WO2022262077A1 - Dispositif de transport multidirectionnel à base de robot industriel et son procédé de transport - Google Patents

Dispositif de transport multidirectionnel à base de robot industriel et son procédé de transport Download PDF

Info

Publication number
WO2022262077A1
WO2022262077A1 PCT/CN2021/108341 CN2021108341W WO2022262077A1 WO 2022262077 A1 WO2022262077 A1 WO 2022262077A1 CN 2021108341 W CN2021108341 W CN 2021108341W WO 2022262077 A1 WO2022262077 A1 WO 2022262077A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage box
carrying
power module
handling
directional
Prior art date
Application number
PCT/CN2021/108341
Other languages
English (en)
Chinese (zh)
Inventor
吴永平
程金强
崔浩
Original Assignee
南京禹智智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京禹智智能科技有限公司 filed Critical 南京禹智智能科技有限公司
Publication of WO2022262077A1 publication Critical patent/WO2022262077A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0258—Weight of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

Definitions

  • 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.
  • the processed power cord needs to be taken out from the transfer frame and then wound and marked to facilitate subsequent storage or winding.
  • 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.
  • 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.
  • the multi-directional handling device based on industrial robots consists of two parts: handling components and a control system.
  • 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;
  • 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.
  • 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.
  • the adjustment device includes a turret, and the turret is used to support the storage box.
  • 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.
  • 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.
  • the control system controls the storage box to be transported along the guide rail.
  • 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.
  • 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,
  • 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.
  • the transmission mechanism is a synchronous pulley structure
  • the reversing block drives the storage box to turn up and down in different directions
  • 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.
  • 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.
  • 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:
  • step 2 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;
  • 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.
  • 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.
  • the adjustment device controls the angle of the support frame to rotate downwards, so that the support frame is level with the ground.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first power module is a motor 3 c
  • the sensor is a pressure sensor 9 .
  • 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.
  • the pressure sensor 9 at the bottom of the storage box 1 performs weight sensing.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • the control system controls the handling components to automatically realize uninterrupted handling operations, and further realize the intelligent handling.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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.
  • control the motor 3c 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;
  • 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.
  • 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.
  • 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;

Abstract

La présente invention se rapporte au domaine du transport de pièces à usiner, et concerne un dispositif de transport multidirectionnel à base de robot industriel et un procédé de transport de celui-ci. Le système de transport comprend un ensemble de transport et un système de commande, et le système de commande permet de commander le déplacement de l'ensemble de transport, de telle sorte que le transport automatique de pièces à usiner peut être obtenu, le temps de transport manuel est raccourci, et l'efficacité de travail est encore améliorée ; des cadres de support dans un mécanisme de transport sont mis en rotation selon un certain angle dans un processus de transport au moyen d'un ensemble de réglage mis en œuvre dans le mécanisme de transport, de telle sorte que le problème selon lequel les pièces à usiner sont expulsées au cours du processus de déplacement est résolu ; et au moyen d'un dispositif télescopique mis en œuvre entre les cadres de support du mécanisme de transport, une boîte de stockage mise en œuvre entre les cadres de support peut être serrée ou desserrée, et une boîte à pièce à usiner peut être remplacée plus commodément. Selon la conception, le problème de transport instable provoqué par un chariot de transport intelligent est également résolu, et l'efficacité de production est encore améliorée.
PCT/CN2021/108341 2021-06-18 2021-07-26 Dispositif de transport multidirectionnel à base de robot industriel et son procédé de transport WO2022262077A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110679766.7 2021-06-18
CN202110679766.7A CN113291730A (zh) 2021-06-18 2021-06-18 基于工业机器人的多向搬运装置及其搬运方法

Publications (1)

Publication Number Publication Date
WO2022262077A1 true WO2022262077A1 (fr) 2022-12-22

Family

ID=77328788

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/108341 WO2022262077A1 (fr) 2021-06-18 2021-07-26 Dispositif de transport multidirectionnel à base de robot industriel et son procédé de transport

Country Status (2)

Country Link
CN (1) CN113291730A (fr)
WO (1) WO2022262077A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115091249B (zh) * 2022-06-15 2023-03-21 深圳市久久犇自动化设备股份有限公司 一种数控机床生产线控制系统及方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08193869A (ja) * 1995-01-13 1996-07-30 Daiyu Kk 反転投入計量装置
JP2007045629A (ja) * 2005-08-06 2007-02-22 Yokozaki Co Ltd ウエイトサイザの選別皿支持装置
CN207030261U (zh) * 2017-06-29 2018-02-23 天津华万机器人科技有限公司 一种运送小车系统
CN111301970A (zh) * 2020-03-12 2020-06-19 翁观华 一种快递分拣小车及其自动化分拣线
CN111620092A (zh) * 2020-06-14 2020-09-04 新昌县秋杰机械科技有限公司 一种效率高的机械加工用工件输送机构
CN212768379U (zh) * 2020-07-22 2021-03-23 深圳市智富科技有限公司 一种搬运翻转上料机械手模组

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08193869A (ja) * 1995-01-13 1996-07-30 Daiyu Kk 反転投入計量装置
JP2007045629A (ja) * 2005-08-06 2007-02-22 Yokozaki Co Ltd ウエイトサイザの選別皿支持装置
CN207030261U (zh) * 2017-06-29 2018-02-23 天津华万机器人科技有限公司 一种运送小车系统
CN111301970A (zh) * 2020-03-12 2020-06-19 翁观华 一种快递分拣小车及其自动化分拣线
CN111620092A (zh) * 2020-06-14 2020-09-04 新昌县秋杰机械科技有限公司 一种效率高的机械加工用工件输送机构
CN212768379U (zh) * 2020-07-22 2021-03-23 深圳市智富科技有限公司 一种搬运翻转上料机械手模组

Also Published As

Publication number Publication date
CN113291730A (zh) 2021-08-24

Similar Documents

Publication Publication Date Title
CN106736602A (zh) 一体式电梯门板自动生产混线
CN107622966A (zh) 一种光伏硅晶电池片花篮智能传输系统
WO2022262077A1 (fr) Dispositif de transport multidirectionnel à base de robot industriel et son procédé de transport
CN212355692U (zh) 一种立式玻璃搬运机构及玻璃搬运装置
CN208994642U (zh) 上下料运送线
CN107089522A (zh) 一种自动码垛装置
KR200463133Y1 (ko) 랩핑장치
CN110775632A (zh) 一种立式玻璃搬运机构
CN207142320U (zh) 一种自动码垛装置
CN114011730B (zh) 一种基于智能控制的三收料系统以及操作方法
CN214721691U (zh) 罐车罐体与车架自动焊接装置
CN206569709U (zh) 一种生产大规格装饰板材的高自动化翻板捡板生产线
CN211812792U (zh) 一种整经机送纱系统及其采用的rgv小车
CN212173796U (zh) 一种玻璃夹取装置及玻璃搬运装置
CN210971707U (zh) 一种抓取机构及空调生产包装设备
CN113146101A (zh) 罐车罐体与车架自动焊接方法及装置
CN110775633A (zh) 一种玻璃夹取装置
CN207121379U (zh) 一种能够自动升降的小车
CN207698638U (zh) 上下运输机
CN111469123A (zh) 立柱式关节机器人
CN216734052U (zh) 一种物品运输用工业制造agv机器人
CN220844112U (zh) 圆管旋转提管下料的八字结构
CN113213222B (zh) 一种无纺布袋机卷材上料机构
CN214215891U (zh) 一种物流管理用货物提升摆货装置
CN217577256U (zh) 基于3d视觉系统引导的空调压缩机抓取输送系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21945659

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE