CN113233382B - A intelligent haulage equipment for plastic products production - Google Patents
A intelligent haulage equipment for plastic products production Download PDFInfo
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- CN113233382B CN113233382B CN202110503759.1A CN202110503759A CN113233382B CN 113233382 B CN113233382 B CN 113233382B CN 202110503759 A CN202110503759 A CN 202110503759A CN 113233382 B CN113233382 B CN 113233382B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07509—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07568—Steering arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/125—Platforms; Forks; Other load supporting or gripping members rotatable about a longitudinal axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/142—Movements of forks either individually or relative to each other
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
- B66F9/181—Load gripping or retaining means by suction means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of intelligent produced article transportation equipment, and provides intelligent transporting equipment for plastic product production, which comprises an intelligent AGV transporting robot and two vertical rods, wherein the intelligent AGV transporting robot comprises an object stage and a base capable of rotating 360 degrees, the vertical rods are vertically fixed on the base at intervals, and the base is rotationally arranged on the upper surface of the intelligent AGV transporting robot; one of them side bearer of pole setting is equipped with the horizontal pole, the horizontal pole is equipped with two parallel pegs and follows the electric lift device of pole setting height-adjusting, two parallel pegs are equipped with along horizontal pole horizontal migration's power device, the below of two parallel pegs is hanging L type bracket in opposite directions. The invention adopts an integrated structure of an intelligent AGV transfer robot and a loading and unloading mechanism, wherein the loading and unloading mechanism loads and unloads an article which needs to be transported generally in the production of plastic products by using an L-shaped bracket, and the L-shaped bracket is similar to the shape of the article which is manually transported by a person, so that the article can be prevented from being damaged when being loaded and unloaded.
Description
Technical Field
The invention relates to the technical field of intelligent production article transportation equipment, in particular to intelligent carrying equipment for plastic product production.
Background
In decades, transfer robots have been used for transporting industrial products, and due to the increasing manpower cost, automatic Guided Vehicle (AGV) systems are widely used in production logistics systems, and become an indispensable part of automated production in modern enterprises. In China, AGV has applications in both the fields of logistics and industrial production.
Navigation and automatic control of the AGV transfer robot are important parts of the AGV transfer robot, for example, an intelligent AGV transfer robot with an authorization publication number of CN 108502051B solves the problem of how to achieve the moving purpose and accuracy of the AGV transfer robot, and the problem is also the key research and development direction of the AGV transfer robot. The position of an article is transferred by adopting an AGV transfer robot, and the article is inevitably required to be loaded and unloaded. If the article is loaded and unloaded manually, on one hand, the labor cost is increased, and on the other hand, the production automation planning is not facilitated; if mechanical equipment is adopted for loading and unloading articles, some automatic loading and unloading equipment has higher cost, and some AGV transfer robots are integrated with loading and unloading mechanisms, such as a manipulator clamping jaw applied to piece placing equipment disclosed in CN 106737801B.
However, none of the conventional AGV transfer robot article loading/unloading machines considers the characteristics of the article itself, and the loading/unloading mechanism is not changed regardless of the article, and the loading/unloading mode is operated by a fixed setting operation. For a plastic product factory, if an unchanged AGV transfer robot is adopted to carry articles, the problem that the loading and unloading efficiency is low or the articles are damaged exists.
Disclosure of Invention
In order to solve the technical problems, the invention provides intelligent transporting equipment for plastic product production, which comprises an intelligent AGV transporting robot and two vertical rods, wherein the intelligent AGV transporting robot comprises an object stage and a base capable of rotating 360 degrees, the vertical rods are vertically fixed on the base at intervals, and the base is rotationally arranged on the upper surface of the intelligent AGV transporting robot;
one side frame of the vertical rod is provided with a cross rod, the cross rod is provided with two parallel hanging rods and an electric lifting device for adjusting the height of the cross rod, the two parallel hanging rods are provided with power devices for horizontally moving along the cross rod, and L-shaped brackets are oppositely hung below the two parallel hanging rods.
Optionally, the electric lifting device includes a first motor, a screw rod and a rod sleeve, the first motor is fixed on the base, the screw rod is vertically arranged and driven to rotate by the first motor, the rod sleeve is fixedly connected with the cross rod, and the rod sleeve is sleeved on the screw rod and is meshed with the screw rod.
