CN2625121Y - Section bar carrying and material loading/unloading robot - Google Patents
Section bar carrying and material loading/unloading robot Download PDFInfo
- Publication number
- CN2625121Y CN2625121Y CN 03254701 CN03254701U CN2625121Y CN 2625121 Y CN2625121 Y CN 2625121Y CN 03254701 CN03254701 CN 03254701 CN 03254701 U CN03254701 U CN 03254701U CN 2625121 Y CN2625121 Y CN 2625121Y
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- door frame
- section bar
- manipulator
- push
- servomotor
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Abstract
A section steel conveyance feeding and discharging robot is provided, which comprises a travel mechanism that moves along a guide rail and has a maximum of 4 door frames (a master one and three slave ones) or a minimum of one door frame (one master), a three fingers electromagnetic adsorption elevation manipulator hung on the door frame and a computer with a CCD camera. The movement positioning for the conveyance feeding and discharging robot adopts two modes, i.e. online and offline; the offline movement positioning is fulfilled by the input and output positioning commands converted from the technical documents for the automatic conveyance, assembly and feeding of section steel; the online movement positioning is fulfilled by acquiring the original and object orientation coordinates via clicking the electronic workshop map on the display of work bench. When the section steel to be conveyed enters the visual scope of the robot, the specific positioning coordinate for the manipulator can be sensed visually by the robot, so as to realize real time precise positioning. Therefore, the utility model can be applied to realize automatic conveyance feeding and discharging in the process of bending section steels with profile bender in the fields of shipbuilding, bridging, construction and other industries related to the manufacturing of steel structure.
Description
Technical field
The present invention relates to automatic carrying and loading and unloading machine people medium-and-large-sized, heavy material, particularly the automatic carrying and the loading and unloading machine people of medium-and-large-sized, the heavy material of steel construction process industry section bar automatic production lines such as boats and ships, bridge, building.
Background technology
Abroad, the section bar cutting processing production line of the IMG company of Germany development can be realized the straight line section bar is carried.The shipyard that China has has been introduced this complete equipment in recent years.IEEERobotics﹠amp; Automation Magazine magazine was entitled as " the parallel arm of hybrid-driven that is used for the heavy material " in 2002 three on the monthly magazine article discloses Japanese national trade industry association and has presided over and developed a kind of novel arm that can control the six-freedom degree (DOF) of heavy material.It is a kind of parallel mechanical arm of mixed motivity type with hawser and hydraulic oil cylinder driving, in the hope of enlarging the carrying range of work.Advanced Robotics periodical calendar year 2001 the 15th volume the 3rd phase author OSHIAKI SHINOHARA
*Disclose by two cantilever Collaborative Control manipulators and the system that the gravity compensation lifting device is formed in " the robot control heavy material carrying of cooperating " that KUNIO MIYAWAKI writes, used synthesising position/power control and be used in shipbuilding and bridging engineering, operating the carrying and the assembling of large-size workpiece as control method.
At shipyard cold-frame bender processing rib, rib carrying and loading and unloading, the operator generally relies on the portal jib crane in workshop to finish.Because the hawser that crane can utilize certain-length along certain track in level with vertical direction is caught and conveying objects.Yet, because existence is waved and rotated, control object, the exact position, the assembly direction that obtain object are difficult.Therefore, the workman will catch heavy material to stop the object vibration, and fixes it.This work is dangerous to the workman, has also limited production efficiency simultaneously.
Summary of the invention
Technical problem to be solved by this invention is: provide a kind of and can replace conventional portal jib crane to utilize hawser handling section bar to catch heavy material to stop the object vibration by the workman, controlling it waves and rotates, finish accurate location, the straight line section bar can be carried and the curve section bar can be carried again, method of controlling operation thereof is easy, safe and reliable section bar carrying loading and unloading machine people.
The present invention solves the problems of the technologies described above the technical scheme that is adopted:
Form by the walking mechanism, manipulator, the computer controller that move in rectangular coordinate system.
Walking mechanism comprises guide rail, door frame, left side push-and-pull thick stick, right side push-and-pull thick stick, electromagnetic clutch, transmission device.Transmission device is made up of servomotor, gearbox, elastic compression mechanism, gear, tooth bar etc.Transmission device is installed in the active door frame seat-box, is connected on the door frame seat by the steel body support frame.Servomotor is fixed on the gearbox by screw, and gear is contained in the end of jack shaft, and the gear neck is equipped with elastic compression mechanism, makes gear and the tooth bar elasticity coupling that is fixed on the guide rail, is dragged by the gearbox speed change by servomotor.
Can determine needed door frame number according to the length of the section bar of operating, few to a door frame (initiatively), as many as four door frames (initiatively, and three is driven).Initiatively door frame and driven door frame difference are many cover transmission devices.Derailing when each door frame adopts position-limited wheel to prevent the door frame motion.Initiatively door frame and driven door frame are by left side push-and-pull thick stick, the interlock of right side push-and-pull thick stick, and door frame is connected with left side push-and-pull thick stick, right side push-and-pull thick stick by the electromagnetic clutch clutch, thereby relative spacing is adjustable between them.
Manipulator comprises camera, ball adapter, three fingers, gravity support wheel, servomotor, steel wire rope, manipulator slide block, slideway integrated package, ball-screw integrated package, electromagnet Attraction block, the first finger driven by servomotor gear train, the 3rd finger driven by servomotor gear train.Manipulator framework (T type liner plate is made up of with vertical liner plate wale piece) on T type liner plate rolls with the door frame crossbeam and contacts.The slideway integrated package is fixed on the vertical liner plate, sliding pair connects the manipulator slide block on the slideway integrated package, the slide block lower end is adorned one and is connected three central shafts of pointing, the 3rd finger driven by servomotor gear train, the first finger driven by servomotor gear train have been installed from top to bottom, the center the tip of the axis directly is connected with the second finger ball adapter, each driven by servomotor gear train driving body all is connected with ball adapter, and the terminal electromagnet Attraction block that connects of each ball adapter is realized absorption snatch enhanced feature.The manipulator upper end of slide block is equipped with the steel wire rope collar, and ring is fastened steel wire rope.The forward and backward directive wheel of steel wire rope is contained in respectively on the bracing frame of vertical liner plate upper end.The servomotor axle head is equipped with steel wire rope folding and unfolding wheel, and servomotor is installed on the cross-lining plate.Cross-lining plate right-hand member is welded on liner plate back in length and breadth, and the left side is supported by fagging, and the gravity support wheel is contained in fagging and vertical liner plate back, gravity support wheel and the sliding-contact of door frame crossbeam.
Manipulator can be done three-dimensional motion with door frame in rectangular coordinate system.X-axis moves with door frame, and Y-axis moves by the ball-screw integrated package along door frame crossbeam direction and realizes, is dragged the slide block that connects mechanical finger by servomotor by the directive wheel guiding by steel wire rope and realizes that along the slideway integrated package Z-direction moves.The first and the 3rd finger can satisfy curve section bar carrying requirement around the rotation of Z axle by the driven by servomotor gear train.The lifting weight of whole manipulator and deadweight are added on the door frame crossbeam by ball-screw integrated package and gravity support wheel multiple spot.
Computer controller with optical visual positioning function, off-line programing according to section bar carry automatically, the input and output positioning instruction of assembling, feeding process file conversion carries out motion control.Online programming is source side position and the purpose orientation according to the workshop electronic chart upper sectional material on the mouse clicking operation platform display, obtaining the relative motion coordinate moves, when the section bar that is handled upside down enters camera visual range on the manipulator that is installed in robot, the pinpoint concrete coordinate of manipulator finger can be realized on-the-spot accurate in real time location by visually-perceptible.
