CN109436710B - Multi-pool transfer intelligent picking and placing device - Google Patents
Multi-pool transfer intelligent picking and placing device Download PDFInfo
- Publication number
- CN109436710B CN109436710B CN201811516151.7A CN201811516151A CN109436710B CN 109436710 B CN109436710 B CN 109436710B CN 201811516151 A CN201811516151 A CN 201811516151A CN 109436710 B CN109436710 B CN 109436710B
- Authority
- CN
- China
- Prior art keywords
- rail
- placing
- pool
- picking
- transfer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 247
- 230000007704 transition Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 66
- 230000003068 static effect Effects 0.000 claims description 18
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
- 238000002955 isolation Methods 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims 2
- 230000004807 localization Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 235000021419 vinegar Nutrition 0.000 description 23
- 239000000052 vinegar Substances 0.000 description 23
- 235000013339 cereals Nutrition 0.000 description 19
- 238000000855 fermentation Methods 0.000 description 8
- 230000004151 fermentation Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000000875 corresponding effect Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 244000005700 microbiome Species 0.000 description 4
- 238000009529 body temperature measurement Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 229910052760 oxygen Inorganic materials 0.000 description 2
- 239000001301 oxygen Substances 0.000 description 2
- 230000005570 vertical transmission Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013351 cheese Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-pool transfer intelligent picking and placing device which comprises a picking and placing robot and a transfer trolley, wherein the picking and placing robot comprises a supporting platform, an on-pool travelling mechanism arranged at the bottom of the supporting platform, a picking and placing rotary mechanism and a picking and placing control mechanism which are arranged on the supporting platform, a lifting mechanism which is arranged on the picking and placing rotary mechanism and rotates along with the picking and placing rotary mechanism, and a picking and placing mechanism which is arranged on the lifting mechanism and lifts along with the lifting mechanism; the transfer trolley comprises a base, a pool lower travelling mechanism arranged at the bottom of the base, a transfer revolving mechanism and a transfer control mechanism which are arranged above the base, a transfer support which is arranged above the transfer revolving mechanism and revolves along with the transfer revolving mechanism, and a rail connecting track which is arranged on the transfer support. The invention has the advantages that: the picking and placing robot and the transfer trolley are respectively controlled by the picking and placing control mechanism and the transfer control mechanism to form linkage operation, and the full-automatic and intelligent multi-pool transfer picking and placing operation is realized by combining the transition rail and the transfer rail.
Description
Technical Field
The invention relates to a picking and placing device, in particular to an intelligent picking and placing device for multi-pool transfer.
Background
When brewing black vinegar, a mode of placing vinegar grains such as wine cheese, bran, rice chaff and the like in a vinegar grain pool for fermentation is generally adopted. In the mode, microorganisms on the surface of the vinegar residue material can continuously ferment due to the sufficient contact with oxygen, so that the surface of the vinegar residue material continuously rises in temperature, but the microorganisms stop growing due to the excessively high temperature, and the fermentation is stopped, so that the brewing is not facilitated; meanwhile, microorganisms in the vinegar residue material are slow to ferment due to lack of oxygen, and are also unfavorable for brewing. At present, the condition is usually treated by adopting a fermentation grain turning operation, namely, the inside and the outside of the vinegar grain material are turned over, so that the fermentation of microorganisms inside and outside the vinegar grain material is ensured.
In order to accurately determine the time point of the fermentation substrate turning operation, a temperature measuring rod inserted into a vinegar fermentation substrate pool is generally adopted to measure the temperature parameters of the vinegar fermentation substrate in real time. However, in the prior art, the temperature measuring rod has an interference effect on the fermented grain turning operation, so that the temperature measuring rod needs to be retrieved before the fermented grain is turned over and then replaced in time after the fermented grain is turned over to measure the temperature again, and the automation process of the taking and placing process has become a core element for realizing intelligent fermented grain turning. Meanwhile, in order to improve productivity, a plurality of vinegar grain pools are usually arranged in a vinegar grain fermentation workshop, and how to realize the automatic taking and placing operation of temperature measuring rods in the plurality of vinegar grain pools also restricts the development process of intelligent turning.
Disclosure of Invention
The invention aims to: aiming at the problems, the invention aims to provide a multi-tank transfer intelligent picking and placing device so as to realize automatic picking and placing operation of temperature measuring rods in a plurality of vinegar culture tanks.
The technical scheme is as follows: an intelligent multi-pool transfer rail taking and placing device comprises a taking and placing robot and a transfer rail vehicle,
the picking and placing robot comprises a supporting platform, an on-pool travelling mechanism arranged at the bottom of the supporting platform, a picking and placing rotary mechanism and a picking and placing control mechanism which are arranged on the supporting platform, a lifting mechanism which is arranged on the picking and placing rotary mechanism and rotates along with the picking and placing rotary mechanism, and a picking and placing mechanism which is arranged on the lifting mechanism and lifts along with the lifting mechanism, wherein the on-pool travelling mechanism falls on a pool wall track and travels along the pool wall track, the picking and placing mechanism is provided with a grabbing part, the picking and placing mechanism grabs objects to be picked and placed in the pool through the grabbing part, and the on-pool travelling mechanism, the picking and placing rotary mechanism, the lifting mechanism and the picking and placing mechanism are respectively in signal correlation with the picking and placing control mechanism;
the transfer trolley comprises a base, a pool lower travelling mechanism arranged at the bottom of the base, a transfer rotary mechanism and a transfer control mechanism, a transfer support arranged above the transfer rotary mechanism and rotating along with the transfer rotary mechanism, and a rail connecting rail arranged on the transfer support, wherein the pool lower travelling mechanism falls on the ground, the rail connecting rail and a pool wall rail form rail connecting, the upper part of the rail connecting rail is connected with and carries the picking and placing robot, and the pool lower travelling mechanism and the transfer rotary mechanism are respectively in signal association with the transfer control mechanism;
The transfer trolley walks on the ground through the under-pool travelling mechanism, is connected with the pool wall rail through the rail connecting rail, and drives the pick-and-place robot to turn around through the rotation of the transfer rotating mechanism, and after the pick-and-place robot walks to the upper part of the rail connecting rail along the pool wall rail, the transfer trolley carries and transports the pick-and-place robot to reach the next pool wall rail to form a transfer.
The principle of the invention is as follows: when the robot is used, the picking and placing rotary mechanism, the lifting mechanism and the picking and placing mechanism on the supporting platform are controlled by the picking and placing control mechanism signals to form linkage. When grabbing objects to be fetched and placed, the fetching and placing control mechanism signals are utilized to control the travelling mechanism on the pool to fall on the track of the pool wall for travelling; the picking and placing control mechanism signals are used for controlling the picking and placing rotating mechanism to rotate, and the lifting mechanism is driven to rotate, so that the picking and placing mechanism is driven to rotate to the position above the object to be picked and placed; then the lifting mechanism is controlled to descend by utilizing the signals of the picking and placing control mechanism to drive the picking and placing mechanism to descend to a height corresponding to the object to be picked and placed; and then, the picking and placing control mechanism is used for controlling the picking and placing mechanism to pick the object to be picked and placed through the grabbing part, and recycling is carried out. When the object to be fetched is put back, the process is reversed. The transfer rail vehicle controls the pool downlink mechanism to travel on the ground through the transfer control mechanism signal, so that the transfer rail vehicle reaches the tail end of the pool wall rail, and is connected with the pool wall rail by utilizing the rail connecting rail, and the pick-and-place robot travels onto the transfer rail vehicle through the rail connecting rail to finish carrying. And then, the transfer trolley controls the transfer revolving mechanism to rotate through the signal of the transfer control mechanism, drives the pick-and-place robot carried above the transfer revolving mechanism to revolve to turn around, and then continues to control the travel mechanism under the pool to travel to the next pool wall track through the signal of the transfer control mechanism, and finishes the rail transfer operation of the pick-and-place robot after the rail is connected through the rail connection track, thereby forming full-automatic and intelligent multi-pool rail transfer and automatic pick-and-place operation.
