CN219546077U - Auxiliary stacking device - Google Patents
Auxiliary stacking device Download PDFInfo
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- CN219546077U CN219546077U CN202320880794.XU CN202320880794U CN219546077U CN 219546077 U CN219546077 U CN 219546077U CN 202320880794 U CN202320880794 U CN 202320880794U CN 219546077 U CN219546077 U CN 219546077U
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- agv
- manipulator
- stacking device
- controller
- auxiliary stacking
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Abstract
The utility model discloses an auxiliary stacking device which comprises a manipulator, a grabbing component, an industrial camera and a controller, wherein the manipulator is connected with the grabbing component; the grabbing component is arranged on the manipulator; the industrial camera is arranged on the grabbing component and is suitable for collecting position information of materials to be grabbed; the controller is respectively connected with the industrial camera, the manipulator and the grabbing component, and the controller is suitable for driving and controlling the action of the manipulator and/or the grabbing component to grab materials according to the position information acquired by the industrial camera. It can improve and snatch the precision, is favorable to improving the degree of automation of material circulation.
Description
Technical Field
The utility model relates to an auxiliary stacking device.
Background
At present, mainly adopted the mode of manual pile up neatly to the material that the production line was gone up down (such as the punching line casing), this kind of mode is not only inefficiency, and the cost of labor is higher moreover, also has the mode of adopting the pile up neatly manipulator, chinese patent such as the bulletin number CN216072137U discloses a finished product pile up neatly device of heated board, the heated board is the material, wherein disclose, carry the heated board on the conveyer belt to the AGV transport vechicle in proper order through pile up neatly subassembly, improve handling efficiency greatly, but the finished product pile up neatly device of this kind of structure, its precision of snatching the material is not high, inconvenient use.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provides an auxiliary stacking device which can improve the grabbing precision and is beneficial to improving the automation degree of material circulation.
In order to solve the technical problems, the technical scheme of the utility model is as follows: an auxiliary stacker apparatus comprising:
a manipulator;
a gripping member mounted on the manipulator;
the industrial camera is arranged on the grabbing component and is suitable for collecting position information of materials to be grabbed;
and the controller is respectively connected with the industrial camera, the manipulator and the grabbing component, and is suitable for driving and controlling the action of the manipulator and/or the grabbing component according to the position information acquired by the industrial camera so as to grab materials.
Further, in order to transport the materials, the auxiliary stacking device further comprises an AGV, and the AGV is connected with the controller;
the controller is further adapted to control the manipulator and/or the grabbing component to stack the grabbed materials on the AGV;
the controller is also adapted to control the action of the AGV.
Further, in order to be able to stack material well on the lifting platform, the AGV comprises:
a base;
and the lifting platform for stacking materials is movably arranged on the base and is suitable for being driven to lift.
Further, the lifting platform is arranged on the base through a lifting mechanism, and the lifting mechanism comprises at least one scissor type telescopic frame and a lifting driving mechanism for driving the scissor type telescopic frame to act.
Further, in order to reasonably control the weight of the materials to be carried on the lifting platform, a weighing sensor for weighing the materials on the lifting platform is arranged on the lifting platform.
Further, in order to reasonably control the stacking height of the materials on the lifting platform, a visual sensor suitable for being driven to lift is arranged on the AGV.
Further, the gripping member includes a vacuum chuck member including a fixing assembly mounted on the robot and a plurality of vacuum chucks mounted on the fixing assembly, and a vacuum pump for supplying vacuum to the vacuum chuck member.
Further, the fixing assembly includes:
a fixing plate;
at least one sucking disc frame installed on the fixed plate, the vacuum sucking disc is installed on the sucking disc frame.
Further, the sucker frame is provided with a mounting groove suitable for being embedded into the fixing plate, a pulley is mounted on the groove bottom wall of the mounting groove, and after the fixing plate is embedded into the mounting groove, the pulley is embedded into a pulley groove on the fixing plate.
Further, in order to adjust the layout of the vacuum chuck to better suck the material, the chuck frames are provided in plurality and are installed on the fixing plate in parallel, and the interval between the adjacent chuck frames is suitable for adjustment.
After the technical scheme is adopted, the layout of the vacuum chuck can be adjusted according to the size of a workpiece, after the layout of the vacuum chuck is adjusted, the position of the material is positioned and collected through the industrial camera and is transmitted to the controller, and then the controller controls the actions of the manipulator and the grabbing component to accurately grab the material and place the grabbed material on the AGV; in addition, the weight of the materials placed on the lifting platform can be collected through the weighing sensor, the height of the materials placed on the lifting platform can be collected through the visual sensor, when the materials on the AGV reach a certain amount (namely reach a set weight value and/or a set height value), the mechanical arm and/or the grabbing component stops transferring the materials, and the AGV conveys the materials, so that the circulation is performed.
