CN208496970U - Laser guidance Full automatic loading machine people's system - Google Patents

Laser guidance Full automatic loading machine people's system Download PDF

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Publication number
CN208496970U
CN208496970U CN201820879388.0U CN201820879388U CN208496970U CN 208496970 U CN208496970 U CN 208496970U CN 201820879388 U CN201820879388 U CN 201820879388U CN 208496970 U CN208496970 U CN 208496970U
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China
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automatic loading
full automatic
machine people
loading machine
horizontal
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CN201820879388.0U
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Chinese (zh)
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李政德
刘霞
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Austong Intelligent Robot Technology Co Ltd
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Austong Intelligent Robot Technology Co Ltd
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Abstract

The utility model discloses a kind of laser guidance Full automatic loading machine people's systems, including mobile chassis (2), in the rear end of mobile chassis (2), organic frame (5) are set, adjacent stacking pallet feed station (3) and the decomposition conveying mechanism (4) on the inside of it are equipped in rack (5), and it is provided with the stacking layer that stacking layering dismantling can be delivered in decomposition conveying mechanism (4) on rack (5) and tears conveying device (6) open, pipeline (7) of the front end with integration platform (71) is respectively equipped in the two sides for decomposing conveying mechanism (4), the robot (9) being mounted on mobile chassis (2) is equipped between two strip transmission lines (7), the laser scanner being connected respectively with industrial personal computer and visual sensor are installed at robot (9), industrial personal computer respectively with robot (9) and control remaining hold The motion controller of row mechanism is connected.The utility model can fast implement the conveying of the partition from stacking to single product and integrate entrucking.

Description

Laser guidance Full automatic loading machine people's system
Technical field
The utility model relates to a kind of laser guidance Full automatic loading machines that can satisfy product high-volume shipment demand People's system.
Background technique
In the fields such as milk, beverage class, drinks, the product produced exists all in the form of stacking, multiple stackings It is packed together and constitutes many hills.In product turnout, not instead of not directly according to the direct entrucking of the form of stacking, need Manually stacking is disassembled into individual one by one, such as one case milk, one mention laughable or one case white wine, then weighs according to certain rules New vanning, whole process is time-consuming and laborious, needs to consume largely manually, brings hidden danger to the high-volume shipment of product.
Summary of the invention
The purpose of this utility model is that in view of the problems of the existing technology, providing one kind can satisfy that product is large quantities of to be measured Laser guidance Full automatic loading machine people's system of goods demand.
The purpose of this utility model solves by the following technical programs:
A kind of laser guidance Full automatic loading machine people's system, it is characterised in that: the system includes being capable of automatic row Organic frame is arranged in the rear end of mobile chassis in the mobile chassis sailed, and the extending direction along mobile chassis has been disposed adjacent positioned at machine Stacking pallet feed station in frame and the decomposition conveying mechanism on the inside of it, and be provided on the rack can by stacking pallet into Stacking layering dismantling on material station is delivered to the stacking layer decomposed on conveying mechanism and tears conveying device open, is decomposing conveying mechanism Two sides are respectively equipped with pipeline of the front end with integration platform, are equipped with the machine being mounted on mobile chassis between two strip transmission lines People is equipped with the laser scanner being connected respectively with industrial personal computer and visual sensor, laser scanner and view at robot Feel the car information Real-time Feedback of sensor acquisition to industrial personal computer, industrial personal computer respectively with robot and remaining executing agency of control Motion controller is connected；When the system works, mobile chassis drives the system to be parked in entrucking position, and fork truck will hold product The pallet of stacking is placed in stacking pallet feed station, and stacking layer tears conveying device open and is then moved to stacking pallet feed station Surface simultaneously draw a flood product, later by the flood product be moved to decompose conveying mechanism above and fall to decompose it is defeated It send in mechanism, decomposes the pipeline that the flood product is resolved into mutually independent product and be delivered to two sides by conveying mechanism On, product drives clamping apparatus crawl product thereon by robot after finally dropping down on integration platform and piles up in compartment.
It includes horizontal dismantling conveying mechanism and vertical conveying mechanism, level dismantling conveying that the stacking layer, which tears conveying device open, Mechanism is mounted on vertical conveying mechanism and can make to move up and down vertically under the action of vertical conveying mechanism, and horizontal dismantling Conveying mechanism itself is able to drive flood product and moves horizontally；The vertical conveying mechanism is mounted on the column of rack.
The horizontal dismantling conveying mechanism includes a horizontal pane and sucker clamping apparatus, is connected by vacuum tube with vacuum pump The sucker clamping apparatus connect is fixed on the bottom of the horizontal gird across horizontal pane, and the both ends of horizontal gird are separately fixed at its two sides Horizontal synchronization take, two horizontal synchronization bands disposed in parallel using same level feeder motor drive, horizontal feed motor Sucker clamping apparatus is driven to move horizontally along the length direction of horizontal pane by horizontal synchronization band.
The long side of the horizontal pane is equipped with the frame that is slidably installed that can be slided along the long side of horizontal pane, the end of horizontal gird Portion is fixed on the inner panel outer wall of the corresponding frame that is slidably installed, and is then equipped with and is capable of fixing on the outside plate outer wall for the frame that is slidably installed Levelling block on respective horizontal synchronous belt.
Link block is provided between the inner panel and outside plate of the frame that is slidably installed and the lumen width of inner panel and outside plate composition It is identical as the long side maximum width of horizontal pane.
Flute profile guide wheel is provided in the frame that is slidably installed, and equipped with corresponding with flute profile guide wheel in the long side of horizontal pane Convex guide rail.
The section of the flute profile guide wheel is in the convex arc to match with concave arc shape in the section of concave arc shape and the convex guide rail Shape.
The levelling block quantity that every horizontal synchronization takes is no less than two pieces.
The horizontal feed motor is fixedly mounted on the end side of horizontal pane, horizontal feed electricity by horizontal motor mounting base The horizontal drive shaft of machine driving is perpendicular to the length direction setting of horizontal pane and the both ends of horizontal drive shaft are respectively arranged with level Driving wheel, horizontal driving wheel are connected by horizontal synchronization band with the horizontal follower for the long side side that horizontal pane is arranged in.
The horizontal driving wheel and horizontal follower are separately positioned in corresponding horizontal bearing seat, and horizontal bearing seat is solid Dingan County is on the lateral wall of horizontal pane.
The vertical conveying mechanism includes the vertical feeder motor that rack one end is arranged in, vertical feeder motor it is defeated Outlet drives active synchronization axis, and active synchronization axis passes through a horizontal conveyor belt and the passive and synchronous axis phase for being located at rack another side Connection is located at the vertical driving wheel at active synchronization axis and passive and synchronous axis both ends and passes through corresponding vertical synchronous belt respectively It is connected with corresponding vertical follower；The described horizontal dismantling conveying mechanism is fixedly mounted on vertical synchronous belt and can be with It is risen or fallen with vertical synchronous belt.
The axis of the vertical follower is mounted in strainer, which is mounted on the lower part of corresponding column.
The vertical feeder motor is fixedly mounted on the top of column, vertical feeder motor by vertical motor mount Output end be connected by vertical transmission belt with the vertical driving wheel on active synchronization axis so that when the operating of vertical feeder motor Vertical driving wheel is driven by vertical transmission belt and drives the rotation of active synchronization axis.
The vertical synchronous belt is equipped with corresponding vertical briquetting, and vertical briquetting is fixed on horizontal dismantling conveying mechanism In the corresponding long side of horizontal pane, risen or fallen so that being able to drive horizontal pane when vertical synchronous belt operating.
The vertical briquetting is fixed on the outer of the end of the long side extension end of horizontal pane and the long side other end of horizontal pane On side wall.
Vertical briquetting positioned at the long side extension end end of horizontal pane stretches out inwardly is fixed on corresponding vertical synchronous belt On；Vertical briquetting on the lateral wall of the long side other end of horizontal pane stretches out outward is fixed on corresponding vertical synchronous belt On.
The vertical conveying mechanism includes being vertically directed mechanism, and it includes guide wheel fixed plate, taper that this, which is vertically directed mechanism, Guide wheel and vertical guide idlers, taper guide wheel and vertical guide idlers are all arranged in guide wheel fixed plate and are mutually perpendicular.
The tensioning shaft of the vertical guide idlers is placed in the locating piece with tensioning slot and locating piece is fixed at guide wheel and consolidates On fixed board.
The same taper guide wheel being vertically directed in mechanism and vertical guide idlers are all embedded in corresponding column and can be along columns It moves up and down vertically.
The column is made of channel steel and the frontal plane of taper guide wheel and the cyclic annular conical surface can be recessed with column simultaneously Slot inner surface fits；The groove floor rotation of the column of vertical guide idlers fitting simultaneously.
The mechanism that is vertically directed is mounted in the horizontal pane of horizontal dismantling conveying mechanism by being oriented to mounting base.
On the inner sidewall for the long side extension end that horizontal pane is arranged in a pair of guiding mounting base or corresponding to long side extension end Short side lateral wall on, another pair guiding mounting base be then arranged in horizontal pane the long side other end end or the long side other end On corresponding short side lateral wall.
Two at the long side extension end of horizontal pane are vertically directed corresponding taper guide wheel in mechanism and vertical guide idlers all It is arranged towards inside；It two at the long side other end of the horizontal pane corresponding taper guide wheels being vertically directed in mechanism and vertically leads Wheel is all arranged towards outside.
Two taper guide wheels being arranged towards inside are oppositely arranged and two taper guide wheels being arranged towards outside are arranged backwards；Court Two vertical guide idlers being arranged inwardly are oppositely arranged and two vertical guide idlers being arranged towards outside are arranged backwards.
The rack includes four columns and a rectangle frame, and the top of column is fixed on rectangle frame and the bottom of column End is fixed on mobile chassis.
The horizontal cross-section that four columns are constituted is arranged in isosceles trapezoid, so that wherein the top of two root posts is fixed on rectangle On two angles of frame, the top of another two root posts is fixed on a short side of rectangle frame.
The pallet roller using tray motor driving is equipped at the stacking pallet feed station, pallet roller is in pallet The position for holding the pallet of product stacking can be corrected under the driving of motor.
The tray sensor being connected by IO with motion controller, pallet are equipped at the stacking pallet feed station Sensor sends a signal to industrial personal computer, industrial personal computer feedback signal by motion controller afterwards in place in the pallet for holding product stacking Stop driving to motion controller to control tray motor.
Rack above the stacking pallet feed station is equipped at monitoring stacking pallet feed station whether have material Existing visual sensor, the visual sensor are connected with industrial personal computer.
The decomposition conveying mechanism includes that the decomposition roller to the left with right side rotation, the both ends for decomposing roller are divided respectively It is not arranged in the bearing on corresponding mounting plate and wherein one end is equipped with sprocket wheel, passes through corresponding driving chain phase between sprocket wheel Connection, left-hand rotation motor and right-hand machine drive corresponding decomposition roller to rotate by corresponding drive chain respectively, then by this point Solution roller successively drives the decomposition roller on the outside of it to rotate by driving chain.
