WO2022262077A1

WO2022262077A1 - Industrial robot-based multidirectional carrying device and carrying method thereof

Info

Publication number: WO2022262077A1
Application number: PCT/CN2021/108341
Authority: WO
Inventors: 吴永平; 程金强; 崔浩
Original assignee: 南京禹智智能科技有限公司
Priority date: 2021-06-18
Filing date: 2021-07-26
Publication date: 2022-12-22
Also published as: CN113291730A

Abstract

The present invention relates to the field of workpiece carrying, and provides an industrial robot-based multidirectional carrying device and a carrying method thereof. The carrying system comprises a carrying assembly and a control system, and the control system controls the carrying assembly to move, so that automatic carrying of workpieces can be achieved, manual carrying time is shortened, and the working efficiency is further improved; supporting frames in a carrying mechanism are rotated by a certain angle in a carrying process by means of an adjusting assembly provided in the carrying mechanism, so that the problem that the workpieces are thrown out in the moving process is solved; and by means of a telescopic device provided between the supporting frames of the carrying mechanism, a storage box provided between the supporting frames can be clamped or loosened, and a workpiece box can be more conveniently replaced. According to the design, the problem of unstable transportation caused by an intelligent carrying trolley is also solved, and the production efficiency is further improved.

Description

Multidirectional handling device and handling method based on industrial robot

technical field

The invention relates to the technical field of workpiece handling, in particular to an industrial robot-based multi-directional handling device and a handling method thereof.

Background technique

After the production and assembly of the power cord is completed, the processed power cord needs to be taken out from the transfer frame and then wound and marked to facilitate subsequent storage or winding. However, in the existing power cord production technology, after the power cord processing is completed by the operator at the last station, it is piled up at the end of the transmission line, and then transported to the winding and marking station by other operators, or waiting The operator at the station of the winding marking machine comes to pick it up by himself. This operation method often causes excessive accumulation, which affects the risk of processing progress, and is time-consuming and laborious.

In order to solve the above problems, there is also a solution in the prior art to use smart trucks for transportation. The movement of smart trucks mainly relies on the magnetic strips on the ground for transportation, but the magnetic strips are easily broken when they are set on the ground in the factory. , or long-term use is prone to degaussing problems, and the ground requirements of the factory will be very limited. When the magnetic strip is damaged, it will not only cause maintenance difficulties, but also directly affect the handling stability of the smart handling trolley.

Therefore, there is a need for a handling device that can improve the stability of transportation, is not restricted by the factory floor, and is easy to maintain to solve the above existing problems.

technical problem

The present invention provides a multi-directional conveying device based on an industrial robot, and further provides a conveying method based on the conveying device, so as to solve the above-mentioned problems in the prior art.

technical solution

The multi-directional handling device based on industrial robots consists of two parts: handling components and a control system.

Wherein, the transport assembly includes a first power module, connected to the first power module, a transport mechanism for transporting workpieces, disposed at the bottom of the transport mechanism, and an inductor for sensing the weight of the workpiece;

a control system, the controller is connected to the first power module, and is used to control the movement of the first power module;

The sensor receives the weight of the workpiece in the transport mechanism, the control system receives the weight information of the sensor, and controls the first power module to drive the transport mechanism to move.

In a further embodiment, the transport mechanism includes a guide part, which is slidably connected with the guide part, and is used for transporting the storage box of the object. The adjustment device, when the workpiece needs to be transported, the storage box is guided by the guide part to transport the workpiece smoothly, and the adjustment device supports the storage box in motion to prevent the phenomenon of turning over during the movement, further improving the transportation efficiency and improving Stability of transport.

In a further embodiment, the adjustment device includes a turret, and the turret is used to support the storage box. When the workpiece in the storage box is placed, the storage box will turn backwards due to inertia during the movement. , the support frame is arranged behind it, further preventing the problem of overturning during transportation, and improving transportation efficiency.

In a further embodiment, the adjusting device further includes a second power module arranged on one side of the turret, connected with the second power module and arranged at both ends of the supporting frame, and connected with the second power module. The module is connected, the transmission mechanism that is rotatably connected with the rotating part, and the reversing block that is coaxially fixedly connected with the rotating part and drives the storage box to rotate under the action of the transmission mechanism. When the workpiece in the storage box meets the preset weight, there is The control system controls the storage box to be transported along the guide rail. During the transportation, in order to prevent workpieces from falling out of the storage box, the second power module drives the transmission mechanism to rotate, and the rotation of the transmission mechanism drives the rotating parts connected to it to rotate. Then it drives the reversing block to rotate, and then drives the storage box to rotate upwards, which further improves the stability of transportation.

In a further embodiment, the transport mechanism also includes a telescopic device, the telescopic device is arranged on the support frame, the cylinder in the telescopic device drives the bottom plate of the support frame to move up and down, and is used to adjust the height of the support frame, When the storage box needs to be repaired or replaced, it is only necessary to adjust the telescopic device to take the storage box out of the support frame and replace the new storage box in time. Not only can the storage box be replaced more conveniently but also easy to replace, saving cost and It will cause the accumulation of wire rods.

In a still further embodiment, the transmission mechanism is a synchronous pulley structure, and the reversing block drives the storage box to turn up and down in different directions, and the synchronous belt drives the reversing block to rotate to ensure its rotation angle Accuracy, and stably fix the angle of the adjusted storage box to improve the stability of transportation.

In a further embodiment, at least two groups of the conveying mechanisms are provided, which are respectively connected to the control system, and the conveying directions are in opposite directions. Direction of handling, to further improve production efficiency.

In a further embodiment, the transport mechanism described in any one of the above further includes a limiter, the limiter is arranged between the support frame and the storage box, and is used to support the storage box, When the support frame rotates under the control of the adjusting device, the storage box will also rotate accordingly, and the setting of the limit piece prevents collision with the support frame during rotation, which further ensures the safety of handling and reduces the The cost of replacement parts.

A method for handling a multi-directional handling device based on an industrial robot, comprising the steps of:

S1. The operator at the end of the assembly line puts the workpiece into the storage box, and the sensor installed at the bottom of the storage box senses the weight of the workpiece in the storage box, and then transmits the weight signal to the control system. After the control system receives the signal from the sensor, Control the first power module to move, and at the same time, adjust the component to adjust the angle of the support frame, so that the support frame rotates upward to move the angle, and at the same time drives the storage box to rotate a certain angle, and then enter step 2;

S2. The first power module drives the transport mechanism to move to the next station that needs to be processed, and then the operator of this work takes out the transported workpiece. At this time, the sensor installed at the bottom of the storage box senses the movement of the workpiece in the storage box. Weight, the signal is sent to the control system, and the control system controls the first power module to transport the transport mechanism to the tail of the assembly line that needs to be transported. At the same time, the adjustment device controls the angle of the support frame to rotate downwards, so that the support frame is level with the ground. After that, the operator at the end of the assembly line transports the workpiece to the storage box of the transport mechanism, the sensor detects the weight again, and transmits the signal to the control system, and then enters step 3;

S3. Perform the operation steps from S1 to S2 in sequence until the system stops working.

Beneficial effect

The invention provides a multi-directional handling device and a handling method based on an industrial robot. The movement of the handling components is controlled by the control system, which can realize the automatic handling of workpieces, reduce the time of manual handling, and further improve work efficiency; through the handling mechanism The adjustment component set in the transport mechanism rotates the support frame in the transport mechanism at a certain angle to prevent the workpiece from being thrown out during the movement process, and the telescopic device installed between the support frames of the transport mechanism can Clamping or loosening the storage boxes set between the support frames makes it easier to replace the workpiece box. In addition, this design controls multiple handling components for handling through a control system, which can realize multi-directional handling. It further solves the problems of time-consuming and labor-intensive manual transportation in the prior art, and the inconvenience of maintenance caused by the transportation of the trolley relying on the magnetic strip, and further improves the production efficiency.

Description of drawings

Fig. 1 is the assembly schematic diagram of the overall structure of the multi-directional handling system of the present invention;

Fig. 2 is the structural representation of adjusting device of the present invention;

Fig. 3 is a schematic diagram of the connection structure between the inventive adjustment device and the support frame;

Fig. 4 is a structural schematic diagram of the expansion device of the present invention;

Fig. 5 is a schematic diagram of the connection between the pressure sensor and the support frame of the present invention.

Fig. 6 is a flowchart of the working principle of the transport mechanism of the present invention.