Drawings
FIG. 1 is a perspective view of a manipulator and gripping members of the auxiliary stacker of the present utility model;
FIG. 2 is a perspective view of a gripping member of the present utility model;
FIG. 3 is a perspective view of the AGV of the present utility model;
fig. 4 is a control schematic diagram of the auxiliary stacking device of the present utility model.
Detailed Description
In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
As shown in fig. 1 to 4, an auxiliary stacking device includes:
a manipulator 1;
a gripping member 2, the gripping member 2 being mounted on the manipulator 1;
an industrial camera 3, the industrial camera 3 being mounted on the gripping member 2 and adapted to collect positional information of a material to be gripped;
the controller 4 is respectively connected with the industrial camera 3, the manipulator 1 and the grabbing component 2, and the controller 4 is suitable for driving and controlling the action of the manipulator 1 and/or the grabbing component 2 to grab materials according to the position information collected by the industrial camera 3.
In this embodiment, the auxiliary stacking device further includes an AGV 5, where the AGV 5 is connected to the controller 4;
the controller 4 is further adapted to control the manipulator 1 and/or the gripping member 2 to stack the gripped material on the AGV 5;
the controller 4 is also adapted to control the movements of the AGV car 5.
In this embodiment, the position of the material is acquired by positioning the position of the material by the industrial camera 3, and is transmitted to the controller 4, and then the controller 4 controls the actions of the manipulator 1 and the grabbing component 2 to accurately grab the material, and the grabbed material is placed on the AGV 5 to be arranged.
In this embodiment, the material to be collected is first placed on the material table 10.
In this embodiment, the manipulator 1 is well known to those skilled in the art, and may be a three-axis manipulator, or more-axis manipulator, and the manipulator 1 includes a base, a rotary table, and a manipulator, and the specific structure of this embodiment is not described in detail.
The controller 4 is in the prior art, and may be a computer or a PLC, and the structure of this embodiment is not described in detail.
As shown in fig. 3, the AGV 5 may have a structure including:
a base 51;
a lifting platform 52 for stacking materials, the lifting platform 52 being movably mounted on the base 51 and adapted to be driven to lift. The provision of a lift platform 52 that can be driven up and down solves the problem of the robot 1 not reaching the platform of the AGV 5 in some cases due to position limitations.
In this embodiment, as shown in fig. 3, the lifting platform 52 is mounted on the base 51 by a lifting mechanism, and the lifting mechanism includes at least one scissor jack 53 and a lifting driving mechanism for driving the scissor jack 53 to operate. The specific structure of the scissor fork type expansion bracket 53 is shown in fig. 3, the specific structure of the scissor fork type expansion bracket 53 is well known to those skilled in the art, the structure of the scissor fork type expansion bracket 53 is not described in detail in this embodiment, the lifting driving mechanism can be an oil cylinder or an air cylinder or a lifting motor structure, etc., which are well known to those skilled in the art, and the structure of the scissor fork type expansion bracket 53 is not described in detail in this embodiment.
Specifically, as shown in fig. 3, a load cell for weighing the material on the lifting platform 52 is provided on the lifting platform 52.
Specifically, as shown in fig. 3, the AGV 5 is provided with a visual sensor 55 adapted to be driven to rise and fall; specifically, the vision sensor 55 may be mounted on the lift lever 55a and driven by another lift motor or lift cylinder.
In this embodiment, the weight of the material placed on the lifting platform 52 may be collected by the weighing sensor, and the height of the material placed on the lifting platform 52 may also be collected by the vision sensor 55, where the weighing sensor and the vision sensor 55 are configured to control the amount of the material stacked on the AGV 5, and when the amount of the material on the AGV 5 reaches a certain amount (i.e., reaches a set weight value and/or a set height value), the manipulator 1 and the gripping member 2 stop transferring the material, and the AGV 5 conveys the material; in this embodiment, the weighing sensor and the vision sensor 55 may be connected to the controller 4 to feed back the collected information to the controller 4, and control the movements of the AGV 5, the robot 1, and the gripping member 2 by the controller 4.
In the present embodiment, as shown in fig. 2, the gripping member 2 includes a vacuum chuck member including a fixing assembly mounted on the robot arm 1 and a plurality of vacuum chucks 22 mounted on the fixing assembly, and a vacuum pump 21 supplying vacuum to the vacuum chuck member. The vacuum pump 21 may be mounted on the robot arm side.
Specifically, the fixing assembly may have a structure including:
a fixing plate 23;
at least one suction cup holder 24 mounted on the fixing plate 23, and the vacuum suction cup 22 is mounted on the suction cup holder 24.
In this embodiment, there are four suction cup holders 24, and each of two ends of each suction cup holder 24 is provided with a vacuum suction cup 22, which can be specifically installed through a kidney slot, and the position of the vacuum suction cup 22 on the suction cup holder 24 is adjustable, i.e. longitudinally, and the maximum adjustable longitudinal adjustment range is 400mm.
Specifically, as shown in fig. 2, the suction cup holder 24 is provided with a mounting groove adapted to be fitted into the fixing plate 23, and a pulley 25 is mounted on the bottom wall of the mounting groove, and when the fixing plate 23 is fitted into the mounting groove, the pulley 25 is fitted into a pulley groove on the fixing plate 23. The pulley 25 facilitates the adjustment of the vacuum chuck 22 in the lateral position, reducing frictional resistance during movement.
Four sucker frames 24 are arranged on the fixed plate 23 in parallel, and the interval between the adjacent sucker frames 24 is suitable for adjustment; in the present embodiment, a locking mechanism is provided between the side wall of the mounting groove and the fixing plate 23, and is locked when the suction cup holder 24 is adjusted to a proper position; specifically, the locking mechanism comprises locking holes and bolts which are arranged on the side groove walls of the mounting groove, the locking holes on each side can be distributed at intervals of 50mm, and the maximum transverse adjustment amplitude can be 800mm.
The technical problems, technical solutions and advantageous effects solved by the present utility model have been further described in detail in the above-described embodiments, and it should be understood that the above-described embodiments are only illustrative of the present utility model and are not intended to limit the present utility model, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present utility model should be included in the scope of protection of the present utility model.
Claims (10)
1. An auxiliary stacking device, comprising:
a manipulator (1);
a gripping member (2), the gripping member (2) being mounted on the manipulator (1);
an industrial camera (3), the industrial camera (3) being mounted on the gripping member (2) and adapted to collect positional information of a material to be gripped;
the controller (4), the controller (4) respectively with industry camera (3), manipulator (1) with snatch part (2) link to each other, controller (4) are suitable for according to the positional information drive control that industry camera (3) gathered manipulator (1) and/or snatch part (2) action in order to snatch the material.
2. The auxiliary stacking device as claimed in claim 1, wherein,
the Automatic Guided Vehicle (AGV) further comprises an AGV (5), and the AGV (5) is connected with the controller (4);
the controller (4) is further adapted to control the manipulator (1) and/or the gripping member (2) to stack the gripped material on the AGV (5);
the controller (4) is further adapted to control the action of the AGV (5).
3. The auxiliary stacker device according to claim 2, wherein the AGV car (5) comprises:
a base (51);
and a lifting platform (52) for stacking materials, wherein the lifting platform (52) is movably arranged on the base (51) and is suitable for being driven to lift.
4. The auxiliary stacking device as claimed in claim 3, wherein,
the lifting platform (52) is arranged on the base (51) through a lifting mechanism, and the lifting mechanism comprises at least one scissor type telescopic frame (53) and a lifting driving mechanism for driving the scissor type telescopic frame (53) to act.
5. The auxiliary stacking device as claimed in claim 3, wherein,
and a weighing sensor for weighing the materials on the lifting platform (52) is arranged on the lifting platform (52).
6. The auxiliary stacking device as claimed in claim 3, wherein,
the AGV (5) is provided with a visual sensor (55) which is suitable for being driven to lift.
7. The auxiliary stacking device as claimed in claim 1, wherein,
the gripping member (2) includes a vacuum chuck member including a fixed assembly mounted on the robot arm (1) and a plurality of vacuum chucks (22) mounted on the fixed assembly, and a vacuum pump (21) for supplying vacuum to the vacuum chuck member.
8. The auxiliary stacking device as claimed in claim 7, wherein,
the fixing assembly includes:
at least one suction cup holder (24) mounted on the fixing plate (23), the vacuum suction cup (22) being mounted on the suction cup holder (24).
9. The auxiliary stacking device as claimed in claim 8, wherein,
the sucker frame (24) is provided with a mounting groove suitable for being embedded into the fixing plate (23), a pulley (25) is mounted on the groove bottom wall of the mounting groove, and after the fixing plate (23) is embedded into the mounting groove, the pulley (25) is embedded into a pulley groove on the fixing plate (23).
10. The auxiliary stacking device as claimed in claim 8, wherein,
the sucking disc frames (24) are provided with a plurality of sucking disc frames and are arranged on the fixing plate (23) in parallel, and the interval between the adjacent sucking disc frames (24) is suitable for adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320880794.XU CN219546077U (en) | 2023-04-18 | 2023-04-18 | Auxiliary stacking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320880794.XU CN219546077U (en) | 2023-04-18 | 2023-04-18 | Auxiliary stacking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219546077U true CN219546077U (en) | 2023-08-18 |
Family
ID=87729063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320880794.XU Active CN219546077U (en) | 2023-04-18 | 2023-04-18 | Auxiliary stacking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219546077U (en) |
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2023
- 2023-04-18 CN CN202320880794.XU patent/CN219546077U/en active Active
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