Further, the supporting platform bottom is provided with the slot of getting on bus, be provided with the cylinder of getting on bus on the transition support, get on bus the cylinder top and connect the inserted bar of getting on bus, get on bus the inserted bar with the matching block of slot of getting on bus to get to put robot, transition between the car and form the spacing protection of getting on bus machinery.
Further, the pool wall rail comprises a transition rail, wherein the transition rail is fixed with the tail end of the pool wall rail and forms a joint rail connection, and the joint rail is connected with the transition rail to facilitate the joint of the joint rail and the pool wall rail.
Further, still include the track of turning round, the track of turning round transversely set up in the subaerial at pool wall track end, running gear falls on the track of turning round and walk along it under the pond, the track turning car passes through running gear under the pond is followed the track of turning round and through the track joint track with the track joint of pool wall to make the track turning round travel along fixed track, be convenient for control its route of traveling.
Further, install the laser sensor reflecting plate on the track of turning round, install the laser proximity switch on the track of turning round, the laser proximity switch with the laser sensor reflecting plate counterpoint forms laser location, the laser proximity switch with the control mechanism signal of turning round is correlated with to the approximate position of track of turning round on the track of turning round realizes laser range finding.
Further, install magnetic component on the track of turning round, the magnetic proximity sensor is installed to the counterpoint on the track of turning round, magnetic component with the magnetic proximity sensor counterpoint forms magnetic positioning, magnetic proximity sensor with the control mechanism signal of turning round is correlated with to the position of track of turning round on the track of turning round realizes accurate location, is convenient for connect rail track and the orbital joint rail of pool wall.
Preferably, the magnetic assembly comprises a permanent magnet and a fixing frame, wherein the permanent magnet is arranged on the transfer rail through the fixing frame, and the permanent magnet and the magnetic proximity sensor are aligned to form magnetic positioning.
Further, install the positioning slot on the track of turning round, install the picture peg subassembly on the track of turning round, the picture peg subassembly includes cylinder down, location picture peg, the cylinder pass through the cylinder mounting panel down with the track of turning round is fixed, the location picture peg is connected the cylinder below down, just the location picture peg with the matching block of positioning slot forms machinery spacing, the cylinder down with the control mechanism signal of turning round is associated to when butt joint track of turning round and joint track, form machinery spacing through the cooperation of positioning slot location picture peg, guarantee the stability of joint.
Further, the picture peg subassembly still includes slide rail fixed plate, picture peg linear slide rail, picture peg slider, slider fixed plate, the slide rail fixed plate install in between lower cylinder and the location picture peg, the picture peg linear slide rail is vertical to be fixed the slide rail fixed plate side, the picture peg slider is installed on the picture peg linear slide rail, slider fixed plate top with the cylinder mounting panel is fixed, the side with the picture peg slider is fixed, makes the plug structure of location picture peg more stable.
Further, get and put the robot still including installing the anticollision subassembly of supporting platform front end, the anticollision subassembly includes ultrasonic sensor and installs ultrasonic sensor front end's anticollision buffer seat, ultrasonic sensor with get and put control mechanism signal association and form initiative anticollision, anticollision buffer seat forms passive anticollision protection.
Further, get and put the robot still includes power supply unit, power supply unit includes the lithium cell group and charge the brush board that the electricity is connected, lithium cell group and charge the brush board and fix respectively on the supporting platform, running gear, get and put rotation mechanism, elevating system, get and put mechanism, get and put control mechanism and pass through power supply unit power supply to realize getting the wireless control who puts the robot.
Preferably, the picking and placing revolving mechanism and the transfer revolving mechanism are both driven by revolving, the picking and placing revolving mechanism is provided with a picking and placing revolving servo motor which is related to the picking and placing control mechanism signal, and the transfer revolving mechanism is provided with a transfer revolving servo motor which is related to the transfer control mechanism signal.
Preferably, the lifting mechanism comprises a lifting driving device, an upper transmission shaft, a lower transmission shaft, a conveying device, a lifting seat and a stand column, wherein the stand column is installed on the picking and placing slewing mechanism and rotates along with the lifting driving device, the upper transmission shaft and the lower transmission shaft are respectively transversely installed at the upper end and the lower end of the stand column, the lifting driving device is connected with the upper transmission shaft and is in signal association with the picking and placing control mechanism, the conveying device is wound on the upper transmission shaft and the lower transmission shaft to form slewing, the lifting seat is fixed on the conveying device and is lifted along with the reciprocating slewing of the conveying device, and the picking and placing mechanism is fixed on the lifting seat.
Preferably, the lifting seat comprises a lifting linear slide rail, a lifting slide block and a ring-shaped base, the lifting linear slide rail is vertically fixed on the upright post, the lifting slide block is installed on the lifting linear slide rail, the ring-shaped base is sleeved on the upright post, the inner side of the ring-shaped base is respectively fixed with the lifting slide block and the conveying device, and the outer side of the ring-shaped base is fixed with the picking and placing mechanism.
Further, elevating system still includes roof, blotter, the roof is fixed the stand upper end, the blotter set up respectively in the top and the bottom of elevating system, corresponding to conveyer reciprocating gyration's extreme position, upper and lower two the blotter cooperates respectively the roof and gets and put the mechanism and form the spacing protection of machinery.
Preferably, the picking and placing mechanism comprises a picking and placing driving device, a clamp fixing rod and a finger clamp, wherein the clamp fixing rod is connected to the lifting mechanism and is lifted along with the lifting mechanism, the finger clamp is installed at the front end of the clamp fixing rod, the picking and placing driving device is connected with the finger clamp and is in signal association with the picking and placing control mechanism, and the finger clamp forms the grabbing part.
Preferably, the finger clamp comprises a clamp transmission shaft, a left gear shaft, a right gear shaft, a left fixing plate, a right fixing plate, a left clamping plate and a right clamping plate, wherein the clamp transmission shaft is respectively connected with the picking and placing driving device and the left gear shaft, the left gear shaft and the right gear shaft are arranged in parallel and are meshed relatively, the left fixing plate and the right fixing plate are respectively fixed on the left gear shaft and the right gear shaft, the left clamping plate and the right clamping plate are respectively fixed at the front ends of the left fixing plate and the right fixing plate, and the clamping openings are arranged relatively to form the grabbing parts, and the picking and placing driving device drives the clamp transmission shaft to drive the left gear shaft and the right gear shaft to be meshed relatively and rotate relatively so as to drive the clamping openings of the left clamping plate and the right clamping plate to clamp objects to be picked and placed.
Further, the finger clamp also comprises a left guide plate and a right guide plate which are respectively provided with a V-shaped guide opening and are opposite in direction, the left guide plate is arranged above the left clamping plate, the right guide plate is arranged below the right clamping plate corresponding to the left guide plate, and the guide openings of the left guide plate and the right guide plate respectively extend outwards to enlarge the included angle of the clamping opening.
Further, upper ends and lower ends of the left gear shaft and the right gear shaft are respectively sleeved with an upper bearing and a lower bearing, the upper bearing and the lower bearing are respectively installed in an upper cover plate and a lower cover plate, the upper cover plate and the lower cover plate are fixed with the fixture fixing rod, and the upper cover plate sealing cover is arranged at the front end of the fixture fixing rod.
