CN112388855A - Full-automatic intelligent discharging manipulator - Google Patents
Full-automatic intelligent discharging manipulator Download PDFInfo
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- CN112388855A CN112388855A CN202011043011.XA CN202011043011A CN112388855A CN 112388855 A CN112388855 A CN 112388855A CN 202011043011 A CN202011043011 A CN 202011043011A CN 112388855 A CN112388855 A CN 112388855A
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- axis
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- manipulator
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/04—Accessories specially adapted for use with machines or devices of the preceding groups for supporting or holding work or conveying or discharging work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a full-automatic intelligent blanking manipulator, which comprises: the manipulator comprises a chassis, a workbench, a Y-axis component, a manipulator, a main box and a console; the method is characterized in that: the underframe is arranged at two sides of the workbench; the Y-axis component is arranged at the top of the underframe, and the main box and the console are arranged on the underframe; the control platform is respectively electrically connected with the workbench, the Y-axis component, the manipulator and the main box. The automatic plate feeding device has the advantages that the plate is grabbed through a flexible mechanical structure, the position of the plate is automatically detected through a full numerical control movement mechanism and an intelligent means, full-automatic quick, stable and reliable feeding is realized, and no manual interference is realized; data are intelligently analyzed, single-piece or double-piece simultaneous blanking is automatically selected, and production efficiency is improved.
Description
Technical Field
The invention relates to the field of stone equipment, in particular to a full-automatic intelligent discharging manipulator.
Background
At present, stone plates are processed by a bridge type cutting machine in a large number, and are manually fed, cut by a manual operation machine and manually discharged. Since stone is very heavy and brittle. In order to prevent the stone from being damaged, workers need to carefully carry and discharge materials, and the labor is very physical and has certain dangerousness. The extensive processing mode is very dependent on people, and the production efficiency and engineering management are seriously influenced. If the difficult problem of stone unloading can be solved, the burden of workers can be greatly reduced, and the production efficiency is improved.
Moreover, because the required specifications of the stone engineering boards are different, in order to achieve the best effect and benefit, the cutting scheme of a large stone board is diversified, so that the positions for cutting the finished boards are diversified. The method comprises the following steps that (1) a hand lower plate is simulated through automatic equipment, and the problem to be solved is that the position of a finished plate is automatically identified; in addition, the stone plate is hard, heavy and crisp, after cutting, the plate is horizontally placed on a workbench, is soaked in water and is also provided with cut powder mud, so that great difficulty is increased for mechanical grabbing; furthermore, in view of the characteristics of the stone, after the flat plate is grabbed, the key problem needs to be solved how to accurately simulate the manual operation of a person to lift, rotate, flatly place or vertically place the flat plate on the material rack conveniently, and the flat plate and the material rack can not be mutually stacked in a damaged manner, so that the storage space is saved, and the flat plate and the material rack are convenient to carry.
Disclosure of Invention
The invention mainly solves the problems in the prior art and provides the blanking manipulator which is provided with a full numerical control movement mechanism, is rapid, stable and reliable in blanking and has high production efficiency;
the invention is realized by the following technologies:
full-automatic intelligent unloading manipulator includes: the manipulator comprises a chassis, a workbench, a Y-axis component, a manipulator, a main box and a console; the chassis is installed in the both sides of workstation, is together fixed with the workstation, prevents that the during operation from taking place the skew.
The Y-axis component includes: a Y-axis edge beam component and a Y-axis cross beam component; the Y-axis edge beam part is arranged at the top of the underframe, and the Y-axis cross beam part is arranged on the Y-axis edge beam part; the Y-axis beam part is matched with the Y-axis side beam part through a linear guide rail pair and a rack-and-pinion pair in the Y-axis beam part, and can linearly move along the Y-axis direction through the drive of a servo motor on the Y-axis beam part.
The manipulator includes: an X-axis moving component, a Z-axis lifting component, a C-axis rotating component, an A-axis rotating component and a sucker component;
the X-axis moving part is movably arranged on the Y-axis beam part, is matched with the Y-axis beam part through a linear guide rail pair and a rack-and-pinion pair in the X-axis moving part and can linearly move along the X-axis direction under the drive of a servo motor on the X-axis moving part;
the Z-axis lifting component is arranged on the X-axis moving component, is matched with the X-axis moving component through a linear guide rail pair and a ball screw nut pair in the Z-axis lifting component and can linearly move along the Z-axis direction under the drive of a servo motor on the Z-axis lifting component;
the C-axis rotating component is arranged on the Z-axis lifting component and can rotate around the Z axis through a servo motor and a precision speed reducer on the C-axis rotating component;
the A-axis rotating component is arranged on the C-axis rotating component and can rotate around the X axis through a servo motor and a precision speed reducer on the A-axis rotating component;
the sucking disc component is arranged on the A-axis rotating component and can rotate around the X axis along with the A-axis rotating component;
the main box and the control platform are arranged on the underframe; the control platform is electrically connected with the workbench, the Y-axis component, the manipulator and the main box respectively; through the control of the servo motors with 5 shafts and the control platform, the whole machine can realize full-automatic accurate positioning movement.
Further, the suction cup member includes: the mounting rack and the sucker group; the sucking disc group is installed on the mounting bracket, and the mounting bracket setting adopts the mechanical structure of flexibility on A axle rotating part, can snatch panel, improves work efficiency.
Furthermore, the sucker group is a vacuum sucker group and can adapt to plates with different specifications and shapes; a vacuum system is arranged on the underframe, and the vacuum sucker group is connected with the vacuum system; the vacuum system is electrically connected with the console.
Further, an engineering plate shape position machine vision recognition device is mounted on the manipulator and is electrically connected with the console; through linkage of a laser tracking system, a 3D visual system, a coordinate conversion system associated with typesetting of a cutting machine and other systems, the position, shape and size information of the stone slab can be accurately identified, and automatic blanking is realized.
Further, still install the laser that can detect and deposit board L frame material information and seek the tracking system on the chassis, laser is sought tracking system and is controlled platform electric connection, seeks the tracking system through the laser and detects the position information of depositing board L frame and the sheet material information of depositing.
The working process of the invention is as follows: the good slabstone of station cutting before carries manipulator working range through the belt of workstation, treats slabstone stop motion back, and the manipulator passes through the engineering board form and position machine vision recognition device of preceding station data or manipulator, confirms the position and the shape size information of every slabstone, and the plate material information of depositing and the position information of board L frame is detected through the laser system of seeking simultaneously.
The numerical control system in the main motor box controls each part of the mechanical arm to enable the sucker part to move to the position above the corresponding stone plate according to the position of the stone plate, and then the Z-axis lifting part is lowered to enable the sucker part to be lowered to a certain distance from the surface of the stone plate; starting a vacuum system, and after the sucker group sucks the stone slab, lifting the Z-axis lifting part to enable the stone slab to leave the surface of the workbench for a certain distance; then the numerical control system controls the Y-axis edge beam part, the Y-axis beam part and the X-axis moving part, the stone slabs are sucked and moved to a slab storage L frame plate-to-be-turned area, then the A-axis rotating part acts, the sucker group and the stone slabs rotate around the A axis to the same angle of the L frame, then the stone slabs are vertically stacked on the slab storage L frame, after the completion, the mechanical arm retreats to the slab-to-be-turned area, then the next slab is carried, and the process is repeated.
If the specifications of the stone plates are different, the manipulator adopts a single-piece blanking mode, and only one stone plate is sucked in each blanking; if the specification that meets slabstone is all the same and quantity is the even number, the manipulator adopts two unloading modes simultaneously, inhales a slabstone by some sucking disc group of sucking disc part earlier and moves away the certain distance earlier toward both sides direction, then another some sucking disc group of reuse sucking disc part inhales another slabstone, treats that two slabstones all inhales the back, controls the manipulator again and expects to deposit the board L frame together.
The manipulator is provided with a laser tracking system which can detect the plate material information elements of the storage plates L, and when one storage plate L is fully placed, the manipulator can automatically feed the plates onto the other storage plate L; in addition, if the stone plate on the plate storage L rack is manually taken away, the mechanical arm can also detect the stone plate, so that the machine is controlled to feed the stone plate to a proper position.
The invention has the beneficial effects that:
1. the plate is grabbed through a flexible mechanical structure, the position of the plate is automatically detected through a full numerical control movement mechanism and an intelligent means, full-automatic rapid, stable and reliable blanking is realized, and no manual interference is realized; data are intelligently analyzed, single-piece or double-piece simultaneous blanking is automatically selected, and production efficiency is improved;
2. the advantages compared with the joint manipulator are as follows: under the same cost, the range of motion and the load capacity are superior to those of the joint robot; the precision is more guaranteed than that of a joint robot, and the working requirements can be met; the manufacturing difficulty is low, and the self-made structure can be manufactured;
3. the whole manipulator adopts a rectangular coordinate structure, has a large action range and large force, and can operate the whole large stone plate;
4. the mechanical arm is provided with an engineering plate shape position machine vision system, and the position, shape and size information of the stone plate can be accurately identified through the linkage of a laser tracking system, a 3D vision system, a coordinate conversion system associated with the typesetting of the cutting machine and other systems, so that the automatic blanking is realized.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the structure of the sucking disc component of the invention.
Reference signs mean: 1. a chassis; 2. a work table; 3. a Y-axis component; 301. a Y-axis edge beam member; 302. a Y-axis beam member; 4. a manipulator; 401. an X-axis moving member; 402. a Z-axis lifting component; 403. a C-axis rotating member; 404. an A-axis rotating member; 405. a suction cup member; 4051. a mounting frame; 4052. a sucker group; 5. a main electric box; 6. a console; 7. a visual identification device of the engineering plate shape position machine; 8. laser tracking system.
Detailed Description
In order to make the technical solution, object and advantages of the present invention more apparent, the present invention will be further explained with reference to the accompanying drawings and embodiments.
Full-automatic intelligent unloading manipulator includes: the device comprises a chassis 1, a workbench 2, a Y-axis component 3, a manipulator 4, a main box 5 and a console 6; the underframe 1 is arranged at two sides of the workbench 2 and fixed with the workbench 2 to prevent deviation during working.
The Y-shaft member 3 includes: a Y-axis side beam member 301 and a Y-axis cross beam member 302; a Y-axis edge beam component 301 is arranged at the top of the underframe 1, and a Y-axis cross beam component 302 is arranged on the Y-axis edge beam component 301; the linear guide rail pair and the rack and pinion pair in the Y-axis beam part 302 are matched with the Y-axis edge beam part 301, and the linear guide rail pair and the rack and pinion pair can be driven by a servo motor on the Y-axis beam part 302 to move linearly along the Y-axis direction.
The robot 4 includes: an X-axis moving member 401, a Z-axis lifting member 402, a C-axis rotating member 403, an a-axis rotating member 404, and a suction member 405;
the X-axis moving component 401 is movably arranged on the Y-axis beam component 302, is matched with the Y-axis beam component 302 through a linear guide rail pair and a rack-and-pinion pair in the X-axis moving component 401, and can linearly move along the X-axis direction through the driving of a servo motor on the X-axis moving component 401;
the Z-axis lifting component 402 is arranged on the X-axis moving component 401, is matched with the X-axis moving component 401 through a linear guide rail pair and a ball screw nut pair in the Z-axis lifting component 402, and can linearly move along the Z-axis direction through the drive of a servo motor on the Z-axis lifting component 402;
the C-axis rotating component 403 is arranged on the Z-axis lifting component 402 and can rotate around the Z axis through a servo motor and a precision speed reducer on the C-axis rotating component 403;
the A-axis rotating component 404 is arranged on the C-axis rotating component 403 and can rotate around the X axis through a servo motor and a precision speed reducer on the A-axis rotating component 404;
The main box 5 and the console 6 are arranged on the underframe 1; the control platform 6 is respectively electrically connected with the workbench 2, the Y-axis component 3, the manipulator 4 and the main box 5; through the control of the servo motors with 5 shafts and the control platform 6, the whole machine can realize full-automatic accurate positioning movement.
As a preferred embodiment, the suction cup group 4052 is a vacuum suction cup group 4052, a vacuum system (not shown) is disposed on the chassis 1, and the vacuum suction cup group 4052 is connected to the vacuum system; the vacuum system is electrically connected to the console 6.
As a preferred option of this embodiment, the manipulator is provided with an engineering plate shape and position machine vision recognition device 7, and the engineering plate shape and position machine vision recognition device 7 is electrically connected with the console 6; through linkage of a laser tracking system, a 3D visual system, a coordinate conversion system associated with typesetting of a cutting machine and other systems, the position, shape and size information of the stone slab can be accurately identified, and automatic blanking is realized.
Preferably, a laser tracking system 8 capable of detecting the plate material information of the plate storage L is further installed on the chassis 1, the laser tracking system 8 is electrically connected with the console 6, and the position information of the plate storage L and the stored plate material information are detected by the laser tracking system 8.
The good slabstone of station cutting before carries the manipulator working range through the belt of workstation 2, treats that slabstone stop motion back, and the manipulator passes through the machine vision system of preceding station data or manipulator, confirms the position and the shape size information of every slabstone, detects the position information of depositing the board L frame and the sheet material information of depositing simultaneously.
The numerical control system in the main box 5 controls each part of the robot arm to move the suction cup part 405 above the corresponding stone plate according to the position of the stone plate, and then the Z-axis lifting part 402 is lowered to lower the suction cup part 405 to a certain distance from the surface of the stone plate; after the vacuum system is started, the sucker group 4052 sucks the stone slab, and the Z-axis lifting component 402 rises to enable the stone slab to be away from the surface of the workbench for a certain distance; then the numerical control system controls the Y-axis edge beam part 301, the Y-axis beam part 302 and the X-axis moving part 401, the stone slabs are sucked and moved to a slab storage L frame plate-to-be-turned area, then the A-axis rotating part 404 acts, the sucker group 4052 and the stone slabs rotate around the A axis to the same angle of the L frame, then the stone slabs are vertically stacked on the slab storage L frame, after the plate-to-be-turned area is withdrawn by the mechanical arm, the next slab is carried, and the process is repeated.
If the specifications of the stone plates are different, the manipulator adopts a single-piece blanking mode, and only one stone plate is sucked in each blanking; if the specifications of the stone plates are the same and the number of the stone plates is even, the manipulator adopts a mode of blanking two stone plates simultaneously, firstly a certain distance is removed from one stone plate to the directions of two sides by sucking one part of sucker group 4052 of the sucker component 405, then another stone plate is sucked by the other part of sucker group 4052 of the sucker component 405, and after the two stone plates are sucked, the manipulator is controlled to blank the storage plate L frame together.
The manipulator is also provided with a laser tracking system 8 which can detect the plate material information elements of the storage plates L, and when one storage plate L is fully placed, the manipulator can automatically feed the plates to the other storage plate L; in addition, if the stone plate on the plate storage L rack is manually taken away, the mechanical arm can also detect the stone plate, so that the machine is controlled to feed the stone plate to a proper position.
The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention accordingly, and not to limit the protection scope of the present invention accordingly. All equivalent changes or modifications made in accordance with the spirit of the present disclosure are intended to be covered by the scope of the present disclosure.
Claims (6)
1. Full-automatic intelligent unloading manipulator includes: the manipulator comprises a chassis, a workbench, a Y-axis component, a manipulator, a main box and a console; the method is characterized in that: the underframe is arranged at two sides of the workbench; the Y-axis component is arranged at the top of the underframe, and the main box and the console are arranged on the underframe; the control platform is electrically connected with the workbench, the Y-axis component, the manipulator and the main box respectively;
the manipulator includes: an X-axis moving component, a Z-axis lifting component, a C-axis rotating component, an A-axis rotating component and a sucker component; the X-axis moving part is movably arranged on the Y-axis part, and the Z-axis lifting part is arranged on the X-axis moving part; the C-axis rotating component is arranged on the Z-axis lifting component, and the A-axis rotating component is arranged on the C-axis rotating component; the sucking disc component is installed on the A-axis rotating component.
2. The full-automatic intelligent blanking manipulator of claim 1, characterized in that: the Y-axis component includes: a Y-axis edge beam component and a Y-axis cross beam component; the Y-axis edge beam part is arranged at the top of the underframe, and the Y-axis cross beam part is arranged on the Y-axis edge beam part.
3. The full-automatic intelligent blanking manipulator of claim 1, characterized in that: the suction cup member includes: the mounting rack and the sucker group; the sucking disc group is installed on the mounting bracket, and the mounting bracket is arranged on the A-axis rotating component.
4. The full-automatic intelligent blanking manipulator of claim 3, characterized in that: the sucker group is a vacuum sucker group, a vacuum system is arranged on the underframe, and the vacuum sucker group is connected with the vacuum system; the vacuum system is electrically connected with the console.
5. The full-automatic intelligent blanking manipulator of claim 1, characterized in that: the manipulator is provided with an engineering plate shape and position machine vision recognition device, and the engineering plate shape position machine vision recognition device is electrically connected with the console.
6. The full-automatic intelligent blanking manipulator of claim 1, characterized in that: still install the laser that can detect and deposit board L frame material information on the chassis and seek the tracking system, the laser is sought the tracking system and is controlled platform electric connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011043011.XA CN112388855A (en) | 2020-09-28 | 2020-09-28 | Full-automatic intelligent discharging manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011043011.XA CN112388855A (en) | 2020-09-28 | 2020-09-28 | Full-automatic intelligent discharging manipulator |
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| Publication Number | Publication Date |
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| CN112388855A true CN112388855A (en) | 2021-02-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011043011.XA Pending CN112388855A (en) | 2020-09-28 | 2020-09-28 | Full-automatic intelligent discharging manipulator |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05327290A (en) * | 1992-05-20 | 1993-12-10 | Fujitsu Ltd | Apparatus and method for positioning electronic component |
| CN102368154A (en) * | 2011-11-01 | 2012-03-07 | 东莞朗诚微电子设备有限公司 | Program control system of automatic slice arranging machine |
| CN103043359A (en) * | 2011-10-17 | 2013-04-17 | 株式会社安川电机 | Robot system, robot, and sorted article manufacturing method |
| CN202964655U (en) * | 2013-01-17 | 2013-06-05 | 中国船舶重工集团公司第七一六研究所 | Heavy load manipulator arm with ten-axis and double-gantry structure |
| CN105904306A (en) * | 2016-05-20 | 2016-08-31 | 洛阳达沃自动化设备有限公司 | Automatic feeding and blanking system for glass milling machine |
| CN106736600A (en) * | 2017-01-09 | 2017-05-31 | 广东文灿压铸股份有限公司 | Multifunction automatic processing line and its processing method |
-
2020
- 2020-09-28 CN CN202011043011.XA patent/CN112388855A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05327290A (en) * | 1992-05-20 | 1993-12-10 | Fujitsu Ltd | Apparatus and method for positioning electronic component |
| CN103043359A (en) * | 2011-10-17 | 2013-04-17 | 株式会社安川电机 | Robot system, robot, and sorted article manufacturing method |
| CN102368154A (en) * | 2011-11-01 | 2012-03-07 | 东莞朗诚微电子设备有限公司 | Program control system of automatic slice arranging machine |
| CN202964655U (en) * | 2013-01-17 | 2013-06-05 | 中国船舶重工集团公司第七一六研究所 | Heavy load manipulator arm with ten-axis and double-gantry structure |
| CN105904306A (en) * | 2016-05-20 | 2016-08-31 | 洛阳达沃自动化设备有限公司 | Automatic feeding and blanking system for glass milling machine |
| CN106736600A (en) * | 2017-01-09 | 2017-05-31 | 广东文灿压铸股份有限公司 | Multifunction automatic processing line and its processing method |
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Application publication date: 20210223 |