CN110947631B - Intelligent and efficient device and method for automatically sorting and storing plate in different regions - Google Patents
Intelligent and efficient device and method for automatically sorting and storing plate in different regions Download PDFInfo
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- CN110947631B CN110947631B CN201911308400.8A CN201911308400A CN110947631B CN 110947631 B CN110947631 B CN 110947631B CN 201911308400 A CN201911308400 A CN 201911308400A CN 110947631 B CN110947631 B CN 110947631B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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Abstract
The invention discloses an intelligent and efficient device for automatically sorting and storing plate in a partitioning mode, which comprises a base (1) and a six-axis robot (2) fixed on the base (1), wherein the front part of the six-axis robot (2) is connected with an operating arm (3), the front end of the operating arm (3) is connected with a partitioning sucker device (4), a double-layer sorting device (5) is arranged right in front of the six-axis robot (2), the sorting device (5) comprises a power roller machine (51), a lifting device (521) and a translation device (522) are arranged in the power roller machine (51), the front translation device (522) and the rear translation device (522) are connected through a transition device (53), and a group of storage shelves (6) are evenly distributed around the six-axis robot (2). The invention has the advantages of small occupied area, wide size range of plate storage and taking, large storage capacity of the goods shelf, high automation degree and improvement on production efficiency and packaging accuracy.
Description
Technical Field
The invention relates to the technical field of plate-type furniture production and processing equipment, in particular to an intelligent and efficient device and method for automatically sorting, storing and taking plate pieces in a partition mode.
Background
At present, the customized plate-type furniture industry produces many orders in a unified manner in a sheet-mixing manner, each order comprises packages with different quantities, each package comprises plates with different quantities, after processing, the information of the plates can be generally distinguished in a two-dimensional code pasting manner, however, thousands of plates belong to different packages with different orders, if all the plates need to be sorted out, a large amount of labor is wasted, sorting is carried out only by manually scanning the codes, a large field is occupied, and sorting efficiency is low.
To address the above issues, some manufacturers generally adopt two sorting schemes: firstly, plates are circulated through a long conveying line body, a plurality of sorting ports are arranged on the conveying line body, a batch of plates are sorted into sheets by virtue of sheet sorting software, a single plate is manually stored on a goods shelf, and then the plates in a single sheet are manually sorted into packages; and secondly, a robot is adopted to replace manual work to store a single plate on a goods shelf, and then the robot is used for sorting the plates in a single row into packages.
The scheme has the advantages of large occupied area, complex storage board mode, small storage quantity of the goods shelves and low automation degree, and reduces sorting and storing efficiency to a certain extent.
Disclosure of Invention
The invention aims to solve the problems of low automation degree, large occupied area and low efficiency of the existing plate partition sorting and storing mode, and provides an intelligent and efficient device for automatically sorting and storing plates.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a device that intelligence is high-efficient to be used for automatic subregion letter sorting access plate, includes the base and is fixed in the six robots on the base, and a subregion sucking disc device is connected to six robots's operation arm front end, and the dead ahead of six robots is equipped with a set of sorting device, a set of storage goods shelves of evenly distributed on every side.
The partition sucker device comprises a fixed seat and a floating seat which are connected with an operating arm, the fixed seat is connected with the floating seat through a rotating shaft, the fixed seat comprises a pair of trapezoidal plates and a fixed plate which are perpendicular to each other, a group of fixed connecting plates are connected between the trapezoidal plates and the fixed plate, each fixed connecting plate is provided with a first through hole, the floating seat comprises a pair of horizontal plates and vertical plates which are connected with each other, two ends of each horizontal plate and the vertical plate are connected with a face sealing plate, the outer side of each vertical plate is connected with a group of floating connecting plates, each floating connecting plate is provided with a second through hole, the rotating shaft sequentially penetrates through the first through hole and the second through hole and is connected with the fixed connecting plates and the floating connecting plates through bearings, and the connecting parts of the rotating shaft, the fixed connecting plates and the floating connecting plates are;
a pair of first cylinder seats are connected to a fixing plate of the fixing seat, each first cylinder seat is hinged with a first cylinder, a first piston rod of each first cylinder is connected with a horizontal plate of the floating seat through a pair of lug plates, and the lug plates are connected to the front face of the horizontal plate and used for driving the floating seat to move through the first cylinders;
the back surface of the horizontal plate is connected with a group of slide rails, each slide rail is connected with a pair of slide blocks matched with the slide rails, the back surface of the horizontal plate is also connected with a rack parallel to the slide rails, each slide block is connected with a sucker connecting plate, the lower surface of each sucker connecting plate is connected with an ultrathin sucker, and the two ultrathin suckers are both arranged perpendicular to the slide rails;
the upper surface of the sucker connecting plate is connected with a speed reducer base, a planetary speed reducer is fixed on the speed reducer base, the planetary speed reducer is connected with a servo motor, and an output shaft of the planetary speed reducer is connected with a gear meshed with the rack so as to drive the sucker to horizontally move along the horizontal plate through the motor.
