CN105643617B - A kind of servo palletizing system - Google Patents
A kind of servo palletizing system Download PDFInfo
- Publication number
- CN105643617B CN105643617B CN201610196519.0A CN201610196519A CN105643617B CN 105643617 B CN105643617 B CN 105643617B CN 201610196519 A CN201610196519 A CN 201610196519A CN 105643617 B CN105643617 B CN 105643617B
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- Prior art keywords
- clamp arm
- servo
- bearing
- unit
- charging tray
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a kind of servo palletizing systems, including base unit, column unit, clamping arm unit, truck and electric control unit, the servo stacking system automation degree is high, controllability is good, it can realize that two axis servos move, only need any position being manually pushed into truck in specified region, you can complete automatic material grasping, automatic identification and crawl are carried out to the charging tray of the arbitrary number of plies in stroke range, to substantially shorten handling time and reduce hand labor intensity；Servo palletizing system of the present invention is widely portable to the automatic crawl of automatic production line loading plate or material frame, charging tray or material frame can be promoted or dropped to designated position simultaneously, the part on charging tray is captured convenient for devices such as manipulators on automatic production line, it realizes automation loading and unloading, is equally applicable to the operations such as other crawl, stacking, carryings of automatic production line.
Description
Technical field
The present invention relates to automatic producing technology field, specifically a kind of servo palletizing system.
Background technology
With the proposition of German Industrial 4.0, China is on the basis of analyze domestic market within 2015, it then follows industrial upgrading and
The objective law of transition has promulgated that made in China 2025, main direction are to promote intelligence manufacture.It is big with intelligent market
Trend, and the labor cost constantly risen, machine substitute human labor are a weights for pushing traditional manufacture to realize industrial transformation upgrading
Want behave.At present in automatic production line, mostly by manually carrying completion, the loading and unloading time is long for loading and unloading, and worker's labour is strong
Degree is big.
Invention content
The technical problem to be solved by the present invention is to：There is provided a kind of high degree of automation, controllability good servo stacking system
System.
Technical solution is used by the present invention solves above-mentioned technical problem：A kind of servo palletizing system, including pedestal list
Member, column unit, clamping arm unit, truck and electric control unit, the base unit include pedestal, two First Line rails,
Rack and several contact-making switches, described two First Line rails and the rack are installed in the upper surface of the pedestal,
Two First Line rails are parallel to Y-axis setting, and several contact-making switches are mounted on the front side of the pedestal, described
Several contact-making switches for determining that the X of truck sends out corresponding signal to position and to the electric control unit；It is described
Column unit include column, two the second line rails, leading screw, the first driving mechanism, synchronous pulley driving mechanism and contactless
Switch, described two the second line rails and the non-contact switch are mounted on the front side of the column, described non-to connect
Touch switches are used to determine the Y-direction position of the charging tray on truck and send out corresponding signal, institute to the electric control unit
Two the second line rails stated are parallel to Z axis setting, and the column is mounted on the sliding block of two First Line rails, described
Leading screw be mounted on the middle part of the column, the output end of first driving mechanism is connected with gear, the gear
It is meshed with the rack, the synchronous pulley driving mechanism includes first servo motor, small synchronous pulley, big synchronous belt
Wheel and synchronous belt, the first servo motor are mounted on the top of the column, and the small synchronous pulley is co-axially mounted
In the output end of the first servo motor, the big synchronous pulley is coaxially mounted on the axis of the leading screw, described
Small synchronous pulley connect by the synchronous belt swelling with the big synchronous pulley；The clamping arm unit is mounted on institute
It is connected on the sliding block for two the second line rails stated and with the nut of the leading screw, there are two red for installation in the clamping arm unit
Outside line R-T unit, described two far infrared transceivers are for determining the position of the presence or absence of charging tray on truck and charging tray simultaneously
Corresponding signal is sent out to the electric control unit, the clamping arm unit is used to grip the charging tray on truck, described
Electric control unit be used to control the column unit along the moving of Y-axis, the clamping arm unit along Z axis move and institute
Gripping of the clamping arm unit stated to charging tray.
The servo palletizing system of the present invention drives column unit to be moved horizontally along what Y-axis moved by the first driving mechanism,
Clamping arm unit vertically moving along Z axis is realized by leading screw.The operation principle and process of the servo palletizing system is：1）Initially
Under state, clamping arm unit is in the highest order of Z axis and is in full opening state, manually pushes away the truck equipped with charging tray with empty truck
To being located in the specified range before pedestal, it is confirmed whether there are truck by several contact-making switches and determines the X of truck to position
And result is sent to electric control unit with signal form；2）After the signal in place of truck is confirmed, electrical control list
Member requires column unit to carry out Y-axis movement together with clamping arm unit, while being identified equipped with charging tray by non-contact switch
Truck on charging tray Y-direction position, to determine the coordinate position of charging tray；3）After Y-direction location confirmation, clamping arm unit starts
It is moved down in Z-direction, the position of charging tray that the first floor can capture is determined by far infrared transceiver, after determining, clamping arm unit
By first floor charging tray clamp and on move to suitable position, to coordinate the production needs of the automatic production line of concrete application；4）The first floor
After the completion of charging tray use, column unit and clamping arm unit are moved to what contact-making switch was confirmed together with first floor charging tray along Y-axis
Empty skip position, clamping arm unit decline, and after far infrared transceiver determines and can place the position of charging tray on empty truck, put down
Charging tray；5）Repeat step 2）Step 4）, until all charging trays are all transferred to sky truck by charging tray truck, at this point, electrical control
Unit sends out standby signal, and notice patrols pipe personnel and carries out subsequent operation.
The servo stacking system automation degree of the present invention is high, and controllability is good, can realize that two axis servos move, only need people
Truck is pushed into any position in specified region by work, you can automatic material grasping is completed, to the material of the arbitrary number of plies in stroke range
Disk carries out automatic identification and crawl, to substantially shorten handling time and reduce hand labor intensity.Servo code of the present invention
Pile system is widely portable to the automatic crawl of automatic production line loading plate or material frame, at the same charging tray or material frame can be promoted or
Drop to designated position, captures the part on charging tray convenient for devices such as manipulators on automatic production line, realize automation
Loading and unloading are equally applicable to the operations such as other crawl, stacking, carryings of automatic production line.
The clamping arm unit include left clamp arm, right clamp arm, clamp arm bearing, four third line rails, synchronization link mechanism and
Cylinder, the clamp arm bearing are fixed on the sliding block of two second line rails, the clamp arm bearing and the silk
The nut of thick stick is connected, and four third line rails are symmetrically mounted on the both sides of the clamp arm bearing, described four thirds
Line rail is parallel to Y-axis setting, the left clamp arm and the right clamp arm be symmetrical arranged and be separately fixed at described in two articles the
On the sliding block of three line rails, the cylinder body of the synchronization link mechanism and the cylinder is mounted on the clamp arm bearing, institute
The synchronization link mechanism stated is connected with the left clamp arm and the right clamp arm simultaneously, and the synchronization link mechanism is for real
The left clamp arm is moved with the right clamp arm along the synchronous opposite of Y-axis or synchronization backwards, the piston of the cylinder with
The left clamp arm or the right clamp arm are connected, and two far infrared transceivers are separately mounted to the left clamp arm
In the right clamp arm, the left clamp arm and the right clamp arm are used to grip the charging tray on truck.
The synchronization link mechanism includes turntable, support shaft, angular contact bearing, bearing internal gland, bearing outer press cover, a left side
One end of connecting rod and right connecting rod, the support shaft is mounted on the clamp arm bearing, and the angular contact bearing is mounted on
The outside of the support shaft, the bearing internal gland are mounted on the other end of the support shaft, the bearing external pressure
Lid is arranged in the outside of the bearing internal gland, and the bearing outer press cover is fixed on the turntable, the left company
One end of bar and the right connecting rod is respectively hinged in the both sides of the turntable, the other end of the left connecting rod and institute
The left clamp arm hinge connection stated, the other end of the right connecting rod and the right clamp arm hinge connection.
Between the left connecting rod and the right connecting rod and the turntable, the left connecting rod and the left clamp arm
Between and the right connecting rod and the right clamp arm between be connected by shaft, be equipped in the shaft from profit axis
It holds, the self-lubricating bearing is mounted on the left connecting rod or the right connecting rod, and the both ends of the shaft are installed respectively
There is washer.
First driving mechanism includes the second servo motor and speed reducer, and second servo motor is mounted on institute
On the speed reducer stated, the speed reducer is mounted on the column, the input terminal of the speed reducer and described second
The output end of servo motor is connected, and the output end of the speed reducer is connected with the gear.
The gap machine that disappears for adjusting the gear and the back lash of the rack is provided on the speed reducer
Structure.Further, the anti-backlash mechanism includes eccentric transition turntable, and the speed reducer is fixed on the transition turntable
On, the transition turntable is mounted on the column.During installing and using, by rotating transition turntable, you can to tooth
The back lash of wheel and rack is adjusted, and improves transmission accuracy.
The bottom of the pedestal is equipped with multiple burr adjustable tail margins for adjusting pedestal high and low position.
The charging tray by AGV fork trucks automatic transporting to truck material position up and down.In servo stacking system work process, match
It closes and uses AGV carrying fork truck charging trays, realize that automatic loading/unloading disk can further promote servo palletizing system instead of hand haulage
The degree of automation.
Compared with the prior art, the advantages of the present invention are as follows：Servo stacking system automation degree provided by the invention is high,
Controllability is good, can realize that two axis servos move, and only needs any position being manually pushed into truck in specified region, you can complete
Automatic material grasping carries out automatic identification and crawl in stroke range to the charging tray of the arbitrary number of plies, to substantially shorten manual operation
Time simultaneously reduces hand labor intensity.Servo palletizing system of the present invention is widely portable to automatic production line loading plate or material frame
Automatic crawl, while charging tray or material frame can be promoted or be dropped to designated position, convenient for the manipulator on automatic production line
Devices are waited to capture the part on charging tray, realize automation loading and unloading, are equally applicable to other crawl, heaps of automatic production line
The operations such as pile, carrying.Further, after being used cooperatively AGV fork trucks, the degree of automation of servo palletizing system can be promoted.
Description of the drawings
Fig. 1 is the outside drawing of the servo palletizing system of embodiment；
Fig. 2 is the front view for removing the servo palletizing system after truck and partial protection；
Fig. 3 is A-A sectional views in Fig. 2；
Fig. 4 is enlarged drawing at B in Fig. 3；
Fig. 5 is the outside drawing of base unit；
Fig. 6 is the outside drawing of column unit；
Fig. 7 is the outside drawing of clamping arm unit；
Fig. 8 is the front view of clamping arm unit；
Fig. 9 is C-C sectional views in Fig. 8；
Figure 10 is enlarged drawing at E in Fig. 9；
Figure 11 is D-D sectional views in Fig. 8；
Figure 12 is enlarged drawing at F in Figure 11.
Specific implementation mode
Below in conjunction with attached drawing embodiment, present invention is further described in detail.
The servo palletizing system of embodiment 1, as shown, including base unit 1, column unit 2, clamping arm unit 3, truck
4 and electric control unit（It is not shown in figure）, base unit 1 includes that 11, two First Line rails 12 of pedestal, rack 13 and four connect
Switch 14 is touched, the bottom of pedestal 11 is equipped with multiple burr adjustable tail margins 15 for adjusting 11 high and low position of pedestal, two First Lines
Rail 12 and rack 13 are installed in the upper surface of pedestal 11, and two First Line rails 12 are parallel to Y-axis setting, four contact-making switches 14
Mounted on the front side of pedestal 11, four contact-making switches 14 are for determining that the X of truck 4 sends out phase to position and to electric control unit
The signal answered.
In embodiment 1, column unit 2 includes column 21, two the second line rails 22, leading screw 23, the first driving mechanism, synchronizations
Before belt wheel transmission mechanism and non-contact switch 24, two the second line rails 22 and non-contact switch 24 are mounted on column 21
Side, non-contact switch 24 are used to determine the Y-direction position of the charging tray 41 on truck 4 and send out corresponding letter to electric control unit
Number, two the second line rails 22 are parallel to Z axis setting, and column 21 is mounted on the sliding block of two First Line rails 12, and leading screw 23 is installed
At the middle part of column 21, the output end of the first driving mechanism is connected with gear 16, and gear 16 is meshed with rack 13, synchronous pulley
Transmission mechanism includes first servo motor 51, small synchronous pulley 52, big synchronous pulley 53 and synchronous belt 54, first servo motor 51
Mounted on the top of column 21, small synchronous pulley 52 is coaxially mounted to the output end of first servo motor 51, big synchronous pulley 53
It is coaxially mounted on the axis of leading screw 23, small synchronous pulley 52 is connect with big synchronous pulley 53 by 54 swelling of synchronous belt；Clamp arm list
Member 3 is mounted on the sliding block of two the second line rails 22 and is connected with the nut of leading screw 23 17, and there are two red for installation in clamping arm unit 3
Outside line R-T unit 8, two far infrared transceivers 8 are used to determine the position of the presence or absence of charging tray 41 on truck 4 and charging tray 41
And corresponding signal is sent out to electric control unit, clamping arm unit 3 is used to grip the charging tray 41 on truck 4, electric control unit
For control column unit 2 along the moving of Y-axis, clamping arm unit 3 along Z axis move and gripping of the clamping arm unit 3 to charging tray 41.
In embodiment 1, clamping arm unit 3 includes left clamp arm 31, right clamp arm 32,33, four third line rails 34 of clamp arm bearing, same
Step link mechanism and cylinder 35, clamp arm bearing 33 are fixed on the sliding block of two the second line rails 22, clamp arm bearing 33 and leading screw 23
Nut 17 be connected, four third line rails 34 are symmetrically mounted on the both sides of clamp arm bearing 33, and four third line rails 34 are parallel to Y-axis
Setting, left clamp arm 31 and right clamp arm 32 are symmetrical arranged and are separately fixed on the sliding block of two third line rails 34, synchronising (connecting) rod machine
The cylinder body of structure and cylinder 35 is mounted on clamp arm bearing 33, and synchronization link mechanism is connected with left clamp arm 31 and right clamp arm 32 simultaneously,
Synchronization link mechanism is moved with right clamp arm 32 along the synchronous opposite of Y-axis or synchronization backwards for realizing left clamp arm 31, cylinder 35
Piston 36 is connected with left clamp arm 31, and two far infrared transceivers 8 are separately mounted in left clamp arm 31 and right clamp arm 32, left clamp arm
31 and right clamp arm 32 be used to grip charging tray 41 on truck 4.
In embodiment 1, synchronization link mechanism include turntable 61, support shaft 62, angular contact bearing 63, bearing internal gland 65,
Bearing outer press cover 64, left connecting rod 66 and right connecting rod 67, support shaft 62 are fixed on clamp arm bearing 33, and bearing internal gland 65 is fixed on
In support shaft 62, bearing outer press cover 64 is fixed on turntable 61, and one end of left connecting rod 66 and right connecting rod 67 is respectively hinged
The both sides of turntable 61, the other end of left connecting rod 66 and 31 hinge connection of left clamp arm, the other end of right connecting rod 67 are cut with scissors with right clamp arm 32
Chain link.
The servo palletizing system of embodiment 2, as shown, including base unit 1, column unit 2, clamping arm unit 3, truck
4 and electric control unit, base unit 1 includes 11, two First Line rails 12 of pedestal, rack 13 and four contact-making switches 14, bottom
The bottom of seat 11 is equipped with multiple burr adjustable tail margins 15 for adjusting 11 high and low position of pedestal, two First Line rails 12 and rack 13
It is installed in the upper surface of pedestal 11, two First Line rails 12 are parallel to Y-axis setting, and four contact-making switches 14 are mounted on pedestal 11
Front side, four contact-making switches 14 are for determining that the X of truck 4 sends out corresponding signal to position and to electric control unit；It is vertical
Pole unit 2 includes 21, two the second line rails 22 of column, leading screw 23, the first driving mechanism, synchronous pulley driving mechanism and non-contact
Formula switch 24, two the second line rails 22 and non-contact switch 24 are mounted on the front side of column 21, and non-contact switch 24 is used for
It determines the Y-direction position of the charging tray 41 on truck 4 and sends out corresponding signal to electric control unit, two the second line rails 22 are parallel
It is arranged in Z axis, column 21 is mounted on the sliding block of two First Line rails 12, and leading screw 23 is mounted on the middle part of column 21, and first drives
The output end of motivation structure is connected with gear 16, and gear 16 is meshed with rack 13, and synchronous pulley driving mechanism includes the first servo
Motor 51, small synchronous pulley 52, big synchronous pulley 53 and synchronous belt 54, first servo motor 51 are mounted on the top of column 21,
Small synchronous pulley 52 is coaxially mounted to the output end of first servo motor 51, and big synchronous pulley 53 is coaxially mounted to the axis of leading screw 23
On, small synchronous pulley 52 is connect with big synchronous pulley 53 by 54 swelling of synchronous belt；Clamping arm unit 3 is mounted on two the second line rails
It is connected on 22 sliding block and with the nut of leading screw 23 17, there are two far infrared transceivers 8 for installation in clamping arm unit 3, and two red
Outside line R-T unit 8 is used to determine the position of the presence or absence of charging tray 41 on truck 4 and charging tray 41 and is sent out to electric control unit
Corresponding signal, clamping arm unit 3 are used to grip the charging tray 41 on truck 4, and electric control unit is for controlling column unit 2 along Y
The movement of axis, clamping arm unit 3 along Z axis move and gripping of the clamping arm unit 3 to charging tray 41.
In embodiment 2, clamping arm unit 3 includes left clamp arm 31, right clamp arm 32,33, four third line rails 34 of clamp arm bearing, same
Step link mechanism and cylinder 35, clamp arm bearing 33 are fixed on the sliding block of two the second line rails 22, clamp arm bearing 33 and leading screw 23
Nut 17 be connected, four third line rails 34 are symmetrically mounted on the both sides of clamp arm bearing 33, and four third line rails 34 are parallel to Y-axis
Setting, left clamp arm 31 and right clamp arm 32 are separately fixed on the sliding block of four third line rails 34, synchronization link mechanism and cylinder 35
Cylinder body be mounted on clamp arm bearing 33 on, synchronization link mechanism is connected with left clamp arm 31 and right clamp arm 32 simultaneously, synchronising (connecting) rod machine
Structure is moved with right clamp arm 32 along the synchronous opposite of Y-axis or synchronization backwards for realizing left clamp arm 31, piston 36 and the left side of cylinder 35
Clamp arm 31 or right clamp arm 32 are connected, and two far infrared transceivers 8 are separately mounted in left clamp arm 31 and right clamp arm 32, left clamp arm
31 and right clamp arm 32 be used to grip charging tray 41 on truck 4.
In embodiment 2, synchronization link mechanism include turntable 61, support shaft 62, angular contact bearing 63, bearing internal gland 65,
One end of bearing outer press cover 64, left connecting rod 66 and right connecting rod 67, support shaft 62 is mounted on clamp arm bearing 33, angular contact bearing 63
Mounted on the outside of support shaft 62, bearing internal gland 65 is mounted on the other end of support shaft 62, and bearing outer press cover 64 is arranged in axis
The outside of internal gland 65 is held, bearing outer press cover 64 is fixed on turntable 61, and hinge is distinguished in one end of left connecting rod 66 and right connecting rod 67
It is connected to the both sides of turntable 61, the other end of left connecting rod 66 and 31 hinge connection of left clamp arm, the other end of right connecting rod 67 and right folder
32 hinge connection of arm, specifically, between left connecting rod 66 and right connecting rod 67 and turntable 61, between left connecting rod 66 and left clamp arm 31 with
And be connected by shaft 71 between right connecting rod 67 and right clamp arm 32, self-lubricating bearing 72, self-lubricating bearing 72 are installed in shaft 71
In left connecting rod 66 or right connecting rod 67, the both ends of shaft 71 are separately installed with washer 73.
In embodiment 2, the first driving mechanism includes the second servo motor 91 and speed reducer 92, the installation of the second servo motor 91
On speed reducer 92, speed reducer 92 is mounted on column 21, the output end of the input terminal of speed reducer 92 and the second servo motor 91
It is connected, the output end of speed reducer 92 is connected with gear 16.It is provided on speed reducer 92 for adjusting nibbling for gear 16 and rack 13
The anti-backlash mechanism in gap is closed, anti-backlash mechanism includes the transition turntable 93 of bias, and speed reducer 92 is fixed on transition turntable 93, transition
Turntable 93 is mounted on column 21.
The servo palletizing system of above-described embodiment is widely portable to automatic production line loading plate or the automatic of material frame grabs
It takes, while charging tray or material frame can be promoted or be dropped to designated position, come convenient for devices such as manipulators on automatic production line
The part on charging tray is captured, automation loading and unloading is realized, is equally applicable to other crawl, stacking, carryings of automatic production line
Deng operation.By taking the servo palletizing system using embodiment 2 carries out the application of automation loading and unloading as an example, the servo palletizing system
Operation principle and process is：
1）Under original state, clamping arm unit 3 is in the highest order of Z axis and is in full opening state（Left clamp arm 31 and right folder
Arm 32 is moved to range backwards）, charging tray 41 will be manually housed（Multiple part blanks 42 are housed on charging tray 41）Truck 4
It is pushed into the specified range before pedestal 11 with empty truck 4, it is simultaneously true to be confirmed whether that there are trucks 4 by four contact-making switches 14
Determine the X of truck 4 and is sent to electric control unit to position and by result with signal form；
2）After the signal in place of truck 4 is confirmed, electric control unit requires the work of the second servo motor 91, makes to stand
Pole unit 2 carries out Y-axis movement together with clamping arm unit 3, while being identified equipped with charging tray 41 by non-contact switch 24
The Y-direction position of charging tray 41 on truck 4, to determine the coordinate position of charging tray 41；
3）After Y-direction location confirmation, electric control unit makes first servo motor 51 work, and leading screw 23 rotates, clamp arm
The beginning of unit 3 is moved down in Z-direction, and the position of charging tray 41 that the first floor can capture is determined by far infrared transceiver 8, is determined
Afterwards, electric control unit control cylinder 35 works, left clamp arm 31 and right clamp arm 32 by first floor charging tray 41 clamp and on move to it is suitable
Position waits for manipulator（It is not shown in figure）To capture part blank 42 and place fabricated part on charging tray 41（Do not show in figure
Go out）, a mobile material grasping position after one row of pick-and-place, until the part blank 42 on first floor charging tray 41 is all replaced by fabricated part；
4）Second servo motor 91 works, and column unit 2 and clamping arm unit 3 are moved along Y-axis together with first floor charging tray 41
To 1）4 position of empty truck that middle contact-making switch 14 is confirmed, clamping arm unit 3 decline, and wait for that far infrared transceiver 8 determines empty truck
Behind the position that charging tray 41 can be placed on 4, left clamp arm 31 and right clamp arm 32 backwards to mobile and put down charging tray 41, the charging tray 41 this
When be bottom charging tray 41；
5）Repeat step 2）Step 4）, until all charging trays 41 are all transferred to sky truck 4 by charging tray truck 4, at this point,
Electric control unit sends out standby signal, and notice patrols pipe personnel and carries out subsequent operation.Since the position of two trucks 4 has obtained really
Recognize, AGV fork trucks automatic loading/unloading disk on truck 4 can be subsequently used cooperatively, instead of hand haulage, to promote servo palletizing system
The degree of automation.
Claims (9)
1. a kind of servo palletizing system, it is characterised in that including base unit, column unit, clamping arm unit, truck and electric-controlled
Unit processed, the base unit include pedestal, two First Line rails, rack and several contact-making switches, described two first
Line rail and the rack are installed in the upper surface of the pedestal, and described two First Line rails are parallel to Y-axis setting, institute
Several contact-making switches stated are mounted on the front side of the pedestal, and several contact-making switches are used to determine the X of truck to position
It sets and sends out corresponding signal to the electric control unit；The column unit includes column, two the second line rails, silks
Thick stick, the first driving mechanism, synchronous pulley driving mechanism and non-contact switch, described two the second line rails and described non-connect
Touch switches are mounted on the front side of the column, and the non-contact switch is used to determine the Y-direction position of the charging tray on truck
It sets and sends out corresponding signal to the electric control unit, described two the second line rails are parallel to Z axis setting, described
Column is mounted on the sliding block of two First Line rails, and the leading screw is mounted on the middle part of the column, described
The output end of first driving mechanism is connected with gear, and the gear is meshed with the rack, and the synchronous pulley passes
Motivation structure includes first servo motor, small synchronous pulley, big synchronous pulley and synchronous belt, and the first servo motor is mounted on
The top of the column, the small synchronous pulley is coaxially mounted to the output end of the first servo motor, described
Big synchronous pulley is coaxially mounted on the axis of the leading screw, and the small synchronous pulley passes through institute with the big synchronous pulley
The synchronous belt swelling connection stated；The clamping arm unit be mounted on two second line rails sliding block on and with the silk
The nut of thick stick is connected, and there are two far infrared transceiver, described two infrared ray transceiving dresses for installation in the clamping arm unit
It sets the position for determining the presence or absence of charging tray on truck and charging tray and sends out corresponding signal to the electric control unit,
The clamping arm unit is used to grip the charging tray on truck, and the electric control unit is used to control the column unit edge
The movement of Y-axis, the clamping arm unit along Z axis move and gripping of the clamping arm unit to charging tray.
2. a kind of servo palletizing system according to claim 1, it is characterised in that the clamping arm unit include left clamp arm,
Right clamp arm, clamp arm bearing, four third line rails, synchronization link mechanism and cylinder, the clamp arm bearing are fixed on described two
On the sliding block of item the second line rail, the clamp arm bearing is connected with the nut of the leading screw, described four third line rails pair
Claim mounted on the both sides of the clamp arm bearing, described four third line rails are parallel to Y-axis setting, the left clamp arm and institute
The right clamp arm stated is symmetrical arranged and is separately fixed on the sliding block of the third line rail described in two, the synchronization link mechanism and
The cylinder body of the cylinder is mounted on the clamp arm bearing, the synchronization link mechanism simultaneously with the left clamp arm and
The right clamp arm is connected, and the synchronization link mechanism is for realizing the left clamp arm and the right clamp arm along Y-axis
Opposite or synchronous movement backwards is synchronized, the piston of the cylinder is connected with the left clamp arm or the right clamp arm, described
Two far infrared transceivers be separately mounted in the left clamp arm and the right clamp arm, the left clamp arm and described
Right clamp arm be used to grip charging tray on truck.
3. a kind of servo palletizing system according to claim 2, it is characterised in that the synchronization link mechanism includes turning
Disk, support shaft, angular contact bearing, bearing internal gland, bearing outer press cover, left connecting rod and right connecting rod, one end of the support shaft
On the clamp arm bearing, the angular contact bearing is in the outside of the support shaft, the bearing
Gland is mounted on the other end of the support shaft, and the bearing outer press cover is arranged in the outside of the bearing internal gland,
The bearing outer press cover is fixed on the turntable, and one end difference hinge of the left connecting rod and the right connecting rod connects
It is connected on the both sides of the turntable, the other end of the left connecting rod and the left clamp arm hinge connection, the right connecting rod
The other end and the right clamp arm hinge connection.
4. a kind of servo palletizing system according to claim 3, it is characterised in that the left connecting rod and the right company
Between left connecting rod and the left clamp arm between bar and the turntable, described and the right connecting rod and the right folder
It is connected by shaft between arm, self-lubricating bearing is installed in the shaft, the self-lubricating bearing is mounted on the left side
On connecting rod or the right connecting rod, the both ends of the shaft are separately installed with washer.
5. a kind of servo palletizing system according to any one of claim 1-4, it is characterised in that first driving
Mechanism includes the second servo motor and speed reducer, and second servo motor is mounted on the speed reducer, and described subtracts
Fast machine is mounted on the column, and the input terminal of the speed reducer is connected with the output end of second servo motor,
The output end of the speed reducer is connected with the gear.
6. a kind of servo palletizing system according to claim 5, it is characterised in that be provided with and be used on the speed reducer
The anti-backlash mechanism of the adjustment gear and the back lash of the rack.
7. a kind of servo palletizing system according to claim 6, it is characterised in that the anti-backlash mechanism includes eccentric
Transition turntable, the speed reducer are fixed on the transition turntable, and the transition turntable is mounted on the column.
8. a kind of servo palletizing system according to claim 1, it is characterised in that the bottom of the pedestal is equipped with more
A burr adjustable tail margin for adjusting pedestal high and low position.
9. a kind of servo palletizing system according to claim 1, it is characterised in that the charging tray is removed automatically by AGV fork trucks
It is transported to the material position up and down of truck.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106743717B (en) * | 2017-03-17 | 2019-04-16 | 北京华航唯实机器人科技股份有限公司 | A kind of industry automatic stacking machine people |
| CN106904441B (en) * | 2017-03-17 | 2019-02-12 | 南京欧瑞机械锻造有限公司 | A kind of dedicated auxiliary robot of high-temperature forging stacking |
| CN107458884A (en) * | 2017-09-07 | 2017-12-12 | 常州市巨人机器人科技有限公司 | Stacking formula feed bin |
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| CN111953153A (en) * | 2020-08-23 | 2020-11-17 | 赣州中科拓又达智能装备科技有限公司 | Automatic feeding and positioning equipment for motor rotor |
| CN112278757B (en) * | 2020-10-21 | 2022-01-07 | 四川融至精密机械有限公司 | Automatic production process of connecting ring |
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| CN105643617A (en) | 2016-06-08 |
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