CN112693927B - Intelligent manufacturing system based on industrial robot - Google Patents
Intelligent manufacturing system based on industrial robot Download PDFInfo
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- CN112693927B CN112693927B CN202011511099.3A CN202011511099A CN112693927B CN 112693927 B CN112693927 B CN 112693927B CN 202011511099 A CN202011511099 A CN 202011511099A CN 112693927 B CN112693927 B CN 112693927B
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Abstract
The invention discloses an intelligent manufacturing system based on an industrial robot, which comprises a first conveying belt, an intermediate transferring module and a stacking rack, wherein the intermediate transferring module transfers goods on the first conveying belt to the stacking rack; the middle transfer module comprises an intelligent gripping device and a lifting transfer device, the intelligent gripping device is positioned on the front side of the lifting transfer device, and the intelligent gripping device is detachably connected with the lifting transfer device; this intelligence manufacturing system can be with the convenient and fast safe transportation of goods to on the pile up neatly frame to carry out automatic orderly pile up neatly to the goods, intelligent degree is high, and the cost of system is lower, has improved the efficiency of pile up neatly greatly, and the module is transported as an solitary module in the middle of, can also remove, is not limited to the use place, can repeat a lot of and use in different places.
Description
Technical Field
The invention relates to the technical field of manufacturing systems, in particular to an intelligent manufacturing system based on an industrial robot.
Background
In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.
The stacking adopted in the manufacturing industry generally depends on manpower, but when the height of the stacking rack is higher, the stacking work is difficult to complete simply depending on the manpower, and when the weight of the goods is heavier, the heavy goods are carried to the higher stacking rack manually, so that time and labor are wasted, and a larger safety risk exists; in order to replace manpower to carry out large-scale article pile up neatly, industrial robot intelligent manufacturing device's use is also more and more extensive, but current industrial robot intelligent manufacturing pile up neatly device often needs a plurality of robot cooperations just can accomplish whole transportation pile up neatly work, and the cost is higher.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an industrial robot-based intelligent manufacturing system, which can rapidly and safely transport goods and sequentially place the goods on a stacking rack, and has high automation degree and low system implementation cost.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an intelligent manufacturing system based on industrial robot, its characterized in that: the intelligent manufacturing system comprises a first conveying belt, an intermediate transfer module and a pallet, wherein the intermediate transfer module transfers goods on the first conveying belt to the pallet;
the middle transfer module comprises an intelligent gripping device and a lifting transfer device, the intelligent gripping device is positioned on the front side of the lifting transfer device, and the intelligent gripping device is detachably connected with the lifting transfer device;
the intelligent gripping device comprises a first rack, a first controller is arranged in the first rack, a fixed frame and a second conveying belt are arranged at the top of the first rack, and the second conveying belt is perpendicular to the first conveying belt; a first driving motor is installed in the fixed frame, a first rotating shaft is fixedly arranged at the output end of the first driving motor, the top of the first rotating shaft penetrates through the fixed frame, a first telescopic rod is fixedly arranged at the top of the first rotating shaft, a first hydraulic rod is installed at the position, close to the end part, of the first telescopic rod, and a self-discharging type clamping assembly is fixedly arranged at the output end of the first hydraulic rod; an infrared signal emitter is mounted at the bottom of the self-unloading clamping assembly, and infrared signal receivers corresponding to the infrared signal emitter are arranged at the rear end of the first conveying belt and the front end of the second conveying belt;
the lifting and transferring device comprises a second rack, a fixed plate is arranged at the top of the second rack, a lifting transmission system is arranged on the fixed plate, a lifting plate is fixedly arranged on the lifting transmission system, an arc-shaped plate is detachably connected to one end, close to the second rack, of the first rack, the arc-shaped plate is located between the second conveying belt and the lifting plate, and goods on the second conveying belt automatically slide onto the lifting plate through the arc-shaped plate;
still be equipped with liftable rotatory transportation board in the second frame, the transportation board is located the lifting plate with between the hacking frame, be equipped with the transportation subassembly on the transportation board.
Furthermore, the self-discharging clamping assembly comprises a fixed seat, a strip-shaped groove is formed in the bottom of the fixed seat, the strip-shaped groove extends along the direction of the second conveying belt, an L-shaped supporting plate is fixedly arranged in the strip-shaped groove, and the front end of the L-shaped supporting plate faces the first conveying belt; a second hydraulic rod is arranged at the back of the L-shaped supporting plate, penetrates through the L-shaped supporting plate, a first baffle is fixedly arranged at the output end of the second hydraulic rod, and the first baffle is in sliding connection with the bottom surface of the L-shaped supporting plate;
the outer side wall of the fixing seat is further provided with a second driving motor, the output end of the second driving motor is fixedly provided with a bidirectional screw, the bidirectional screw extends along the direction of the strip-shaped groove, two moving blocks are sleeved on the bidirectional screw, the top surfaces of the two moving blocks are in sliding connection with the top surfaces of the strip-shaped groove, the bottoms of the two moving blocks are respectively provided with an L-shaped clamping plate, and the two L-shaped clamping plates are arranged oppositely.