The sorting device is designed into double layers, each layer comprises a power roller machine, the power roller machine comprises a group of connected supporting legs, a cross beam and an inner beam, a group of roller bases are arranged on the cross beam, a roller is connected between each roller base, the rollers are parallel to each other, the inner side of the cross beam is connected with a group of transmission shaft bases, the transmission shaft bases are connected with a transmission shaft through bearings, the transmission shaft is arranged below the rollers and connected with each other through a group of elastic belts, a group of driven wheels are connected onto the transmission shaft, the driven wheels are connected with a driving wheel through first conveying belts, the driving wheel is connected with a first speed reducer arranged below the rollers, and the first speed reducer is fixed on the inner beam through a speed reducer bottom plate so as to drive the driving;
the power roller machine is provided with a group of lifting translation devices, each lifting translation device comprises a lifting device and a translation device which are connected, the lifting devices are arranged below the rollers and comprise two pairs of second air cylinders which are vertically arranged, each second air cylinder is connected to the inner side of a cross beam of the power roller machine through a second air cylinder seat, the upper ends of the second air cylinders are connected with a rectangular lifting frame, the inner side of the lifting frame is hinged with four first synchronizing rods corresponding to the second air cylinders, each first synchronizing rod is hinged with a rectangular synchronizing plate, a pair of second synchronizing rods and a pair of third synchronizing rods are respectively hinged between every two adjacent synchronizing plates, and the second synchronizing rods and the third synchronizing rods are perpendicular to each other and parallel to the lifting frame so that the lifting frame can be lifted synchronously and horizontally;
the translation device comprises a group of channel steel which is horizontally connected to the lifting frame, the channel steel is parallel to each other and can penetrate through gaps between the rollers, one end of each channel steel is connected with a roller, the other end of each channel steel is connected with a connecting shaft, the positions, connected with the connecting shafts, of the channel steel are connected with second couplers, each roller is connected with the connecting shafts through a second conveyor belt, the roller and the connecting shafts form transmission fit, a second speed reducer is arranged below one channel steel, the output end of each second speed reducer is connected with the corresponding second conveyor belt, and therefore the second conveyor belts, the connecting shafts and the rollers are driven to rotate through the second speed reducers;
the transition device comprises a transition connecting plate, the transition connecting plate is connected to the end portions of the front channel steel and the rear channel steel, a group of plastic-coated needle roller bearings are connected to the transition connecting plate, the plastic-coated needle roller bearings are connected with a rotating ring through a third conveying belt, the rotating ring is fixed to a second coupler on one side, the plastic-coated needle roller bearings are connected with rollers on the other side, and therefore synchronous transmission and seamless moving connection of the front translation device and the rear translation device are achieved through the transition device.
The storage shelf comprises four stand columns and a group of connecting beams horizontally connected to the stand columns, a pallet is fixed on each layer of connecting beams, and a skid-proof layer is connected to each pallet.
Furthermore, each speed reducer base is vertically connected with a drag chain support, each drag chain support is connected with a drag chain, and the drag chain is connected with the front surface of the horizontal plate.
Further, be equipped with a set of fender wheel device on the translation device, keep off the wheel device and include L type support and a pair of rubber-coated wheel, rubber-coated wheel's middle part is through locking screwed connection on L type support, and the locking screw includes a public nail of locking and a female nail of locking, and the two is connected in the relative cooperation, all is equipped with the bullet pad between every rubber-coated wheel and the L type support, keeps off the wheel device and passes through L type leg joint on translation device's channel-section steel.
Furthermore, one side of the power roller machine is provided with a fixed leaning gear which comprises a pair of vertical leaning gear supports, the leaning gear supports are respectively connected to the supporting legs at two sides of the power roller machine, and the two leaning gear supports are connected with one leaning gear strip through a leaning gear connecting plate so as to be used for leaning and aligning the plate.
Furthermore, the backing strip is made of aluminum with a smooth surface.
Furthermore, the upright columns and the connecting beams of the storage shelf are aluminum profiles, the goods plate is an anti-double plate, and the anti-skid layer is EVA sponge.
