device before being conveyed to a code disc;

specifically, the repositioning device is a device for performing rearrangement by using the self-gravity of the finished piece. The stacking arrangement deviation caused by untidy placement of workers in the front process can be solved. After the finished products are grabbed, the robot places the finished products on the rearrangement device, and after the arrangement position is corrected, the robot grabs the finished products to move to the code disc for stacking, so that the stacking is guaranteed to be neat and correct.

The repositioning device comprises positioning plates which are obliquely arranged, a plurality of groups of positioning mechanisms are sequentially arranged at the lower ends of the inclined surfaces of the positioning plates, each group of positioning mechanisms comprises two positioning blocks which are oppositely arranged to form a reducing channel with a large opening at the upper part and a small opening at the lower part, and the reducing channels are used for enabling a falling finished workpiece to reach a designated position in the falling process along the reducing channels;

the adjacent positioning mechanisms have equal space, and finished workpieces after falling and positioning are arranged on the positioning plate along a straight line at equal space, so that the rearrangement of the finished workpieces is completed.

It will be appreciated that in this embodiment, adjacent locating means are arranged in close proximity so that the finished workpiece above its close proximity can be deflected to fall into one of the diameter-changing passages for location.

The inclined angle of the positioning plate can be adjusted according to requirements, and in the embodiment, the angle of the positioning plate can be adjusted through a structure that a telescopic rod is matched with a hinge;

locating plate one end articulates in the location frame, there is the telescopic link the other end through hinged joint, the telescopic link other end articulates in the frame, the locating plate, frame and telescopic link form the triangle-shaped structure, through the flexible of telescopic link, can adjust the contained angle of locating plate and frame, thereby change the contained angle of locating plate and horizontal plane, adjust the contained angle according to the frictional force of finished product work piece and location face, if its frictional force is great, can suitably increase its contained angle, make things convenient for the locating plate to slide the whereabouts location, if its frictional force is less, can suitably reduce its contained angle, thereby avoid the collision damage that the falling speed leads to at the excessive speed.

When relocation operation is carried out, the suckers arranged in an array release the grabbed finished product workpieces in sequence according to rows or columns, so that the grabbed finished product workpieces fall down along the positioning plate, after relocation, the suckers grab the regularly arranged finished product workpieces again, the suckers release the finished product workpieces in sequence, sequentially grab the finished product workpieces after relocation, rearrange all the finished product workpieces on the suckers, correct the positions, and convey the finished product workpieces for stacking, so that the neatness of stacking is guaranteed.

Example 2

In another embodiment of the present application, there is also provided a palletizing system using the palletizing robot system as described in embodiment 1.

The system further comprises a control system and a human-computer interface 13 which are integrated in a manual operation box 12, wherein the manual operation box is an interface of a worker operation system and comprises an external touch screen, buttons, an indicator lamp, an alarm lamp, a built-in PLC module and other components. A worker starts, pauses, scrams and resets the system through a button; the current state of the system is known through an indicator light and an alarm light; and setting system parameters and viewing system data records through the touch screen.

It can be understood that, in this embodiment, the control system and the human-machine interface may adopt the existing technical solutions, as long as the control of the elements can be realized.

A plurality of code discs are arranged on one side of the robot and used for bearing finished workpieces grabbed by the robot, the code discs can be stacked, the machine cannot be stopped due to untimely code disc replacement, and continuous production is guaranteed.

The six-axis industrial robot is used, the occupied area is small, the placement position of the body is adjustable, the placement position of the code disc is also adjustable, and the six-axis industrial robot is flexible, durable, high in movement speed, high in precision and high in reliability.

The sucker gripper has a buffer function, so that the gripping surface can be tightly attached, the hard collision can be avoided, and the gripper and the finished product piece are protected from being damaged.

The gripping apparatus has light weight, is combined in a modularized way, has a quick-change structure and is easy to maintain and change.

Finished products are grabbed in a vacuum sucking mode, and the device is simple in structure, safe, environment-friendly and durable.

The robot is installed on robot base 11, and the code wheel sets up around the robot, makes things convenient for the terminal removal of robot to required position.

The touch screen display is clear with the local operation box, and the button operation is convenient and easy to learn.

The remote alarm is unattended, has a remote alarm function, and can prompt information such as the full code disc of a remote worker.

The tail end of the motion path of the metal wire mesh belt is provided with a recovery mechanism for receiving the metal plate and the graphite plate which are not grabbed by the industrial robot, the metal plate left on the metal wire mesh belt and the graphite plate which are not grabbed can slide along with the metal wire mesh belt into the recovery mechanism, and the collision problem caused by the metal plate residue is avoided.

Have the automatic shutdown function of evading of hourglass, when taking place the unexpected hourglass accident of metal sheet, can be automatic skip present one graphite cake, directly go next and snatch the metal sheet to avoid with lose the metal sheet collision on the metal transmission band, the metal sheet of omitting and the graphite cake that does not snatch can be along with metal transmission band landing to special receiving arrangement in, this function can guarantee that the system continues the operation and need not shut down the processing.

The whole operation flow of the automatic blanking and stacking system of the powder metallurgy robot is as follows:

firstly, the robot moves the gripping apparatus 3 to a metal workpiece 15 detection waiting position, sintered briquettes output by the sintering machine are conveyed through a metal wire mesh belt, the briquettes are metal workpieces, and the lower part of the briquettes is supported by a graphite plate.

And secondly, detecting the arrival of the metal workpiece, and descending to grab the metal workpiece 15.

In a third step, the robot brings the metal workpiece 15 to the relocating device 4 for rearrangement.

And fourthly, the robot brings the metal workpiece to the corresponding third coded disc 9 and fourth coded disc 10 for stacking.

And fifthly, moving the gripper to a graphite plate 14 detection waiting position by the robot, and conveying the graphite plate 14 output by the sintering machine 1 through the metal wire mesh belt 2.

And sixthly, detecting that the graphite plate arrives, and descending to grab the graphite plate.

And seventhly, the robot brings the graphite plates to the corresponding first coded disc 7 and the second coded disc 8 for stacking.

Returning to the first step, and performing reciprocating circulation.

Reduce the labor cost of enterprises

The robot replaces people to carry out blanking stacking, and the full-automatic operation can remove original blanking stacking post personnel. Enterprises generally fall into 3 shifts and 2 shifts, so that 3 persons can be reduced by one sintering machine at least, and the labor cost is greatly reduced.

Improve the process conversion efficiency of sintered finished parts

The robot can take a plurality of work pieces at every turn, and beat speed is adjustable, can keep constant speed operation forever, and the pile up neatly firm, need not maintain, and overall efficiency surpasss artifical unloading pile up neatly greatly.

Reduce the damage rate of finished products

Specially-made snatchs the work piece and snatchs firmly, can not drop finished product spare and graphite cake, and the pile up neatly is neat, can not take place askew phenomenon, has stopped the work piece or the graphite cake that produce because of artificial problem and has dropped and break the damage phenomenon, has reduced the spoilage.

Eliminate the potential safety hazard

The robot replaces the labor of workers, so that the condition that the workers are injured by heavy finished pieces and damaged by dust or harmful gas to the health of the workers is eliminated.

The system runs reliably

The system has high-success-rate grabbing, neat and error-free stacking and modular quick replacement, ensures that the whole system has extremely high reliability, and completely does not delay the operation of the whole process of sintering finished products.

Reduction of running cost

Safe and environment-friendly gripping modes, a buffered and durable gripping tool and a reliable robot greatly reduce the running cost of the whole system compared with other modes.

Promote the image of enterprises

The automatic blanking stacking system of the powder metallurgy robot is used, the scientific and intelligent level of an enterprise is improved, the image of the enterprise in the industry is improved, and the competitiveness of the enterprise is potentially improved.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a pile up neatly machine people system, its characterized in that, includes industrial robot, gripping apparatus and relocation mechanism, and the gripping apparatus is installed at industrial robot terminal, and relocation mechanism is located the motion path of gripping apparatus, and relocation mechanism includes the hang plate and arranges the multiunit positioning mechanism that sets gradually on the hang plate, and every group positioning mechanism includes a pair of locating piece, and the locating piece forms along the high recess that reduces gradually of width to low direction of hang plate for carry out the relocation to the work piece that the gripping apparatus snatched.

2. The palletizing robot system as claimed in claim 1, wherein the positioning mechanisms are arranged at a lower end of an inclined surface at the top of the inclined plate, and the plurality of sets of positioning mechanisms are arranged in sequence along a straight line.

3. The palletizing robot system as claimed in claim 2, wherein adjacent positioning mechanisms are arranged in a fitting manner, the top of the positioning block of the positioning mechanism in the edge position is higher than the top of the positioning blocks in other positions, and the edge of the opening of the groove of the positioning mechanism in the non-edge position is flush with the edge of the opening of the groove of the adjacent positioning mechanism.

4. The palletizing robot system as claimed in claim 1, wherein the repositioning mechanism further comprises a positioning frame, one end of the inclined plate is connected with the positioning frame through a hinge, the other end of the inclined plate is hinged with a telescopic rod, one end of the telescopic rod, which is far away from the inclined plate, is hinged on the positioning frame, and the positioning frame, the telescopic rod and the inclined plate form a triangle structure with a variable shape.

5. The palletizing robot system as claimed in claim 1, wherein the gripper comprises a suction cup, a suction cup support and a buffer mechanism, the plurality of suction cups being mounted on the suction cup support, the suction cup support being connected to the end of the industrial robot via the buffer mechanism.

6. Robot palletizer system according to claim 5, wherein the array of suction cups is arranged on a suction cup support, the suction cups being in communication with quick-change couplings, which are in communication with a source of negative pressure, respectively, via a pipeline.

7. The robot palletizer system according to claim 6, wherein a solenoid valve is arranged on a pipeline of the suction cup communicated with the negative pressure source, and a laser range finder is arranged on the suction cup bracket.

8. The robot palletizer system according to claim 5, wherein the buffer mechanism comprises a telescopic slide rod and an elastic member, and the telescopic slide rod is telescopic under the combined action of the elastic member and the suction cup bracket so as to change the distance between the suction cup bracket and the end of the industrial robot.

9. Palletizing robot system according to claim 8, characterized in that the telescopic slide bar is connected to an industrial robot in a position fitted with a pressure sensor.

10. The palletizing robot system as recited in claim 1, further comprising a code wheel, the code wheel being disposed about the industrial robot.