Optionally, power device includes second motor and gear, the gear is installed at parallel peg and horizontal pole link, the gear is rotatory by second motor drive, one side of horizontal pole is equipped with the rack tooth, rack tooth and gear intermeshing.
Optionally, an air supply pump is installed on the cross bar, an exhaust passage is arranged in the L-shaped brackets, the L-shaped brackets on the two parallel hanging rods are provided with opposite air nozzles, the air nozzles are communicated with the exhaust passage, and the exhaust passage is connected with the air supply pump through a pipeline.
Optionally, be equipped with the depression bar on the L type bracket, the depression bar adopts first hinged joint with the medial surface of the vertical end of L type bracket, the cover has the torsional spring in the pivot of first hinge, the torsional spring makes the depression bar sticis the up end of L type bracket horizontal end, the depression bar downside passes through the second hinge and is connected with the ejector pin, L type bracket horizontal end is equipped with the through-hole, the ejector pin passes the lower terminal surface that the through-hole extends to protrusion L type bracket.
Optionally, a rubber suction cup is arranged on the back of the L-shaped bracket.
Optionally, a vacuum pump is installed on the cross rod, an air suction channel is arranged in the L-shaped bracket and connected with the vacuum pump through a pipeline, the rubber suction cup is of a double-layer structure with a cavity in the middle, the cavity is communicated with the air suction channel, and a plurality of air holes communicated with the cavity are formed in a rubber layer, far away from the L-shaped bracket, of the rubber suction cup.
Optionally, a fence is arranged on the periphery of the objective table, and inflatable cushions are laid on the upper end face of the objective table and the inner side face of the fence.
Optionally, the object stage is provided with a plurality of separated accommodating cavities in the rail, the L-shaped bracket is provided with a driving device moving along the parallel hanging rods, and the base, the electric lifting device, the power device and the driving device coordinate to realize the object taking and placing of each accommodating cavity.
Optionally, an air cylinder and a crankshaft are arranged in the parallel hanging rod, the air cylinder is provided with a piston, an air suction port and an air exhaust port, the crankshaft is provided with a driven wheel, the driven wheel is meshed with a gear, and the crankshaft is connected with the piston through a rocker; the air suction port is provided with an air suction valve plate, and the air exhaust port is provided with an air exhaust valve plate;
the rubber suction cup is of a double-layer structure, a cavity is formed in the middle of the rubber suction cup and is communicated with the air suction channel, and a plurality of air holes communicated with the cavity are formed in a rubber layer, far away from the L-shaped bracket, of the rubber suction cup; the exhaust passage is provided with an air nozzle which is positioned at the end head of the horizontal end of the L-shaped bracket;
the air suction channel is connected with an air suction port of the air cylinder through an air suction pipe, and the exhaust channel is connected with an exhaust port of the air cylinder through an exhaust pipe.
Optionally, intelligence AGV transfer robot includes control module, wireless communication module, navigation module, actuating mechanism and arrestment mechanism, wherein:
the control module comprises a processor, an actuator, a data acquisition unit, a radar detector and an infrared range finder, wherein the processor is respectively connected with the actuator and the data acquisition unit, the actuator is respectively connected with the electric lifting device and the power device, and the data acquisition unit is respectively connected with the radar detector and the infrared range finder; the infrared range finder is arranged on the parallel hanging rods;
the wireless communication module and the navigation module are both connected with the processor;
the driving mechanism comprises a motor, a steering gear and a wheel set, the steering gear and the motor are connected with an actuator, the steering gear is connected with the wheel set, and the motor drives wheels of the wheel set to rotate;
the brake mechanism is connected with the actuator.
Optionally, intelligence AGV transfer robot includes bar code collector, bar code collector is connected with the treater, and bar code collector fixes the one end of keeping away from the horizontal pole at parallel peg, bar code collector acquires article information and transmits for the treater through bar code or the two-dimensional code of scanning article.