The six-axis robot adopted by the invention is an existing device, and the operation arm of the six-axis robot can drive the partition sucking disc device to move and position freely on an X, Y, Z axis in the space.
In order to further achieve the purpose of the invention, the invention also provides an intelligent and efficient method for automatically sorting and storing plate elements in a partition mode, the used devices comprise a six-axis robot, a partition sucker device, a sorting device and a storage shelf, and the method comprises the following specific steps:
(1) conveying a plate to be prestored to a sorting port of the sorting device through a power roller, lifting the plate by extending a second cylinder of the lifting device, moving the plate to a roller close to the upper layer of the six-axis robot through a second conveying belt of the translation device, rolling the plate to the tail end through the roller after the long edge of the plate abuts against a rubber coating wheel of the stop wheel device, and enabling the short edge of the plate to abut against a stop strip fixedly abutting against a stop;
(2) the six-axis robot drives the partition sucker device, the distance between the two ultrathin suckers is automatically adjusted according to the length and the width of the plate, the adsorption area of the ultrathin sucker is automatically selected to be opened through the automatic valve group, the opened adsorption area is smaller than the width of the plate, and after the partition sucker device sucks the plate, a plurality of plates can be stored in the same layer of the storage shelf;
(3) if the plates stored on the storage shelf are packed together, the six-axis robot drives the partition sucker device to take out the plates on the storage shelf, the plates are placed on the lower layer of the six-axis robot, the lifting and moving mechanism lifts and moves the plates, the plates are conveyed to the roller far away from the six-axis robot through the transition device, the plates are conveyed to the next procedure through the roller on the lower layer, and therefore the whole automatic partition sorting and storing process is completed.
Compared with the prior art, the invention has the beneficial effects that: by adopting a double-layer sorting line body, the upper layer conveys plates to be prestored, the lower layer conveys all plates which are fully wrapped in an order, namely all plates of each pack in the order, the plates are sucked by adopting an ultrathin partition sucking disc and are horizontally stored on a shelf layer, and a plurality of plates can be stored on each layer, so that the storage rate of the shelf is greatly improved; the small-size, the wide, goods shelves memory space of access plate size scope of area, has liberated a large amount of manual works for the subregion letter sorting access is intelligent high-efficient more.
Drawings
FIG. 1 is a perspective view of the apparatus for sorting and storing plate members by zone according to the present invention;
FIG. 2 is a front perspective view of the zone-dividing sucker device of the present invention;
FIG. 3 is a rear perspective view of the zone-dividing chuck device of the present invention;
FIG. 4 is a perspective view of the fixing base of the partition sucking disc device of the present invention;
FIG. 5 is a perspective view of the floating seat of the partition sucking disc device of the present invention;
FIG. 6 is an enlarged view of a portion A of FIG. 3;
FIG. 7 is a perspective view of the sorting apparatus of the present invention;
FIG. 8 is an enlarged view of part B of FIG. 7;
FIG. 9 is a perspective view of the lifting and translating device of the present invention;
FIG. 10 is an enlarged view of portion C of FIG. 9;
FIG. 11 is a perspective view of the lifting device of the present invention;
FIG. 12 is an enlarged view of portion D of FIG. 7;
FIG. 13 is a perspective view of the catch wheel assembly of the present invention;
FIG. 14 is an enlarged view of E of FIG. 7;
fig. 15 is a perspective view of the fixed stop of the present invention.
Detailed Description
Example 1
In order to make the present invention more clear, the following description will be made of an apparatus and a method for automatically and efficiently sorting access boards by zone separation according to the present invention, which are taken in conjunction with the accompanying drawings.