Furthermore, a third driving motor is arranged in the second frame, two third hydraulic rods are symmetrically arranged on two sides of the third driving motor, a second telescopic rod is fixedly arranged on an output shaft of the third driving motor, and a third telescopic rod is fixedly arranged at the output end of each third hydraulic rod;
the transfer plate comprises an inner plate and an outer plate, the inner plate is connected with the outer plate in a rotating mode, the bottom of the inner plate is fixedly connected with the top of the second telescopic rod, and the bottom of the outer plate is fixedly connected with the top of the third telescopic rod.
Furthermore, the inboard of planking is equipped with the half-turn spout, the edge of inner panel be equipped with spout assorted slider, the inner panel is in the spout with the cooperation of slider is down can 180 degrees rotations in the planking inboard.
Further, the transportation subassembly includes flexible pole setting, the tip of flexible pole setting has set firmly the fourth telescopic link, flexible pole setting with form L type structure between the fourth telescopic link, the tip of fourth telescopic link has set firmly the push-and-pull board.
Furthermore, a mounting groove is formed in the side face, close to the second rack, of the first rack, a detachable component is mounted in the mounting groove, the detachable component comprises an electromagnet mounted at the top of the mounting groove and a fourth hydraulic rod mounted at the bottom of the mounting groove, a limiting rod is fixedly arranged at the output end of the fourth hydraulic rod, a first limiting block is fixedly arranged on the side wall of the first rack, a first extending block is fixedly arranged at the top of the first limiting block, and a first through hole for the limiting rod to pass through is formed in the first extending block; a second limiting block is fixedly arranged on the side wall of the second rack, a second extending block is fixedly arranged at the top of the second limiting block and positioned above the first extending block, and a second through hole for the limiting rod to pass through is formed in the second extending block;
the bottom of the electromagnet is further provided with a limiting groove, the top of the limiting rod is provided with a metal block matched with the limiting groove, the bottom of the limiting rod is further provided with a limiting stop, and the size of the limiting stop is larger than that of the first through hole.
Furthermore, the stacking rack comprises a base, a supporting frame is fixedly connected to the upper surface of the base, a plurality of layers of goods racks are fixedly arranged in the supporting frame, a transverse moving transmission system is arranged on each layer of the goods racks, and a counter is arranged at the front end of each layer of the goods racks.
Furthermore, a position detector is arranged at the position, corresponding to each layer of the goods shelf, on the fixing frame.
Furthermore, the bottom of the first frame and the bottom of the second frame are both provided with moving wheels, and locking devices are arranged on the moving wheels.
The invention has the beneficial effects that: compared with the prior art, the invention has the improvement that,
1. according to the intelligent manufacturing system, the goods on the first conveying belt are transferred and lifted to the corresponding goods shelf on the stacking rack through the middle transferring module, manual transferring is not needed in the whole process, the intelligent degree is high, time and labor can be saved, and the stacking efficiency is high.
2. The intelligent gripping device is matched with the first conveying belt, the first conveying belt is matched with the L-shaped supporting plate of the intelligent gripping device when conveying goods, the goods are directly conveyed to the L-shaped supporting plate from the first conveying belt, and the L-shaped clamping plates on two sides of the L-shaped supporting plate clamp and fix the goods from the front and back direction, so that the goods are prevented from falling off in the transferring process; self-discharging formula centre gripping subassembly self among the intelligence grabbing device can rotate, can transport the top of the second transmission band of opposite side with the goods through the rotation of self-discharging formula centre gripping subassembly, has saved the shared space of system, can release the goods from L type backup pad through setting up of first baffle, makes it reach the second transmission band and transmit, has guaranteed stability and the security among the transportation process.
3. According to the invention, the intelligent gripping device and the lifting and transferring device are detachably connected by the detachable assembly, so that the intelligent gripping device and the lifting and transferring device can be conveniently mounted and dismounted, the position of the device can be conveniently transferred, the detachable assembly is fixed by the matching of the limiting rod and the electromagnet, the stability of the intelligent gripping device and the lifting and transferring device can be enhanced, and the situation that the position movement between the intelligent gripping device and the lifting and transferring device affects the transfer of goods in the process of transferring the goods is avoided.
4. The lifting and transferring device comprises a lifting transmission system and a transfer platform, wherein the lifting transmission system lifts the goods to the height of the goods shelf corresponding to the stacking rack, the transfer platform transfers the goods to the goods shelf, the transfer platform is in sliding connection with an inner plate and an outer plate, and the transfer angle of the goods on the transfer platform can be accurately positioned by utilizing the rotation angle limit of the transfer platform, so that the goods can be accurately transferred to the corresponding goods shelf from the lifting plate.
Drawings
FIG. 1 is a schematic diagram of an intelligent manufacturing system according to the present invention.
FIG. 2 is a schematic diagram of the position relationship of the intelligent manufacturing system of the present invention.
Fig. 3 is a schematic structural diagram of the intelligent gripping device of the present invention.
Fig. 4 is a structural top view of the intelligent gripping device of the invention.
Fig. 5 is a schematic structural view of the self-unloading clamping assembly of the present invention.
Fig. 6 is a side view of the self-unloading clamping assembly structure of the present invention.
Fig. 7 is a schematic view of the connection relationship between the intelligent gripping device and the lifting and transferring device.
FIG. 8 is an enlarged view of a portion A of FIG. 7 according to the present invention.
Fig. 9 is a schematic structural view of the lifting and transferring device of the present invention.
Fig. 10 is a schematic diagram of the position relationship between the lifting transfer device and the pallet frame.
Wherein: 1-a first transmission belt, 2-a stacking rack, 201-a base, 202-a support frame, 203-a goods rack, 3-a first rack, 4-a first controller, 5-a fixed rack, 6-a second transmission belt, 7-a first driving motor, 8-a first rotating shaft, 9-a first telescopic rod, 10-a first hydraulic rod, 11-an infrared signal transmitter, 12-an infrared signal receiver, 13-a fixed seat, 14-a strip groove, 15-an L-shaped support plate, 16-a second hydraulic rod, 17-a first baffle, 18-a second driving motor, 19-a bidirectional screw rod, 20-a moving block, 21-an L-shaped clamping plate, 22-a second rack, 23-a fixed plate, 24-a lifting transmission system and 25-a lifting plate, 26-arc plate, 27-transfer plate, 2701-inner plate, 2702-outer plate, 2703-sliding groove, 2704-sliding block, 28-third driving motor, 29-third hydraulic rod, 30-second telescopic rod, 31-third telescopic rod, 32-telescopic vertical rod, 33-fourth telescopic rod, 34-push-pull plate, 35-installation groove, 36-electromagnet, 37-fourth hydraulic rod, 38-limiting rod, 39-first limiting block, 40-first extending block, 41-first through hole, 42-second limiting block, 43-second extending block, 44-second through hole, 45-limiting groove, 46-metal block, 47-limiting block, 48-transverse movement transmission system, 49-counter, 50-position detector, 51-moving wheels, 52-second controller.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the drawings and the embodiments.
Referring to fig. 1-10, an intelligent manufacturing system based on an industrial robot includes a first conveyor belt 1, an intermediate transfer module and a pallet 2 from left to right, wherein the first conveyor belt 1 is mounted on a support or any carrier for conveying goods, the pallet 2 is used for placing goods, and the intermediate transfer module transfers the goods on the first conveyor belt 1 to the pallet 2;
the middle transfer module comprises an intelligent gripping device and a lifting transfer device, the intelligent gripping device is positioned on the front side of the lifting transfer device, and the intelligent gripping device is detachably connected with the lifting transfer device;
the intelligent gripping device comprises a first machine frame 3, the bottom of the first machine frame 3 is provided with a moving wheel 51, the moving wheel 51 is convenient to move the intelligent gripping device, and is convenient to use at any required position, the moving wheel 51 is provided with a locking device and used for fixing the position of the intelligent gripping device, and the position moving in the working process is avoided.
A first controller 4 is arranged in the first machine frame 3, a fixed frame 5 and a second conveying belt 6 are arranged at the top of the first machine frame 3, and the second conveying belt 6 is perpendicular to the first conveying belt 1; a first driving motor 7 is installed in the fixed frame 5, a first rotating shaft 8 is fixedly arranged at the output end of the first driving motor 7, the top of the first rotating shaft 8 penetrates through the fixed frame 5, a first telescopic rod 9 is fixedly arranged at the top of the first rotating shaft 8, a first hydraulic rod 10 is installed at the position, close to the end part, of the first telescopic rod 9, and a self-discharging type clamping assembly is fixedly arranged at the output end of the first hydraulic rod 10; an infrared signal emitter 11 is mounted at the bottom of the self-unloading clamping assembly, and infrared signal receivers 12 corresponding to the infrared signal emitter 11 are arranged at the rear end of the first conveying belt 1 and the front end of the second conveying belt 6; the first telescopic rod 9 is an electric telescopic rod, and the first driving motor 7, the first telescopic rod 9 and the first hydraulic rod 10 are all connected with the first controller 4. The first driving motor 7 rotates to drive the first rotating shaft 8 to rotate, so as to drive the first telescopic rod 9, the first hydraulic rod 10 and the self-unloading clamping component to rotate, the length of the first telescopic rod 9 is adjusted to enable the self-unloading clamping component to be positioned right above the rear end of the first conveying belt 1 in the rotating process, when the self-unloading clamping component rotates to the position right above the rear end of the first conveying belt, an infrared signal emitted by the infrared signal emitter 11 is received by the infrared signal receiver 12 on the first conveying belt 1, the first driving motor 7 stops rotating, the height of the self-unloading clamping component is adjusted through the first hydraulic rod 10, the self-unloading clamping component clamps and fixes goods transmitted from the first conveying belt 1, then the first driving motor 7 is controlled to rotate reversely, when the self-unloading clamping component rotates to the position above the second conveying belt 6, the infrared signal emitted by the infrared signal emitter 11 is received by the infrared signal receiver 12 on the second conveying belt 6, the first driving motor 7 stops rotating, the self-discharging type clamping assembly unloads clamped and fixed goods to the front end of the second conveying belt 6, and when the goods are unloaded, the telescopic length of the first hydraulic rod 10 is adjusted according to the height of the second conveying belt 6.