The end for decomposing roller is equipped with two sprocket wheels that are set side by side, based on the same sprocket wheel for decomposing the inside on roller When driving wheel, then the sprocket wheel in outside is the inside on follower and another decomposition roller adjacent with the decomposition roller that rotates in same direction Sprocket wheel be follower, outside sprocket wheel be driving wheel.
It rotates in same direction and the number of teeth for decomposing the sprocket wheel on roller for being located at outside is less than on the decomposition roller of inside The number of teeth of sprocket wheel, so that the rate for decomposing roller rotation for being located at outside is greater than the rate for decomposing roller rotation positioned inside.
The quantity of the few decomposition roller of the number of teeth of sprocket wheel is no more than the half of the quantity of the decomposition roller rotate in same direction.
It is equipped with material at the decomposition conveying mechanism and keeps off stop mechanism, material gear stop mechanism, which sets up separately, is decomposing conveying mechanism (4) two sides are so that decomposing conveying mechanism can only decompose every time on a column material to corresponding pipeline.
Material in the material gear stop mechanism keeps off cylinder of stopping the supple of gas or steam and is connected by IO with motion controller.
The mounting plate is equipped with against the fractionation photoelectric sensor for decomposing roller setting, is split photoelectric sensor and is passed through IO is connected with motion controller and the material signal for decomposing the corresponding position of roller is sent signal by motion controller To industrial personal computer, industrial personal computer feedback signal controls left-hand rotation motor and right-hand machine pause driving to motion controller.
Bridging on the pipeline has steering mechanism, and steering mechanism includes the steering bracket to bridge on the conveyor line, The front end of steering bracket be equipped with monitoring product towards whether correct turnning box detection sensor, set in the inner cavity top of steering bracket Be equipped with rotary cylinder, the lower end of rotary cylinder is fixed with positioning disk, be respectively arranged in two guide grooves on positioning disk vertically to Under across guide groove steering link and steering link can in guide groove along perpendicular to pipeline direction it is for linear motion； The rotary cylinder rotation drives positioning disk rotation, and the positioning disk of rotation is able to drive two steering links and inwardly leans on along guide groove Nearly clamping product simultaneously turns to correct direction, and two steering links continue remote outward along guide groove under the drive of positioning disk later From product and it is moved to the distal end of guide groove.
Two cross-brace framves being set side by side, the bottom surface of cross-brace frame are provided in the top frame of the steering bracket On be provided perpendicular to the linear guide of pipeline setting, corresponding steering sliding block is equipped in linear guide, turns to sliding block Bottom is equipped with the steering link being vertically arranged.
The short support being set side by side is equipped between the cross-brace frame, rotary cylinder is fixed at the bottom of short support Portion.
The quantity of the turnning box detection sensor is no less than two, and between two turnning box detection sensors of lie farthest away Spacing be greater than the width of product and be less than the length of product so that steering mechanism is by the length of product towards going to perpendicular to defeated The direction of transfer of line sending.
Whether the turnning box detection sensor is connected with motion controller by IO and the signal of turnning box will be needed to lead to Cross motion controller and send a signal to industrial personal computer, industrial personal computer feedback signal controlled rotary cylinder rotation to motion controller or It is static.
The region both ends that face decomposes conveying mechanism on the pipeline are equipped with corresponding opposite type sensor, pass to penetrating Sensor passes through IO respectively and is connected with motion controller whether will have the live signal of material to pass through fortune on the pipeline in the region Movement controller sends a signal to industrial personal computer, and industrial personal computer determines whether to control by motion controller according to live signal decomposes conveying Mechanism decomposes on a column material to the pipeline in the region.
The front end of the integration platform is equipped with baffle and is equipped with corresponding robot single in the side of integration platform or lower section The trunkful photoelectric sensor of the material quantity of crawl.
The integration platform includes the integration plane being made of integration roller, and the outside for integrating roller exists with side setting Same integrates the inside of roller with side then independently embedded in corresponding independent on the integration side plate of bearing It integrates in bearing block, in order to the product on the clamping apparatus crawl integration platform of robot.
The trunkful photoelectric sensor is mounted on the corresponding mobile bottom integrated on side plate or integrate immediately below roller On disk, trunkful photoelectric sensor passes through IO respectively and is connected with motion controller.
The side of pipeline on rear side of the integration platform or lower section setting gear stop mechanism, gear stop mechanism include keeping off cylinder of stopping the supple of gas or steam With gear trading halt, the bottom surface of the gear trading halt of Jie Mian Cheng Shang shape is fixed on the driving end for keeping off cylinder of stopping the supple of gas or steam；The trunkful photoelectric sensor When whole lights, then keeps off cylinder driving of stopping the supple of gas or steam and keep off the release of trading halt level or upward release to block the subsequent product on pipeline.
The clamping apparatus includes the mounting flange for being mounted on the mechanical arm front end of robot, and the front end of mounting flange is fixed There is fixture mounting plate, lower platen is fixedly installed on the downside of fixture mounting plate, the surface of lower platen is equipped with top board, upper pressure The root of plate is fixed on pressing plate elevator, and the bottom of pressing plate elevator is mounted on the driving end of clamping cylinder by connecting plate Place, clamping cylinder are fixedly mounted on fixture mounting plate and are provided with horizontal sliding cylinder in the middle part of fixture mounting plate, are located at lower platen Push plate between top board is mounted on the driving end of horizontal sliding cylinder, and horizontal sliding cylinder can drive push plate by product from clamping apparatus It releases.
The horizontal sliding cylinder is mounted on the two sides or on the contrary of clamping cylinder.
The horizontal sliding cylinder and clamping cylinder passes through route respectively and is connected with robot, and robot is passed according to industrial personal computer The information passed controls horizontal sliding cylinder and clamping cylinder.
The fixture mounting plate is equipped with clamp rail, and fixture slide block corresponding with clamp rail is fixed on pressing plate liter It drops on block, clamping cylinder is gone up and down when driving top board lifting along clamp rail.
Non-skid band is all equipped on the medial surface of the lower platen and top board.
The mobile chassis is equipped with the pallet export agency positioned at stacking pallet feed station side, and pallet exports machine Structure can take the empty pallet in stacking pallet feed station away.
The pallet export agency includes mounting seat, and being equipped in mounting seat can be along mounting seat length direction Mobile turnover translation moving plate, is equipped with overturning motor on turnover translation moving plate, and the output end for overturning motor is connected with torsion shaft and institute The torsion shaft stated is fixed with upset connecting rod and upset connecting rod by overturning bearing seat supports on turnover translation moving plate, on torsion shaft Front end is fixedly installed the vacuum attracting instrument that can draw pallet, and vacuum attracting instrument is connected by corresponding vacuum tube with vacuum pump.
It is fixedly installed suction tool motor in the mounting seat, inhales and is provided with pallet on the output shaft of tool motor actively Wheel, pallet driving wheel are connected by pallet synchronous belt with the pallet follower that the mounting seat other end is arranged in, turnover translation moving Plate is fixed on by connector enables turnover translation moving plate under the driving for inhaling tool motor along mounting seat on pallet synchronous belt It moves horizontally.
The mounting seat is equipped with the tray rail being arranged along its length, and tray rail is arranged in base openings Respective trays sliding block of the two sides and tray rail of slot respectively with the setting of turnover translation moving board bottom portion constitutes matching relationship.
The overturning motor and suction tool motor passes through frequency converter respectively and is connected with motion controller.
The laser scanner is arranged in a mutually vertical manner the side in robot, and two laser scanners being capable of Real-time Feedback machine The entrucking situation of device people is with guidance machine people's entrucking.
The rear end of the mobile chassis is also equipped with laser scanner, to detect the laser guidance Full automatic loading machine in real time The tail portion situation of people's system simultaneously feeds back to industrial personal computer.
The laser scanner uses 3D laser scanner.
The visual sensor uses industrial camera.
The utility model has the following advantages compared with prior art:
Stacking is layered rapidly by horizontal dismantling conveying mechanism and is disassembled by the utility model, then fast by decomposing conveying mechanism Single-layer products partition is independent individual by speed, is then combined Product organization by pipeline and steering mechanism at towards phase Same independent individual grabs product by robot later and piles up in compartment according to certain rules, mutually matched laser Scanner and visual sensor can Real-time Feedback entrucking situation with guidance machine people's entrucking；Divide the work clear between each mechanism and matches It is accurate to close, and can be realized quick partition, conveying, integration and entrucking from stacking to individual packages, system in place after, only need to The pallet for holding product stacking is placed in stacking pallet feed station and manually exports machine from pallet by pilot steering fork truck It takes pallet on structure away, can satisfy the entrucking scene of various situations, therefore there is intelligent, mechanization and automation spy Point, it is compact-sized, stable and applied widely, therefore be suitable for promoting the use of.
Detailed description of the invention
Attached drawing 1 is the three-dimensional structure diagram of laser guidance Full automatic loading machine people's system of the utility model；
Attached drawing 2 is the facing structure figure of laser guidance Full automatic loading machine people's system of the utility model；
Attached drawing 3 is that the stacking layer of the utility model tears the combining structure schematic diagram of conveying device and rack open；
Attached drawing 4 is the structural schematic diagram of the horizontal dismantling conveying mechanism of the utility model；
Attached drawing 5 is the structural schematic diagram for being vertically directed mechanism of the utility model；
Attached drawing 6 is the structural schematic diagram of the decomposition conveying mechanism of the utility model；
Attached drawing 7 is one of the structural schematic diagram of the turnning box mechanism of the utility model；
Attached drawing 8 is the second structural representation of the turnning box mechanism of the utility model；
Attached drawing 9 is the integration platform of the utility model and its structural schematic diagram of neighbouring pipeline；
Attached drawing 10 is the structural schematic diagram of the clamping apparatus of the utility model；
Attached drawing 11 is the status diagram of the absorption pallet of the pallet export agency of the utility model；
Attached drawing 12 is the control principle block diagram of laser guidance Full automatic loading machine people's system of the utility model.