Optionally, the driven wheel is in transmission connection with the gear through a transmission; intelligence AGV transfer robot includes control module, control module includes treater, executor and bar code scanner, the treater is connected with executor and bar code scanner respectively, the executor is connected with second motor and derailleur respectively, bar code or the two-dimensional code that the bar code of bar code through the scanning article of waiting to be loaded and unloaded acquires and wait to load and unload article information and transmit for the treater, it includes article kind and quality to wait to load and unload article information, the minimum air supply volume that needs is predicted to the treater adoption following formula:
wherein Q is min The required minimum air supply amount is represented, A represents the number of air nozzles, S represents the area of the air nozzles, sigma represents the diffusion coefficient of the air nozzles, epsilon represents the contact coefficient of the air nozzles and the loaded and unloaded goods, m represents the mass of the loaded and unloaded goods, g represents the gravity acceleration, k represents the lift coefficient of the air nozzles to the loaded and unloaded goods, rho represents the gas density, D represents the width of the loaded and unloaded goods under the action of the air nozzles, and l represents the depth of the loaded and unloaded goods under the action of the air nozzles;
and then generating a control command according to the relation between the required minimum air supply quantity and the piston motion and the crankshaft rotation speed, and transmitting the control command to an actuator, wherein the actuator controls the operation rotation speed of the second motor and the speed change ratio of the transmission to guarantee the crankshaft rotation speed.
The intelligent conveying equipment for plastic product production adopts an integrated structure of an intelligent AGV conveying robot and a loading and unloading mechanism, wherein the loading and unloading mechanism loads and unloads articles needing general transportation in the plastic product production by using an L-shaped bracket, and the articles are lifted and placed by matching of mechanism parts; the L-shaped bracket is similar to the shape of a person when carrying an article, the loading and unloading efficiency is improved, the L-shaped bracket can be made of plastic, or made of metal materials and sleeved with a non-metal sleeve, and the damage to the article during loading and unloading of the article can be avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of an embodiment of the intelligent handling apparatus for plastic product production of the present invention;
FIG. 2 is an enlarged schematic view of the structure of the parallel hanging rod, the cross rod and the power device in the part A of the embodiment of FIG. 1;
FIG. 3 is a schematic view of an L-shaped bracket according to an embodiment of the present invention;
FIG. 4 is a schematic view of an L-shaped bracket with a compression bar used in the present invention;
FIG. 5 is a schematic view of a second embodiment of an L-shaped bracket used in the present invention;
FIG. 6 is a cross-sectional view of an embodiment of a parallel hanger bar and L-shaped bracket used in the present invention;
FIG. 7 is a schematic diagram illustrating the control principle of an embodiment of an intelligent AGV handling robot used in the present invention.
In the figure: 1-intelligent AGV handling robot, 2-vertical rod, 3-objective table, 4-base, 5-cross rod, 6-parallel hanging rod, 7-electric lifting device, 8-power device, 9-L-shaped bracket, 10-pressure rod, 11-first hinge, 12-torsion spring, 13-top rod, 14-second hinge, 15-driven wheel, 16-crankshaft, 17-piston, 18-rocker, 19-cylinder, 20-suction valve plate, 21-suction pipe, 22-exhaust valve plate, 23-exhaust pipe, 51-chute, 61-slide block, 71-first motor, 72-screw rod, 73-rod sleeve, 81-second motor, 82-gear, 91-exhaust pipe, 92-air nozzle, 93-air pipe interface, 94-rubber suction cup, 95-cavity, 96-air hole, 97-suction pipe and 98-through hole.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention.
The embodiment of the intelligent transporting equipment for plastic production, provided by the invention, comprises an intelligent AGV transporting robot 1 and two vertical rods 2, wherein the intelligent AGV transporting robot 1 comprises an object stage 3 and a base 4 capable of rotating 360 degrees, the vertical rods 2 are vertically fixed on the base 4 at intervals, and the base 4 is rotatably arranged on the upper surface of the intelligent AGV transporting robot 1;
one of them side-frame of pole setting 2 is equipped with horizontal pole 5, horizontal pole 5 is equipped with two parallel pegs 6 and follows the electric lift device 7 of 2 height-adjusting in pole setting, two parallel pegs 6 are equipped with along 5 horizontal migration's of horizontal pole power device 8, L type bracket 9 is being hung in the below of two parallel pegs 6 in opposite directions. The L-shaped bracket 9 can be made of plastic, or made of metal material and then sleeved with a non-metal sleeve.
The working principle of the technical scheme is as follows: when articles are loaded, the parallel hanging rods face the articles to be loaded through rotation of the base, the intelligent AGV transfer robot moves to adjust the distance between the intelligent AGV transfer robot and the articles, and the heights of the cross rods and the parallel hanging rods are adjusted through the electric lifting device, so that the bottoms of the L-shaped brackets are flush with the bottoms of the articles; the parallel hanging rods are moved to be close to each other through the power device, the bottom surfaces of the L-shaped brackets are slowly inserted into the bottoms of the articles from the two sides of the articles, then the heights of the cross rods and the parallel hanging rods are improved through the electric lifting device, the articles are lifted up through the L-shaped brackets, the lifted articles reach the upper end of the objective table through the rotating base, the heights of the articles are reduced through the electric lifting device and placed on the objective table, after loading is completed, the intelligent AGV carrying robot transports the articles to a target position, and unloading of the articles is carried out through loading similar operations. The L-shaped brackets 9 may be provided in a plurality of pairs.
The beneficial effects of the above technical scheme are: an intelligent AGV transfer robot and a loading and unloading mechanism integrated structure is adopted, wherein the loading and unloading mechanism loads and unloads articles needing general transportation in the production of plastic products by using an L-shaped bracket, and the articles are lifted and placed by matching mechanism parts; the L-shaped bracket is similar to the shape of a person when carrying articles by hand, the loading and unloading efficiency is improved, the L-shaped bracket can be made of plastics or made of metal materials and sleeved with a non-metal sleeve, and the articles can be prevented from being damaged when being loaded and unloaded.
In one embodiment, as shown in fig. 1, the electric lifting device 7 includes a first motor 71, a screw 72, and a rod sleeve 73, the first motor 71 is fixed on the base 4, the screw 72 is vertically disposed and driven by the first motor 71 to rotate, the rod sleeve 73 is fixedly connected with the cross bar 5, the rod sleeve 73 is sleeved on the screw 72 and is engaged with the screw 72. As shown in fig. 2, the cross bar 5 is provided with a sliding groove 51, the parallel hanging rod 6 is provided with a sliding block 61, the sliding block 61 is installed in the sliding groove 51 and can slide along the sliding groove 51, the power device 8 comprises a second motor 81 and a gear 82, the gear 82 is installed at the connecting end of the parallel hanging rod 6 and the cross bar 5, the gear 82 is driven by the second motor 81 to rotate, one side of the cross bar 5 is provided with a rack tooth, and the rack tooth and the gear 82 are meshed with each other.
The working principle of the technical scheme is as follows: the electric lifting device adopts a first motor to drive the screw to rotate, and achieves the lifting purpose through the rod sleeve matched with the screw; the power device adopts a gear and rack meshing mode to convert the rotary motion of the second motor into linear motion so as to adjust the mutual distance between the two parallel hanging rods and facilitate the loading and unloading of the L-shaped brackets holding the articles under the parallel hanging rods.
The beneficial effects of the above technical scheme are: the electric lifting device and the power device both adopt simpler structures to achieve the corresponding movement purpose, the manufacturing cost can be reduced, the number of moving parts is small, the fault risk is low, the safety and the reliability are realized, and the maintenance cost in the use process is reduced.
In one embodiment, as shown in fig. 3, an air supply pump (not shown) is installed on the cross bar, an air exhaust channel 91 is arranged in the L-shaped bracket 9, opposite air injection ports 92 are arranged on the L-shaped brackets 9 on the two parallel hanging rods 6, the air injection ports 92 are communicated with the air exhaust channel 91, and the air exhaust channel 91 is connected with the air supply pump through a pipeline; the L-shaped angle of the L-shaped bracket 9 can be made to be 90-100 degrees.
The working principle and the beneficial effects of the technical scheme are as follows: when comparatively light and soft article (like water wing etc.) are loaded and unloaded, parallel peg area L type bracket is in article both sides earlier, it is the same with the article bottom surface to adjust to height in L type bracket bottom, start the air feed pump, send gas to the built-in air flue of L type bracket through the pipeline, then blow to the article bottom from the jet orifice blowout, because plastics class article are lighter, control air current spouts the speed, make article both sides bottom slightly lift from placing the bench by the air current, can avoid forming the friction with article when L type bracket inserts article bottom like this, thereby protect lighter soft article better, cause fish tail or damage when avoiding loading and unloading.