As shown in figure 1, an intelligent and efficient device for automatically sorting, storing and taking plate elements in a partitioned mode comprises a base 1 and a six-axis robot 2 fixed on the base 1, wherein an operating arm 3 is connected to the front portion of the six-axis robot 2, and the device is characterized by comprising:
A. the partition sucking disc device 4, referring to fig. 1, 3, 4 and 5, is connected to the front end of an operating arm 3 of a six-axis robot 2, the partition sucking disc device 4 includes a fixed base 41 and a floating base 42 connected to the operating arm 3, the fixed base 41 and the floating base 42 are connected through a rotating shaft 43, the fixed base 41 includes a pair of trapezoidal plates 41a and a fixed plate 41b perpendicular to each other, four fixed connection plates 41c are connected between the trapezoidal plates 41a and the fixed plate 41b, each fixed connection plate 41c is provided with a first through hole 41d, the floating base 42 includes a pair of horizontal plates 42a and vertical plates 42b connected to each other, two ends of the horizontal plates and the vertical plates are connected to a face sealing plate 42e, the outer side of the vertical plate 42b is connected to four floating connection plates 42c, each floating connection plate 42c is provided with a second through hole 42d, the rotating shaft 43 sequentially passes through the first through hole 41d and the second through hole 42, the rotating shaft 43 is connected with the fixed connecting plate 41c and the floating connecting plate 42c through bearings, and the connecting parts of the rotating shaft 43 and the fixed connecting plate 41c and the floating connecting plate 42c are connected with a first coupler 44 so as to realize the relative rotation between the fixed seat 41 and the floating seat 42;
referring to fig. 2 and 4, a pair of first cylinder seats 45 is connected to the fixed plate 41b of the fixed seat 41, a first cylinder 46 is hinged to each first cylinder seat 45, a first piston rod of the first cylinder 46 is connected to the horizontal plate 42a of the floating seat 42 through a pair of lug plates 47, and the lug plates 47 are vertically connected to the front surface of the horizontal plate 42a for driving the floating seat 42 to move through the first cylinder 46;
referring to fig. 3, 5 and 6, the back of the horizontal plate 42a is connected with a set of slide rails 48, each slide rail 48 is connected with a pair of slide blocks 49 which are matched with the slide rails 48 in a sliding and guiding manner, the back of the horizontal plate 42a is also connected with a rack 410 which is parallel to the slide rails 48, each slide block 49 is connected with a suction cup connecting plate 412, the lower surface of each suction cup connecting plate 412 is connected with an ultra-thin suction cup 413, and the two ultra-thin suction cups 413 are both perpendicular to the slide rails 48;
referring to fig. 2 and 6, the upper surface of the suction cup connection plate 412 is connected with a reducer base 416, a planetary reducer 414 is fixed on the reducer base 416, a servo motor 415 is connected on the planetary reducer 414, and a gear 411 meshed with the rack 410 is connected on an output shaft of the planetary reducer 414 so as to drive the suction cup to horizontally move along the horizontal plate through the motor;
referring to fig. 2, each of the decelerator bases 416 is vertically connected to a tow chain bracket 417, each of the tow chain brackets 417 is connected to a tow chain 418, and the tow chain 418 is connected to the front surface of the horizontal plate 42 a.
B. The sorting device 5, see fig. 1, 7 and 8, is disposed right in front of the six-axis robot 2, and is configured as a double layer, and each layer includes a power roller 51, a lifting and translating device 52, a transition device 53, a catch wheel device 54 and a fixed leaning block 55;
a. the power roller machine 51, referring to fig. 7 and 8, includes a set of legs 51a, a cross beam 51b and an inner beam 51e connected to each other, the cross beam 51b is provided with a set of roller bases 51c, a roller 51d is connected between the roller bases 51c at each side, the rollers 51d are parallel to each other, the inner side of the cross beam 51b is connected to a set of transmission shaft bases 51f, the transmission shaft bases 51f are connected to a transmission shaft 51g through bearings, the transmission shaft 51g is disposed below the roller 51d and connected to each other through a set of elastic belts 51m, the transmission shaft 51g is connected to a set of driven wheels 51h, the driven wheels 51h are connected to a driving wheel 51k through a first transmission belt 51j, the driving wheel 51k is connected to a first speed reducer 51n disposed below the roller 51d, the first speed reducer 51n is fixed to the inner beam 51e through a speed reducer bottom plate 51s to drive the driving wheel 51, Thereby driving the transmission shaft 51g and the roller 51d to rotate;
b. the lifting and translating device 52, see fig. 7, 9, 10 and 11, comprises a lifting device 521 and a translating device 522 which are matched with each other, the lifting device 521 is arranged below the roller 51d, the lifting mechanism comprises two pairs of vertically arranged second air cylinders 521a, each second air cylinder 521a is connected to the inner side of a cross beam 51b of the power roller 51 through a second air cylinder base 521b, the upper end of the second air cylinder 521a is connected with a rectangular lifting frame 521c, the inner side of the lifting frame 521c is hinged with four first synchronous rods 521d corresponding to the second air cylinders 521a, each first synchronous rod 521d is hinged with a rectangular synchronous plate 521e, a pair of second synchronous rods 521f and a pair of third synchronous rods 521g are respectively hinged between every two adjacent synchronous plates 521e, and the second synchronous rods 521f and the third synchronous rods 521g are perpendicular to each other and parallel to the lifting frame 521c so that the lifting frame 521c can be lifted synchronously and horizontally;
the translation device 522 comprises a group of channel steel 522a horizontally connected to the crane 521c, the channel steel 522a are parallel to each other and can pass through gaps between the rollers 51d, one end of each channel steel 522a is connected with one roller 522b, the other end of each channel steel 522a is connected with one coupling shaft 522c through a bearing, the part of each channel steel 522a connected with the coupling shaft 522c is connected with a second coupler 522d, each roller 522b is connected with the coupling shaft 522c through a second conveyor belt 522e to form transmission fit, a second speed reducer 522f is connected below one channel steel 522a, the output end of each second speed reducer 522f is in transmission connection fit with the corresponding second conveyor belt 522e, and the second conveyor belt 522e, the coupling shafts 522c and the rollers 522b are driven to rotate through the second speed reducers 522 f;
c. the transition device 53, see fig. 7 and 14, is connected between two corresponding front and rear translation devices 522, the transition device 53 includes a transition connection plate 53a, the transition connection plate 53a is connected to the ends of the front and rear channel beams 522a, the transition connection plate 53a is connected to a set of plastic-coated needle bearings 53b, the plastic-coated needle bearings 53b are connected to a rotating ring 53d through a third conveyor belt 53c, the rotating ring 53d is fixed to the second coupling 522d on one side, and the plastic-coated needle bearings 53b are connected to the rollers 522b on the other side, so that the front and rear translation devices 522 are synchronously driven and seamlessly connected through the transition device 53;
d. the catch wheel device 54, see fig. 7, 12 and 13, is connected to the upper part of the translation device 522, the catch wheel device 54 includes an L-shaped bracket 54a and a pair of rubber-covered wheels 54b, the middle part of the rubber-covered wheel 54b is connected to the L-shaped bracket 54a through a pair of locking screws 54c, the pair of locking screws 54c includes a pair of locking male pins 54d and a pair of locking female pins 54e, which are connected in a matching manner, a spring washer 54f is arranged between each rubber-covered wheel 54b and the L-shaped bracket 54a, and the catch wheel device 54 is connected to the channel 522a of the translation device 522 through the L-shaped bracket 54 a;
e. the fixed rest 55, see fig. 7 and 15, is connected to one side of the power roller 51, and the fixed rest 55 includes a pair of vertical rest brackets 55a, the rest brackets 55a are respectively connected to the two side legs 51a of the power roller 51, and two rest brackets 55a are connected to a rest bar 55c through a rest connecting plate 55b for the rest and alignment of the plates.
C. The storage shelf 6, see fig. 1, is evenly distributed around the six-axis robot 2, and the storage shelf 6 includes four upright posts 61 and a set of connecting beams 62 horizontally connected to the upright posts 61, and a pallet 63 is connected to each layer of connecting beams 62, and an anti-skid layer 64 is connected to the pallet 63.
The stopper strips 55c are aluminum materials with smooth surfaces.
The upright post 61 and the connecting beam 62 of the storage shelf 6 are both aluminum profiles, the goods plate 63 is an anti-doubling plate, and the anti-skid layer 64 is EVA sponge.
The distance between the pallets 63 is adjustable.
In the invention, the partition sucker device 4 realizes the relative motion between the floating seat 42 and the fixed seat 41 through the extension and retraction of the first air cylinder 46, the ultrathin sucker 413 drives the gear 411 to rotate through the servo motor 415 and the planetary reducer 412, so that the ultrathin sucker 413 translates along the rack 410, the change of the distance between the ultrathin suckers 413 is realized, the slide rail 48 and the slide block 49 play a role in slide guiding, and the distance and the sucker opening area of the ultrathin sucker 413 can be automatically adjusted according to the actual size of a plate.
In the power drum machine 51, the first speed reducer 51n drives the driving pulley 51k to rotate, so as to drive the first transmission belt 51j and the driven pulley 51h to rotate, the driven pulley 51h drives the elastic belt 51m to transmit through the transmission shaft 51g, and finally, the power is transmitted to the drum 51d on the drum base 51c, so that the rotation of the drum 51d is realized.
In the lifting translation device 52, the lifting frame 521c is driven to lift by the second cylinder 521a, the first synchronous rod 521d, the synchronous plate 521e, the second synchronous rod 521f and the third synchronous rod 521g can realize synchronous lifting among the four second cylinders 521a, and the lifting frame 521c is ensured to be always kept on a horizontal plane to lift or descend upwards; the lifting of the crane 521c drives the translation device 522 to ascend or descend integrally, and after the translation device 522 extends out of a table top formed by the rollers 51d, the second speed reducer 522f can drive the second conveyor belt 522e to operate, so that the coupling shaft 522c rotates to drive the second conveyor belts 522e on other channel steel 522a to rotate, and the integral translation of the plate on the translation device 522 is realized.
In the transition device 53, one end of the translation device 522 close to the six-axis robot 2 is a coupling shaft 522c and a second coupling 522d thereon, and one end of the translation device 522 far away from the six-axis robot 2 is a roller 522b, so that the swivel 53d of the transition device 53 is tightly sleeved on the second coupling 522d, the plastic-coated needle bearing 53b is connected with the roller 522b through the central axis of the roller 522b, when the second coupling 522d rotates, the swivel 53d is driven to rotate together, and the swivel 53d drives the plastic-coated needle bearing 53b to rotate through the third conveyor belt 53c, so that the roller 522b of the other translation device 522 is driven to synchronously rotate, and synchronous seamless transfer is realized.
The six-axis robot adopted by the invention is an existing device, and the operation arm of the six-axis robot can drive the partition sucking disc device to move and position freely on an X, Y, Z axis in the space.
When the device works, the device performs partition sorting and storing actions according to the following specific steps:
(1) conveying the pre-stored plate to a sorting opening of the sorting device 5, extending a second air cylinder 521a of the lifting device 521 to lift the plate, moving the plate to an upper roller 51d of a power roller machine 51 close to the six-axis robot 2 through a second conveyor belt 522e of the translation device 522, rolling the plate to the tail end by the roller 51d after the long edge of the plate abuts against a rubber coating wheel 54b of the stop wheel device 54, and enabling the short edge of the plate to abut against a stop strip 55c of the fixed stop 55;
(2) the six-axis robot 2 drives the partition sucker device 4, the distance between the two ultrathin suckers 413 is automatically adjusted according to the length and the width of the plate, the adsorption area of the ultrathin sucker 413 is automatically selected to be opened through an automatic valve set, the opened adsorption area is smaller than the width of the plate, and after the partition sucker device 4 sucks the plate, a plurality of plates can be stored in the same layer of the storage shelf 6;
(3) if the plates stored on the storage shelf 6 are packed together with one pack in the order, the six-axis robot 2 drives the partition sucker device 4 to take out the plates on the storage shelf 6, the plates are placed on the lower layer roller 51d of the power roller 51 close to the six-axis robot 2, the lifting and translation mechanism 52 lifts and moves the plates to the lower layer roller 51d of the power roller 51 far away from the six-axis robot, the plates are conveyed to the next process by the lower layer roller 51d, and therefore the whole automatic partition sorting and storing process is completed.
The automatic sorting and storing device disclosed by the invention has the advantages that the plates with different sizes are reasonably placed on each layer of the storage shelf 6 by using optimization software, the storage area of each layer is utilized to the maximum extent, the double-layer sorting device 5 is adopted, the upper layer of plates are stored, and the lower layer of plates are taken, so that the storage capacity of the shelf is greatly improved, the occupied area is small, the sorting storage capacity is large, the cost is low, the mechanisms are mutually connected and matched, the automatic and quick sorting and storing of the incoming plates are realized, a large amount of manpower is reduced, the production field is saved, the production efficiency is improved, the accuracy of manual packing is improved, and the automatic sorting and storing device has the advantages of high automation degree, high efficiency and.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (7)
1. The utility model provides a device that intelligence is high-efficient to be used for automatic subregion letter sorting access plate, includes base (1) and six robots (2) that are fixed in on base (1), and an operation arm (3) is connected to the front portion of six robots (2), its characterized in that includes:
A. subregion sucking disc device (4), its front end in connection operation arm (3), including a fixing base (41) and a floating seat (42) that link to each other with operation arm (3), link to each other through a pivot (43) between fixing base (41) and the floating seat (42), fixing base (41) include a pair of mutually perpendicular trapezoidal plate (41 a) and fixed plate (41 b), are connected a set of fixed connection board (41 c) between trapezoidal plate (41 a) and fixed plate (41 b), all are equipped with first through-hole (41 d) on every fixed connection board (41 c), floating seat (42) include a pair of continuous horizontal plate (42 a) and vertical plate (42 b), and a set of floating connection board (42 c) is connected in the outside of vertical plate (42 b), all is equipped with second through-hole (42 d) on every floating connection board (42 c), and floating connection board (41 c) are connected in proper order to pivot (43) through first through-hole (41 d) and second through-hole (42 d), and floating connection board (42 d) The connecting plates (42 c) are connected, and the connecting parts of the rotating shaft (43) and the fixed connecting plate (41 c) and the floating connecting plate (42 c) are connected with first couplers (44);