Wherein: 2-mobile chassis；3-stacking pallet feed stations；31-pallet rollers；4-decompose conveying mechanism； 41-decompose roller；42-mounting plates；43-sprocket wheels；44-driving chains；45-left-hand rotation motors；46-right-hand machines；47— Drive chain；5-racks；51-columns；52-rectangle frames；6-stacking layers tear conveying device open；61-horizontal dismantling conveyers Structure；611-horizontal panes；612-sucker clamping apparatus；613-horizontal girds；614-horizontal synchronization bands；615-horizontal feeds electricity Machine；616-are slidably installed frame；617-levelling blocks；618-flute profile guide wheels；619-convex guide rails；6110-horizontal drives Axis；6111-horizontal driving wheels；6112-horizontal followers；6113-horizontal bearing seats；62-vertical conveying mechanisms；621— Vertical feeder motor；622-active synchronization axis；623-horizontal conveyor belts；624-passive and synchronous axis；625-vertical driving wheels； 626-vertical synchronous belts；627-vertical followers；628-strainers；629-vertical transmission belts；6210-vertical drivings Wheel；6211-vertical briquettings；6212-are vertically directed mechanism；6213-guide wheel fixed plates；6214-taper guide wheels；6215-hang down Straight guide wheel；6216-tensioning shafts；6217-locating pieces；6218-guiding mounting bases；7-pipelines；71-integration platforms； 711-baffles；712-trunkful photoelectric sensors；713-integrate roller；714-integrate side plate；715-integrate bearing block； 72-turnning box mechanisms；721-steering brackets；722-turnning box detection sensors；723-rotary cylinders；724-positioning disks； 725-guide grooves；726-steering links；727-linear guides；728-turn to sliding block；729-short supports；7210-laterally Support frame；73-gear stop mechanisms；731-keep off cylinder of stopping the supple of gas or steam；732-gear trading halts；8-pallet export agencies；81-mounting seats； 82-turnover translation moving plates；83-overturning motors；84-torsion shafts；85-upset connecting rods；86-vacuum attracting instruments；87-overturning bearings Seat；88-inhale tool motor；89-pallet driving wheels；810-pallet synchronous belts；811-pallet followers；812-tray rails； 813-base openings slots；814-pallet slide blocks；9-robots；91-clamping apparatus；911-mounting flanges；912-fixtures peace Loading board；913-lower platens；914-top boards；915-pressing plate elevators；916-clamping cylinders；917-horizontal sliding cylinders； 918-push plates；919-clamp rails；9110-fixture slide blocks；9111-non-skid bands；92-mechanical arms.
Specific embodiment
The utility model is further described with embodiment with reference to the accompanying drawing.
As shown in figs. 1-12: a kind of laser guidance Full automatic loading machine people's system, which includes can The mobile chassis 2 of automatic running, the mobile chassis 2 equipped with servo motor are connected with motion controller simultaneously by servo and IO It connects, industrial personal computer can be controlled mobile chassis 2 by motion controller and realize automatic Pilot, and the hub rotation of mobile chassis 2 drives Entire entrucking robot system drives to the place for needing entrucking；The also settable pilot steering region of the mobile chassis 2, passes through people Entrucking robot system is driven to the place for needing entrucking by work driving, i.e. mobile chassis 2 can be driven in pilot steering and automatically Free switching between sailing.Organic frame 5 is set in the rear end of mobile chassis 2, the extending direction along mobile chassis 2 has been disposed adjacent position In the stacking pallet feed station 3 in rack 5 and the decomposition conveying mechanism 4 on the inside of it, and being provided in rack 5 can be by code Stacking layering dismantling in pile pallet feed station 3 is delivered to the stacking layer decomposed on conveying mechanism 4 and tears conveying device 6 open, is dividing The two sides of solution conveying mechanism 4 are respectively equipped with pipeline 7 of the front end with integration platform 71, are equipped with and are mounted between two strip transmission lines 7 Robot 9 on mobile chassis 2, is equipped with the laser scanner being connected respectively with industrial personal computer at robot 9 and vision passes The car information Real-time Feedback of sensor, laser scanner and visual sensor acquisition to industrial personal computer, industrial personal computer respectively with robot 9 It is connected with the motion controller for controlling remaining executing agency.The entrucking robot system work when, mobile chassis 2 drive this be System is parked in entrucking position, and the pallet for holding product stacking is placed in stacking pallet feed station 3 by fork truck, and stacking layer is torn open defeated It send device 6 to be then moved to the surface of stacking pallet feed station 3 and draws a flood product, later put down the flood product It moves to decompose 4 top of conveying mechanism and fall to and decompose on conveying mechanism 4, decompose conveying mechanism 4 and decompose the flood product At mutually independent product and be delivered on the pipeline 7 of two sides, product finally drop down on integration platform 71 after by 9 band of robot Dynamic clamping apparatus 91 thereon grabs product and piles up in compartment.
As shown in Figure 1-3, rack 5 includes that four columns 51 and a rectangle frame 52, the top of column 51 are fixed on rectangle On the frame 52 and bottom end of column 51 is fixed on mobile chassis 2；The horizontal cross-section that above-mentioned four columns 51 are constituted is in isosceles ladder Shape arrangement, so that wherein the top of two root posts 51 is fixed on two angles of rectangle frame 52, the top of another two root posts 51 is consolidated It is scheduled on a short side of rectangle frame 52, this kind design is to reserve position to the pipeline 7 for decomposing 4 two sides of conveying mechanism.
As shown in Figure 3-4, it includes that level disassembles conveying mechanism 61 and vertical conveying mechanism 62 that stacking layer, which tears conveying device 6 open, Level dismantling conveying mechanism 61 is mounted on vertical conveying mechanism 62 and can make under the action of vertical conveying mechanism 62 vertically It moves up and down, and horizontal dismantling conveying mechanism 61 itself is able to drive flood product and moves horizontally；Vertical conveying mechanism 62 is pacified On the column 51 of rack 5.Wherein horizontal dismantling conveying mechanism 61 includes a horizontal pane 611 and sucker clamping apparatus 612, is passed through The sucker clamping apparatus 612 that vacuum tube is connected with vacuum pump is fixed on across the bottom of the horizontal gird 613 of horizontal pane 611, water The both ends of flat crossbeam 613 are separately fixed on the horizontal synchronization band 614 of its two sides, two horizontal synchronization bands 614 disposed in parallel It is driven using same level feeder motor 615, horizontal feed motor 615 drives sucker clamping apparatus 612 by horizontal synchronization band 614 Length direction along horizontal pane 611 moves horizontally；Being equipped in the long side of horizontal pane 611 can be along the long side of horizontal pane 611 The frame 616 that is slidably installed of sliding, the end of horizontal gird 613 are fixed on the inner panel outer wall of the corresponding frame 616 that is slidably installed, sliding The levelling block 617 being capable of fixing on respective horizontal synchronous belt 614 and every is then installed on the outside plate outer wall of dynamic mounting rack 616 The stability that 617 quantity of levelling block on bar horizontal synchronization band 614 is no less than two pieces to remain operational, be slidably installed frame 616 Inner panel and outside plate between be provided with link block and the long side of lumen width and horizontal pane 611 that inner panel and outside plate are constituted is maximum wide It spends identical；In addition it is provided with flute profile guide wheel 618 in the frame 616 that is slidably installed, and is equipped in the long side of horizontal pane 611 and flute profile The corresponding convex guide rail 619 of guide wheel 618, this kind design can play the role of correction, can utmostly avoid because installing and adding The deviation of actual value and theoretical value caused by work, further design scheme be, the section of flute profile guide wheel 618 in concave arc shape and The section of convex guide rail 619 is in the convex arc shaped to match with concave arc shape.Horizontal feed motor 615 is solid by horizontal motor mounting base Dingan County is mounted in the end side of horizontal pane 611, and the horizontal drive shaft 6110 that horizontal feed motor 615 drives is perpendicular to horizontal pane 611 The both ends of length direction setting and horizontal drive shaft 6110 are respectively arranged with horizontal driving wheel 6111, and horizontal driving wheel 6111 passes through Horizontal synchronization band 614 is connected with the horizontal follower 6112 for the long side side that horizontal pane 611 is arranged in；Horizontal driving wheel 6111 It is separately positioned in corresponding horizontal bearing seat 6113 with horizontal follower 6112, horizontal bearing seat 6113 is fixedly mounted on level On the lateral wall of frame 611.Level dismantling conveying mechanism 61 can draw a flood product, servo electricity by sucker clamping apparatus 612 Machine drives the horizontal synchronization band 614 of two sides to pull sucker clamping apparatus 612 mobile.
As shown in Figure 3-4, vertical conveying mechanism 62 includes the vertical feeder motor 621 that 5 one end of rack is arranged in, vertically The output end of feeder motor 621 drives active synchronization axis 622, and active synchronization axis 622 is by a horizontal conveyor belt 623 and is located at machine The passive and synchronous axis 624 of 5 another side of frame is connected, and is located at 624 both ends of active synchronization axis 622 and passive and synchronous axis Vertical driving wheel 625 is connected by corresponding vertical synchronous belt 626 with corresponding vertical follower 627 respectively, vertical passive The axis of wheel 627 is mounted in strainer 628, which is mounted on the lower part of corresponding column 51；Level dismantling conveying Mechanism 61 is fixedly mounted on vertical synchronous belt 626 and vertical synchronous belt 626 can be followed to rise or fall.In above structure On the basis of, vertical feeder motor 621 is fixedly mounted on the upper inner of column 51 by vertical motor mount, vertical conveying electricity The output end of machine 621 is connected by vertical transmission belt 629 with the vertical driving wheel 6210 on active synchronization axis 622, so that perpendicular Vertical driving wheel 6210 is driven by vertical transmission belt 629 when straight feeder motor 621 operates and drives active synchronization axis 622 Rotation.Corresponding vertical briquetting 6211 is equipped on vertical synchronous belt 626, vertical briquetting 6211 is fixed on horizontal dismantling conveyer In the corresponding long side of the horizontal pane 611 of structure 61 so that vertical synchronous belt 626 be able to drive when operating horizontal pane 611 rise or under Drop；Vertical briquetting 6211 is fixed on the outside of the end of the long side extension end of horizontal pane 611 and the long side other end of horizontal pane 611 On wall, according to this kind of situation, then the vertical briquetting 6211 positioned at the long side extension end end of horizontal pane 611 stretches out fixation inwardly On corresponding vertical synchronous belt 626, the vertical briquetting 6211 on the lateral wall of the long side other end of horizontal pane 611 it is outside Side, which is stretched out, to be fixed on corresponding vertical synchronous belt 626.
As shown in Fig. 3,5, vertical conveying mechanism 62 includes being vertically directed mechanism 6212, this is vertically directed mechanism 6212 and includes Guide wheel fixed plate 6213, taper guide wheel 6214 and vertical guide idlers 6215, taper guide wheel 6214 and vertical guide idlers 6215 are all arranged It in guide wheel fixed plate 6213 and is mutually perpendicular, the tensioning shaft 6216 of vertical guide idlers 6215 is placed on the locating piece with tensioning slot To play adjustment effect and locating piece 6217 is fixed in guide wheel fixed plate 6213 in 6217.It is same to be vertically directed mechanism Taper guide wheel 6214 and vertical guide idlers 6215 in 6212 are all embedded in corresponding column 51 and can be vertical up and down along column 51 Mobile, in order to cooperate this kind design for being vertically directed mechanism 6212, column 51 is made and before taper guide wheel 6214 using channel steel Plane and the cyclic annular conical surface can fit with the groove inner surface of column 51 simultaneously, and vertical guide idlers 6215 is bonded the groove of column 51 Bottom surface rotation, realizes the accurate positionin all around for being vertically directed mechanism 6212.In order to cooperate rack 5 layout requirements, position Two at the long side extension end of horizontal pane 611 are vertically directed corresponding taper guide wheel 6214 and vertical guide idlers in mechanism 6212 6215 are all arranged towards inside, and two at the long side other end of horizontal pane 611 are vertically directed the corresponding cone in mechanism 6212 Shape guide wheel 6214 and vertical guide idlers 6215 are all arranged towards outside, i.e., are oppositely arranged towards the two taper guide wheels 6214 that inside is arranged And two taper guide wheels 6214 being arranged towards outside be oppositely arranged backwards to setting, towards two vertical guide idlers 6215 that inside is arranged and Two vertical guide idlers 6215 being arranged towards outside are backwards to setting.On this basis, it is vertically directed mechanism 6212 and passes through guiding installation Seat 6218 is mounted in the horizontal pane 611 of horizontal dismantling conveying mechanism 61, and one pair of them are oriented to mounting base 6218 and are arranged in level On the inner sidewall of the long side extension end of frame 611 or on short side lateral wall corresponding to long side extension end, another pair guiding installation Seat 6218 be then arranged in the long side other end of horizontal pane 611 end or the long side other end corresponding on short side lateral wall.