Specifically, the self-unloading clamping assembly comprises a fixed seat 13, the length direction of the fixed seat 13 is parallel to the length direction of the second conveying belt 6, a strip-shaped groove 14 is formed in the bottom of the fixed seat 13 and extends along the direction of the second conveying belt 6, an L-shaped support plate 15 is fixedly arranged in the strip-shaped groove 14, the front end of the L-shaped support plate 15 faces the first conveying belt 1, and the front end of the L-shaped support plate 15 is of a fillet structure, so that goods can conveniently move onto the L-shaped support plate 15 from the first conveying belt 6 under the action of inertia; a second hydraulic rod 16 is mounted at the back of the L-shaped support plate 15, the second hydraulic rod 16 penetrates through the L-shaped support plate 15, a first baffle 17 is fixedly arranged at the output end of the second hydraulic rod 16, and the first baffle 17 is slidably connected with the bottom surface of the L-shaped support plate 15; the second hydraulic rod 16 can drive the first baffle 17 to move left and right on the bottom surface of the L-shaped support plate 15.
The outer side wall of the fixed seat 13 is further provided with a second driving motor 18, the second driving motor 18 is also connected with the first controller 4, the output end of the second driving motor 18 is fixedly provided with a bidirectional lead screw 19, two ends of the bidirectional lead screw 19 are rotatably connected with the side wall of the strip-shaped groove 14 through rolling bearings, the bidirectional lead screw 19 extends along the direction of the strip-shaped groove 14, the bidirectional lead screw 19 is sleeved with two moving blocks 20, the top surfaces of the two moving blocks 20 are slidably connected with the top surface of the strip-shaped groove 14, stability of the moving blocks 20 in the front-back moving process is guaranteed, the bottoms of the two moving blocks 20 are respectively provided with an L-shaped clamping plate 21, and the two L-shaped clamping plates 21 are oppositely arranged. After goods on the first conveying belt 1 reach the L-shaped supporting plate 15, the second driving motor 18 is started, the two moving blocks 20 drive the corresponding L-shaped clamping plates 21 to move oppositely, the goods are blocked and fixed from the front side, the right side and the left side of the goods, the L-shaped supporting plate 15 and the two L-shaped clamping plates 21 form a cubic structure with an open top, and the goods are located in the cubic structure and can be guaranteed to be stable and safe in the transferring process. When the self-unloading clamping assembly rotates to a position above the second conveyor belt 6, the second driving motor 18 drives the two L-shaped clamping plates to move towards the two ends of the bidirectional screw rod 19, and the second hydraulic rod 16 pushes the first baffle 17, so that the goods are pushed out of the L-shaped supporting plate 15 and fall onto the second conveyor belt 6.
Further, promote transfer device includes second frame 22, the top of second frame 22 is equipped with fixed plate 23, be equipped with lifting transmission system 24 on the fixed plate 23, lifting transmission system 24 is last to have set firmly lifting plate 25, first frame 3 is close to the one end of second frame 22 can be dismantled through the buckle and be connected with arc 26, arc 26 is located second transmission band 6 with between the lifting plate 25, but the goods on the second transmission band 6 pass through arc 26 automatic landing extremely on the lifting plate 25, the transition between second transmission band 6 and the lifting plate 25 is regarded as to arc 26, can remove the intermediate support to lifting plate 25 from second transmission band 6 as the goods under inertial action, can also guarantee the stability of goods removal in-process simultaneously, avoids falling.
Still be equipped with liftable rotatory transportation board 27 on the second frame 22, transportation board 27 is located promote the board 25 with between the hacking frame 2, be equipped with the transportation subassembly on the transportation board 27.
Specifically, a third driving motor 28 is arranged in the second frame 22, two third hydraulic rods 29 are symmetrically arranged on two sides of the third driving motor 28, a second telescopic rod 30 is fixedly arranged on an output shaft of the third driving motor 28, and a third telescopic rod 31 is fixedly arranged at an output end of each third hydraulic rod 29; the tops of the second telescopic rod 30 and the two third telescopic rods 31 penetrate through the second rack, a second controller 52 is further arranged in the second rack 22, and the third driving motor 28, the third hydraulic rod 29, the second telescopic rod 30, the third telescopic rod 31 and the lifting transmission system 24 are all connected with the second controller 52.
The transfer plate 27 comprises an inner plate 2701 and an outer plate 2702, the inner plate 2701 is rotatably connected with the outer plate 2702, the bottom of the inner plate 2701 is fixedly connected with the top of the second telescopic rod 30, the bottom of the outer plate 2702 is fixedly connected with the tops of the two third telescopic rods 31, the second telescopic rod 30 and the two third telescopic rods 31 synchronously lift, and the whole transfer plate 27 is lifted and lowered.
A half-circle sliding groove 2703 is arranged on the inner side of the outer plate 2702, one end of the sliding groove 2703 corresponds to the position of the lifting plate 25, the other end of the sliding groove 2703 corresponds to the position of the stacking rack 2, and the edge of the outer plate 2702, which is in contact with the lifting plate 25 and the stacking rack 2, is a straight edge and can be attached to the edges of the lifting plate 25 and the stacking rack 2; the edge of the inner plate 2701 is provided with a sliding block 2704 matched with the sliding groove 2703, and the inner plate 2701 can rotate 180 degrees inside the outer plate 2702 under the matching action of the sliding groove 2703 and the sliding block 2704.
The subassembly of transporting includes flexible pole setting 32, the tip of flexible pole setting 32 has set firmly fourth telescopic link 33, flexible pole setting 32 with form L type structure between the fourth telescopic link 33, the tip of fourth telescopic link 33 has set firmly push-and-pull plate 34, push-and-pull plate 34 also is L type structure, can block the goods from the left side and the rear side of lifting plate 25. The telescopic vertical rod 32 and the fourth telescopic rod 33 are both connected with the second controller 52, when the lifting plate 25 moves to a height corresponding to the transfer plate 27, the blocking effect of the push-pull plate 34 is exerted, the fourth telescopic rod 33 contracts, so that the goods on the lifting plate 25 can be pulled to the inner plate 2701 of the transfer plate 27, the third driving motor 28 is started, the third driving motor 28 drives the inner plate 2701 to rotate, and the sliding groove 2703 only has a half circle, so that the inner plate 2701 can only rotate 180 degrees, and the goods are rotated to a position corresponding to the pallet 2 from the lifting plate 25. When the inner plate 2701 rotates, the telescopic vertical rod 32 also rotates along with the inner plate, and the goods are always located on the inner side of the push-pull plate 34, so that in the process of rotating the telescopic vertical rod 32, the telescopic vertical rod 32 is controlled to rise, the whole push-pull plate 34 is higher than the goods, then the fourth telescopic rod 33 is continuously contracted, the goods are located on the outer side of the push-pull plate 34, the telescopic vertical rod 32 is lowered, the push-pull plate 34 can be in contact with the goods, the inner plate 2701 rotates to the position corresponding to the pallet 2, the fourth telescopic rod 33 is controlled to extend, the push-pull plate 34 is driven to push the goods onto the pallet 2, and the whole middle transfer process is completed.
Furthermore, a detachable component is arranged between the intelligent gripping device and the lifting and transferring device, a mounting groove 35 is formed in the side surface, close to the second frame 22, of the first frame 3, a detachable component is mounted in the mounting groove 35, the detachable component comprises an electromagnet 36 mounted at the top of the mounting groove 35 and a fourth hydraulic rod 37 mounted at the bottom of the mounting groove 35, a limiting rod 38 is fixedly arranged at the output end of the fourth hydraulic rod 37, a first limiting block 39 is fixedly arranged on the side wall of the first frame 3, a first extending block 40 is fixedly arranged at the top of the first limiting block 39, and a first through hole 41 for the limiting rod 38 to pass through is formed in the first extending block 40; a second limiting block 42 is fixedly arranged on the side wall of the second frame 22, a second extending block 43 is fixedly arranged at the top of the second limiting block 42, the second extending block 43 is positioned above the first extending block 40, and a second through hole 44 for the limiting rod 38 to pass through is arranged on the second extending block 43;
the bottom of the electromagnet 36 is further provided with a limiting groove 45, the top of the limiting rod 38 is provided with a metal block 46 matched with the limiting groove 45, the bottom of the limiting rod 38 is further provided with a limiting stop 47, and the size of the limiting stop 47 is larger than that of the first through hole 41. When fixing intelligent grabbing device and promotion transfer device, will promote the transfer device and remove to one side of intelligent grabbing device, make second stopper 42 and the second of second frame 22 side extend the piece 43 and extend in the mounting groove 35, start fourth hydraulic stem 37, pass first through-hole 41 on first extension piece 40 and the second through-hole 44 on the second extension piece 43 with gag lever post 38, fix the position between first extension piece 40 and the second extension piece 43, electro-magnet 36 circular telegram simultaneously, the attraction between electro-magnet 36 and the metal block 46 is further fixed to gag lever post 38, the spacing groove 45 of electro-magnet 36 bottom can avoid gag lever post 38 to rock from side to side, the spacing dog 47 of gag lever post 38 bottom can be spacing the distance that gag lever post 38 passed first through-hole 41. When the intelligent gripping device and the lifting and transferring device need to be detached, the electromagnet 36 is powered off, and the fourth hydraulic rod 37 drives the limiting rod 38 to move from the second through hole 44 on the second extension block 43.
Further, the stacking rack 2 comprises a base 201, a supporting frame 202 is fixedly connected to the upper surface of the base 201, the left side of the supporting frame 202 is of an opening structure, a plurality of layers of goods shelves 203 are fixedly arranged in the supporting frame 202, a transverse moving transmission system 48 is arranged on each layer of the goods shelves 203, the traverse drive 48 may move the goods from the front end to the rear end of the rack 203, so that the goods are arranged and placed, the front end of each layer of the goods shelf 203 is provided with a counter 49, the counter 49 counts the goods passing through the front end of the goods shelf 203, because the length of the goods shelf 203 is fixed, the length of the goods is basically fixed, so the quantity of the goods which can be placed on each layer of the goods shelf 203 is also fixed, when the number of the goods counted by the counter 49 reaches a fixed value, which indicates that the goods shelf 203 on the layer is fully placed, the transfer plate 27 can be lifted or lowered to the height corresponding to the goods shelf 203 on the next layer for transferring the goods.
Further, the position detector 50 is arranged at a position on the fixed frame 5 corresponding to each layer of the goods shelf 203, when the goods are lifted and transported, when the position detector 50 detects that the height of the lifting plate 25 is the same as that of the corresponding goods shelf 203, the lifting transmission system stops lifting, the push-pull plate 34 pulls the goods on the lifting plate 25 to the transport plate 27, then the lifting transmission system drives the lifting plate 27 to descend to the bottom position of the arc plate 26 for transporting the next goods, and the position detector 50 can also detect the lifting position of the transport plate 27, so that the transport plate 27 can be lifted to the height of the corresponding goods shelf 203.
Further, the intelligent manufacturing system also comprises a master controller which is used for controlling the first conveyor belt 1, the first controller 4, the second controller 52, other electric devices, the transverse moving transmission system 48 on the pallet frame and the like, so that the whole process of the system is automatically controlled.
The intelligent manufacturing system based on the industrial robot is used for stacking and placing goods, and the working principle is as follows: move intelligent grabbing device and transportation hoisting device to required position, it is located one side of intelligent grabbing device to promote the transfer device, make second stopper 42 and the second of second frame 22 side extend the piece 43 and extend in the mounting groove 35, start fourth hydraulic stem 37, pass first through-hole 41 on first extension piece 40 and the second through-hole 44 on the second extension piece 43 with gag lever post 38, fix the position between first extension piece 40 and the second extension piece 43, electro-magnet 36 circular telegram simultaneously, the attraction between electro-magnet 36 and the metal block 46 is further fixed to gag lever post 38, gag lever post 38 left and right sides rocking can be avoided to the gag lever post 45 of electro-magnet 36 bottom, the gag lever post 47 of gag lever post 38 bottom can be spacing to the distance that gag lever post 38 passed first through hole 41.
When goods are conveyed to the rightmost end through the first conveying belt 1, the first driving motor 7 is started, the first driving motor 7 rotates to drive the first rotating shaft 8 to rotate, so that the first telescopic rod 9, the first hydraulic rod 10 and the self-unloading type clamping component are driven to rotate, the length of the first telescopic rod 9 is adjusted to enable the self-unloading type clamping component to be positioned right above the rear end of the first conveying belt 1 in the rotating process, when the self-unloading type clamping component rotates to the position right above the rear end of the first conveying belt 1, an infrared signal emitted by the infrared signal emitter 11 is received by the infrared signal receiver 12 on the first conveying belt 1, the first driving motor 7 stops rotating, the height of the self-unloading type clamping component is adjusted through the first hydraulic rod 10, the L-shaped supporting plate 15 is the same as the height of the first conveying belt 1, and after the goods on the first conveying belt 1 reach the L-shaped supporting plate 15, when the second driving motor 18 is started, the two moving blocks 20 drive the corresponding L-shaped clamping plates 21 to move oppositely, so that the goods are blocked and fixed from the front side, the right side and the left side of the goods, then the first driving motor 7 is controlled to rotate reversely, when the self-discharging type clamping component rotates to the upper part of the second conveying belt 6, the infrared signal emitted by the infrared signal emitter 11 is received by the infrared signal receiver 12 on the second conveyor belt 6, the first driving motor 7 stops rotating, the self-discharging type clamping component unloads the clamped and fixed goods to the front end of the second conveyor belt 6, the second driving motor 18 drives the two L-shaped clamping plates to move towards the two end parts of the bidirectional screw rod 19, the second hydraulic rod 16 pushes the first baffle plate 17, so that the goods are pushed out of the L-shaped supporting plate 15 and fall onto the second conveyor belt 6, when unloading the goods, the telescopic length of the first hydraulic ram 10 is adjusted according to the height of the second conveyor belt 6.
When the goods are conveyed to the rear end through the second conveyor belt 6, the lifting transmission system 24 is controlled to enable the lifting plate 25 to be located below the arc-shaped plate 26, the goods fall onto the lifting plate 25 through the arc-shaped plate 26, the lifting transmission system 24 starts to lift the goods, the lifting is stopped when the position detector 50 detects that the height of the lifting plate 25 is the same as that of the goods shelf 203 where the goods are to be placed, the push-pull plate 34 is located at the top of the goods, the fourth telescopic rod 33 contracts to pull the goods on the lifting plate 25 onto the inner plate 2701 of the transfer plate 27, and then the lifting transmission system drives the lifting plate 27 to fall to the bottom position of the arc-shaped plate 26 to transfer the next goods; meanwhile, the third driving motor 28 is started, the third driving motor 28 drives the inner plate 2701 to rotate, and the inner plate 2701 can only rotate 180 degrees because the sliding groove 2703 has only half a turn, and the goods are rotated to the position corresponding to the pallet 2 from the lifting plate 25. When the inner plate 2701 rotates, the telescopic vertical rod 32 also rotates along with the inner plate 2701, in the process of rotating the telescopic vertical rod 32, the telescopic vertical rod 32 is controlled to rise, so that the whole push-pull plate 34 is higher than the height of the goods, then the fourth telescopic rod 33 is continuously contracted, so that the goods are positioned on the outer side of the push-pull plate 34, the telescopic vertical rod 32 is lowered, the push-pull plate 34 can be contacted with the goods, the inner plate 2701 rotates to the position corresponding to the pallet frame 2, the fourth telescopic rod 33 is controlled to extend, so that the push-pull plate 34 is driven to push the goods onto the corresponding pallet frame 203, and the whole middle transfer process is completed.
After each layer of the goods shelf 203 is full of goods, the second telescopic rod 30 and the two third telescopic rods 31 are controlled to synchronously lift, the whole transfer plate 27 is lifted to the height of the next layer of the goods shelf 203 to be placed, and the next layer of the goods shelf 203 is placed.
After work is put to all piles up neatly, with intelligent grabbing device and transportation hoisting device dismantlement, can remove respectively and carry out used repeatedly to next place.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. An intelligent manufacturing system based on industrial robot, its characterized in that: the intelligent manufacturing system comprises a first conveyor belt (1), an intermediate transfer module and a pallet (2), wherein the intermediate transfer module transfers goods on the first conveyor belt (1) to the pallet (2);
the middle transfer module comprises an intelligent gripping device and a lifting transfer device, the intelligent gripping device is positioned on the front side of the lifting transfer device, and the intelligent gripping device is detachably connected with the lifting transfer device;
the intelligent gripping device comprises a first rack (3), a first controller (4) is arranged in the first rack (3), a fixing frame (5) and a second conveying belt (6) are arranged at the top of the first rack (3), and the second conveying belt (6) is perpendicular to the first conveying belt (1); a first driving motor (7) is installed in the fixing frame (5), a first rotating shaft (8) is fixedly arranged at the output end of the first driving motor (7), the top of the first rotating shaft (8) penetrates through the fixing frame (5), a first telescopic rod (9) is fixedly arranged at the top of the first rotating shaft (8), a first hydraulic rod (10) is installed at the position, close to the end part, of the first telescopic rod (9), and a self-discharging type clamping assembly is fixedly arranged at the output end of the first hydraulic rod (10); an infrared signal emitter (11) is mounted at the bottom of the self-unloading clamping component, and infrared signal receivers (12) corresponding to the infrared signal emitter (11) are arranged at the rear end of the first conveying belt (1) and the front end of the second conveying belt (6);
the lifting and transferring device comprises a second rack (22), a fixing plate (23) is arranged at the top of the second rack (22), a lifting transmission system (24) is arranged on the fixing plate (23), a lifting plate (25) is fixedly arranged on the lifting transmission system (24), an arc-shaped plate (26) is detachably connected to one end, close to the second rack (22), of the first rack (3), the arc-shaped plate (26) is located between the second conveying belt (6) and the lifting plate (25), and goods on the second conveying belt (6) automatically slide down onto the lifting plate (25) through the arc-shaped plate (26);
the second rack (22) is also provided with a transfer plate (27) capable of lifting and rotating, the transfer plate (27) is positioned between the lifting plate (25) and the stacking rack (2), and the transfer plate (27) is provided with a transfer assembly;
the self-unloading type clamping assembly comprises a fixed seat (13), a strip-shaped groove (14) is formed in the bottom of the fixed seat (13), the strip-shaped groove extends along the direction of the second conveying belt (6), an L-shaped supporting plate (15) is fixedly arranged in the strip-shaped groove (14), and the front end of the L-shaped supporting plate (15) faces the first conveying belt (1); a second hydraulic rod (16) is mounted on the back of the L-shaped support plate (15), the second hydraulic rod (16) penetrates through the L-shaped support plate (15), a first baffle (17) is fixedly arranged at the output end of the second hydraulic rod (16), and the first baffle (17) is connected with the bottom surface of the L-shaped support plate (15) in a sliding mode;
a second driving motor (18) is further mounted on the outer side wall of the fixed seat (13), a bidirectional screw (19) is fixedly arranged at the output end of the second driving motor (18), the bidirectional screw (19) extends along the direction of the strip-shaped groove (14), two moving blocks (20) are sleeved on the bidirectional screw (19), the top surfaces of the two moving blocks (20) are slidably connected with the top surface of the strip-shaped groove (14), L-shaped clamping plates (21) are arranged at the bottoms of the two moving blocks (20), and the two L-shaped clamping plates (21) are arranged in opposite directions;
a third driving motor (28) is arranged in the second rack (22), two third hydraulic rods (29) are symmetrically arranged on two sides of the third driving motor (28), a second telescopic rod (30) is fixedly arranged on an output shaft of the third driving motor (28), and a third telescopic rod (31) is fixedly arranged at the output end of each third hydraulic rod (29);
the transfer plate (27) comprises an inner plate (2701) and an outer plate (2702), the inner plate (2701) is rotatably connected with the outer plate (2702), the bottom of the inner plate (2701) is fixedly connected with the tops of the second telescopic rods (30), and the bottom of the outer plate (2702) is fixedly connected with the tops of the two third telescopic rods (31);
a half-circle sliding groove (2703) is formed in the inner side of the outer plate (2702), a sliding block (2704) matched with the sliding groove (2703) is arranged at the edge of the inner plate (2701), and the inner plate (2701) can rotate 180 degrees in the inner side of the outer plate (2702) under the matching action of the sliding groove (2703) and the sliding block (2704);
the transfer assembly comprises a telescopic vertical rod (32), a fourth telescopic rod (33) is fixedly arranged at the end part of the telescopic vertical rod (32), an L-shaped structure is formed between the telescopic vertical rod (32) and the fourth telescopic rod (33), and a push-pull plate (34) is fixedly arranged at the end part of the fourth telescopic rod (33);
a mounting groove (35) is formed in the side face, close to the second rack (22), of the first rack (3), a detachable component is mounted in the mounting groove (35), the detachable component comprises an electromagnet (36) mounted at the top of the mounting groove (35) and a fourth hydraulic rod (37) mounted at the bottom of the mounting groove (35), a limiting rod (38) is fixedly arranged at the output end of the fourth hydraulic rod (37), a first limiting block (39) is fixedly arranged on the side wall of the first rack (3), a first extending block (40) is fixedly arranged at the top of the first limiting block (39), and a first through hole (41) for the limiting rod (38) to pass through is formed in the first extending block (40); a second limiting block (42) is fixedly arranged on the side wall of the second rack (22), a second extending block (43) is fixedly arranged at the top of the second limiting block (42), the second extending block (43) is positioned above the first extending block (40), and a second through hole (44) for the limiting rod (38) to pass through is formed in the second extending block (43);
the bottom of electro-magnet (36) still is equipped with spacing groove (45), the top of gag lever post (38) be equipped with spacing groove (45) assorted metal block (46), the bottom of gag lever post (38) still is equipped with limit stop (47), limit stop (47) the size be greater than the size of first through-hole (41).
2. An industrial robot based smart manufacturing system according to claim 1, characterized in that: the stacking rack (2) comprises a base (201), a supporting frame (202) is fixedly connected to the upper surface of the base (201), a plurality of layers of goods shelves (203) are fixedly arranged in the supporting frame (202), a transverse moving transmission system (48) is arranged on each layer of the goods shelves (203), and a counter (49) is arranged at the front end of each layer of the goods shelves (203).
3. An industrial robot based smart manufacturing system according to claim 2, characterized in that: and a position detector (50) is arranged at the position, corresponding to each layer of the goods shelf (203), on the fixed frame (5).
4. An industrial robot based smart manufacturing system according to claim 1, characterized in that: the bottom of the first frame (3) and the bottom of the second frame (22) are both provided with moving wheels (51), and locking devices are arranged on the moving wheels (51).
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| CN202011511099.3A CN112693927B (en) | 2020-12-18 | 2020-12-18 | Intelligent manufacturing system based on industrial robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113734785A (en) * | 2021-09-18 | 2021-12-03 | 浙江翊珩科技有限公司 | Logistics transfer method |
| CN114227347A (en) * | 2021-12-29 | 2022-03-25 | 无锡日上五金机械制造有限公司 | Adjustable rotating clamping device for punching motor end cover and using method thereof |
| CN114378855A (en) * | 2022-01-10 | 2022-04-22 | 麦格昆磁磁性材料(滁州)有限公司 | Part transfer device for magnetic forming of parts |
| CN114084668B (en) * | 2022-01-21 | 2022-07-05 | 中国科学院自动化研究所 | Loading and unloading manipulator and loading and unloading device |
| CN115246574B (en) * | 2022-06-28 | 2023-12-15 | 宝阳装备科技(淮安)有限公司 | Loading and unloading stacking logistics automatic production line |
| CN115504256B (en) * | 2022-11-20 | 2023-02-28 | 泉州市鑫科自动化设备有限公司 | Electrical accessory stacking device |
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Application publication date: 20210423 Assignee: Huai'an shuangxiang Intelligent Technology Co.,Ltd. Assignor: Jiangsu electronic information Vocational College Contract record no.: X2023320000026 Denomination of invention: An Intelligent Manufacturing System Based on Industrial Robot Granted publication date: 20220701 License type: Common License Record date: 20230111 |