a pair of first cylinder seats (45) are connected to a fixing plate (41 b) of the fixing seat (41), each first cylinder seat (45) is hinged to a first cylinder (46), the first cylinders (46) are connected with a horizontal plate (42 a) of the floating seat (42) through a pair of lug plates (47), and the lug plates (47) are vertically connected to the front face of the horizontal plate (42 a);
the back of the horizontal plate (42 a) is connected with a group of sliding rails (48), each sliding rail (48) is connected with a pair of sliding blocks (49) which are matched with the sliding rails (48) in a sliding and guiding manner, the back of the horizontal plate (42 a) is also connected with a rack (410) which is parallel to the sliding rails (48), each sliding block (49) is connected with a sucker connecting plate (412), the lower surface of each sucker connecting plate (412) is connected with a group of ultrathin suckers (413), and each group of ultrathin suckers (413) are parallel to each other;
the upper surface of the sucking disc connecting plate (412) is connected with a speed reducer base (416), a planetary speed reducer (414) is fixed on the speed reducer base (416), the planetary speed reducer (414) is connected with a servo motor (415), and an output shaft of the planetary speed reducer (414) is connected with a gear (411) meshed with the rack (410);
B. the sorting device (5) is arranged right in front of the six-axis robot (2) and is provided with two layers, and each layer comprises a power roller (51), a lifting translation device (52) and a transition device (53);
a. the power roller machine (51) comprises a group of connected supporting legs (51 a), a cross beam (51 b) and an inner beam (51 e), wherein a group of roller bases (51 c) are arranged on the cross beam (51 b), a roller (51 d) is connected between the roller bases (51 c) on each two sides, the rollers (51 d) are parallel to each other, a group of transmission shaft bases (51 f) are connected to the inner side of the cross beam (51 b), the transmission shaft bases (51 f) are connected with a transmission shaft (51 g), the transmission shaft (51 g) is arranged below the roller (51 d), the two are connected through a group of elastic belts (51 m), a group of driven wheels (51 h) are connected to a transmission shaft (51 g), the driven wheels (51 h) are connected with a driving wheel (51 k) through a first transmission belt (51 j), the driving wheel (51 k) is connected with a first speed reducer (51 n) arranged below a roller (51 d), and the first speed reducer (51 n) is fixed on an inner beam (51 e) through a speed reducer bottom plate (51 s);
b. a lifting translation device (52) which comprises a lifting device (521) and a translation device (522) which are matched with each other, wherein the lifting device (521) is arranged below the roller (51 d), the lifting mechanism comprises two pairs of vertically arranged second air cylinders (521 a), each second air cylinder (521 a) is connected to the inner side of a cross beam (51 b) of the power roller machine (51) through a second air cylinder base (521 b), the upper end of each second air cylinder (521 a) is connected with a lifting frame (521 c), the inner side of each lifting frame (521 c) is hinged with four first synchronizing rods (521 d) corresponding to the second air cylinders (521 a), each first synchronizing rod (521 d) is hinged with a synchronizing plate (521 e), a pair of second synchronizing rods (521 f) and a pair of third synchronizing rods (521 g) are respectively hinged between every two adjacent synchronizing plates (521 e), and the second synchronizing rods (521 f) and the third synchronizing rods (521 g) are perpendicular to each other and parallel to the lifting frames (521 c);
the translation device (522) comprises a group of channel steel (522 a) horizontally connected to the lifting frame (521 c), the channel steel (522 a) are parallel to each other and can pass through a gap between the rollers (51 d), one end of each channel steel (522 a) is connected with a roller (522 b) respectively, the other end of each channel steel (522 a) is connected with a coupling shaft (522 c), the positions of the channel steel (522 a) connected with the coupling shaft (522 c) are connected with second couplers (522 d), each roller (522 b) is connected with the coupling shaft (522 c) through a second conveyor belt (522 e), and the two form transmission fit, a second speed reducer (522 f) is connected below one channel steel (522 a), the output end of the second speed reducer (522 f) is in transmission connection matching with a corresponding second conveyor belt (522 e), and one end, close to the six-axis robot (2), of the channel steel (522 a) is connected with a catch wheel device (54);
c. the transition device (53) is connected between the two translation devices (522) corresponding to the front and the rear, the transition device (53) comprises a transition connecting plate (53 a), the transition connecting plate (53 a) is connected to the end parts of the front and the rear channel steel (522 a), the transition connecting plate (53 a) is connected with a group of plastic-coated needle bearings (53 b), the plastic-coated needle bearings (53 b) are connected with a rotating ring (53 d) through a third conveying belt (53 c), the rotating ring (53 d) is fixed on a second coupling (522 d) on one side, and the plastic-coated needle bearings (53 b) are connected with rollers (522 b) on the other side;
C. storage goods shelves (6), evenly distributed is around six robots (2), and storage goods shelves (6) include four stands (61) and a set of horizontally connect tie-beam (62) on stand (61), connect one deck goods board (63) on every layer of tie-beam (62), connect one deck skid resistant course (64) on goods board (63).
2. The intelligent, high-efficiency apparatus for automated, zoned-sorting access to boards of claim 1, wherein:
one side of the power roller machine (51) is provided with a fixed leaning stop (55), the fixed leaning stop (55) comprises a pair of vertical leaning stop supports (55 a), the leaning stop supports (55 a) are respectively connected to the supporting legs (51 a) on two sides of the power roller machine (51), and two leaning stop supports (55 a) are connected with one leaning stop strip (55 c) through leaning stop connecting plates (55 b).
3. The intelligent, high-efficiency device for automated, zoned, pick-up and deposit of boards according to claim 1 or 2, characterized in that:
keep off wheel device (54) and include L type support (54 a) and a pair of rubber-covered wheel (54 b), the middle part of rubber-covered wheel (54 b) is connected on L type support (54 a) through locking screw (54 c), lock screw (54 c) including one to locking public nail (54 d) and one to locking female nail (54 e), the two is connected in the relative cooperation, all be equipped with between every rubber-covered wheel (54 b) and L type support (54 a) and play pad (54 f), keep off wheel device (54) and connect on channel-section steel (522 a) of translation device (522) through L type support (54 a).
4. The intelligent, high-efficiency apparatus for automated, zoned sorting access to boards of claim 2, wherein:
the baffle strip (55 c) is made of aluminum material with a smooth surface.
5. The intelligent, high-efficiency device for automated, zoned, pick-up and deposit of boards according to claim 1 or 2, characterized in that:
the storage rack is characterized in that the upright posts (61) and the connecting beams (62) of the storage rack (6) are aluminum profiles, the cargo board (63) is an anti-doubling board, and the anti-skid layer (64) is EVA sponge.
6. The intelligent, high-efficiency device for automated, zoned, pick-up and deposit of boards according to claim 1 or 2, characterized in that:
each speed reducer base (416) is vertically connected with a drag chain support (417), each drag chain support (417) is connected with a drag chain (418), and the drag chain (418) is connected with the front surface of the horizontal plate (42 a).
7. A method for intelligent efficient automated zoned sorting access using the apparatus of claim 1 or 2, comprising the steps of:
the method comprises the following steps: conveying a plate to be prestored to the front of a six-axis robot (2) through a power roller machine (51), lifting the plate by extending a second cylinder (521 a) of a lifting device (521), moving the plate to an upper roller close to the six-axis robot (2) through a second conveying belt (522 e) of a translation device (522), transferring the plate to an upper roller (51 d) through a transition device (53), rolling the plate to the tail end through the roller (51 d) after the long edge of the plate abuts against a blocking wheel device (54), and enabling the short edge of the plate to abut against a blocking strip (55 c) fixed to a blocking piece (55);
step two: the six-axis robot (2) drives the partition sucker device (4), the distance between the two ultrathin suckers (413) is automatically adjusted according to the length and the width of the plate, the adsorption area of the ultrathin sucker (413) is selected to be opened, and after the partition sucker device (4) sucks the plate, a plurality of plates can be stored in the same layer of the storage shelf (6);
step three: if the plates stored on the storage shelf (6) are packed together with one pack of orders, the six-axis robot (2) drives the partition sucker device (4) to take out the plates on the storage shelf (6), the plates are placed on a lower-layer roller (51 d) close to the six-axis robot (2), the plates are lifted and moved by the lifting and translation device (52), the plates are conveyed to a roller table top far away from the six-axis robot (2) through the transition device (53), and the plates are conveyed to the next process by the lower-layer roller (51 d), so that one-time automatic partition sorting and storing action is completed.
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| CN201911308400.8A CN110947631B (en) | 2019-12-18 | 2019-12-18 | Intelligent and efficient device and method for automatically sorting and storing plate in different regions |
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| CN201911308400.8A CN110947631B (en) | 2019-12-18 | 2019-12-18 | Intelligent and efficient device and method for automatically sorting and storing plate in different regions |
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| CN110947631B true CN110947631B (en) | 2021-05-04 |
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| CN110947631A (en) | 2020-04-03 |
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