It is torn open in conveying device 6 in above-mentioned stacking layer, horizontal feed motor 615 and vertical feeder motor 621 are all servo Motor, servo motor pass through servo respectively and are connected with motion controller.One of servo motor drives four to synchronize vertically Band 626 moves up and down vertically, wherein pass through the setting of horizontal conveyor belt 623, active synchronization axis 622 and passive and synchronous axis 624, it is real Show a servo motor and drives moving synchronously for four vertical synchronous belts 626；Level dismantling conveying mechanism 61 is fixed on vertically On synchronous belt 626, the entirety of realization level dismantling conveying mechanism 61 is moved up and down；The mechanism 6212 that is vertically directed of quadrangle setting makes Entire horizontal dismantling conveying mechanism 61 can be accurately positioned in the inside of rack 5.
As shown in Figs. 1-2, the pallet roller 31 using tray motor driving, support are equipped at stacking pallet feed station 3 The both ends of disk roller 31 are embedded in respectively in the bearing on corresponding end plate, and pallet roller 31 can entangle under the driving of tray motor Just holding the position of the pallet of product stacking.In addition it is equipped at stacking pallet feed station 3 and passes through IO and motion controller phase The tray sensor of connection, tray sensor are sent a signal to by motion controller afterwards in place in the pallet for holding product stacking Industrial personal computer, industrial personal computer feedback signal control tray motor to motion controller and stop driving；Simultaneously in stacking pallet feeder The rack 5 of 3 top of position is equipped at monitoring stacking pallet feed station 3 whether have visual sensor existing for material, the vision Sensor is connected with industrial personal computer.
As shown in fig. 6, decomposing conveying mechanism 4 includes the decomposition roller 41 rotated to the left with right side respectively, roller is decomposed 41 both ends are separately positioned on the bearing on corresponding mounting plate 42 Nei and wherein one end is equipped with sprocket wheel 43, are passed through between sprocket wheel 43 Corresponding driving chain 44 is connected, and left-hand rotation motor 45 and right-hand machine 46 are driven by corresponding drive chain 47 correspond to respectively Decomposition roller 41 rotate, then successively drive 41 turns of the decomposition roller on the outside of it by driving chain 44 by the decomposition roller 41 It is dynamic.Two sprocket wheels 43 being set side by side are equipped in the end for decomposing roller 41, the same sprocket wheel 43 for decomposing the inside on roller 41 is When driving wheel, then the sprocket wheel 43 in outside is follower and another decomposition roller 41 adjacent with the decomposition roller 41 that rotates in same direction On inside sprocket wheel 43 be follower, outside sprocket wheel 43 be driving wheel；It rotates in same direction simultaneously and the decomposition for being located at outside is rolled The number of teeth of sprocket wheel 43 on cylinder 41 is less than the number of teeth for decomposing the sprocket wheel 43 on roller 41 positioned inside, so that being located at point in outside It solves the rate that roller 41 rotates and is greater than the rate that the decomposition roller 41 positioned inside rotates；And sprocket wheel 43 the number of teeth it is few decomposition rolling The quantity of cylinder 41 is no more than the half of the quantity of the decomposition roller 41 rotate in same direction.Decomposition conveying mechanism 4 is whole by above-mentioned setting Layer product, which is placed on, to be decomposed on the roll plane that roller 41 is constituted, and two motors drive corresponding decompose using centre as boundary, respectively Roller 41 generates differential to both sides sub-material, while by the variation of 43 number of teeth of sprocket wheel, to pull open the spacing between product.In addition dividing It solves and is equipped with material gear stop mechanism at conveying mechanism 4, material gear stop mechanism, which sets up separately, is decomposing the two sides of conveying mechanism 4 so that decomposing Conveying mechanism 4 can only be decomposed every time on a column material to corresponding pipeline 7；It is logical that material in material gear stop mechanism keeps off cylinder of stopping the supple of gas or steam IO is crossed to be connected with motion controller；And be equipped on mounting plate 42 against the fractionation photoelectric sensor for decomposing the setting of roller 41, Photoelectric sensor is split to be connected by IO with motion controller and lead to the material signal for decomposing the corresponding position of roller 41 It crosses motion controller and sends a signal to industrial personal computer, industrial personal computer feedback signal controls left-hand rotation motor 45 to motion controller and turns right The pause driving of motor 46, realizes the control for decomposing conveying mechanism 4.
As shown in Figure 7,8, bridging on pipeline 7 has steering mechanism 72, and steering mechanism 72 includes riding upon on pipeline 7 Steering bracket 721, the front end of steering bracket 721 be equipped with monitoring product towards whether correct turnning box detection sensor 722, The quantity of the turnning box detection sensor 722 is no less than two, and between two turnning box detection sensors 722 of lie farthest away between Away from the width for being greater than product and less than the length of product, so that steering mechanism 72 goes to the length direction of product perpendicular to conveying The direction of transfer of line 7；The inner cavity top of steering bracket 721 is provided with rotary cylinder 723, the lower end of rotary cylinder 723 is fixed There is positioning disk 724, is respectively arranged in two guide grooves 725 on positioning disk 724 and connects straight down across the steering of guide groove 725 Bar 726 and steering link 726 can be for linear motion along the direction perpendicular to pipeline 7 in guide groove 725；Turnning box detection passes Whether sensor 722 is connected with motion controller by IO and the signal of turnning box will be needed to send a signal to by motion controller Industrial personal computer, industrial personal computer feedback signal control the rotation or static of rotary cylinder 723 to motion controller.Rotary cylinder 723 revolves Turn that positioning disk 724 is driven to rotate, the positioning disk 724 of rotation is able to drive two steering links 726 along guide groove 725 inwardly close to folder It takes product and turns to correct direction, two steering links 726 continue under the drive of positioning disk 724 along guide groove 725 later It is outwardly away from product and is moved to the distal end of guide groove 725.On the basis of above structure, in the top frame of steering bracket 721 It is provided with two cross-brace framves 7210 being set side by side in frame, is provided perpendicular to pipeline on the bottom surface of cross-brace frame 7210 The linear guides 727 of 7 settings, corresponding steerings sliding block 728 is equipped in linear guide 727, and the bottom of steering sliding block 728 is equipped with The steering link 726 being vertically arranged；The short support 729 being set side by side, rotary pneumatic are equipped between cross-brace frame 7210 simultaneously Cylinder 723 is fixed at the bottom of short support 729.
In the steering mechanism shown in Fig. 7,8, it is assumed that there are three turnning box detection sensors 722 for setting, when on pipeline 7 When product is reached at the position that turnning box detection sensor 722 detects, such as three turnning box detection sensors 722 fail all to light, Then when product reaches 721 underface of steering bracket, rotary cylinder 723 drives positioning disk 724 to rotate, steering link 726 It is for linear motion along the direction perpendicular to pipeline 7 in guide groove 725, and two steering links 726 are inwardly leaned on along guide groove 725 Nearly clamping product simultaneously turns to correct direction, and two steering links 726 continue under the drive of positioning disk 724 along guide groove later 725 are outwardly away from product and are moved to the distal end of guide groove 725, complete the go to action of product.On the basis of the steering mechanism 8 On, it can also be arranged on the pipeline 7 at 722 position of turnning box detection sensor and keep off cylinder of stopping the supple of gas or steam accordingly, to give rotary cylinder 723 Certain reaction time.
It is further to note that the region both ends that face decomposes conveying mechanism 4 on pipeline 7 be equipped with it is corresponding to penetrating Sensor, opposite type sensor pass through IO respectively and are connected with motion controller and whether will have material on the pipeline 7 in the region Live signal sends a signal to industrial personal computer by motion controller, and industrial personal computer determines whether to pass through motion control according to live signal Device control is decomposed conveying mechanism 4 and is decomposed on a column material to the pipeline 7 in the region；Drive the feeder motor of pipeline logical simultaneously Frequency converter is crossed to be connected with motion controller.
As shown in Fig. 1,9, integration platform 71 includes the integration plane being made of integration roller 713, integrates the outer of roller 713 Side is arranged in same with side and has on the integration side plate 714 of bearing, and the inside for integrating roller 713 is then independent embedding with side Set it is corresponding it is independent integrate in bearing block 715, in order to robot 9 clamping apparatus 91 grab integration platform 71 on Product；Baffle 711 is equipped in the front end of integration platform 71 and is equipped with corresponding robot list in the side of integration platform 71 or lower section The trunkful photoelectric sensor 712 of the material quantity of secondary crawl, trunkful photoelectric sensor 712, which is mounted on, corresponding integrates side plate 714 On mobile chassis 2 that is upper or integrating 713 underface of roller, trunkful photoelectric sensor 712 passes through IO and motion controller respectively It is connected.Trunkful photoelectric sensor 712 is arranged in pairs to meet integration platform 71 and can integrate two productions simultaneously under normal circumstances Product, also settable three trunkful photoelectric sensors 712, the clamping apparatus 91 of robot 9 can grab three products simultaneously at this time.Separately The side of pipeline 7 on rear side of external integration platform 71 or lower section are equipped with gear stop mechanism 73, and gear stop mechanism 73 includes keeping off cylinder of stopping the supple of gas or steam 731 are fixed on the driving end for keeping off cylinder 731 of stopping the supple of gas or steam with gear trading halt 732, the bottom surface of the gear trading halt 732 of Jie Mian Cheng Shang shape.Such as Fig. 1,9 institutes Show, when two trunkful photoelectric sensors 712 all light, then gear is stopped the supple of gas or steam, and the driving gear trading halt 732 of cylinder 731 is upward to be released to block Subsequent product on pipeline 7, and after thering is product to be stopped by the gear of retaining bottle board 732, drum conveying line 7 suspends to avoid abraded product Bottom；After the clamping apparatus 91 of 9 front end of robot takes two products on integration platform 71 away entrucking, gear trading halt 732 to In lower falling and the continuation conveying products to integration platform 71 of pipeline 7.