System demarcates as follows to each coordinate system definition with video camera:
Workshop electronic chart coordinate system O
WxyzOverlap with the coordinate system of the guide rail walking mechanism of robot, the video camera imaging plane coordinates is O
Cxyz, and O
CxyPlane and O
WxyPlane parallel.O
WxyzBe divided into four quadrants, the section bar material loading is made as O zero point
WxyzInitial point.Processed raw material section bar is placed on stockyard I, IV quadrant, section bar after the machine-shaping, and the linear section bar of recurvation is positioned at the II quadrant, and just curved linear section bar is positioned at the III quadrant, and the curved linear section bar of S is between II, III quadrant.
Be handled upside down the section bar web and bend towards on the boundary curve point at O
WxyzIn coordinate P (x
i, y
iz
i), gather by the optical visual device, the video camera transformation model is demarcated and (is determined the relation between object space three-dimensional system of coordinate and the three-dimensional camera coordinate system routinely, determine object point in camera coordinate system three-dimensional coordinate and the relation between the computer picture two-dimensional coordinate system), carry out forming after the coordinate transform processing two-dimensional coordinate P (u of computer picture
i, v
i).
Section bar carrying loading and unloading machine people general operation flow process (see figure 6)
To be transported to this process of next work area (or assembling pallet) be example to the section bar that will be arranged in blanking zone bending forming with robot below, at the two-dimensional coordinate system O of computer picture
IuvDown, illustrate that transfer robot relies on the computer vision measurement system, the electromagnetism Attraction block of manipulator realizes that section bar is grasped in the location automatically, automatically the process of handling:
1. the section bar web bends towards the boundary curve data extract
According to the terminal orientation of need carrying section bar, the workshop electronic chart on the mouse clicking operation platform display reads the terminal azimuthal coordinates P of section bar (u
m, v
m); Or (be O with section bar material loading P at zero point (0,0)
WxyzInitial point) as blanking P at zero point (0,0), also can be used as the terminal azimuthal coordinates P of section bar (u
m, v
m) reference coordinate.Driven door frame (2D) manipulator (3D) with robot is an anchored object, with P (u
m, v
m) be target coordinate, interpolation is moved.When the section bar that is handled upside down entered camera (3-7) visual range on the manipulator that is installed in robot, robot scanned section bar, finishes the section bar web is bent towards boundary curve data G (u
i, v
i) extract.Calculate section bar two-end-point coordinate P (u
0, v
0) and P (u
N, v
N) between the distance of straight line (back claims the string of a musical instrument):
With x axle clamp angle:
2. align the section bar position.
In order to make door frame promote section bar weight equalization as far as possible, we need favour the section bar string of a musical instrument section bar levelling of x axle, make its string of a musical instrument parallel with the x axle (being that angle is 0).Here only need to carry out circular interpolation and move levelling section bar position near robot arbitrary door frame manipulator magnet absorption section bar top at section bar top.
3. determine required door frame number and door frame spacing.
4 door frames can be carried the longest 12m of reaching of section bar.If certain batch of processing be the section bar of spitkit less than 12m, can select door frame number n and door frame separation delta L according to table 1 according to the section bar of different string of a musical instrument length L.
Again n and Δ L substitution following formula (3) are determined the elements of a fix X of k door frame (2A) center electromagnet Attraction block
k:
As the elements of a fix X that has determined each manipulator center electromagnet Attraction block
kAfter, computer is according to X
kAt section bar curvilinear coordinate collection G (u
i, v
i) in match immediate coordinate points automatically as the required final elements of a fix P (u that moves to of each center electromagnet Attraction block
k, v
k).
The door frame number of the section bar of the different string of a musical instrument length L of table 1 carrying and spacing tabulation
| Section bar string of a musical instrument length L (Dan Li :) | Door frame number n (unit: individual) | Door frame separation delta L (unit: m) | Minimum is got rid of head (unit: cm) | Maximum is got rid of head (unit: cm) |
| 3～5 | 2 | 1.2 | 0.3 | 1.3 |
| 5～6 | 2 | 2.4 | 0.7 | 1.2 |
| 6～7 | 3 | 1.8 | 0.6 | 1.1 |
| 7～8 | 3 | 2.4 | 0.5 | 1.0 |
| 8～9 | 3 | 3.0 | 0.4 | 0.9 |
| 9～10 | 3 | 3.6 | 0.3 | 0.8 |
| 10～11 | 4 | 2.4 | 0.8 | 1.3 |
| 11～12 | 4 | 3.0 | 0.4 | 0.9 |
4. determine the side electromagnet Attraction block anglec of rotation.
According to P (u
k, v
k) and Δ l=r=0.45m (center distance between the robot three finger electromagnet Attraction blocks), at section bar curvilinear coordinate collection G (u
i, v
i) in match the final elements of a fix P (u of immediate coordinate points automatically as each manipulator left and right sides electromagnet Attraction block
K-l, v
K-l) P (u
k, v
k) and P (u
K+l, v
K+l) and calculate its anglec of rotation.
5. point the electromagnet Attraction block when three on each manipulator and all transfer to desired location P (u
K-l, v
K-l), P (u
k, v
k) and P (u
K+l, v
K+l) time, manipulator Z direction decline location is close to till the section bar by proximity transducer.Restart electromagnet absorption section bar, lifting carrying section bar is to the coordinates of targets P (u of appointment
m, v
m).
Major advantage of the present invention:
1. because section bar carrying loading and unloading machine people has substituted workman's operation, having overcome conventional portal jib crane utilizes hawser handling section bar to catch heavy material to stop the object vibration by the workman, controlling it waves and rotates, the danger that when finishing accurate the location workman is brought has improved the security and the production efficiency of section bar processing.
2. it can realize section bar forming mill, cutting machine and the series connection of bonding machine station, makes the automation of section bar processing round Realization, forms section bar processing automatic assembly line and becomes possibility.This equipment has been created condition for improving traditional section bar processing technology weak point.
3. it can carry the various models of large, medium and small type ship oceangoing ship, the section bar of different length.It can carry the straight line section bar can carry the curve section bar again.Easy and simple to handle reliable.
The drawing explanation
Fig. 1 is a plan structure schematic diagram of the present invention;
Fig. 2 is a side-looking structural representation of the present invention;
Fig. 3 is a main TV structure schematic diagram of the present invention;
Fig. 4 is the structural representation of manipulator;
Fig. 5 is the transmission structures generalized section of walking mechanism
Fig. 6 is an operational flowchart
Wherein: 1-guide rail, 2-door frame, the 2A-door frame of initiatively walking, 2B, 2C, the driven walking door frame of 2D-three, 3-steel wire folding and unfolding wheel, 3A, 3B, 3C, 3D-manipulator, push-and-pull thick stick under 4A1-right side, 4B1-lower-left thruster tie-bar, 5A, 5B, 5C-electromagnetic clutch, 6-section bar, 9-cold-frame bender, 7-transmission device, the 7A door frame box stand of initiatively walking, 8-camera, 4A2-right side upper push-pull lever, 4B2-left side upper push-pull lever, 5A, 5B, 5C-electromagnetic clutch, 11,24-ball adapter, 13,12,23-three fingers, 14-gravity support wheel, 15-door frame crossbeam, 16-servomotor, 16A-wale piece, 17-steel wire rope, 18-manipulator slide block, 18A-steel wire rope the collar, 19-slideway integrated package, 19A-vertical fagging, 20-ball-screw integrated package, 21-the three finger driven by servomotor gear train, 22-the first finger driven by servomotor gear train, 25,26,27-electromagnet Attraction block, 28 front jockey wheels, 29 back directive wheels, 30-servomotor, 31-gearbox, 32-elastic compression mechanism, 33-gear, 34-tooth bar, 35-position-limited wheel, 36-door frame seat, 37-steel body support frame, 38-door frame seat-box.
The specific embodiment
Form by the walking mechanism, manipulator, the computer controller that move in rectangular coordinate system.
Walking mechanism comprises guide rail 1, active door frame 2A, and driven door frame 2B, 2C, 2D, the right side is push-and-pull thick stick 4A2,4A1 up and down, and the left side is push-and-pull thick stick 4B2,4B1 up and down, and electromagnetic clutch 5A, 5B, 5C are positioned at the initiatively transmission device 7 of door frame box stand 7A.Transmission device 7 is made up of servomotor 30, gearbox 31, elastic compression mechanism 32, gear 33, tooth bar 34, position-limited wheel 35 etc.Transmission device 7 is installed in the active door frame seat-box 38, is connected on the door frame seat 36 by elastic compression mechanism 32 by steel body support frame 37.Servomotor 30 is fixed on the gearbox 31 by screw, and gear 33 is contained in gearbox 31 transmission thes tip of the axis, and gear 33 necks are equipped with elastic compression mechanism 32, makes gear 33 and the tooth bar 34 elasticity coupling that is fixed on the guide rail 1.
Derailing when door frame 2A, 2B, 2C, 2D all adopt position-limited wheel 29 to prevent the door frame motion.Initiatively door frame 2A and driven door frame 2B, 2C, 2D are by push-and-pull thick stick 4A2,4A1 about the right side, left side push-and-pull thick stick 4B2,4B1 interlock up and down, door frame and right side be push-and-pull thick stick 4A2,4A1 up and down, and left side push-and-pull thick stick 4B2,4B1 up and down connects by electromagnetic clutch 5A, 5B, 5C clutch.
Have camera 8, have the computer controller of optical visual positioning function, off-line programing according to section bar carry automatically, the input and output positioning instruction of assembling, feeding process file conversion carries out motion control.Online programming is according to the source side position and the purpose orientation of the workshop electronic chart upper sectional material on the mouse clicking operation platform display, obtains the relative motion coordinate and moves.
Claims (4)
1. a section bar carrying loading and unloading machine people comprises guide rail (1), walking mechanism, manipulator (3A), it is characterized in that: also comprise the door frame (2) that moves on guide rail (1), the computer controller with camera (8); Described manipulator (3A) framework is (T type liner plate is made up of wale piece (16A) and vertical liner plate (19A)) on door frame (2) T type liner plate, and rolling with door frame (2) crossbeam contacts; The end of its three fingers (12,13,23) is connected electromagnet Attraction block (25,26,27) by ball adapter (11,24) respectively with the center the tip of the axis, and first finger (13) is driven and can be rotated around the Z axle by the first finger driven by servomotor gear train (22), the 3rd finger driven by servomotor gear train (21) respectively with the 3rd finger (23).
2. section bar carrying loading and unloading machine people according to claim 1, it is characterized in that: the transmission device of described walking mechanism (7) is made up of servomotor (30), gearbox (31), elastic compression mechanism (32), gear (33), tooth bar (34), position-limited wheel (35) etc.; Transmission device (7) is installed in the active door frame seat-box (38), is connected on the door frame seat (36) by steel body support frame (37); Servomotor (30) is fixed on the gearbox (31) by screw, gear (33) is contained in gearbox (31) transmission the tip of the axis, gear (33) neck is equipped with elastic compression mechanism (32), makes gear (33) and tooth bar (34) the elasticity coupling that is fixed on the guide rail (1).
3. section bar carrying loading and unloading machine people according to claim 1 and 2, it is characterized in that: can determine to adopt as many as four a door frames (active 2A according to the length of the section bar of operating, three driven 2B, 2C, 2D), door frame (2A) and door frame (2B), (2C), (2D) respectively by push-and-pull thick stick (4A1) under the right side, right side upper push-pull lever (4A2), the left side is push-and-pull thick stick (4B1) down, left side upper push-pull lever (4B2) interlock, door frame (2A), (2B), (2C), (2D) with the left side under push-and-pull thick stick (4A1), left side upper push-pull lever (4A2), the left side is push-and-pull thick stick (4B1) down, the connection of left side upper push-pull lever (4B2) is respectively by electromagnetic clutch (5A, 5B, 5C) clutch.
4. section bar according to claim 13 carrying loading and unloading machine people is characterized in that: the computer apparatus with camera (8) positioning function have off-line according to section bar carry automatically, the input and output positioning instruction of assembling, feeding process file conversion carries out motion control; Online source azimuthal coordinates and purpose azimuthal coordinates according to the workshop electronic chart upper sectional material on the mouse clicking operation platform display moves, and when the section bar that is handled upside down entered the robot vision scope, the concrete elements of a fix of manipulator finger can be by visually-perceptible.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03254701 CN2625121Y (en) | 2003-07-03 | 2003-07-03 | Section bar carrying and material loading/unloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03254701 CN2625121Y (en) | 2003-07-03 | 2003-07-03 | Section bar carrying and material loading/unloading robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2625121Y true CN2625121Y (en) | 2004-07-14 |
Family
ID=34253639
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03254701 Expired - Fee Related CN2625121Y (en) | 2003-07-03 | 2003-07-03 | Section bar carrying and material loading/unloading robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2625121Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101760A (en) * | 2012-12-28 | 2013-05-15 | 长春大正博凯汽车设备有限公司 | Visual transportation system for workpiece transportation and transportation method thereof |
| CN104742112A (en) * | 2013-12-27 | 2015-07-01 | 重庆交通大学 | Heavy-load precise flexible adsorption mechanical arm |
| CN109500803A (en) * | 2018-12-17 | 2019-03-22 | 德是正(苏州)智能科技有限公司 | A kind of planer-type truss manipulator |
| CN111003396A (en) * | 2019-12-02 | 2020-04-14 | 深圳光韵达光电科技股份有限公司 | Intelligent warehousing system and control method thereof |
| CN111805146A (en) * | 2020-07-21 | 2020-10-23 | 安徽双鹿车业有限公司 | Positioning and locking mechanism for machining of rear door of vehicle trailer and using method of positioning and locking mechanism |
| CN114131614A (en) * | 2021-12-24 | 2022-03-04 | 深圳市道元实业有限公司 | Robot control method, device, computer equipment and medium |
| CN114799883A (en) * | 2022-05-31 | 2022-07-29 | 杭州固建机器人科技有限公司 | Steel structure secondary machining system and method |
-
2003
- 2003-07-03 CN CN 03254701 patent/CN2625121Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101760A (en) * | 2012-12-28 | 2013-05-15 | 长春大正博凯汽车设备有限公司 | Visual transportation system for workpiece transportation and transportation method thereof |
| CN104742112A (en) * | 2013-12-27 | 2015-07-01 | 重庆交通大学 | Heavy-load precise flexible adsorption mechanical arm |
| CN109500803A (en) * | 2018-12-17 | 2019-03-22 | 德是正(苏州)智能科技有限公司 | A kind of planer-type truss manipulator |
| CN111003396A (en) * | 2019-12-02 | 2020-04-14 | 深圳光韵达光电科技股份有限公司 | Intelligent warehousing system and control method thereof |
| CN111805146A (en) * | 2020-07-21 | 2020-10-23 | 安徽双鹿车业有限公司 | Positioning and locking mechanism for machining of rear door of vehicle trailer and using method of positioning and locking mechanism |
| CN111805146B (en) * | 2020-07-21 | 2022-06-24 | 砀山县纳方包装材料有限公司 | Positioning and locking mechanism for machining of rear door of vehicle trailer and using method of positioning and locking mechanism |
| CN114131614A (en) * | 2021-12-24 | 2022-03-04 | 深圳市道元实业有限公司 | Robot control method, device, computer equipment and medium |
| CN114799883A (en) * | 2022-05-31 | 2022-07-29 | 杭州固建机器人科技有限公司 | Steel structure secondary machining system and method |
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