The reference signs in the figure are: storage box 1, telescopic device 2, moving block 2a, moving shaft 2b, support plate 2c, adjusting device 3, turret 3a, synchronous belt 3b, motor 3c, synchronous wheel 3d, rotating shaft 3e , Reversing block 4, limiter 5, support frame 6, support frame bottom plate 6a, guide rail 7, second guide rail 8, pressure sensor 9.

Embodiments of the present invention

In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present invention.

The applicant believes that when traditional power wires are transported to the location of the marking and bagging machine, intelligent handling trolleys are often used to transport them from the tail of the power wire production line to the marking and bagging machine. This transportation method mainly relies on magnetic sensors for transportation , The magnetic strip set on the factory floor is easy to be broken, and degaussing will occur after long-term use, which will affect the stability of the intelligent transport trolley. The damage of the magnetic strip will bring great inconvenience to subsequent maintenance.

For this reason, the multi-directional handling device and its handling method based on industrial robots designed by the applicant, the pressure sensor automatically recognizes the weight of the handling wire, and the control system automatically controls the movement of the handling components, and sets up handling devices in different directions at the same time to avoid multiple The power wires of the production line are piled up and move along the guide rails during transportation to improve the stability of transportation.

Embodiment one:

As shown in Figures 1 to 6, the industrial robot-based multi-directional handling device designed in the present invention mainly consists of two parts: a handling assembly and a control assembly, wherein the handling system includes a first power module, and a handling module connected to the first power module. Mechanism, the transport mechanism is set on the top of the first power module, and the sensor is set at the bottom of the transport mechanism, the control system is connected with the first power module, the sensor receives the weight of the workpiece in the transport mechanism, and the control system receives the weight information of the sensor , control the first power module to drive the transport mechanism to move; wherein the transport mechanism includes a storage box 1 arranged on the first power module, and a storage box 1 arranged on the first power module, connected to the storage box 1, and arranged between it Between the support frame 6. In this embodiment, the first power module is a motor 3 c, and the sensor is a pressure sensor 9 .

In practical applications, after the power wires are assembled, they are placed at the end of the assembly line, and the handling components are transported to the end of the assembly line where the power wires need to be moved under the control of the control system. Manually, only the processed power wires need to be placed on the handling components In the storage box 1 in the storage box 1, the pressure sensor 9 at the bottom of the storage box 1 performs weight sensing. When the weight is reached, the control system controls the motor 3c to rotate and drive the handling assembly to move along the guide rail 7 to the winding and marking station. The operator of this station only needs to take out the power wires in the storage box 1. If there is enough space at the end of the assembly line and there will be no accumulation of wires, the operator does not need to take out the power wires in the storage box 1. Take the power wires directly from the glove box 1 and process them one by one. When the pressure sensor 9 senses that the weight of the power wires in the glove box 1 is not enough, the control system starts the motor 3c again to move to the end of the assembly line where the power wires need to be removed. , when the processing space and time permit, the operator at the last station can also place the processed power wires in the storage box 1 one by one after the processing is completed, until the pressure sensor 9 senses that they are placed in the storage box 1 When the weight of the power cord in the box 1 is reached, the control system again controls the motor 3c to drive the transport assembly along the guide rail 7 to move to the winding and marking machine, and the operator at this station can continue to take and process; of course, the present invention The bottom of the storage box 1 can also be set as a rotating mechanism, which is convenient for manual taking without moving the position. The rotation mechanism can realize the rotation of the storage box 1 at any angle, so that the opening of the storage box 1 faces the operation of marking or winding Personnel, the operator can directly take it without walking around, which is more convenient for the operator to take or store the power cord; the handling system of this embodiment can also add a transmission mechanism, which can be set to move horizontally and vertically In this way, the transportation position can be increased, the transportation direction can be increased, the transportation cost can be further saved, the transportation efficiency can be improved, the processing efficiency can be further improved, the manpower consumption can be reduced, and the power supply wire can be cleaned from the assembly line in time, saving The space occupied by power wires in the assembly line.

Preferably, in order to prevent the power cord from falling from the glove box 1 during transportation, an adjustment device 3 is provided behind the support frame 6, wherein the adjustment device 3 includes a turret 3a connected to the turret 3a through a rotation shaft 3e Synchronous belt 3b wheel 3b structure, the reversing block 4 connected with the upper connecting shaft, wherein the reversing block 4 is connected with the rear plate of the support frame 6 in the handling assembly; when the power cord in the glove box 1 starts to carry , the second motor 3c in the adjusting device 3 drives the synchronous belt 3b wheel to move, and the synchronous belt 3b wheel drives the upper and lower rotating shaft 3e connected to it to rotate, and the rotation of the upper rotating shaft 3e drives the reversing block 4 connected to it. Turn clockwise, the rotation of the reversing block 4 drives the support plate 2c connected to the rear plate to rotate, and then the opening of the storage box 1 is lifted upwards, so that the problem of power cord falling will not occur during the rapid transportation. improve the stability of handling; when the power wire is transported to the marking or winding position, or the storage box 1 is in an unloaded state, the second motor 3c drives the timing belt 3b to rotate clockwise, and then drives the upper rotating shaft 3e moves clockwise, and then drives the support frame 6 to be flush with the ground, which is convenient for marking or winding operators to take the processed power wires from the storage box 1, or for operators on the assembly line to process A good power supply wire is placed in the storage box 1 to further ensure the efficiency of handling.

Preferably, in order to prevent the storage box 1 from being damaged and unable to be used for a long time, and to facilitate the replacement of the storage box 1, a telescopic device 2 is arranged on the support frame 6 in the transport mechanism, and the telescopic device 2 is arranged on the bottom of the support frame 6. Above the base plate, including the moving plate, the cylinder connected to the moving plate, the movement of the cylinder drives the support frame 6 base plate connected to it to move up and down. When the storage box 1 needs to be replaced, the cylinder moves downward to move the support frame 6 The bottom plate moves downward, and the distance between the bottom plate and the top plate of the support plate 2c increases, and the storage box 1 is easily pulled out from the support frame 6; when the replacement is completed, the cylinder moves up and down, driving the bottom plate of the support frame 6 Move upwards, and then fasten the storage box 1 between the support frames 6 to achieve stable transportation. The design of the telescopic device 2 can not only facilitate maintenance and replacement when the storage box 1 is damaged, but also act as a power supply for the assembly line. When the wires are piled up too much, multiple storage boxes 1 can be added as storage boxes and placed at the marking or winding place, further increasing the utilization rate of the storage boxes 1 .

Preferably, in order to realize multi-directional transportation, two-directional transportation components are provided in this embodiment, and the control system controls two groups of transportation components moving in opposite directions respectively, so as to realize faster transportation and further reduce manual labor , the control system controls the handling components to automatically realize uninterrupted handling operations, and further realize the intelligent handling. Of course, it can also be set as four sets of handling components in different directions according to the needs of the site to achieve the best handling effect. For more convenient work, a rotating mechanism can be installed at the bottom of the storage box 1. When the box is filled with wires and transported to the marking or winding station, the storage box 1 will directly turn the storage box 1 under the action of the rotating mechanism. Facing the operator, the operator can directly take the wires in the storage box 1 without walking around, which saves time and improves processing efficiency, making the handling more convenient and intelligent.

Preferably, in order to prevent the back plate of the storage box 1 from colliding with the back plate of the support plate 2c during the rotation of the support plate 2c, a limiter 5 is arranged on the back plate of the support frame 6 in the transport mechanism, and the limiter 5 is The elastic member, when the storage box 1 is full of a certain amount of power cords, the adjustment device 3 controls the support frame 6 to rotate, and at this time the storage box 1 will also rotate due to the rotation of the support plate 2c, and the position limiting member 5 is arranged on the storage area. When the box 1 moves towards the support plate 2c, the back of the storage box 1 is supported so that it will not collide with the support plate 2c, further preventing the support plate 2c from colliding with the storage box 1, improving the handling quality and saving replacement costs.

On the basis of the above-mentioned handling device, the present invention proposes a handling method based on a multi-directional handling device of an industrial robot, and the specific steps are as follows:

First, the operator at the end of the assembly line puts the processed power wire into the storage box 1, and the sensor installed at the bottom of the storage box 1 senses the weight of the workpiece in the storage box 1, and then transmits the weight signal to the control system. After receiving the signal from the sensor and satisfying the preset weight, control the motor 3c to move, and at the same time, adjust the component to adjust the angle of the support frame 6, so that the support frame 6 turns upwards at a certain angle, and at the same time drives the storage box 1 to rotate a certain amount. Angle, so that the opening direction of the storage box 1 is upward, preventing the problem that the power supply wires will fall during the process of carrying the power supply wires in the storage box 1;

Then, the motor 3c drives the conveying mechanism to move to the processing station where the power wire needs to be marked or wound, and then the operator at this station takes out the workpiece that has been carried, and the adjustment device 3 adjusts the support frame when taking it out The angle of 6 makes it rotate downward so that the opening position of the storage box 1 faces the operator who is marking and winding the wire, making it easier for the operator to take the power wire. At this time, the sensor set at the bottom of the storage box 1 senses The weight of the workpiece in the storage box 1 transmits the signal to the control system. After the control system receives the signal transmitted by the pressure sensor 9 and is less than the preset weight, it controls the first power module to transport the transport mechanism to the tail of the assembly line that needs to be transported again. When reaching the end of the assembly line that needs to be transported, the adjustment device 3 controls the support frame 6 to turn upward again at a certain angle, so that the support frame 6 drives the storage box 1 to lift upward at a certain angle, and then the operator at the end of the assembly line will carry the workpiece to the In the storage box 1 of the transport mechanism, the sensor detects the weight again, and transmits the signal to the control system, and the control system controls the transport mechanism to work again;

Finally, the operation steps from S1 to S2 are carried out in sequence until the system stops working. As stated above, while the invention has been shown and described with reference to certain preferred embodiments, this should not be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

The multi-directional handling device based on industrial robots is characterized in that it includes:

The transport assembly includes a first power module connected to the first power module, a transport mechanism for transporting workpieces, disposed at the bottom of the transport mechanism, and a sensor for sensing the weight of the workpiece;

a control system, the controller is connected to the first power module, and is used to control the movement of the first power module;

Wherein the sensor receives the weight of the workpiece in the transport mechanism, the control system receives the weight information from the sensor, and controls the first power module to drive the transport mechanism to move.
The multi-directional handling device based on an industrial robot according to claim 1, wherein the handling mechanism includes a guide part, which is slidably connected to the guide part, and is used for transporting a storage box for objects, away from the side of the opening of the storage box, and An adjusting device connected with the storage box and used for supporting the storage box.
The multi-directional conveying device based on an industrial robot according to claim 2, wherein the adjusting device comprises a turret, and the turret is used to support the storage box.
The multi-directional handling device based on industrial robots according to claim 3, wherein the adjusting device further comprises a second power module arranged on the turret, connected with the second power module and arranged on a support The rotating parts at both ends of the frame are connected with the second power module, the transmission mechanism is rotationally connected with the rotating part, and the reversing block is coaxially fixedly connected with the rotating part and drives the storage box to rotate under the action of the transmission mechanism.
The multi-directional transport device based on an industrial robot according to claim 3, wherein the transport mechanism further includes a telescopic device, and the telescopic device is arranged on the support frame for adjusting the height of the support frame.
The multi-directional conveying device based on an industrial robot according to claim 4, wherein the transmission mechanism is a synchronous pulley structure, and the reversing block drives the storage box to turn up and down in different directions.
The multi-directional conveying device based on an industrial robot according to claim 4, wherein the conveying mechanism is provided in at least two groups, which are respectively connected to the control system for multi-directional conveying of workpieces.
The multi-directional handling device based on an industrial robot according to claim 6, wherein the handling mechanism further comprises a limiter, and the limiter is arranged between the support frame and the storage box for The storage box is supported to prevent collision with the supporting frame during rotation.
The handling method of the multi-directional handling device based on industrial robots is characterized in that, comprising the following steps:

S1. The sensor senses the weight of the workpiece in the storage box, the control system receives the signal from the sensor, controls the first power module to move, and then enters step 2;

S2. The first power module drives the transport mechanism to carry out reciprocating transport operations. When the workpiece is fully loaded, the adjustment device rotates the support frame counterclockwise. When the workpiece is unloaded, the adjustment component rotates the support frame clockwise and parallel to the ground;

S3. Perform the operation steps from S1 to S2 in sequence until the system stops working.