As shown in Figure 10, clamping apparatus 91 includes the mounting flange 911 for being mounted on 92 front end of mechanical arm of robot 9, installation Flange 911 is fixedly arranged at the front end with fixture mounting plate 912, is fixedly installed lower platen 913 in the downside of fixture mounting plate 912, under The surface of pressing plate 913, which is equipped on top board 914 and the medial surface of the two, is all equipped with non-skid band 9111, the root of top board 914 It is fixed on pressing plate elevator 915, the bottom of pressing plate elevator 915 is mounted on the driving end of clamping cylinder 916 by connecting plate Place, clamping cylinder 916 is fixedly mounted on fixture mounting plate 912 and the middle part of fixture mounting plate 912 is provided with horizontal sliding cylinder 917, the push plate 918 between lower platen 913 and top board 914 is mounted on the driving end of horizontal sliding cylinder 917, horizontal sliding cylinder 917 can drive push plate 918 to release product from clamping apparatus 91；In addition clamp rail is equipped on fixture mounting plate 912 919, fixture slide block 9110 corresponding with clamp rail 919 is fixed on pressing plate elevator 915, so that 916 band of clamping cylinder Dynamic top board 914 can be gone up and down when going up and down along clamp rail 919.In above-mentioned clamping apparatus 91, horizontal sliding cylinder 917 and clamping cylinder 916 positional relationship can have the following two kinds: one is two mutually independent horizontal sliding cylinders 917 to be separately mounted to clamping cylinder 916 two sides, another kind are the two sides that two clamping cylinders 916 are separately mounted to horizontal sliding cylinder 917, are generally said always, for work The stability of fixture 91 considers, can use the set-up mode of the first.Above-mentioned horizontal sliding cylinder 917 and clamping cylinder 916 are distinguished It is connected by route with robot 9, the information that robot 9 is transmitted according to industrial personal computer is to horizontal sliding cylinder 917 and clamping cylinder 916 It is controlled；Horizontal sliding cylinder 917 and clamping cylinder 916 only two are controlled by robot 9 in the technical solution of the utility model Cylinder, the remaining cylinders in the entrucking robot system all pass through IO and are controlled by motion controller.
As shown in figure 11, the pallet export agency 8 positioned at 3 side of stacking pallet feed station is equipped on mobile chassis 2, Pallet export agency 8 can take the empty pallet in stacking pallet feed station 3 away.The pallet export agency 8 includes installation bottom Seat 81, being equipped in mounting seat 81 can be along the turnover translation moving plate 82 that 81 length direction of mounting seat moves, in turnover translation moving Plate 82 is equipped with overturning motor 83, and the output end of overturning motor 83 is connected with torsion shaft 84 and torsion shaft 84 passes through overturning bearing block 87 are supported on turnover translation moving plate 82, and the front end that upset connecting rod 85 and upset connecting rod 85 are fixed on torsion shaft 84 is fixedly installed The vacuum attracting instrument 86 of pallet can be drawn；Suction tool motor 88 is fixedly installed in mounting seat 81 simultaneously, vacuum attracting instrument 86 is logical It crosses corresponding vacuum tube to be connected with vacuum pump, inhales and be provided with pallet driving wheel 89 on the output shaft of tool motor 88, pallet is actively Wheel 89 is connected by pallet synchronous belt 810 with the pallet follower 811 that 81 other end of mounting seat is arranged in, turnover translation moving plate 82 are fixed on the driving lower edge peace for enabling turnover translation moving plate 82 in suction tool motor 88 on pallet synchronous belt 810 by connector Dress pedestal 81 moves horizontally；The tray rail 812 being arranged along its length, tray rail 812 are equipped in mounting seat 81 The two sides of base openings slot 813 are set and tray rail 812 is sliding with the respective trays of 82 bottom of turnover translation moving plate setting respectively Block 814 constitutes matching relationship.Above-mentioned overturning motor 83 and suction tool motor 88 is connected by frequency converter with motion controller respectively It connects.
On the basis of above system, laser scanner is arranged in a mutually vertical manner the side in robot 9, two laser scanners It is capable of the entrucking situation of Real-time Feedback robot 9 with 9 entrucking of guidance machine people；In addition it is also equipped in the rear end of mobile chassis 2 sharp Photoscanner, to detect the tail portion situation of laser guidance Full automatic loading machine people's system in real time and feed back to industrial personal computer.It should Laser scanner in system uses industrial camera using 3D laser scanner and visual sensor.
In addition as shown in figure 12, industrial personal computer passes through Ethernet and laser scanner, view respectively in the system of the utility model Feel that sensor, robot 9 and motion controller are communicated, motion controller reaches interchanger conversion in fact by ethernet communication Existing touch screen man-machine communication and the connecting communication with PC machine；Motion controller is by ECAT communication port servo, frequency converter, IO It is attached, forms a whole set of control system.Industrial personal computer controls servo motor by motion controller, and wherein motion controller needs The control of mobile chassis 2 is just able to achieve by servo and IO simultaneously, realizes the automatic Pilot of mobile chassis 2；I/O signal is to periphery Controlling terminal controlled, as vacuum pump, the remaining cylinders in addition to clamping cylinder 916 and horizontal sliding cylinder 917, sucker represent Vacuum attracting instrument 86 and sucker clamping apparatus 612 and all sensors in addition to visual sensor；Frequency Converter Control removes servo Whole motors except motor, realize the conveying of material.The data that industrial personal computer transmits laser scanner and visual sensor into The data information handled well is sent to robot 9, motion controller by Ethernet by row analysis processing, industrial personal computer, is realized double The mutual transmission of square information receives.After robot 9 receives the information of industrial personal computer, the Zero positioning of itself is carried out, is led in real time News, carry out crawl entrucking to material.
Carry out the laser guidance Full automatic loading to the utility model below by the explanation to system composition and operating principle Robot system is further detailed.
Laser guidance Full automatic loading machine people's system is by a mobile chassis 2, one or six axis articulated robots 9, object Material is torn disk, material conveying and integration, laser scanner, visual sensor and corresponding control unit etc. open and is formed.The master of the equipment Wanting working principle is: under normal condition, which enters lorry compartment by pilot steering Or in container, subsequent personnel are exited, and entrucking robot system is switched to automatic running and automatic loading function.The disk that puts one's child in a boarding nursery produces Product are sent by fork truck to the stacking pallet feed station 3 at entrucking robot system rear portion, the vision at stacking pallet feed station 3 Sensor detects the information that material arrives and passes to industrial personal computer, and industrial personal computer tears conveying dress open by motion controller come stacking layer The correspondence servo motor in 6 is set, material tears disk open and passes through servo-drive and control system, the sucker work that can draw a flood material Fixture 612 and differential roller platform realize separation that material cabinet layer is separated with layer, case with case, and final realize tear disk operation open； Specifically, the sucker clamping apparatus 612 with sponge is moved to above material tray, sucker clamping apparatus 612 is inhaled from material tray It takes a flood material and moves on the drum platform for decomposing conveying mechanism 4, decompose roller 41 under the action of roller differential motion Product cabinet is separated according to columns；The product separated is sent into entrucking robot system two sides in the form of permutation On drum conveying line 7；The pipeline 7 driven by feeder motor, is sent to front end at the product of case and is formed simultaneously two casees One group of integration form；The corresponding position realization for shifting and being placed on compartment or container is automatically grabbed finally by robot 9 Automatic loading process.In order to accurately complete car loading operation, several laser scanners and visual sensor are housed in whole equipment, Robot 9 is passed after laser scanner and visual sensor real-time measurement with respect to the position of compartment or container left and right sides and front end To industrial personal computer, industrial personal computer by transmission after the data processing received to robot 9, joined by automatic Calibration and position by robot 9 Number updates, and entrucking robot system constantly repeats crawl code material work until uniline code material terminates in compartment or container.
When robot 9 terminates uniline code material, two of whole equipment with respect to compartment or container are completed in laser scanner The scanning of side relative position and the coordinate position parameter for providing driving direction, at this moment entrucking robot system is received by hydraulic system Rise support leg with vacate drive walking space, then motion sensor by mobile chassis 2 start driving wheel according to regulation just True direction and track travel the length distance of a material；Make a reservation for when mobile chassis 2 drives entrucking robot system to reach regulation Behind position, hydraulic system props up support leg, and the mounting platform of entrucking robot system resets to horizontal position, robot again 9 also begin to the code material work of next line.
In conclusion laser guidance Full automatic loading machine people's system includes automatic running, tears disk, robot and special tool open Fixture, laser scanner and visual sensor and walking guidance mechanism or function.The code material of robot 9 must be in operation process In in real time clear robot 9 fixed coordinate system origin at a distance from cabinet left and right side and front real-time measurement, 9 He of robot Elevation carrection of the rack 5 away from top of the box；The automatic running of entrucking robot system must be by laser scanner and visual sensing Device offer real-time measuring data comes the opposite compartment of clear mobile chassis 2 or the unilateral distance of container is how many, whether front and back puts down Row, and carry out real time correction and update.
Positioning is piled up to the manipulator of robot 9 below and carries out schematic illustration: Nowadays, Container shipping there are two types of size 40ft, 20ft.The gabarit of container and the size of interior exterior feature have standard value, but practical cabinet has deformation caused by collision, has Difference.The fixation position of present this form robot different from the past works, since entrucking robot system is in operation Process constantly shifts, and robot 9 is variation in code material operation with respect to container position, and when entrucking needs laser scanner pair Front end, two sides and the top of container are scanned, and establish a 3d space coordinate X-Y-Z；Laser scanner and robot are logical It crosses Ethernet TCP_IP to be communicated, measurement data is transformed into the position coordinate parameters of robot 9, robot 9 can be continuous The amendment of 9 yards of discharge positions of origin calibration and robot is carried out, code material entrucking process is likely to be able to continue propulsion.And it can install Visual sensor on the arm of entrucking robot 9 is dry can quickly carry out Image Acquisition and processing, can be used to quickly detect every The safety and disturbed condition that one duty cycle, code was expected.
Moved into compartment or container for the first time in entrucking robot system, laser scanner scans container front end away from From Y-direction, reach setting value apart from front end, laser scanner spreads out of a signal to industrial personal computer, and industrial personal computer passes through motion control The displacement and stopping of device control mobile chassis 2.Laser scanner measurement goes out the coordinate of X, Y-direction at this time, passes through Ethernet TCP_ IP carries out communication and is transmitted to robot 9, and robot 9, which receives, to be started crawl first case after coordinate and pile up to by calculating and calibration Position, robot 9 can carry out automatically position compensation according to the length of first case and carton when piling up second case, pile up position Before setting compensation, coordinate information is transmitted to robot 9 and does a judgement, mobile chassis by laser scanner and visual sensor needs Whether 2 positions change, and start to pile up the second case if do not changed, and so on.Bottom is moved after having piled up the first row Disk 2 parameter and guidance after walking coordinate on the inside of the compartment or container that laser scanner acquires retreat, and swash during retrogressing The distance that the Y-direction of photoscanner detects issues a signal to industrial personal computer after reaching specified distance, and industrial personal computer passes through fortune Movement controller controls mobile chassis 2 and stops, and then starts the code material process of subsequent cycle, and principle is same as above, until compartment or packaging Case entrucking task is completed.