In one embodiment, as shown in fig. 4, a pressing rod 10 is disposed on the L-shaped bracket 9, the pressing rod 10 is connected to an inner side surface of a vertical end of the L-shaped bracket 9 by a first hinge 11, a torsion spring 12 is sleeved on a rotating shaft of the first hinge 11, the torsion spring 12 enables the pressing rod 10 to press an upper end surface of a horizontal end of the L-shaped bracket 9, a lower side surface of the pressing rod 10 is connected to a top rod 13 by a second hinge 14, a through hole 98 is disposed at the horizontal end of the L-shaped bracket 9, and the top rod 13 passes through the through hole 98 and extends to a lower end surface of the protruding L-shaped bracket 9.
The working principle of the technical scheme is as follows: when the height of the L-shaped bracket is lowered to be flush with the bottom of the article, the ejector rod jacks up the pressure rod by the upward thrust of the article placing platform, and the article can be loaded on the L-shaped bracket; after loading, the L-shaped bracket is lifted, the pressing rod is reset under the action of the torsion spring, and the article is pressed on the upper end surface of the horizontal end of the L-shaped bracket.
The beneficial effects of the above technical scheme are: when loading and unloading comparatively light and soft articles (such as swim rings and the like), the compression bar and the L-shaped bracket can clamp the loaded and unloaded articles, and the articles are prevented from falling off from the L-shaped bracket.
In one embodiment, as shown in fig. 5, a rubber suction cup 94 is arranged on the back side (i.e. the outer side of the vertical end) of the L-shaped bracket 9, and the rubber suction cup 94 is a double-layer structure with a cavity 95 in the middle; a vacuum pump (not shown in the figure) is arranged on the cross rod 5, an air suction channel 97 is arranged in the L-shaped bracket 9, the air suction channel 97 is connected with the vacuum pump through a pipeline, the cavity 95 is communicated with the air suction channel 97, and a plurality of air holes 96 communicated with the cavity 95 are formed in a rubber layer of the rubber suction disc 94, which is far away from the L-shaped bracket 9.
The working principle of the technical scheme is as follows: when the device is used for loading and unloading, the rubber sucker on the back of the L-shaped bracket faces an article to be loaded and unloaded, the rubber sucker is attached to the surface of the article and adsorbs the article by moving the parallel hanging rods, the arranged vacuum pump is started to vacuumize the inner cavity of the double-layer rubber sucker, and the article is adsorbed on the rubber sucker through air pressure.
The beneficial effects of the above technical scheme are: when articles with smooth surfaces are assembled and disassembled, in order to avoid damaging the articles, the articles are assembled and disassembled in a mode that the rubber suction cups adsorb the articles, so that the articles are prevented from being scratched by friction, and the vacuum pump can avoid the poor adsorption capacity of the rubber suction cups.
In one embodiment, a fence is arranged on the periphery of the object stage 3, a plurality of separated accommodating cavities are arranged in the fence of the object stage 3, and inflatable cushions are laid on the upper end surface and the cavity wall side surface of the object stage 3 inside the accommodating cavities; the L-shaped bracket 9 is provided with a driving device which moves along the parallel hanging rod 6, the structure of the driving device can be the same as or similar to that of the power device 8, and the base 4, the electric lifting device 7, the power device 8 and the driving device act in a coordinated manner to realize the object taking and placing of each accommodating cavity.
The working principle and the beneficial effects of the technical scheme are as follows: the L-shaped bracket is provided with the driving device which moves along the parallel hanging rods, so that the position of the L-shaped bracket can be more accurately adjusted during loading and unloading, and accurate positioning and loading and unloading are realized; the object stage is provided with the fence to prevent articles from falling off in the transportation process, and the object stage is divided into a plurality of accommodating cavities to realize the sorting of the articles and avoid the confusion of different articles; the inflatable cushion has a buffering effect on the article loading and transporting movement, and avoids the damage caused by article collision or friction due to vibration.
In one embodiment, as shown in fig. 6, a cylinder 19 and a crankshaft 16 are arranged in the parallel hanging rod 6, the cylinder 19 is provided with a piston 17, an air suction port and an air exhaust port, the crankshaft 16 is provided with a driven wheel 15, the driven wheel 15 is meshed with a gear 82, and the crankshaft 16 is connected with the piston 17 through a rocker 18; the suction port is provided with a suction valve plate 20, and the exhaust port is provided with an exhaust valve plate 22;
a rubber suction cup 94 is arranged on the inner side surface of the vertical end of the L-shaped bracket 9, an air suction channel 97 and an air exhaust channel 91 which are isolated from each other are arranged in the L-shaped bracket 9, the rubber suction cup 94 is of a double-layer structure with a cavity in the middle, the cavity is communicated with the air suction channel 97, and a plurality of air holes 96 communicated with the cavity are formed in a rubber layer of the rubber suction cup 94, which is far away from the L-shaped bracket 9; the exhaust passage 91 is provided with an air nozzle 92, and the air nozzle 92 is positioned at the end of the horizontal end of the L-shaped bracket 9;
the intake passage 97 is connected to an intake port of the cylinder 19 through an intake pipe 21, and the exhaust passage 91 is connected to an exhaust port of the cylinder 19 through an exhaust pipe 23.
The working principle of the technical scheme is as follows: the second motor drives the gear to rotate, so that the parallel hanging rods move along the cross rod; meanwhile, the gear drives the crankshaft to rotate through the driven wheel, the crankshaft drives the piston to reciprocate in the cylinder through the rocker, and the air is continuously sucked from the rubber suction cup on the L-shaped bracket, so that the rubber suction cup keeps a certain vacuum suction force, and meanwhile, the compressed air is discharged from the air jet port of the L-shaped bracket.
The beneficial effects of the above technical scheme are: through the structure, the bottoms at two sides of the article can be slightly lifted up from the placing table by air flow through air injection while the parallel hanging rods move along the cross rods, so that the L-shaped bracket can be prevented from rubbing the article when inserted into the bottom of the article, the lighter and soft article can be better protected, and scratch or damage caused during loading and unloading can be avoided; in addition, the rubber suction cups arranged on the inner side surfaces of the vertical ends of the L-shaped brackets also generate suction force on the articles, and the articles can be prevented from falling off and being damaged from the L-shaped brackets in the operation process.
In one embodiment, as shown in FIG. 7, the intelligent AGV handling robot includes a control module, a wireless communication module, a navigation module, a driving mechanism and a braking mechanism, wherein:
the control module comprises a processor, an actuator, a data acquisition unit, a radar detector and an infrared range finder, wherein the processor is respectively connected with the actuator and the data acquisition unit, the actuator is respectively connected with the electric lifting device and the power device, and the data acquisition unit is respectively connected with the radar detector and the infrared range finder; the infrared range finder is arranged on the parallel hanging rods;
the wireless communication module and the navigation module are both connected with the processor;
the driving mechanism comprises a motor, a steering gear and a wheel set, the steering gear and the motor are connected with an actuator, the steering gear is connected with the wheel set, and the motor drives wheels of the wheel set to rotate;
the brake mechanism is connected with the actuator.
The working principle and the beneficial effects of the technical scheme are as follows: the radar detector is used for detecting peripheral equipment during movement, detecting obstacles, sending detection conditions to the processor, and generating instructions by the processor to brake or steer through the control of the actuator; the infrared distance measuring instrument is used for measuring the distance between the parallel hanging rods and the object so as to accurately control the L-shaped bracket to hold and lift the object; the wireless communication module is used for receiving remote instructions, clearly carrying articles, positions and target positions and the like, and timely feeding back execution conditions and receiving new instructions; the navigation module is used for generating a moving route and guiding the equipment to move along the route direction; the driving mechanism drives the equipment to move through an instruction sent by the actuator, and the braking mechanism is used for stopping the equipment from moving; the processor and the actuator control the article loading and unloading process in addition to the article carrying and moving process of the equipment.
In one embodiment, the intelligent AGV transfer robot comprises a code scanner, the code scanner is connected with the processor, the code scanner is fixed at one end of the parallel hanging rods far away from the transverse rods, and the code scanner acquires article information through scanning bar codes or two-dimensional codes of articles and transmits the article information to the processor.
The working principle and the beneficial effects of the technical scheme are as follows: when the equipment moves to an article loading position or a target position, a bar code or a two-dimensional code of an article is scanned through a code scanner so as to confirm that the article needing to be carried is correct, and the problem that the article which is not to be carried is moved to the position by mistake and the article needing to be carried is not moved is avoided; avoid wrong transport to lead to article position in disorder, influence production and efficiency.
In one embodiment, the driven wheel is in transmission connection with the gear through a transmission; intelligence AGV transfer robot includes control module, control module includes treater, executor and bar code scanner, the treater is connected with executor and bar code scanner respectively, the executor is connected with second motor and derailleur respectively, bar code or the two-dimensional code that the bar code of bar code through the scanning article of waiting to be loaded and unloaded acquires and wait to load and unload article information and transmit for the treater, it includes article kind and quality to wait to load and unload article information, the minimum air supply volume that needs is predicted to the treater adoption following formula:
wherein Q is min The required minimum air supply amount is represented, A represents the number of air nozzles, S represents the area of the air nozzles, sigma represents the diffusion coefficient of the air nozzles, epsilon represents the contact coefficient of the air nozzles and the loaded and unloaded goods, m represents the mass of the loaded and unloaded goods, g represents the gravity acceleration, k represents the lift coefficient of the air nozzles to the loaded and unloaded goods, rho represents the gas density, D represents the width of the loaded and unloaded goods under the action of the air nozzles, and l represents the depth of the loaded and unloaded goods under the action of the air nozzles;
and then generating a control command according to the relation between the required minimum air supply quantity and the piston motion and the crankshaft rotation speed, and transmitting the control command to an actuator, wherein the actuator controls the operation rotation speed of the second motor and the gear ratio of the transmission to guarantee the crankshaft rotation speed.
The working principle and the beneficial effects of the technical scheme are as follows: the information of the articles to be loaded and unloaded is obtained by scanning, in order to avoid the friction between the L-shaped bracket and the articles, the minimum air injection amount (namely the minimum air supply amount) required by air injection pre-lifting is calculated in advance, so that the accurate control of air injection can be realized, the problem that the purpose cannot be achieved due to insufficient air injection is avoided, and the waste caused by excessive air injection is also avoided.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (4)
1. The intelligent conveying equipment for plastic product production is characterized by comprising an intelligent AGV conveying robot and two vertical rods, wherein the intelligent AGV conveying robot comprises an object stage and a base capable of rotating 360 degrees, the vertical rods are vertically fixed on the base at intervals, and the base is rotationally arranged on the upper surface of the intelligent AGV conveying robot;
a cross rod is arranged on one side frame of the vertical rod, the cross rod is provided with two parallel hanging rods and an electric lifting device for adjusting the height along the vertical rod, the two parallel hanging rods are provided with power devices for horizontally moving along the cross rod, and L-shaped brackets are oppositely hung below the two parallel hanging rods;
the power device comprises a second motor and a gear, the gear is arranged at the connecting end of the parallel hanging rod and the cross rod, the gear is driven by the second motor to rotate, one side of the cross rod is provided with rack teeth, and the rack teeth and the gear are meshed with each other;
the parallel hanging rod is internally provided with a cylinder and a crankshaft, the cylinder is provided with a piston, an air suction port and an air exhaust port, the crankshaft is provided with a driven wheel, the driven wheel is meshed with a gear, and the crankshaft is connected with the piston through a rocker; the air suction port is provided with an air suction valve plate, and the air exhaust port is provided with an air exhaust valve plate;
the rubber suction cup is of a double-layer structure, a cavity is formed in the middle of the rubber suction cup and is communicated with the air suction channel, and a plurality of air holes communicated with the cavity are formed in a rubber layer, far away from the L-shaped bracket, of the rubber suction cup; the exhaust passage is provided with an air nozzle which is positioned at the end head of the horizontal end of the L-shaped bracket;
the air suction channel is connected with an air suction port of the air cylinder through an air suction pipe, and the air exhaust channel is connected with an air exhaust port of the air cylinder through an air exhaust pipe;
the driven wheel is in transmission connection with the gear through a transmission; intelligence AGV transfer robot includes control module, control module includes treater, executor and bar code scanner, the treater is connected with executor and bar code scanner respectively, the executor is connected with second motor and derailleur respectively, bar code or the two-dimensional code that the bar code of bar code through the scanning article of waiting to be loaded and unloaded acquires and wait to load and unload article information and transmit for the treater, it includes article kind and quality to wait to load and unload article information, the minimum air supply volume that needs is predicted to the treater adoption following formula:
wherein, the first and the second end of the pipe are connected with each other,
indicating the minimum amount of air supply required,
the number of the air ejection ports is represented,
the area of the air ejection port is shown,
the gas-injection diffusion coefficient is expressed,
representing the contact coefficient of the air jet and the loading and unloading articles,
indicating the mass of the loaded and unloaded item,
which represents the acceleration of the force of gravity,
the lift coefficient of the jet air to the loading and unloading articles is shown,
which is indicative of the density of the gas,
the width of the loading and unloading article subjected to the air jet action is shown,
the depth of the loaded and unloaded goods under the action of the air jet is shown;
then generating a control command according to the relation between the required minimum air supply quantity and the piston motion and the crankshaft rotation speed, and transmitting the control command to an actuator, wherein the actuator controls the operation rotation speed of a second motor and the gear ratio of a transmission to ensure the crankshaft rotation speed;
the electric lifting device comprises a first motor, a screw rod and a rod sleeve, the first motor is fixed on the base, the screw rod is vertically arranged and driven to rotate by the first motor, the rod sleeve is fixedly connected with the cross rod, and the rod sleeve is sleeved on the screw rod and mutually meshed with the screw rod and the cross rod.
2. The intelligent handling equipment for plastic production as recited in claim 1, wherein a rubber suction cup is provided on a back side of the L-shaped pallet.
3. The intelligent carrying equipment for plastic product production as recited in claim 2, wherein a vacuum pump is mounted on the cross bar, an air suction channel is arranged in the L-shaped bracket and connected with the vacuum pump through a pipeline, the rubber suction cup is of a double-layer structure with a cavity in the middle, the cavity is communicated with the air suction channel, and a plurality of air holes communicated with the cavity are formed in a rubber layer of the rubber suction cup, which is far away from the L-shaped bracket.
4. The intelligent handling equipment for plastic production of any one of claims 1-3, wherein the intelligent AGV handling robot comprises a control module, a wireless communication module, a navigation module, a driving mechanism and a braking mechanism, wherein:
the control module comprises a processor, an actuator, a data acquisition unit, a radar detector and an infrared range finder, wherein the processor is respectively connected with the actuator and the data acquisition unit, the actuator is respectively connected with the electric lifting device and the power device, and the data acquisition unit is respectively connected with the radar detector and the infrared range finder; the infrared range finder is arranged on the parallel hanging rods;
the wireless communication module and the navigation module are both connected with the processor;
the driving mechanism comprises a motor, a steering gear and a wheel set, the steering gear and the motor are connected with an actuator, the steering gear is connected with the wheel set, and the motor drives wheels of the wheel set to rotate;
the brake mechanism is connected with the actuator.
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| CN202110503759.1A CN113233382B (en) | 2020-05-13 | 2020-05-13 | A intelligent haulage equipment for plastic products production |
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| CN202110503759.1A CN113233382B (en) | 2020-05-13 | 2020-05-13 | A intelligent haulage equipment for plastic products production |
| CN202010401856.5A CN111605960B (en) | 2020-05-13 | 2020-05-13 | A intelligent haulage equipment for plastic products production |
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| CN113233382B true CN113233382B (en) | 2023-01-24 |
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| CN113023354B (en) * | 2021-03-05 | 2022-09-30 | 深圳市韩润国际物流有限公司 | Intelligent logistics code scanning and grabbing equipment |
| CN113247638B (en) * | 2021-06-21 | 2021-11-23 | 广东科佩克机器人有限公司 | Stacking robot |
| CN114852700B (en) * | 2022-05-19 | 2024-02-02 | 浙江瀚镪自动化设备股份有限公司 | High-precision and high-efficiency workbin stacker |
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| CN102001461A (en) * | 2010-10-22 | 2011-04-06 | 青岛诺力达工业装备有限公司 | Plastic bottle and plastic bag gripper and stacking robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111605960A (en) | 2020-09-01 |
| CN113233382A (en) | 2021-08-10 |
| CN111605960B (en) | 2021-06-04 |
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