CN105108740A - Mobile wheel loading and unloading robot - Google Patents
Mobile wheel loading and unloading robot Download PDFInfo
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- CN105108740A CN105108740A CN201510622559.2A CN201510622559A CN105108740A CN 105108740 A CN105108740 A CN 105108740A CN 201510622559 A CN201510622559 A CN 201510622559A CN 105108740 A CN105108740 A CN 105108740A
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- 230000007246 mechanism Effects 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
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- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Abstract
The invention discloses a mobile wheel loading and unloading robot. A bearing platform is arranged on the robot. When the robot works, the bearing platform can be in butt joint with a conveyor line of a previous machine to automatically transfer H-shaped wheels to the robot. A grabbing device is arranged to transfer the H-shaped wheels fully loaded with lines on the bearing platform to the machine, or transfer the empty H-shaped wheels on the machine to the robot. Automated loading, unloading and transport is achieved, manual operation is not needed, workload is lowered effectively, work efficiency is improved, potential safety hazards of a factory are eliminated, and the human resource cost is saved. A mobile trolley is provided with a navigation location system based on an AGV technology, the machine is provided with a calling system, and the navigation location system and the calling system can communicate in a wireless mode. When the machine is required to be loaded and unloaded, only a calling button on the machine needs to be pressed, the trolley automatically drives towards the calling station to conduct automatic wheel loading and unloading, conveying is conducted according to requirements, and work efficiency is improved.
Description
Technical field
The invention belongs to the handling technical field of transportation of I-beam wheel, be specifically related to a kind of portable handling wheel robot.
Background technology
Existing I-beam wheel is when being transported to subsequent processing by an operation, need to load and unload, in conventional art, the handling of I-beam wheel are manual operation, or use power-assisted mechanical handling, and single I-beam wheel weight after full line can reach up to a hundred kilograms, general needs multiple workman carry together, the amount of labour is large, and inefficiency, adds labour intensity, and there is larger potential safety hazard, automaticity is lower.
Usually adopt AGV dolly as transportation media when transporting in workshop; AGV dolly is automatical pilot transportation vehicle; refer to and be equipped with the homing guidance such as electromagnetism or optics device; can travel along the guide path of regulation; there is the transport vehicle of safeguard protection and various transfer function; adopt AGV transport vehicle to carry out haulagman's character wheel and effectively reduce cost of labor, improve operating efficiency, make working environment safer.Although AGV dolly can realize automatic transportation, the handling of I-beam wheel still need manual operation, still there is the amount of labour large, ineffective problem.
And, the system of mutually echoing is not set between dolly and board, according to the needs of board sending on time, artificial operation cannot be needed.
Therefore, in view of above problem, be necessary to propose a kind of full-automatic handling and conveying arrangement, realize the automation of handling transport, without the need to manual operation, effectively reduce workload, increase work efficiency, stop the potential safety hazard of factory, save cost of human resources.
Summary of the invention
In view of this, the invention provides a kind of portable handling wheel robot, by arranging carrying platform in robot, operationally carrying platform is docked with board pipeline, I-beam wheel is transported in robot automatically, by arranging grabbing device, the I-beam wheel of line full on carrying platform is moved on board, or the empty I-beam wheel on board is moved in robot, realize the automation of handling transport, without the need to manual operation, effectively reduce workload, increase work efficiency, stop the potential safety hazard of factory, save cost of human resources.
The one movable type handling wheel robot that object according to the present invention proposes, in order to haulagman's character wheel between the board of two different stations, described movable type handling wheel robot comprises travelling car, be fixedly installed on the frame on described travelling car, the grabbing device being positioned at the multiple carrying platform in frame and being arranged at above described carrying platform, each described carrying platform is placed with multiple I-beam wheel, described grabbing device comprises telescopic manipulator, with the feed mechanism driving telescopic manipulator movement, described feed mechanism comprises adjustment manipulator X, the transverse feed mechanism of Y-direction displacement and longitudinal feed mechanism.
Preferably, described travelling car walks on Motionless electromagnetic track, the electromagnetic path corresponding to board position is provided with the ground magnetic nail of locating travelling car.
Preferably, travelling car is provided with the navigation positioning system based on AGV technology, board is provided with calling system, described navigation positioning system and described calling system realize radio communication.
Preferably, each carrying platform is arranged by multiple transfer roller be arranged in parallel and is formed, and transfer roller rotates and is arranged in frame.
Preferably, described frame is provided with the detecting element for detecting I-beam wheel position and upwards ejects the lifting body of separating adjacent two I-beam wheel according to the signal of detecting element.
Preferably, described detecting element is photoelectric sensor, and described lifting body comprises electric cylinder and the fixing gauge block being positioned at electric cylinder front end, and after jack-up, described fixing gauge block is stuck between two I-beam wheel bottom margins.
Preferably, described feed mechanism comprises stepper motor, screw-nut body.
Preferably, described telescopic manipulator is one group or many groups of being arranged side by side, and described telescopic manipulator comprises electric cylinder and is positioned at the pick-up head of described electric cylinder front end.
Preferably, described pick-up head is absorption disk.
Preferably, described pick-up head middle position is provided with locating shaft, and when capturing I-beam wheel, described locating shaft stretches in I-beam wheel endoporus and realizes location.
Compared with prior art, the advantage of movable type handling wheel robot disclosed by the invention is:
By arranging carrying platform in robot, operationally carrying platform can be docked with the pipeline of a upper board, I-beam wheel is transported in robot automatically; By arranging grabbing device, the I-beam wheel of line full on carrying platform is moved on board, or the empty I-beam wheel on board is moved in robot, realize the automation of handling transport, without the need to manual operation, effective reduction workload, increase work efficiency, stop the potential safety hazard of factory, save cost of human resources.
By being provided with the navigation positioning system based on AGV technology on travelling car, board is provided with calling system, navigation positioning system and calling system can realize radio communication.Board needs the assignment key only need pressed when loading and unloading on board, and dolly will drive towards calling website automatically, carries out automatic loading and unloading wheel, carries as required, increase work efficiency.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of robot disclosed by the invention.
Fig. 2 is the left view of robot disclosed by the invention.
Fig. 3 is the diagrammatic perspective view of robot disclosed by the invention.
Fig. 4 is the front view of conveying device.
Fig. 5 is the left view of conveying device.
Fig. 6 is the front view of grabbing device.
Fig. 7 is the left view of grabbing device.
Fig. 8 is the top view of grabbing device.
The title of the numeral in figure or the corresponding component representated by letter:
100, dolly 200, conveying device 300, grabbing device 400, I-beam wheel 500, Bunching machine
201, frame 202, transfer roller 203, photoelectric sensor 204, electric cylinder 205, fixing gauge block 206, motor 207, carrying platform 301, manipulator 302, pick-up head 303, absorption disk 304, locating shaft 305, horizontal slide rail 306, longitudinal slide rail 307, stepper motor 308, screw-nut body
Detailed description of the invention
Existing I-beam wheel by an operation be transported to subsequent processing time, need to load and unload, in conventional art, the handling of I-beam wheel are manual operation, or use power-assisted mechanical handling, and single I-beam wheel weight after full line can reach up to a hundred kilograms, general needs multiple workman carry together, the amount of labour is large, and inefficiency, adds labour intensity, and there is larger potential safety hazard, automaticity is lower.
The present invention is directed to deficiency of the prior art, provide a kind of portable handling wheel robot, by arranging carrying platform in robot, operationally carrying platform is docked with board pipeline, I-beam wheel is transported in robot automatically, by arranging grabbing device, the I-beam wheel of line full on carrying platform is moved on board, or the empty I-beam wheel on board is moved in robot, realize the automation of handling transport, without the need to manual operation, effectively reduce workload, increase work efficiency, stop the potential safety hazard of factory, save cost of human resources.
To be clearly and completely described technical scheme of the present invention by detailed description of the invention below.Obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Please be a kind of see Fig. 1 to Fig. 3, as shown in the figure, a kind of portable handling wheel robot, in order to haulagman's character wheel between the board of two different stations, this movable type handling wheel robot comprises travelling car 100, be fixedly installed on the frame 201 on travelling car 100, be positioned at the multiple carrying platforms 207 in frame 201, with the grabbing device 300 be arranged at above carrying platform, I-beam wheel 400 is positioned on carrying platform, in order to the I-beam wheel of full line is moved on Bunching machine, or the empty I-beam wheel on Bunching machine is moved in robot, electromagnetic path corresponding to board position is provided with the ground magnetic nail in order to positioning robot.Be positioned board by ground magnetic nail and the mode of Auxiliary Track is installed, realize the accurate location between robot and fixing board, be a kind of low cost and the high locate mode of reliability.
Travelling car is provided with the navigation positioning system based on AGV technology, Bunching machine board is provided with calling system, navigation positioning system and calling system realize radio communication.Bunching machine needs the assignment key only need pressed when loading and unloading on board, and dolly will drive towards calling website automatically, carries out automatic loading and unloading wheel, carries as required, increase work efficiency.Other machines also can arrange calling system, conveniently realizes communicating with travelling car.
Please also refer to Fig. 4, Fig. 5, as shown in the figure, each carrying platform is arranged by multiple transfer roller be arranged in parallel and is formed, and transfer roller rotates and is arranged in frame.Transfer roller 202 is driven by motor 206, drives transfer roller to rotate the conveying realizing I-beam wheel by motor.In the application, carrying platform arranges 4, and wherein the I-beam wheel of full line is transported to carrying platform for docking with the pipeline of last operation by 3.Another is reserved out, when carrying out handling wheel like this, can first be taken out by the empty wheel in Bunching machine is put on a reserved emptying position of wheel, then the full wire I-shape reel wheel on car is taken out, be put in the frame basket of Bunching machine, afterwards empty for part I-beam wheel being taken out on the carrying platform put into and soar, so circulate, the quantity that takes of I-beam wheel needs according to board and determines.Wherein carrying platform also can adopt conveyer belt or transmission chain etc., does not specifically limit.
Frame 201 is provided with the detecting element for detecting I-beam wheel position and upwards ejects the lifting body of separating adjacent two I-beam wheel according to the signal of detecting element.The position of I-beam wheel is detected by arranging detecting element, when the I-beam wheel that moves forward puts in place, corresponding detecting element detects this signal, and protrude upward the rear I-beam wheel of stop by lifting body, by a rear I-beam wheel and last I-beam wheel separated, ensure the centre-to-centre spacing between adjacent two I-beam wheel, for subsequent processing is prepared.
Wherein detecting element is photoelectric sensor, and photoelectric sensor can be arranged at the below of carrying platform, top or side, can I-beam wheel be detected, not limit at this.
Lifting body comprises electric cylinder 204 and the fixing gauge block 205 being positioned at electric cylinder front end, and after jack-up, fixing gauge block is stuck between two I-beam wheel bottom margins.The size of fixing gauge block is arranged as required, ensures the centre-to-centre spacing between two I-beam wheel.
Please also refer to Fig. 6 to Fig. 8, as shown in the figure, grabbing device comprises telescopic manipulator 301, and with the feed mechanism of driving device hand movement, feed mechanism comprises adjustment manipulator X, the transverse feed mechanism of Y-direction displacement and longitudinal feed mechanism.Wherein transverse feed mechanism comprises the horizontal slide rail 305 be arranged in frame, and longitudinal feed mechanism comprises the longitudinal slide rail 306 be arranged in frame.Wherein longitudinal slide rail is telescopic drawer type slide rail, convenient by docking between robot with board, and Fig. 2 and Fig. 7 is the state of longitudinal slide rail when stretching out.
Wherein, feed mechanism comprises stepper motor 307 and screw-nut body 308.
In the application, manipulator is positioned on horizontal slide rail, and manipulator is provided with can the slide block (not shown) of movement on horizontal slide rail, drives screw-nut body 308 to operate by stepper motor 307, realize manipulator movement in the X direction, the lateral displacement of adjustment manipulator.Horizontal slide rail is positioned on longitudinal slide rail, horizontal slide rail is provided with can the slide block (not shown) of movement on longitudinal slide rail, moved by driving stepper motor screw-nut body, make the movement that horizontal slide rail realizes in X-direction on longitudinal slide rail, then ensure the movement in manipulator X-direction.Manipulator from as telescopic, adjustable movement in z-direction.
Manipulator 301 is one group or many groups of being arranged side by side, and manipulator comprises electric cylinder and is positioned at the pick-up head 301 of electric cylinder front end.In the application, manipulator is three groups that are arranged side by side, and three groups of manipulators mobile pickup I-beam wheel simultaneously, the centre-to-centre spacing between adjacent two manipulators is identical with centre-to-centre spacing between I-beam wheel.
Wherein, pick-up head is absorption disk.Also can be three and grab chuck etc., specifically do not limit.
Pick-up head 302 middle position is provided with locating shaft 304, and when capturing I-beam wheel, locating shaft 304 stretches in I-beam wheel endoporus and realizes location.
Present invention employs telescopic drawer type slide rail, can stretch out outside body by driving mechanical hand when loader's character wheel, when usually mobile, be retracted in again in machine frame, ensure the safety of walking.
After the invention process, workman can be freed from heavy manual labor, improve the production efficiency of factory, stop the potential safety hazard of factory.
A portable handling wheel robot can be responsible for the handling wheel work of ten Bunching machines, improves the economic benefit of factory.
A portable handling wheel robot split run at least can substitute 4 workmans, reduces cost of human resources.
Automatic loading and unloading wheel robot needs automatic running to arrive I-beam wheel accumulating district, I-beam wheel transhipment is exchanged.Concrete steps are as follows:
Automatic carriage process, automatic loading and unloading wheel robot sails I-beam wheel accumulating district, workshop into, by photoelectric sensor, first robot differentiates whether self conveying device is free I-beam wheel, there is wheel, then first sail Kong Lun district into, after being aimed the place by photoelectric sensor, the empty wheel of self is delivered to Kong Lun accumulating district.Then drive to Man Lun accumulating district, after photoelectric sensor is accurately located, start transfer roller, full wire I-shape reel wheel is transported in robot automatically.
To Bunching machine handling wheel process; when Bunching machine needs to change wheel; by operator, Bunching machine is come to a complete stop; open protection hatch door; press the assignment key of board self, then coherent signal is transmitted, after mobile robot receives signal by the mode of wireless transmission; then check self loading condition good, loaded and automatically driven towards calling board afterwards.Be positioned board by ground magnetic fourth to install on Auxiliary Track.First robot stretches out manipulator, and the sky taken out in Bunching machine is taken turns and is put on self reserved turnover room, then capture self with full wire I-shape reel wheel, be transplanted on the relevant position of Bunching machine.Then robot arm retrieves, robot moves to next station and works on.
All control actions and algorithm, by robot self with micro computer complete.
The invention discloses a kind of portable handling wheel robot, by arranging carrying platform in robot, operationally carrying platform can be docked with the pipeline of a upper board, I-beam wheel is transported in robot automatically; By arranging grabbing device, the I-beam wheel of line full on carrying platform is moved on board, or the empty I-beam wheel on board is moved in robot, realize the automation of handling transport, without the need to manual operation, effective reduction workload, increase work efficiency, stop the potential safety hazard of factory, save cost of human resources.
By being provided with the navigation positioning system based on AGV technology on travelling car, board is provided with calling system, navigation positioning system and calling system can realize radio communication.Board needs the assignment key only need pressed when loading and unloading on board, and dolly will drive towards calling website automatically, carries out automatic loading and unloading wheel, carries as required, increase work efficiency.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. a portable handling wheel robot, in order to haulagman's character wheel between the board of two different stations, it is characterized in that, described movable type handling wheel robot comprises travelling car, be fixedly installed on the frame on described travelling car, the grabbing device being positioned at the multiple carrying platform in frame and being arranged at above described carrying platform, each described carrying platform is placed with multiple I-beam wheel, described grabbing device comprises telescopic manipulator, with the feed mechanism driving telescopic manipulator movement, described feed mechanism comprises adjustment manipulator X, the transverse feed mechanism of Y-direction displacement and longitudinal feed mechanism.
2. portable handling wheel robot as claimed in claim 1, it is characterized in that, described travelling car walks on Motionless electromagnetic track, the electromagnetic path corresponding to board position is provided with the ground magnetic nail of locating travelling car.
3. portable handling wheel robot as claimed in claim 1, it is characterized in that, travelling car is provided with the navigation positioning system based on AGV technology, board is provided with calling system, described navigation positioning system and described calling system realize radio communication.
4. portable handling wheel robot as claimed in claim 1, it is characterized in that, each carrying platform is arranged by multiple transfer roller be arranged in parallel and is formed, and transfer roller rotates and is arranged in frame.
5. portable handling wheel robot as claimed in claim 1, is characterized in that, described frame is provided with the detecting element for detecting I-beam wheel position and upwards ejects the lifting body of separating adjacent two I-beam wheel according to the signal of detecting element.
6. portable handling wheel robot as claimed in claim 5, it is characterized in that, described detecting element is photoelectric sensor, and described lifting body comprises electric cylinder and the fixing gauge block being positioned at electric cylinder front end, after jack-up, described fixing gauge block is stuck between two I-beam wheel bottom margins.
7. portable handling wheel robot as claimed in claim 1, it is characterized in that, described feed mechanism comprises stepper motor, screw-nut body.
8. handling wheel robot as claimed in claim 7 portable, is characterized in that, described telescopic manipulator is one group or many groups of being arranged side by side, and described telescopic manipulator comprises electric cylinder and is positioned at the pick-up head of described electric cylinder front end.
9. portable handling wheel robot as claimed in claim 8, is characterized in that, described pick-up head is absorption disk.
10. portable handling wheel robot as claimed in claim 8, it is characterized in that, described pick-up head middle position is provided with locating shaft, and when capturing I-beam wheel, described locating shaft stretches in I-beam wheel endoporus and realizes location.
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| CN201510622559.2A CN105108740B (en) | 2015-09-25 | 2015-09-25 | A kind of portable handling wheel robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106094609A (en) * | 2016-06-02 | 2016-11-09 | 芜湖智久机器人有限公司 | A kind of calling system of AGV |
| CN106395403A (en) * | 2016-11-09 | 2017-02-15 | 苏州超群智能科技有限公司 | Cable stacking machine |
| CN106906522A (en) * | 2017-03-17 | 2017-06-30 | 杭州锐冠科技有限公司 | A kind of automatic clear plate system and its automatic clear plate technological process |
| CN108147035A (en) * | 2018-03-05 | 2018-06-12 | 菲尼克斯(南京)智能制造技术工程有限公司 | Alignment system and method guide locating device provided and for AGV conveyer systems |
| CN108202315A (en) * | 2018-01-30 | 2018-06-26 | 珠海创智科技有限公司 | Material transportation robot |
| CN108840009A (en) * | 2018-08-03 | 2018-11-20 | 苏州艾斯达克智能科技有限公司 | Intelligent movable storage |
| CN108857305A (en) * | 2018-06-05 | 2018-11-23 | 芜湖优能自动化设备有限公司 | Conveying device is used in a kind of assembly of pump core |
| CN109202516A (en) * | 2017-07-07 | 2019-01-15 | 施瓦本机床自动化有限公司 | Handling facilities and method for running handling facilities |
| CN109352674A (en) * | 2018-12-25 | 2019-02-19 | 无锡华工大光电智能科技有限公司 | The double clip claw mechanisms of I-beam wheel |
| CN109534100A (en) * | 2018-12-25 | 2019-03-29 | 无锡华工大光电智能科技有限公司 | A kind of coiled strip I-beam wheel automatic conveying device |
| CN113120681A (en) * | 2021-05-17 | 2021-07-16 | 张家港市瑞昌智能机器***有限公司 | Automatic disc changing system of spool wire winding machine |
| CN113649777A (en) * | 2021-07-15 | 2021-11-16 | 江苏兴达智能制造有限公司 | Automatic 800 spool replacing system |
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| CN106094609A (en) * | 2016-06-02 | 2016-11-09 | 芜湖智久机器人有限公司 | A kind of calling system of AGV |
| CN106395403A (en) * | 2016-11-09 | 2017-02-15 | 苏州超群智能科技有限公司 | Cable stacking machine |
| CN106906522A (en) * | 2017-03-17 | 2017-06-30 | 杭州锐冠科技有限公司 | A kind of automatic clear plate system and its automatic clear plate technological process |
| CN109202516A (en) * | 2017-07-07 | 2019-01-15 | 施瓦本机床自动化有限公司 | Handling facilities and method for running handling facilities |
| CN108202315A (en) * | 2018-01-30 | 2018-06-26 | 珠海创智科技有限公司 | Material transportation robot |
| CN108147035B (en) * | 2018-03-05 | 2024-03-26 | 菲尼克斯(南京)智能制造技术工程有限公司 | Guiding and positioning device and positioning system and method for AGV conveying system |
| CN108147035A (en) * | 2018-03-05 | 2018-06-12 | 菲尼克斯(南京)智能制造技术工程有限公司 | Alignment system and method guide locating device provided and for AGV conveyer systems |
| CN108857305A (en) * | 2018-06-05 | 2018-11-23 | 芜湖优能自动化设备有限公司 | Conveying device is used in a kind of assembly of pump core |
| CN108857305B (en) * | 2018-06-05 | 2020-08-14 | 芜湖优能自动化设备有限公司 | Conveying device for assembling pump core |
| CN108840009A (en) * | 2018-08-03 | 2018-11-20 | 苏州艾斯达克智能科技有限公司 | Intelligent movable storage |
| CN108840009B (en) * | 2018-08-03 | 2024-06-04 | 苏州艾斯达克智能科技有限公司 | Mobile intelligent warehouse |
| CN109352674A (en) * | 2018-12-25 | 2019-02-19 | 无锡华工大光电智能科技有限公司 | The double clip claw mechanisms of I-beam wheel |
| CN109534100A (en) * | 2018-12-25 | 2019-03-29 | 无锡华工大光电智能科技有限公司 | A kind of coiled strip I-beam wheel automatic conveying device |
| CN109352674B (en) * | 2018-12-25 | 2024-06-07 | 无锡华工大光电智能科技有限公司 | I-shaped wheel double clamping jaw mechanism |
| CN113120681A (en) * | 2021-05-17 | 2021-07-16 | 张家港市瑞昌智能机器***有限公司 | Automatic disc changing system of spool wire winding machine |
| CN113649777A (en) * | 2021-07-15 | 2021-11-16 | 江苏兴达智能制造有限公司 | Automatic 800 spool replacing system |
| CN113649777B (en) * | 2021-07-15 | 2023-08-15 | 江苏兴达智能制造有限公司 | 800 spool automatic replacement system |
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| CN105108740B (en) | 2017-07-07 |
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Effective date of registration: 20200302 Address after: Yangshe shoal Lake Park in Suzhou Branch Chong Hua Chang Lu 215600 cities in Jiangsu city of Zhangjiagang Province Patentee after: Ruichang, Zhangjagang City intelligent machine System Co., Ltd Address before: 215600, room 71, 408 Chengbei Village, Zhangjiagang City, Jiangsu, Suzhou Patentee before: Wang Bo |