Further, the tooth parts of the left gear shaft and the right gear shaft are positioned between the upper bearing and the lower bearing, and isolation devices are respectively arranged between the tooth parts and the upper bearing and between the tooth parts and the lower bearing so as to form spacing separation between the upper bearing, the lower bearing and the tooth parts, thereby avoiding the mutual abrasion of the upper bearing, the lower bearing and the tooth parts.
Further, the left fixing plate and the right fixing plate are respectively sleeved on the left gear shaft and the right gear shaft and are respectively fixed with the tooth parts, and the isolation device is arranged between the left fixing plate, the right fixing plate and the lower bearing.
Further, get and put mechanism still includes underfloor, angle regulation's laser support, laser proximity switch, the underfloor with the anchor clamps dead lever is fixed, laser proximity switch passes through respectively the laser support installs the left and right sides of underfloor and with get and put control mechanism signal association, the left and right sides laser proximity switch transmitted laser signal alternately forms the inductive point, when inductive point corresponds with the getting of waiting to get the thing and put the position, the snatch position of snatch portion reaches gets to put the position and accomplishes snatch to guarantee that snatch portion can accurately snatch and wait to get the thing.
Further, get and put the robot and still include deposit get and put the bin pipe of waiting to get the thing of putting, get and put the bin pipe with get and put the rotation mechanism as the centre of a circle, with get the length of putting the mechanism as radius, circumference equipartition setting are in supporting platform side.
Preferably, the on-tank travelling mechanism comprises an on-tank driving device, a transmission device, a longitudinal conveyor belt, an on-tank driving wheel and an on-tank driven wheel, the on-tank driving wheel and the on-tank driven wheel are arranged back and forth and are respectively arranged at the bottom of the supporting platform through bearing seats, the longitudinal conveyor belt is wound on the on-tank driving wheel and the on-tank driven wheel to form a revolution, the on-tank driving device is connected with the on-tank driving wheel through the transmission device, the on-tank driving device is in signal association with the pick-and-place control mechanism, and the on-tank driving wheel and the on-tank driven wheel fall on the tank wall track and travel along the same.
Preferably, the under-pool travelling mechanism comprises an under-pool driving device, a front transmission shaft, a rear transmission shaft, a front transmission belt, a rear transmission belt, an under-pool driving wheel and an under-pool driven wheel, wherein the under-pool driving wheel and the under-pool driven wheel are arranged front and back and are respectively installed at the bottom of the base through bearing seats, the rear transmission shaft penetrates through the under-pool driving wheel, the front transmission shaft penetrates through the under-pool driven wheel, the front transmission belt and the rear transmission shaft are wound to form a revolution, the under-pool driving device is connected with the rear transmission shaft and is in signal association with the transfer control mechanism, and the under-pool driving wheel and the under-pool driven wheel fall on the ground to walk.
Further, the rail connecting track comprises a static rail and a movable rail, the static rail is fixed on the rail rotating support, the upper side of the static rail is connected with and carries the picking and placing robot, the movable rail is arranged at the front end and the rear end of the static rail and is connected with the static rail through transverse rotating shafts respectively, the lower side of the movable rail is connected with a movable rail cylinder, the movable rail cylinder is arranged on the rail rotating support and is in signal association with a rail rotating control mechanism, the movable rail cylinder drives the movable rail to swing upwards in a fan-shaped mode by taking the transverse rotating shafts as supporting points, and when the movable rail swings to a horizontal position, the movable rail is connected with the static rail and the pool wall rail to form a rail connecting connection.
Further, the static rail and the movable rail and the pool wall rail are respectively connected through the clamping parts in a clamping way, so that the stability and the accuracy of the rail connection are further ensured.
The beneficial effects are that: compared with the prior art, the invention has the advantages that: 1. the picking and placing robot and the transfer trolley are respectively controlled by signals of the picking and placing control mechanism and the transfer control mechanism to form linkage operation, and the full-automatic and intelligent multi-pool transfer picking and placing operation is realized by combining the transition track and the transfer track; 2. the picking and placing robot automatically controls the walking action, the rotating action, the lifting action and the picking and placing action by using a picking and placing control mechanism which is related to the signals of the walking mechanism, the picking and placing rotary mechanism, the lifting mechanism and the picking and placing mechanism on the pool, thereby realizing full-automatic and intelligent picking and placing operation; 3. the rail transfer machine automatically controls the walking action of the walking mechanism under the pool through the rail transfer control mechanism, the turning action of the rail transfer turning mechanism and the butt joint action of each cylinder, so that the robot can realize intelligent, efficient, accurate and stable automatic rail transfer and turning actions.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a pick-and-place robot;
FIG. 3 is a right side view of FIG. 2;
FIG. 4 is a schematic diagram of the structure of the walking mechanism on the pool;
FIG. 5 is a schematic view of a lifting mechanism;
FIG. 6 is an enlarged schematic view of the position A in FIG. 5;
FIG. 7 is a schematic view of the structure above the top plate;
FIG. 8 is an enlarged schematic view of the position of the lifting slide;
FIG. 9 is a cross-sectional view of the lift base;
FIG. 10 is a schematic view of the clamping state of the pick-and-place mechanism;
FIG. 11 is a schematic view of the release state of the pick-and-place mechanism;
FIG. 12 is a cross-sectional view of a finger grip;
FIG. 13 is a schematic view of a track-turning, transition track, and track-turning track configuration;
FIG. 14 is an enlarged schematic view of the position B of FIG. 13;
FIG. 15 is a schematic view of the structure of the under-pool travelling mechanism;
FIG. 16 is a schematic view of a track truck configuration;
FIG. 17 is a right side view of FIG. 13;
FIG. 18 is an enlarged schematic view of the position C of FIG. 17;
fig. 19 is a schematic view of a board assembly.
Detailed Description
The invention will be further elucidated with reference to the drawings and to specific embodiments, which are intended to illustrate the invention only and are not intended to limit the scope of the invention.
An intelligent multi-pool transfer rail taking and placing device is provided, and the specific structure is described by combining the application of the intelligent multi-pool transfer rail taking and placing device on a temperature measuring rod. As shown in fig. 1, the robot comprises a pick-and-place robot 1, a transfer trolley 2, a transition rail 3 and a transfer rail 4.
As shown in fig. 2, the pick-and-place robot 1 includes a supporting platform 11, an on-tank travelling mechanism 12 installed at the bottom of the supporting platform 11, a pick-and-place rotating mechanism 13 and a pick-and-place control mechanism 14 installed on the supporting platform 11, a lifting mechanism 15 installed on the pick-and-place rotating mechanism 13 and rotating along with the same, and a pick-and-place mechanism 16 installed on the lifting mechanism 15 and lifting along with the same, wherein the on-tank travelling mechanism 12 falls on and travels along a tank wall track, the pick-and-place mechanism 16 has a grabbing part, the pick-and-place mechanism 16 grabs an object to be picked in the tank through the grabbing part, and the on-tank travelling mechanism 12, the pick-and-place rotating mechanism 13, the lifting mechanism 15 and the pick-and-place mechanism 16 are respectively associated with the pick-and-place control mechanism 14 in this embodiment, the tank wall track is a track formed directly by a tank wall of the vinegar grain tank 100 or a track installed on a tank wall of the vinegar grain tank 100, and the object to be picked and placed is a temperature measuring rod 101 as shown in fig. 2.