Schematic illustration is carried out to the horizontal detection of mobile chassis 2 below: can during 2 automatic running of mobile chassis Left and right offset can occur, offset will lead to entrucking robot system and container wall collides, to guarantee mobile chassis 2 Among container and mobile chassis 2 and center compartment are horizontal.In the horizontal context of detection of mobile chassis 2, it is mounted on entrucking The synchronous detection of laser scanner before and after robot system is away from two lateral extent of compartment, to the mobile chassis 2 of entrucking robot system Distance apart from respective side carries out a simple operation and obtains side distance and movement deviation angle, then by judging distance Then the relationship between horizontal distance adjusts robot 9 in code material to judge the tilt angle of mobile chassis 2 and horizontal direction Level angle in the process.
In addition, robot 9 need to be detected simultaneously when robot 9 is moved into compartment or container by mobile chassis 2 and moved Dynamic distance from top of the chassis 2 away from compartment or container (may have bracket etc to block on top), bumps against compartment to avoid robot 9 Top.Also laser range sensor, its distance apart from top of real-time measurement can be also installed on the top of mobile chassis 2.
Below to the laser guidance Full automatic loading machine people of the utility model by taking the dismantling of milk box, conveying, vanning as an example System is further detailed.
Brief process are as follows: operator drives entrucking robot system and reaches compartment or container predetermined position, above Robot 9 also moves scheduled starting or origin position；Chai Pan executing agency tears the product box piled up on pallet open It unloads and separates；Product box is transmitted on drum conveying line 7 by single (or single-row)；The robot 9 of 2 front end of mobile chassis and specially Clamping apparatus 91 realize product cabinet crawl, successively pile up in compartment or container, by real-time detection ensure machine, 9 It does not collide with or squeezes between compartment or container side or product and product；After previous row product box is piled up, move Dynamic chassis 2 retreats the distance (reference product case width) of a product box body length under the guidance of laser scanner, then Stopping repeats the production of code material；After measuring relevant surfaces, after 91 positioning and demarcating of robot 9 and clamping apparatus, the new a line of stacking Product box；According to preceding step, circulation is carried out: material stacking-material is piled up height arrival-mobile chassis 2 automatically moves back-and is stopped Vehicle automatic hydraulic supports-continues starting new a line material to pile up, until entrucking finishes.
Act the detailed process of execution part are as follows: laser guidance Full automatic loading machine people's system of the utility model works When, this is moved into entrucking robot system first and is travelled to entrucking position, the pallet for holding milk box stacking is placed on stacking by fork truck In pallet feed station 3；Vertical conveying mechanism 62 goes up and down level dismantling conveying mechanism 61 to the corresponding positions on the upside of milk box stacking It sets, then sucker clamping apparatus 612 is delivered to milk box code by the rotation of horizontal synchronization band 614 by the starting of horizontal feed motor 615 The surface of pile；Vertical 62 drive level of the conveying mechanism dismantling decline of conveying mechanism 61 is so that sucker clamping apparatus 612 drops down onto later The top of milk box stacking, sucker clamping apparatus 612 draw the flood milk box at the top of milk box stacking, and then horizontal feed motor 615 is anti- The sucker clamping apparatus 612 that suction has flood milk box is moved to the surface for decomposing conveying mechanism 4 to acting, then vertical conveyer 62 drive level of structure dismantling conveying mechanism 61 declines so that the flood milk box that sucker clamping apparatus 612 is drawn falls to decomposition conveyer On structure 4；Left-hand rotation motor 45 and right-hand machine 46 in decomposition conveying mechanism 4, which rotate backward, resolves into a flood milk box mutually solely A vertical column milk box is simultaneously delivered on the corresponding pipeline 7 in two sides, since the same layer milk box in stacking is towards inconsistent, The length direction that the length direction that each independent milk box fallen on pipeline 7 has is transversely to the conveying direction, has is parallel to conveying side To, therefore the turnning box mechanism 72 that 7 middle section of pipeline is arranged in needs not meeting towards desired milk box and is uniformly diverted to milk The length direction of case is transversely to the conveying direction；Milk box continuation is advanced on pipeline 7, finally drops down onto the integration of 7 front end of pipeline On platform 71, when two trunkful photoelectric sensors 712 all light, then gear stops the supple of gas or steam the driving gear release of trading halt 732 of cylinder 731 to keep off The firmly subsequent milk box on pipeline 7, and after thering is milk box to be stopped by the gear of retaining bottle board 732, the pause of drum conveying line 7 is to avoid abrasion milk The bottom of case；After the clamping apparatus 91 of 9 front end of robot takes two milk boxes on integration platform 71 away entrucking, trading halt 732 is kept off Return and pipeline 7 continue to convey in milk box to integration platform 71；Two laser scanners and vision of 9 side of robot are set Sensor is capable of the internal environment in Real-time Feedback entrucking situation and compartment with 9 entrucking of guidance machine people, through actually using, the laser The vanning amount for guiding Full automatic loading machine people's system is not less than 1400 casees/hour, has greatly liberated human resources.Stacking layer is torn open Conveying device 6 repeats the process that stacking layering dismantling, flood milk box are resolved into independent milk box, until the stacking on a pallet It is disassembled and finishes, the situation that pallet is emptied can be timely feedbacked by being arranged in the visual sensor at stacking pallet feed station 3； Then the overturning motor 83 on pallet export agency 8 starts, and overturns vacuum attracting instrument 86 and vacuum attracting instrument 86 is made to be adsorbed on empty pallet On, overturning motor 83 rotates backward so that empty pallet is vertically arranged；The tool starting of motor 88 is inhaled later, and turnover translation moving plate 83 is mobile To the other end of mounting seat 81, overturning motor 83 drives upset connecting rod 84 that empty pallet is rotated to be level after reaching designated position It is put down after state, inhales tool 88 counter motion of motor for the waiting of 83 return of turnover translation moving plate and adsorb empty pallet next time.
The utility model disassembles conveying mechanism 61 rapidly by stacking layering dismantling, then by decomposing conveying mechanism by horizontal Single-layer products partition is independent individual rapidly by 4, then by pipeline 7 and steering mechanism 72 combine by Product organization at Towards identical independent individual, product is grabbed by robot 9 later and is piled up in compartment according to certain rules, is cooperated Laser scanner and visual sensor can Real-time Feedback entrucking situation with 9 entrucking of guidance machine people；Divide the work between each mechanism Clear and cooperation is accurate, can be realized quick partition, conveying, integration and entrucking from stacking to individual packages, arrives in system Position after, only need pilot steering fork truck the pallet for holding product stacking is placed in stacking pallet feed station 3 and manually from Take pallet away on pallet export agency 8, can satisfy the entrucking scene of various situations, thus have intelligent, mechanization and It is the characteristics of automation, compact-sized, stable and applied widely, therefore be suitable for promoting the use of.
Above embodiments are only to illustrate the technical idea of the utility model, and the protection model of the utility model cannot be limited with this Enclose, it is all according to the utility model proposes technical idea, any changes made on the basis of the technical scheme each falls within this reality Within the scope of novel protected；The technology that the utility model is not directed to can be realized by the prior art.

Claims (58)

1. a kind of laser guidance Full automatic loading machine people's system, it is characterised in that: the system includes being capable of automatic running Mobile chassis (2), organic frame (5) are set in the rear end of mobile chassis (2), are set along the extending direction of mobile chassis (2) is adjacent It is equipped with the stacking pallet feed station (3) being located in rack (5) and the decomposition conveying mechanism (4) on the inside of it, and on rack (5) Dismantling can be layered for the stacking on stacking pallet feed station (3) by, which being provided with, is delivered to the stacking decomposed on conveying mechanism (4) Layer tears conveying device (6) open, is respectively equipped with pipeline (7) of the front end with integration platform (71) in the two sides for decomposing conveying mechanism (4), The robot (9) that is mounted on mobile chassis (2) is equipped between two strip transmission lines (7), be equipped at robot (9) respectively with The car information of the laser scanner and visual sensor that industrial personal computer is connected, laser scanner and visual sensor acquisition is real-time Industrial personal computer is fed back to, industrial personal computer is connected with the motion controller of remaining executing agency of robot (9) and control respectively；The system When work, mobile chassis (2) drives the system to be parked in entrucking position, and the pallet for holding product stacking is placed on stacking by fork truck In pallet feed station (3), stacking layer tears surface and the suction that conveying device (6) is then moved to stacking pallet feed station (3) open A flood product is taken, the flood product is moved to later and decomposes above conveying mechanism (4) and falls to decomposition conveying mechanism (4) on, the pipeline that the flood product is resolved into mutually independent product and be delivered to two sides by conveying mechanism (4) is decomposed (7) on, product by robot (9) drives clamping apparatus (91) crawl product and code thereon after finally dropping down on integration platform (71) It is placed in compartment.
2. laser guidance Full automatic loading machine people's system according to claim 1, it is characterised in that: the stacking layer Tearing conveying device (6) open includes horizontal dismantling conveying mechanism (61) and vertical conveying mechanism (62), level dismantling conveying mechanism (61) It is mounted on vertical conveying mechanism (62) and can make to move up and down vertically under the action of vertical conveying mechanism (62), and is horizontal Dismantling conveying mechanism (61) itself is able to drive flood product and moves horizontally；The vertical conveying mechanism (62) is mounted on machine On the column (51) of frame (5).
3. laser guidance Full automatic loading machine people's system according to claim 2, it is characterised in that: the level is torn open Solving conveying mechanism (61) includes a horizontal pane (611) and sucker clamping apparatus (612), the suction being connected by vacuum tube with vacuum pump Disk clamping apparatus (612) is fixed on across the bottom of the horizontal gird (613) of horizontal pane (611), the both ends point of horizontal gird (613) It is not fixed on the horizontal synchronization band (614) of its two sides, two horizontal synchronization bands (614) disposed in parallel are defeated using same level Power transmission machine (615) driving, horizontal feed motor (615) drive sucker clamping apparatus (612) along level by horizontal synchronization band (614) The length direction of frame (611) moves horizontally.
4. laser guidance Full automatic loading machine people's system according to claim 3, it is characterised in that: the horizontal pane (611) long side is equipped with the frame that is slidably installed (616) that can be slided along the long side of horizontal pane (611), horizontal gird (613) End is fixed on the inner panel outer wall of the corresponding frame that is slidably installed (616), is then installed on the outside plate outer wall of the frame that is slidably installed (616) There is the levelling block (617) being capable of fixing on respective horizontal synchronous belt (614).
5. laser guidance Full automatic loading machine people's system according to claim 4, it is characterised in that: described to be slidably installed Link block is provided between the inner panel and outside plate of frame (616) and lumen width that inner panel and outside plate are constituted and horizontal pane (611) Long side maximum width is identical.
6. laser guidance Full automatic loading machine people's system according to claim 4 or 5, it is characterised in that: the cunning Flute profile guide wheel (618) are provided in dynamic mounting rack (616), and are equipped with and flute profile guide wheel (618) in the long side of horizontal pane (611) Corresponding convex guide rail (619).
7. laser guidance Full automatic loading machine people's system according to claim 6, it is characterised in that: the flute profile guide wheel (618) section is in the convex arc shaped to match with concave arc shape in the section of concave arc shape and the convex guide rail (619).
8. laser guidance Full automatic loading machine people's system according to claim 4, it is characterised in that: every horizontal synchronization Levelling block (617) quantity on band (614) is no less than two pieces.
9. laser guidance Full automatic loading machine people's system according to claim 3, it is characterised in that: the level is defeated Power transmission machine (615) is fixedly mounted on the end side of horizontal pane (611) by horizontal motor mounting base, and horizontal feed motor (615) drives Dynamic horizontal drive shaft (6110) is perpendicular to the length direction setting of horizontal pane (611) and the both ends point of horizontal drive shaft (6110) It is not provided with horizontal driving wheel (6111), horizontal driving wheel (6111) is by horizontal synchronization band (614) and is arranged in horizontal pane (611) the horizontal follower (6112) of long side side is connected.
10. laser guidance Full automatic loading machine people's system according to claim 9, it is characterised in that: the level Driving wheel (6111) and horizontal follower (6112) are separately positioned in corresponding horizontal bearing seat (6113), horizontal bearing seat (6113) it is fixedly mounted on the lateral wall of horizontal pane (611).
11. laser guidance Full automatic loading machine people's system according to claim 2, it is characterised in that: described is vertical Conveying mechanism (62) include setting rack (5) one end vertical feeder motor (621), vertical feeder motor (621) it is defeated Outlet drive active synchronization axis (622), active synchronization axis (622) by a horizontal conveyor belt (623) with positioned at rack (5) it is another The passive and synchronous axis (624) of end side is connected, and is located at active synchronization axis (622) and passive and synchronous axis (624) both ends Vertical driving wheel (625) is connected by corresponding vertical synchronous belt (626) with corresponding vertical follower (627) respectively；Institute Horizontal dismantling conveying mechanism (61) stated is fixedly mounted on vertical synchronous belt (626) and can follow vertical synchronous belt (626) It rises or falls.
12. laser guidance Full automatic loading machine people's system according to claim 11, it is characterised in that: the quilt vertically The axis of driving wheel (627) is mounted in strainer (628), which is mounted on the lower part of corresponding column (51).
13. laser guidance Full automatic loading machine people's system according to claim 11 or 12, it is characterised in that: described Vertical feeder motor (621) is fixedly mounted on the top of column (51), vertical feeder motor (621) by vertical motor mount Output end be connected by vertical transmission belt (629) with the vertical driving wheel (6210) on active synchronization axis (622) so that perpendicular Vertical driving wheel (6210) is driven by vertical transmission belt (629) when straight feeder motor (621) operating and is driven actively same Walk axis (622) rotation.
14. laser guidance Full automatic loading machine people's system according to claim 11, it is characterised in that: described is vertical Synchronous belt (626) is equipped with corresponding vertical briquetting (6211), and vertical briquetting (6211) is fixed on horizontal dismantling conveying mechanism (61) in the corresponding long side of horizontal pane (611), so that being able to drive on horizontal pane (611) when vertical synchronous belt (626) operating It rises or declines.
15. laser guidance Full automatic loading machine people's system according to claim 14, it is characterised in that: described is vertical Briquetting (6211) is fixed on the outside of the end of the long side extension end of horizontal pane (611) and the long side other end of horizontal pane (611) On wall.
16. laser guidance Full automatic loading machine people's system according to claim 15, it is characterised in that: be located at horizontal pane (611) the vertical briquetting (6211) of long side extension end end stretches out inwardly to be fixed on corresponding vertical synchronous belt (626)； Vertical briquetting (6211) on the lateral wall of the long side other end of horizontal pane (611) stretches out outward is fixed on corresponding erect On straight synchronous belt (626).
17. laser guidance Full automatic loading machine people's system according to claim 2 or 11, it is characterised in that: described Vertical conveying mechanism (62) includes being vertically directed mechanism (6212), and it includes guide wheel fixed plate that this, which is vertically directed mechanism (6212), (6213), taper guide wheel (6214) and vertical guide idlers (6215), taper guide wheel (6214) and vertical guide idlers (6215) are all arranged In guide wheel fixed plate (6213) and it is mutually perpendicular.
18. laser guidance Full automatic loading machine people's system according to claim 17, it is characterised in that: described vertically to lead The tensioning shaft (6216) of wheel (6215) is placed in the locating piece (6217) with tensioning slot and locating piece (6217) is fixed at In guide wheel fixed plate (6213).
19. laser guidance Full automatic loading machine people's system according to claim 17, it is characterised in that: same to lead vertically Taper guide wheel (6214) and vertical guide idlers (6215) in mechanism (6212) are all embedded in corresponding column (51) and being capable of edges Column (51) moves up and down vertically.
20. laser guidance Full automatic loading machine people's system according to claim 19, it is characterised in that: the column (51) it is made of channel steel and the frontal plane of taper guide wheel (6214) and the cyclic annular conical surface can be simultaneously and in the groove of column (51) Surface fits；The groove floor rotation of the vertical guide idlers (6215) fitting column (51) simultaneously.
21. laser guidance Full automatic loading machine people's system according to claim 17, it is characterised in that: described is vertical Guiding mechanism (6212) is mounted in the horizontal pane (611) of horizontal dismantling conveying mechanism (61) by being oriented to mounting base (6218).
22. laser guidance Full automatic loading machine people's system according to claim 21, it is characterised in that: a pair of guiding peace Seat (6218) setting is filled on the inner sidewall of the long side extension end of horizontal pane (611) or outside short side corresponding to long side extension end On side wall, then setting is another in the end of the long side other end of horizontal pane (611) or long side for another pair guiding mounting base (6218) On short side lateral wall corresponding to one end.
23. laser guidance Full automatic loading machine people's system according to claim 22, it is characterised in that: be located at horizontal pane (611) two at long side extension end are vertically directed corresponding taper guide wheel (6214) and vertical guide idlers on mechanism (6212) (6215) all it is arranged towards inside；Two at the long side other end of horizontal pane (611) are vertically directed on mechanism (6212) Corresponding taper guide wheel (6214) and vertical guide idlers (6215) are all arranged towards outside.
24. laser guidance Full automatic loading machine people's system according to claim 23, it is characterised in that: set towards inside The two taper guide wheels (6214) set are oppositely arranged and two taper guide wheels (6214) being arranged towards outside are arranged backwards；Towards inside Two vertical guide idlers (6215) being arranged are oppositely arranged and two vertical guide idlers (6215) being arranged towards outside are arranged backwards.
25. laser guidance Full automatic loading machine people's system according to claim 1, it is characterised in that: the rack It (5) include four columns (51) and a rectangle frame (52), the top of column (51) is fixed on rectangle frame (52) and column (51) bottom end is fixed on mobile chassis (2).
26. laser guidance Full automatic loading machine people's system according to claim 25, it is characterised in that: four columns (51) horizontal cross-section constituted is arranged in isosceles trapezoid, so that wherein the top of two root posts (51) is fixed on rectangle frame (52) On two angles, the top of another two root posts (51) is fixed on a short side of rectangle frame (52).
27. according to claim 1 or laser guidance Full automatic loading machine people's system described in 25, it is characterised in that: described The pallet roller (31) using tray motor driving is equipped at stacking pallet feed station (3), pallet roller (31) is in pallet electricity The position for holding the pallet of product stacking can be corrected under the driving of machine.
28. laser guidance Full automatic loading machine people's system according to claim 27, it is characterised in that: the stacking The tray sensor being connected by IO with motion controller is equipped at pallet feed station (3), tray sensor is holding production The pallet of product stacking sends a signal to industrial personal computer by motion controller afterwards in place, industrial personal computer feedback signal to motion controller with It controls tray motor and stops driving.
29. laser guidance Full automatic loading machine people's system according to claim 27, it is characterised in that: the stacking support Rack (5) above disk feed station (3) is equipped at monitoring stacking pallet feed station (3) whether have vision existing for material Sensor, the visual sensor are connected with industrial personal computer.
30. laser guidance Full automatic loading machine people's system according to claim 1, it is characterised in that: the decomposition Conveying mechanism (4) includes that the decomposition roller (41) to the left with right side rotation, the both ends for decomposing roller (41) are respectively set respectively Sprocket wheel (43) are equipped in bearing on corresponding mounting plate (42) and wherein on one end, by being driven accordingly between sprocket wheel (43) Chain (44) is connected, and left-hand rotation motor (45) and right-hand machine (46) are corresponding by corresponding drive chain (47) driving respectively Roller (41) rotation is decomposed, then successively drives the decomposition roller on the outside of it by driving chain (44) by the decomposition roller (41) (41) it rotates.
31. laser guidance Full automatic loading machine people's system according to claim 30, it is characterised in that: the decomposition rolling The end of cylinder (41) is equipped with two sprocket wheels (43) being set side by side, and the same sprocket wheel (43) for decomposing the inside on roller (41) is actively When wheel, then the sprocket wheel (43) in outside is follower and another decomposition roller adjacent with the decomposition roller (41) that rotates in same direction (41) sprocket wheel (43) of the inside on be follower, outside sprocket wheel (43) be driving wheel.
32. laser guidance Full automatic loading machine people's system according to claim 30 or 31, it is characterised in that: turn in the same direction The number of teeth for moving and being located at the sprocket wheel (43) on the decomposition roller (41) in outside is less than the chain on the decomposition roller (41) of inside The number of teeth of (43) is taken turns, so that the decomposition roller (41) that the rate that the decomposition roller (41) for being located at outside rotates is greater than positioned inside turns Dynamic rate.
33. laser guidance Full automatic loading machine people's system according to claim 32, it is characterised in that: sprocket wheel (43) The quantity of the few decomposition roller (41) of the number of teeth is no more than the half of the quantity of the decomposition roller (41) rotate in same direction.
34. laser guidance Full automatic loading machine people's system according to claim 30, it is characterised in that: the decomposition It is equipped with material at conveying mechanism (4) and keeps off stop mechanism, material gear stop mechanism, which sets up separately, is decomposing the two sides of conveying mechanism (4) so that score Solution conveying mechanism (4) can only be decomposed every time on a column material to corresponding pipeline (7).
35. laser guidance Full automatic loading machine people's system according to claim 34, it is characterised in that: the material Material in gear stop mechanism keeps off cylinder of stopping the supple of gas or steam and is connected by IO with motion controller.
36. laser guidance Full automatic loading machine people's system according to claim 30, it is characterised in that: the installation Plate (42) is equipped with against the fractionation photoelectric sensor for decomposing roller (41) setting, is split photoelectric sensor and is controlled by IO and movement Device processed is connected and the material signal for decomposing the corresponding position of roller (41) is sent a signal to industry control by motion controller Machine, industrial personal computer feedback signal control left-hand rotation motor (45) and right-hand machine (46) pause driving to motion controller.
37. laser guidance Full automatic loading machine people's system according to claim 1, it is characterised in that: the conveying Bridging on line (7) has steering mechanism (72), and steering mechanism (72) includes the steering bracket (721) rided upon on pipeline (7), The front end of steering bracket (721) be equipped with monitoring product towards whether correct turnning box detection sensor (722), in steering bracket (721) inner cavity top is provided with rotary cylinder (723), and the lower end of rotary cylinder (723) is fixed with positioning disk (724), guiding Be respectively arranged in two guide grooves (725) on disk (724) straight down across guide groove (725) steering link (726) and Steering link (726) can be for linear motion along the direction perpendicular to pipeline (7) in guide groove (725)；The rotation Cylinder (723) rotation drives positioning disk (724) rotation, and the positioning disk (724) of rotation is able to drive two steering links (726) edge and leads Close to clamping product and correct direction inwardly is turned to slot (725), two steering links (726) continue in positioning disk later (724) product is outwardly away from along guide groove (725) under drive and is moved to the distal end of guide groove (725).
38. laser guidance Full automatic loading machine people's system according to claim 37, it is characterised in that: the steering branch Two cross-brace framves (7210) being set side by side, the bottom surface of cross-brace frame (7210) are provided in the top frame of frame (721) On be provided perpendicular to the linear guide (727) of pipeline (7) setting, equipped with corresponding steerings cunning in linear guide (727) Block (728), the bottom for turning to sliding block (728) are equipped with the steering link (726) being vertically arranged.
39. laser guidance Full automatic loading machine people's system according to claim 38, it is characterised in that: the transverse direction The short support (729) being set side by side is equipped between support frame (7210), rotary cylinder (723) is fixed at short support (729) Bottom.
40. laser guidance Full automatic loading machine people's system according to claim 37, it is characterised in that: the turnning box inspection The quantity for surveying sensor (722) is no less than two, and the spacing between two turnning box detection sensors (722) of lie farthest away is big Width in product and the length less than product, so that steering mechanism (72) goes to the length direction of product perpendicular to pipeline (7) direction of transfer.
41. laser guidance Full automatic loading machine people's system according to claim 37 or 40, it is characterised in that: described Whether turnning box detection sensor (722) is connected with motion controller by IO and the signal of turnning box will be needed to pass through motion control Device sends a signal to industrial personal computer, and industrial personal computer feedback signal controls rotary cylinder (723) rotation or static to motion controller.
42. according to claim 1 or laser guidance Full automatic loading machine people's system described in 37, it is characterised in that: described The region both ends that face decomposes conveying mechanism (4) on pipeline (7) are equipped with corresponding opposite type sensor, opposite type sensor difference Whether be connected by IO with motion controller will have the live signal of material to pass through motion control on the pipeline (7) in the region Device sends a signal to industrial personal computer, and industrial personal computer determines whether to control by motion controller according to live signal decomposes conveying mechanism (4) it decomposes on a column material to the pipeline (7) in the region.
43. according to claim 1 or laser guidance Full automatic loading machine people's system described in 37, it is characterised in that: described whole The front end for closing platform (71) is equipped with baffle (711) and is equipped with corresponding robot (9) list in the side of integration platform (71) or lower section The trunkful photoelectric sensor (712) of the material quantity of secondary crawl.
44. laser guidance Full automatic loading machine people's system according to claim 43, it is characterised in that: the integration Platform (71) includes the integration plane being made of integration roller (713), and the outside for integrating roller (713) is arranged with side same Block integrates the inside of roller (713) with side then independently embedded in corresponding on the integration side plate (714) of bearing It is independent to integrate in bearing block (715), in order to the product in clamping apparatus (91) crawl integration platform (71) of robot (9).
45. laser guidance Full automatic loading machine people's system according to claim 44, it is characterised in that: the trunkful Photoelectric sensor (712) is mounted on the corresponding mobile chassis integrated on side plate (714) or integrated immediately below roller (713) (2) on, trunkful photoelectric sensor (712) is connected by IO with motion controller respectively.
46. laser guidance Full automatic loading machine people's system according to claim 43, it is characterised in that: the integration is flat The side of pipeline (7) on rear side of platform (71) or lower section setting gear stop mechanism (73), gear stop mechanism (73) include keeping off cylinder of stopping the supple of gas or steam (731) and gear trading halt (732), the bottom surface of the gear trading halt (732) of Jie Mian Cheng Shang shape is fixed on gear and stops the supple of gas or steam the driving end of cylinder (731)； When the trunkful photoelectric sensor (712) all lights, then gear stop the supple of gas or steam cylinder (731) driving gear trading halt (732) it is horizontal release or It releases upwards to block the subsequent product on pipeline (7).
47. laser guidance Full automatic loading machine people's system according to claim 1, it is characterised in that: the work folder Tool (91) includes the mounting flange (911) for being mounted on mechanical arm (92) front end of robot (9), the front end of mounting flange (911) Fixture mounting plate (912) are fixed with, lower platen (913), lower platen are fixedly installed on the downside of fixture mounting plate (912) (913) surface is equipped with top board (914), and the root of top board (914) is fixed on pressing plate elevator (915), pressing plate liter The bottom of drop block (915) is mounted at the driving end of clamping cylinder (916) by connecting plate, and clamping cylinder (916) is fixedly mounted It is provided with horizontal sliding cylinder (917), is located at lower platen (913) on fixture mounting plate (912) and in the middle part of fixture mounting plate (912) Push plate (918) between top board (914) is mounted on the driving end of horizontal sliding cylinder (917), and horizontal sliding cylinder (917) can drive Push plate (918) releases product from clamping apparatus (91).
48. laser guidance Full automatic loading machine people's system according to claim 47, it is characterised in that: described is flat-pushing Cylinder (917) is mounted on the two sides or on the contrary of clamping cylinder (916).
49. laser guidance Full automatic loading machine people's system according to claim 47 or 48, it is characterised in that: described Horizontal sliding cylinder (917) and clamping cylinder (916) are connected by route with robot (9) respectively, and robot (9) is according to industrial personal computer The information of transmitting controls horizontal sliding cylinder (917) and clamping cylinder (916).
50. laser guidance Full automatic loading machine people's system according to claim 47, it is characterised in that: the fixture Mounting plate (912) is equipped with clamp rail (919), and fixture slide block (9110) corresponding with clamp rail (919) is fixed on pressure On plate elevator (915), clamping cylinder (916) are risen along clamp rail (919) when driving top board (914) lifting Drop.
51. laser guidance Full automatic loading machine people's system according to claim 47, it is characterised in that: the lower platen (913) and on the medial surface of top board (914) non-skid band (9111) all are equipped with.
52. laser guidance Full automatic loading machine people's system according to claim 1, it is characterised in that: the movement Chassis (2) is equipped with the pallet export agency (8) positioned at stacking pallet feed station (3) side, and pallet export agency (8) can Empty pallet on stacking pallet feed station (3) is taken away.
53. laser guidance Full automatic loading machine people's system according to claim 52, it is characterised in that: the pallet Export agency (8) includes mounting seat (81), and being equipped on mounting seat (81) can move along mounting seat (81) length direction Dynamic turnover translation moving plate (82), is equipped with overturning motor (83) on turnover translation moving plate (82), and the output end of overturning motor (83) connects It is connected to torsion shaft (84) and torsion shaft (84) is supported on turnover translation moving plate (82) by overturning bearing block (87), torsion shaft (84) On be fixed with upset connecting rod (85) and the front end of upset connecting rod (85) is fixedly installed the vacuum attracting instrument (86) that can draw pallet, Vacuum attracting instrument (86) is connected by corresponding vacuum tube with vacuum pump.
54. laser guidance Full automatic loading machine people's system according to claim 53, it is characterised in that: the installation It is fixedly installed suction tool motor (88) on pedestal (81), inhales and is provided with pallet driving wheel (89) on the output shaft of tool motor (88), Pallet driving wheel (89) is by pallet synchronous belt (810) and the pallet follower (811) in mounting seat (81) other end is arranged It is connected, turnover translation moving plate (82) is fixed on pallet synchronous belt (810) by connector so that turnover translation moving plate (82) can It is moved horizontally under the driving for inhaling tool motor (88) along mounting seat (81).
55. laser guidance Full automatic loading machine people's system according to claim 53 or 54, it is characterised in that: described Mounting seat (81) is equipped with the tray rail (812) being arranged along its length, and tray rail (812) is arranged in base openings The two sides of slot (813) and tray rail (812) respective trays sliding block (814) structure with the setting of turnover translation moving plate (82) bottom respectively At matching relationship.
56. laser guidance Full automatic loading machine people's system according to claim 54, it is characterised in that: the overturning Motor (83) and suction tool motor (88) are connected by frequency converter with motion controller respectively.
57. laser guidance Full automatic loading machine people's system according to claim 1, it is characterised in that: the laser Scanner is arranged in a mutually vertical manner the side in robot (9), and two laser scanners are capable of the entrucking shape of Real-time Feedback robot (9) Condition is with guidance machine people (9) entrucking.
58. laser guidance Full automatic loading machine people's system according to claim 1, it is characterised in that: the mobile bottom The rear end of disk (2) is also equipped with laser scanner, to detect the tail portion shape of laser guidance Full automatic loading machine people's system in real time Condition simultaneously feeds back to industrial personal computer.
CN201820879388.0U 2018-06-07 2018-06-07 Laser guidance Full automatic loading machine people's system Active CN208496970U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108481300A (en) * 2018-06-07 2018-09-04 苏州澳昆智能机器人技术有限公司 Laser guidance Full automatic loading machine people's system
US20200299981A1 (en) * 2019-03-21 2020-09-24 Brickworks Building Products Pty Ltd Precast Brick Panel And Method Of Manufacture
CN112347664A (en) * 2021-01-11 2021-02-09 苏州澳昆智能机器人技术有限公司 Modeling method and device for irregular loading space
CN114312533A (en) * 2021-11-30 2022-04-12 西安交通大学 Outdoor liquid medicine conveyer

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108481300A (en) * 2018-06-07 2018-09-04 苏州澳昆智能机器人技术有限公司 Laser guidance Full automatic loading machine people's system
CN108481300B (en) * 2018-06-07 2024-04-05 苏州澳昆智能机器人技术有限公司 Laser guidance full-automatic loading robot system
US20200299981A1 (en) * 2019-03-21 2020-09-24 Brickworks Building Products Pty Ltd Precast Brick Panel And Method Of Manufacture
US11661755B2 (en) * 2019-03-21 2023-05-30 Brickworks Building Products Pty Ltd Precast brick panel and method of manufacture
CN112347664A (en) * 2021-01-11 2021-02-09 苏州澳昆智能机器人技术有限公司 Modeling method and device for irregular loading space
CN114312533A (en) * 2021-11-30 2022-04-12 西安交通大学 Outdoor liquid medicine conveyer

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