As shown in fig. 13, the transfer car 2 includes a base 21, an under-pool travelling mechanism 22 mounted at the bottom of the base 21, a transfer swing mechanism 23 and a transfer control mechanism 24 mounted above the base 21, a transfer bracket 25 mounted above the transfer swing mechanism 23 and swinging along with the transfer bracket, and a rail receiving rail 26 mounted on the transfer bracket 25, wherein the rail receiving rail 26 and the pool wall rail form a rail receiving connection, the upper side of the rail receiving rail 26 is connected and carries the pick-and-place robot 1, and the under-pool travelling mechanism 22 and the transfer swing mechanism 23 are respectively in signal association with the transfer control mechanism 24.
The transition tracks 3 are fixed with the tail ends of the pool wall tracks and form rail connection, and the number of the transition tracks 3 corresponds to the pool wall tracks one by one. The transfer rail 4 is transversely arranged on the ground at the tail end of the pool wall rail. The transfer rail 2 walks on the transfer rail 4 through the under-the-pool travelling mechanism 22, is connected with the transfer rail 3 through the transfer rail 26, and drives the pick-and-place robot 1 to turn around through the rotation of the transfer rail rotating mechanism 23, and after the pick-and-place robot 1 walks along the pool wall rail to pass through the transfer rail 3 to the position above the transfer rail 26, the transfer rail 2 carries and transports the pick-and-place robot 1 to reach the next pool wall rail to form a transfer rail.
The embodiment is provided with a get-on limit structure of the pick-and-place robot, which is shown in fig. 4 and 16: the bottom of the supporting platform 11 is provided with a boarding slot 111, a boarding cylinder 251 is arranged on the transfer bracket 25, a boarding inserted link 252 is connected above the boarding cylinder 251, and the boarding inserted link 252 is matched and clamped with the boarding slot 111.
In this embodiment, for the position of accurate positioning rail transfer car on the rail transfer track, and the accurate rail transfer of the rail transfer track of being convenient for and transition track installs multiunit assorted sensor on rail transfer track and rail transfer car, specifically does:
as shown in fig. 13 and 16, the laser sensor reflecting plate 41 is mounted on the transfer rail 4, the laser proximity switch 27 is mounted on the transfer car 2 in alignment, the laser proximity switch 27 and the laser sensor reflecting plate 41 are aligned to form laser positioning, and the laser proximity switch 27 is in signal association with the transfer control mechanism 24.
As shown in fig. 13, 17 and 18, the magnetic assembly 42 is mounted on the transfer rail 4, the magnetic proximity sensor 28 is mounted on the transfer car 2 in alignment, the magnetic assembly 42 and the magnetic proximity sensor 28 are aligned to form magnetic positioning, and the magnetic proximity sensor 28 is in signal association with the transfer control mechanism 24. The magnetic assembly 42 specifically includes a permanent magnet 421 and a fixing frame 422, the permanent magnet 421 is mounted on the track 4 through the fixing frame 422, and the permanent magnet 421 and the magnetic proximity sensor 28 are aligned to form a magnetic position.
As shown in fig. 13 and 19, a positioning slot 43 is installed on the transfer rail 4, a board assembly 29 is installed on the transfer rail 2, the board assembly 29 comprises a lower cylinder 291, a positioning board 292, a slide rail fixing plate 294, a board linear slide 295, a board slide 296 and a slide block fixing plate 297, the lower cylinder 291 is fixed with the transfer rail 2 through a cylinder mounting plate 293, the positioning board 292 is connected below the lower cylinder 291, the slide rail fixing plate 294 is installed between the lower cylinder 291 and the positioning board 292, the board linear slide 295 is vertically fixed on the side surface of the slide rail fixing plate 294, the board slide 296 is installed on the board linear slide 295, the upper side of the slide block fixing plate 297 is fixed with the cylinder mounting plate 293, the side surface is fixed with the board slide 296, the positioning board 292 is matched and clamped with the positioning slot 43 to form a mechanical limit, and the lower cylinder 291 is in signal association with the transfer control mechanism 24.
As shown in fig. 2, in this embodiment, in order to achieve the anti-collision function, an anti-collision assembly is disposed on the pick-and-place robot, the anti-collision assembly 17 is mounted at the front end of the supporting platform 11, and specifically includes an ultrasonic sensor 172 and an anti-collision buffer seat 171 mounted at the front end of the ultrasonic sensor 172, where the ultrasonic sensor 172 is associated with the pick-and-place control mechanism 14 to form an active anti-collision, and the anti-collision buffer seat 171 forms a passive anti-collision protection.
As shown in fig. 2 and 3, in this embodiment, for realizing wireless control, a power supply assembly is further provided on the pick-and-place robot, the power supply assembly 18 includes a lithium battery pack 181 and a charging brush plate 182 that are electrically connected, the lithium battery pack 181 and the charging brush plate 182 are respectively fixed on the supporting platform 11, and the on-cell running mechanism 12, the pick-and-place rotating mechanism 13, the lifting mechanism 15, the pick-and-place mechanism 16, and the pick-and-place control mechanism 14 are powered by the power supply assembly 18.
As shown in fig. 2, in this embodiment, in order to facilitate the synchronous implementation of the taking and placing of a plurality of temperature measurement rods, a taking and placing bin pipe is further disposed on the taking and placing robot, and the taking and placing bin pipe 19 is disposed on the side of the supporting platform 11 with the taking and placing rotation mechanism 13 as a center, the length of the taking and placing mechanism 16 as a radius, and circumferentially and uniformly distributed, so as to store the temperature measurement rods 101.
The following describes the specific structure of each mechanism of the pick-and-place robot:
as shown in fig. 4, the on-pool travelling mechanism 12 comprises an on-pool driving device 121, a transmission device 122, a longitudinal conveyor belt 123, an on-pool driving wheel 124 and an on-pool driven wheel 125, wherein the on-pool driving wheel 124 and the on-pool driven wheel 125 are arranged front and back and are respectively arranged at the bottom of the supporting platform 11 through bearing seats, the longitudinal conveyor belt 123 is wound on the on-pool driving wheel 124 and the on-pool driven wheel 125 to form a revolution, the on-pool driving device 121 is connected with the on-pool driving wheel 124 through the transmission device 122, the on-pool driving device 121 is in signal association with the pick-and-place control mechanism 14, and the on-pool driving wheel 124 and the on-pool driven wheel 125 fall on a pool wall track and travel along the pool wall track. In the embodiment, the on-pond driving device 121 is an on-pond walking servo motor 121-1 and an on-pond walking speed reducer 121-2 which are electrically connected; the transmission device 122 is specifically a left and right transmission shaft 122-1 and a vertical transmission belt 122-2, the left and right transmission shaft 122-1 is fixed above the supporting platform 11, and the vertical transmission belt 122-2 is wound between the left and right transmission shafts 122-1 and the pool upper driving wheel 124 to form a rotation.
As shown in fig. 5 to 9, the lifting mechanism 15 includes a lifting drive device 151, an upper drive shaft 152, a lower drive shaft 153, a conveyor 154, a lifting base 155, a column 156, a top plate 157, and a cushion 158. The upright post 156 is mounted on the pick-and-place rotating mechanism 13 and rotates along with the upright post, the upper transmission shaft 152 and the lower transmission shaft 153 are respectively and transversely mounted at the upper end and the lower end of the upright post 156, the lifting driving device 151 is connected with the upper transmission shaft 152 and is in signal association with the pick-and-place control mechanism 14, the conveying device 154 is arranged on the upper transmission shaft 152 and the lower transmission shaft 153 in a winding way to form rotation, the lifting seat 155 is fixed on the conveying device 154 and is lifted along with the reciprocating rotation of the conveying device 154, and the pick-and-place mechanism 16 is fixed on the lifting seat 155. The top plate 157 is fixed at the upper end of the upright post 156, the cushion pads 158 are respectively arranged at the top and the bottom of the lifting seat 155 and correspond to the limit positions of the reciprocating rotation of the conveying device 154, and the upper cushion pad 158 and the lower cushion pad 158 are respectively matched with the top plate 157 and the taking and placing and rotating mechanism 13 to form mechanical limit protection. In this embodiment, the lifting driving device 151 is specifically an electrically connected lifting servo motor 151-1 and a lifting speed reducer 151-2; the conveying device 154 specifically comprises a chain 154-1 and a chain wheel 154-2, wherein the chain wheel 154-2 is sleeved on the upper transmission shaft 152 and the lower transmission shaft 153, and the chain 154-1 is wound on the upper chain wheel 154-2 and the lower chain wheel 154-2 to form rotation; the lifting seat 155 specifically comprises a lifting linear sliding rail 1551, a lifting sliding block 1552 and a ring-shaped base 1553, wherein the lifting linear sliding rail 1551 is vertically fixed on a stand column 156, the lifting sliding block 1552 is installed on the lifting linear sliding rail 1551, the ring-shaped base 1553 is sleeved on the stand column 156, the inner side of the ring-shaped base 1553 is respectively fixed with the lifting sliding block 1552 and the conveying device 154, and the outer side of the ring-shaped base 1553 is fixed with the picking and placing mechanism 16.
As shown in fig. 10-12, the pick-and-place mechanism 16 includes a pick-and-place drive 161, a clamp lever 162, a finger clamp 163, a lower plate 164, an angle-adjusting laser bracket 165, and a laser proximity switch 166. The gripper fixing lever 162 is connected to the elevating mechanism 15 and is elevated along with the elevating mechanism, the finger gripper 163 is mounted at the front end of the gripper fixing lever 162, the pick-and-place driving device 161 is connected to the finger gripper 163 and is in signal association with the pick-and-place control mechanism 14, and the finger gripper 163 forms a gripping portion. The lower bottom plate 164 is fixed with the fixture fixing rod 162, the laser proximity switches 166 are respectively arranged on the left side and the right side of the lower bottom plate 164 through the laser supports 165 and are in signal association with the picking and placing control mechanism 14, laser signals emitted by the laser proximity switches 166 on the left side and the right side are intersected to form sensing points, and when the sensing points correspond to the picking and placing positions of the temperature measuring rod, the grabbing positions of the grabbing parts reach the picking and placing positions to finish grabbing. In this embodiment, the finger fixture 163 specifically includes a fixture transmission shaft 1631, a left gear shaft 1632, a right gear shaft 1633, a left fixing plate 1634, a right fixing plate 1635, a left clamping plate 1636, a right clamping plate 1637, a left guiding plate 1638, a right guiding plate 1639, an upper bearing 16310, a lower bearing 16311, an upper cover plate 16312, a lower cover plate 16313, and an isolating device 16315, where the fixture transmission shaft 1631 is respectively connected with a pick-and-place driving device 161 and the left gear shaft 1632, the left gear shaft 1632 and the right gear shaft 1633 are arranged in parallel and meshed with each other, the left fixing plate 1634 and the right fixing plate 1635 are respectively fixed on the left gear shaft 1632 and the right gear shaft 1633, the left clamping plate 1636 and the right clamping plate 1637 are respectively fixed at the front ends of the left fixing plate 1634 and the right fixing plate 1635, and the clamping ports are arranged oppositely to form a grabbing part, and the pick-and-place driving device 161 drives the fixture transmission shaft 1631 to drive the left gear shaft 1632 and the right gear shaft 1633 to rotate reciprocally in meshed with the left clamping shaft 1636 and the ports of the right clamping plate 1637 to clamp so as to grab the temperature measurement rod. The left guide plate 1638 and the right guide plate 1639 are respectively provided with V-shaped guide openings, the directions of the V-shaped guide openings are opposite, the left guide plate 1638 is arranged above the left clamping plate 1636, the right guide plate 1639 is arranged below the right clamping plate 1637 corresponding to the left guide plate 1638, and the V-shaped guide openings of the left guide plate 1638 and the right guide plate 1639 respectively extend outwards to enlarge the included angle of the clamping opening. The upper bearing 16310 and the lower bearing 16311 are respectively sleeved at the upper end and the lower end of the left gear shaft 1632 and the right gear shaft 1633, the upper bearing 16310 and the lower bearing 16311 are respectively arranged in the upper cover plate 16312 and the lower cover plate 16313, the upper cover plate 16312 and the lower cover plate 16313 are fixed with the clamp fixing rod 162, and the upper cover plate 16312 is sealed and arranged at the front end of the clamp fixing rod 162. The teeth 16314 of the left and right gear shafts 1632, 1633 are positioned between the upper and lower bearings 16310, 16311, and the spacers 16315 are mounted between the teeth 16314 and the upper bearing 16310, and between the teeth 16314 and the lower bearing 16311, respectively, so that a spacing separation is formed between the upper and lower bearings 16310, 16311 and the teeth 16314. Meanwhile, in this embodiment, the isolating device 16315 may use a finger washer or a convex ring portion integrally formed with the left gear shaft 1632 and the right gear shaft 1633; the left and right fixing plates 1634 and 1635 are respectively sleeved on the left and right gear shafts 1632 and 1633 through countersunk bolts and are respectively fixed with the bottom surfaces of the teeth 16314, and the isolating device 16315 is installed between the left and right fixing plates 1634 and 1635 and the lower bearing 16311.
The following describes the specific structure of each mechanism of the railcar:
as shown in fig. 15, the under-pool travelling mechanism 22 comprises an under-pool driving device 221, a front transmission shaft 222, a rear transmission shaft 223, a front and rear conveyor belt 224, an under-pool driving wheel 225 and an under-pool driven wheel 226, wherein the under-pool driving wheel 225 and the under-pool driven wheel 226 are arranged front and back and are respectively arranged at the bottom of the base 21 through bearing seats, the rear transmission shaft 223 penetrates through the under-pool driving wheel 225, the front transmission shaft 222 penetrates through the under-pool driven wheel 226, the front and rear conveyor belt 224 is wound on the front transmission shaft 222 and the rear transmission shaft 223 to form a rotation, the under-pool driving device 221 is connected with the rear transmission shaft 223 and is in signal association with the transfer control mechanism 24, and the under-pool driving wheel 225 and the under-pool driven wheel 226 fall on the transfer rail 4 to travel.
As shown in fig. 14, 16 and 17, the rail receiving rail 26 includes a stationary rail 261 and a movable rail 262, the stationary rail 261 is fixed on the rail rotating bracket 25 and is connected above the stationary rail 261, and the movable rail 262 is disposed at front and rear ends of the stationary rail 261 and is connected with the stationary rail 261 through a transverse rotating shaft 263, the movable rail 253 is connected with a movable rail cylinder 253 below the movable rail 262, the movable rail cylinder 253 is mounted on the rail rotating bracket 25 and is in signal association with the rail rotating control mechanism 24, the movable rail 253 drives the movable rail 262 to swing in a fan shape upwards by taking the transverse rotating shaft 263 as a pivot, and the movable rail 262 forms rail receiving connection with the stationary rail 261 and the transition rail 3 when swinging to a horizontal position. The static rail 261 and the movable rail 262 and the transition rail 3 are respectively connected by the clamping parts which are matched.
In this embodiment, the pick-and-place swing mechanism 13 of the pick-and-place robot 1 and the turning swing mechanism 23 of the turning rail are both driven by swing, the pick-and-place swing mechanism 13 is provided with a pick-and-place swing servo motor 131 associated with the pick-and-place control mechanism 14 signal, and the turning swing mechanism 23 is provided with a turning swing servo motor 231 associated with the turning control mechanism 24 signal.
When the vinegar residue storage device is used, the taking and placing control mechanism of the taking and placing robot controls the driving wheel on the tank and the driven wheel on the tank to walk on the tank wall track of the vinegar residue tank through the signal of the driving device on the tank so as to control the taking and placing robot to stably travel to each temperature measuring rod; the pick-and-place rotating mechanism is controlled to rotate through the pick-and-place rotating servo motor signal so as to drive the finger clamp to rotate to the position above the grabbing position of the temperature measuring rod; the signal of the lifting driving device controls the transmission device to rotate between the upper transmission shaft and the lower transmission shaft so as to drive the lifting seat to lift up and down, thereby driving the finger clamp to lift to the grabbing position of the temperature measuring rod; the clamp transmission shaft is controlled to reciprocate through the signals of the pick-and-place driving device so as to drive the left gear shaft and the right gear shaft to be meshed with each other, and therefore the clamping ports of the left clamping plate on the left fixing plate and the right clamping plate on the right fixing plate are driven to be connected so as to grasp the temperature measuring rod; and then the temperature measuring rod is stored in the taking and placing warehouse pipe through the linkage fit of the taking and placing slewing mechanism, the lifting mechanism and the taking and placing mechanism. When the temperature measuring rod is replaced, the process of grabbing the temperature measuring rod is opposite.
When the taking and placing robot completes the taking and placing work of the temperature measuring rod in the current vinegar grain pool, the rail is required to be turned to the next vinegar grain pool to continue the taking and placing work of the temperature measuring rod, the rail turning machine controls the lower running mechanism of the pool to run on the rail turning track through the signal of the rail turning control mechanism, reaches the tail end position of the pool wall track of the vinegar grain pool, then the lower air cylinder is controlled to stretch out, the positioning plugboard is inserted into the positioning slot at the corresponding position to complete mechanical limit, meanwhile, the air cylinder is controlled to retract, the movable rail swings to the horizontal position to complete the sequential rail connection of the static rail, the movable rail and the transition rail, after the taking and placing robot runs to the upper side of the static rail through the transition rail, the upper air cylinder is controlled to stretch out through the signal of the rail turning control mechanism, and the upper plugbar is inserted into the upper air cylinder on the taking and placing robot to limit the taking and placing robot on the static rail to complete carrying operation. And then, the signal of the transfer control mechanism controls the transfer rotation mechanism to rotate so as to drive the pick-and-place robot to rotate to finish turning around. Then, the lower cylinder is controlled to retract by a signal of the transfer control mechanism, the lower travelling mechanism of the signal control pool advances to the next vinegar grain pool, the lower cylinder is controlled to extend by the signal, the positioning plugboard is inserted into the corresponding positioning slot on the position, the signal control brake rail swings to a horizontal position, a rail connection is formed with the transition rail, and the taking and placing robot moves to the corresponding vinegar grain pool through the transition rail, so that the transfer of the taking and placing robot is completed.
Claims (20)
1. The utility model provides a device is put to intelligence of many ponds transition, its characterized in that: comprises a picking and placing robot (1) and a transfer car (2),
the picking and placing robot (1) comprises a supporting platform (11), an on-pool travelling mechanism (12) arranged at the bottom of the supporting platform (11), a picking and placing rotary mechanism (13) arranged on the supporting platform (11), a picking and placing control mechanism (14), a lifting mechanism (15) arranged on the picking and placing rotary mechanism (13) and rotating along with the lifting mechanism, and a picking and placing mechanism (16) arranged on the lifting mechanism (15) and lifting along with the lifting mechanism, wherein the on-pool travelling mechanism (12) falls on a pool wall track and travels along the pool wall track, the picking and placing mechanism (16) is provided with a grabbing part, the picking and placing mechanism (16) grabs objects to be picked and placed in the pool through the grabbing part, and the on-pool travelling mechanism (12), the picking and placing rotary mechanism (13), the lifting mechanism (15) and the picking and placing mechanism (16) are respectively in signal correlation with the picking and placing control mechanism (14);
the transfer trolley (2) comprises a base (21), a pool lower travelling mechanism (22) arranged at the bottom of the base (21), a transfer rotary mechanism (23) and a transfer control mechanism (24) which are arranged above the base (21), a transfer support (25) which is arranged above the transfer rotary mechanism (23) and rotates along with the transfer rotary mechanism, and a rail receiving rail (26) arranged on the transfer support (25), wherein the pool lower travelling mechanism (22) falls on the ground, the rail receiving rail (26) and a pool wall rail form rail receiving connection, the upper part of the rail receiving rail (26) is connected with and carries the picking and placing robot (1), and the pool lower travelling mechanism (22) and the transfer rotary mechanism (23) are respectively in signal association with the transfer control mechanism (24);
The transfer trolley (2) walks on the ground through the under-pool travelling mechanism (22), is connected with the pool wall rail through the rail connecting rail (26), and drives the pick-and-place robot (1) to turn around through the rotation of the transfer rotation mechanism (23), and after the pick-and-place robot (1) walks to the position above the rail connecting rail (26) along the pool wall rail, the transfer trolley (2) carries and transports the pick-and-place robot (1) to the next pool wall rail to form a transfer;
the lifting mechanism (15) comprises a lifting driving device (151), an upper transmission shaft (152), a lower transmission shaft (153), a conveying device (154), a lifting seat (155) and a stand column (156), wherein the stand column (156) is installed on the picking and placing rotary mechanism (13) and rotates along with the lifting driving device, the upper transmission shaft (152) and the lower transmission shaft (153) are respectively transversely installed at the upper end and the lower end of the stand column (156), the lifting driving device (151) is connected with the upper transmission shaft (152) and is in signal association with the picking and placing control mechanism (14), the conveying device (154) is wound on the upper transmission shaft (152) and the lower transmission shaft (153) to form a rotation, the lifting seat (155) is fixed on the conveying device (154) and ascends and descends along with the reciprocating rotation of the conveying device, and the picking and placing mechanism (16) is fixed on the lifting seat (155);
The lifting seat (155) comprises a lifting linear slide rail (1551), a lifting sliding block (1552) and a ring-shaped base (1553), the lifting linear slide rail (1551) is vertically fixed on the upright post (156), the lifting sliding block (1552) is installed on the lifting linear slide rail (1551), the ring-shaped base (1553) is sleeved on the upright post (156), the inner side of the ring-shaped base (1553) is respectively fixed with the lifting sliding block (1552) and the conveying device (154), and the outer side of the ring-shaped base is fixed with the picking and placing mechanism (16);
the lifting mechanism (15) further comprises a top plate (157) and a buffer cushion (158), the top plate (157) is fixed at the upper end of the upright post (156), the buffer cushion (158) is respectively arranged at the top and the bottom of the lifting seat (155) and corresponds to the limit position of the reciprocating rotation of the conveying device (154), and the upper buffer cushion and the lower buffer cushion (158) are respectively matched with the top plate (157) and the taking and placing and rotating mechanism (13) to form mechanical limit protection;
the picking and placing mechanism (16) comprises a picking and placing driving device (161), a clamp fixing rod (162) and a finger clamp (163), wherein the clamp fixing rod (162) is connected to the lifting mechanism (15) and lifts along with the lifting mechanism, the finger clamp (163) is arranged at the front end of the clamp fixing rod (162), the picking and placing driving device (161) is connected with the finger clamp (163) and is in signal association with the picking and placing control mechanism (14), and the finger clamp (163) forms the grabbing part;
The finger clamp (163) comprises a clamp transmission shaft (1631), a left gear shaft (1632), a right gear shaft (1633), a left fixing plate (1634), a right fixing plate (1635), a left clamping plate (1636) and a right clamping plate (1637), wherein the clamp transmission shaft (1631) is respectively connected with the taking and placing driving device (161) and the left gear shaft (1632), the left gear shaft (1632) and the right gear shaft (1633) are arranged in parallel and are meshed relatively, the left fixing plate (1634) and the right fixing plate (1635) are respectively fixed on the left gear shaft (1632) and the right gear shaft (1633), the left clamping plate (1636) and the right clamping plate (1637) are respectively fixed at the front ends of the left fixing plate (1634) and the right fixing plate (1635) and are arranged relatively to form the grabbing part, and the taking and placing driving device (161) drives the left gear shaft (1632) and the right gear shaft (1633) to be meshed relatively and reciprocally rotated to drive the clamping opening of the left clamping plate (1636) and the right clamping plate (1637) to be clamped to be taken and placed;
the finger clamp (163) further comprises left guide plates (1638) and right guide plates (1639) which are respectively provided with V-shaped guide openings and are opposite in direction, the left guide plates (1638) are arranged above the left clamping plates (1636), the right guide plates (1639) are arranged below the right clamping plates (1637) corresponding to the left guide plates (1638), and the V-shaped guide openings of the left guide plates (1638) and the right guide plates (1639) respectively extend outwards to enlarge included angles of the clamping openings;
The picking and placing mechanism (16) further comprises a lower base plate (164), a laser bracket (165) for adjusting angles and a laser proximity switch (166), wherein the lower base plate (164) is fixed with the clamp fixing rod (162), the laser proximity switch (166) is respectively installed on the left side and the right side of the lower base plate (164) through the laser bracket (165) and is in signal association with the picking and placing control mechanism (14), laser signals emitted by the laser proximity switch (166) on the left side and the right side are intersected to form an induction point, and when the induction point corresponds to the picking and placing position of an object to be picked and placed, the picking position of the grabbing part reaches the picking and placing position to finish grabbing.
2. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the support platform (11) bottom is provided with get-on slot (111), be provided with on the transition support (25) and get-on cylinder (251), get-on cylinder (251) top connection get-on inserted bar (252), get-on inserted bar (252) with get-on slot (111) matching block.
3. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the transition track (3) is fixed with the tail end of the pool wall track and forms a joint track connection, and the joint track (26) is in joint track connection with the transition track (3).
4. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the novel energy-saving water tank is characterized by further comprising a transfer rail (4), wherein the transfer rail (4) is transversely arranged on the ground at the tail end of the tank wall rail, a under-tank travelling mechanism (22) falls on the transfer rail (4) and travels along the transfer rail, and the transfer car (2) travels along the transfer rail (4) through the under-tank travelling mechanism (22) and is connected with the tank wall rail through a rail connection rail (26).
5. The intelligent multi-pool transfer picking and placing device according to claim 4, wherein: install laser sensor reflecting plate (41) on turning track (4), install laser proximity switch (27) on turning car (2) counterpoint, laser proximity switch (27) with laser sensor reflecting plate (41) counterpoint forms laser location, laser proximity switch (27) with turning control mechanism (24) signal association.
6. The intelligent multi-pool transfer picking and placing device according to claim 4, wherein: install magnetic component (42) on turning track (4), install magnetic proximity sensor (28) on turning car (2) counterpoint, magnetic component (42) with magnetic proximity sensor (28) counterpoint forms magnetic localization, magnetic proximity sensor (28) with turning control mechanism (24) signal association.
7. The multi-pool transfer intelligent pick-and-place device of claim 6, wherein: the magnetic assembly (42) comprises a permanent magnet (421) and a fixing frame (422), the permanent magnet (421) is installed on the transfer rail (4) through the fixing frame (422), and the permanent magnet (421) and the magnetic proximity sensor (28) are aligned to form magnetic positioning.
8. The intelligent multi-pool transfer picking and placing device according to claim 4, wherein: install positioning slot (43) on turning track (4), install picture peg subassembly (29) on turning car (2), picture peg subassembly (29) are including lower cylinder (291), location picture peg (292), lower cylinder (291) through cylinder mounting panel (293) with turning car (2) are fixed, location picture peg (292) are connected lower cylinder (291) below, just location picture peg (292) with positioning slot (43) match the block and form mechanical limit, lower cylinder (291) with turning control mechanism (24) signal association.
9. The multi-pool transfer intelligent pick-and-place device of claim 8, wherein: the plugboard assembly (29) further comprises a sliding rail fixing plate (294), a plugboard linear sliding rail (295), a plugboard sliding block (296) and a sliding block fixing plate (297), the sliding rail fixing plate (294) is installed between the lower air cylinder (291) and the positioning plugboard (292), the plugboard linear sliding rail (295) is vertically fixed on the side face of the sliding rail fixing plate (294), the plugboard sliding block (296) is installed on the plugboard linear sliding rail (295), and the upper portion of the sliding block fixing plate (297) is fixed with the air cylinder installing plate (293), and the side face of the sliding block is fixed with the plugboard sliding block (296).
10. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: pick-and-place robot (1) is still including installing buffer stop (17) of supporting platform (11) front end, buffer stop (17) include ultrasonic sensor (172) and install buffer stop (171) of ultrasonic sensor (172) front end, ultrasonic sensor (172) with pick-and-place control mechanism (14) signal association forms initiative anticollision, buffer stop (171) form passive anticollision protection.
11. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: get and put robot (1) still include power pack (18), power pack (18) are including lithium cell group (181) and the brush board (182) that charge that the electricity is connected, lithium cell group (181) and brush board (182) that charge are fixed respectively on supporting platform (11), running gear (12) on the pond, get and put rotary mechanism (13), elevating system (15), get and put mechanism (16), get and put control mechanism (14) and pass through power pack (18) power supply.
12. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the picking and placing rotary mechanism (13) and the transfer rotary mechanism (23) are driven in a rotary mode, a picking and placing rotary servo motor (131) which is related to signals of the picking and placing control mechanism (14) is arranged on the picking and placing rotary mechanism (13), and a transfer rotary servo motor (231) which is related to signals of the transfer control mechanism (24) is arranged on the transfer rotary mechanism (23).
13. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the upper end and the lower end of the left gear shaft (1632) and the right gear shaft (1633) are respectively sleeved with an upper bearing (16310) and a lower bearing (16311), the upper bearing (16310) and the lower bearing (16311) are respectively installed in an upper cover plate (16312) and a lower cover plate (16313), the upper cover plate (16312), the lower cover plate (16313) and the clamp fixing rod (162) are fixed, and the sealing cover of the upper cover plate (16312) is arranged at the front end of the clamp fixing rod (162).
14. The multi-pool transfer intelligent pick-and-place device of claim 13, wherein: the gear parts (16314) of the left gear shaft (1632) and the right gear shaft (1633) are positioned between the upper bearing (16310) and the lower bearing (16311), and isolation devices (16315) are respectively arranged between the gear parts (16314) and the upper bearing (16310) and between the gear parts (16314) and the lower bearing (16311) so that limit separation is formed between the upper bearing (16310), the lower bearing (16311) and the gear parts (16314).
15. The intelligent multi-pool transfer picking and placing device according to claim 14, wherein: the left fixing plate (1634) and the right fixing plate (1635) are respectively sleeved on the left gear shaft (1632) and the right gear shaft (1633) and are respectively fixed with the tooth part (16314), and the isolating device (16315) is installed between the left fixing plate (1634), the right fixing plate (1635) and the lower bearing (16311).
16. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the picking and placing robot (1) further comprises a picking and placing bin pipe (19) for storing objects to be picked and placed, and the picking and placing bin pipe (19) is arranged on the side of the supporting platform (11) in a circumferentially uniformly distributed mode by taking the picking and placing rotating mechanism (13) as a circle center and taking the length of the picking and placing mechanism (16) as a radius.
17. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the on-tank travelling mechanism (12) comprises an on-tank driving device (121), a transmission device (122), a longitudinal conveying belt (123), an on-tank driving wheel (124) and an on-tank driven wheel (125), wherein the on-tank driving wheel (124) and the on-tank driven wheel (125) are arranged front and back and are respectively installed at the bottom of the supporting platform (11) through bearing seats, the longitudinal conveying belt (123) is wound on the on-tank driving wheel (124) and the on-tank driven wheel (125) to form a rotation, the on-tank driving device (121) is connected with the on-tank driving wheel (124) through the transmission device (122), the on-tank driving device (121) is in signal association with the pick-and-place control mechanism (14), and the on-tank driving wheel (124) and the on-tank driven wheel (125) fall on a tank wall track and travel along the same.
18. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the under-pool traveling mechanism (22) comprises an under-pool driving device (221), a front transmission shaft (222), a rear transmission shaft (223), a front and rear conveying belt (224), an under-pool driving wheel (225) and an under-pool driven wheel (226), wherein the under-pool driving wheel (225) and the under-pool driven wheel (226) are arranged front and back and are respectively installed at the bottom of the base (21) through bearing seats, the rear transmission shaft (223) penetrates through the under-pool driving wheel (225), the front transmission shaft (222) penetrates through the under-pool driven wheel (226), the front and rear conveying belt (224) is wound on the front transmission shaft (222) and the rear transmission shaft (223) to form a rotation, the under-pool driving device (221) is connected with the rear transmission shaft (223) and is in signal association with the transfer control mechanism (24), and the under-pool driving wheel (225) and the under-pool driven wheel (226) fall on the ground to travel.
19. The multi-pool transfer intelligent pick-and-place device according to claim 1, wherein: the connecting rail (26) comprises a static rail (261) and a movable rail (262), the static rail (261) is fixed on the rotating rail support (25) and is connected with the upper side of the static rail and is provided with the picking and placing robot (1), the movable rail (262) is arranged at the front end and the rear end of the static rail (261) and is connected with the static rail (261) through transverse rotating shafts (263) respectively, the lower part of the movable rail (262) is connected with a movable rail cylinder (253), the movable rail cylinder (253) is installed on the rotating rail support (25) and is in signal association with the rotating rail control mechanism (24), the movable rail cylinder (253) drives the movable rail (262) to swing upwards in a fan shape by taking the transverse rotating shafts (263) as fulcra, and the movable rail (262) is respectively connected with the static rail (261) and the pool wall rail in a connecting way when swinging to a horizontal position.
20. The intelligent multi-pool transfer picking and placing device as claimed in claim 19, wherein: the static rail (261) and the movable rail (262) and the pool wall rail are respectively connected by the clamping parts in a clamping way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811516151.7A CN109436710B (en) | 2018-12-12 | 2018-12-12 | Multi-pool transfer intelligent picking and placing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811516151.7A CN109436710B (en) | 2018-12-12 | 2018-12-12 | Multi-pool transfer intelligent picking and placing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109436710A CN109436710A (en) | 2019-03-08 |
| CN109436710B true CN109436710B (en) | 2023-11-24 |
Family
ID=65557076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811516151.7A Active CN109436710B (en) | 2018-12-12 | 2018-12-12 | Multi-pool transfer intelligent picking and placing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109436710B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201232051Y (en) * | 2008-04-30 | 2009-05-06 | 上海静安园林绿化发展有限公司 | Electric transfer system for multi-fermenting tank walking type mixing and turnover apparatus between tanks |
| CN102825611A (en) * | 2012-08-22 | 2012-12-19 | 溧阳市苏菱机电有限公司 | Mechanical gripper |
| CN204136067U (en) * | 2014-10-21 | 2015-02-04 | 山东鲁能智能技术有限公司 | A kind of rail mounted robot ambulation route changing apparatus |
| CN105563471A (en) * | 2016-03-02 | 2016-05-11 | 江苏豪林自动化科技有限公司 | Stacking manipulator for machine room floor production |
| CN106171651A (en) * | 2016-07-10 | 2016-12-07 | 上海大学 | A kind of robot for agricultural greenhouse booth goes through transition system automatically |
| CN106628784A (en) * | 2017-01-19 | 2017-05-10 | 柏涛涛 | Conveying shelf for logistic stacking machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6591164B1 (en) * | 2001-12-13 | 2003-07-08 | Storage Technology Corporation | Library failover method using hot spare redundant picker mechanism |
-
2018
- 2018-12-12 CN CN201811516151.7A patent/CN109436710B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201232051Y (en) * | 2008-04-30 | 2009-05-06 | 上海静安园林绿化发展有限公司 | Electric transfer system for multi-fermenting tank walking type mixing and turnover apparatus between tanks |
| CN102825611A (en) * | 2012-08-22 | 2012-12-19 | 溧阳市苏菱机电有限公司 | Mechanical gripper |
| CN204136067U (en) * | 2014-10-21 | 2015-02-04 | 山东鲁能智能技术有限公司 | A kind of rail mounted robot ambulation route changing apparatus |
| CN105563471A (en) * | 2016-03-02 | 2016-05-11 | 江苏豪林自动化科技有限公司 | Stacking manipulator for machine room floor production |
| CN106171651A (en) * | 2016-07-10 | 2016-12-07 | 上海大学 | A kind of robot for agricultural greenhouse booth goes through transition system automatically |
| CN106628784A (en) * | 2017-01-19 | 2017-05-10 | 柏涛涛 | Conveying shelf for logistic stacking machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109436710A (en) | 2019-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205132521U (en) | Bearing ring automatic supply transmission device | |
| CN205972599U (en) | Shuttle cart | |
| CN102442277A (en) | Battery exchanging method and arrangement of battery exchanging station | |
| CN203221976U (en) | Integrated container type power exchanging station | |
| CN103590634A (en) | Ultra-thin transverse vehicle transfer robot | |
| JP3233367U (en) | Automatic tray transfer device | |
| CN211894702U (en) | Cut formula lift automatic conveyor | |
| CN106223687A (en) | A kind of circular tower formula intelligent three-dimensional garage | |
| CN109533965A (en) | The logistics trolley of included barcode scanning sorting function | |
| CN111906792A (en) | Automatic robot of feeding of animal | |
| CN109436710B (en) | Multi-pool transfer intelligent picking and placing device | |
| CN109399242A (en) | Novel intelligent feeding system | |
| CN210619354U (en) | Movable track conveying table | |
| CN211109839U (en) | Lifting and transferring device for electric energy meter turnover box | |
| CN115349379B (en) | Multi-layer automatic seedbed control system | |
| CN109368258B (en) | Intelligent pick-and-place robot | |
| CN209177453U (en) | A kind of more intelligent fetching devices of pond transition | |
| CN109292680A (en) | It is a kind of can autobalance goods weight logistics fork truck | |
| CN215854937U (en) | Four-column ultrathin lifting rotating mechanism on AGV | |
| CN210200893U (en) | Battery cell transfer device | |
| CN109553034A (en) | A kind of full-automatic logistics fork truck based on pattern-recognition | |
| CN205397989U (en) | Movable escalator | |
| CN209177548U (en) | A kind of intelligence pick-and-place robot | |
| CN212399590U (en) | Intelligent pick-and-place robot | |
| CN202414602U (en) | Intelligent material storage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |