Articulated robot stacking lineTechnical field
The present invention relates to robotic technology fields, specially articulated robot stacking line.
Background technique
Manufacturing industry refers to manufacturing recourses (material, the energy, equipment, tool, fund, technology, information and manpower etc.), according toMarket demands are converted into huge tool, industrial goods and the personal consumption product can be for people to use and utilized by manufacturing processIndustry.Manufacturing industry includes: product manufacturing, design, the purchasing of raw materials, storage transport, order processing, wholesale operation, retail.In masterIt is engaged in enterprise's (unit) of product manufacturing, for the mechanical assembling and installation activity with equipment that product is sold and carries out.IPillar industry of state's manufacturing industry as country, is always maintained at preferable developing state.However, disappearing with China human mortality bonusIt loses, the growth of labour cost, traditional manufacture the more is walked the more narrow by the road of manpower development.At the same time, with industrial machineThe intelligence equipment that device artificially represents, just the production method for relevant industries such as traditional equipment manufacturings and logistics brings revolutionThe industry transformation of property.Before the appearance of Automation of Manufacturing Process technology, plant operator must personal monitoring's equipment performance indexAnd product quality, to determine that production equipment is in optimal operational condition and it is necessary to various maintenances could be implemented when shutting down, thisFactory's efficiency of operation is reduced, and can not ensure safe operation.Automation of Manufacturing Process technology can simplify this process.Pass throughThousands of sensor is installed in factory each region, automated system can collect the data such as temperature, pressure and flow velocity, then sharpThese information are stored and analyzed with computer, then data are shown to control room treated with concise formLarge screen on.As long as operator observes each equipment that large screen monitors entire factory.Automation of Manufacturing ProcessSystem is in addition to that can acquire and handle information, moreover it is possible to automatically adjust various equipment, optimization production.If necessary, plant operatorIt can stop automated system, be operated manually.
Robot is component part important in automated production, and robot is to automatically control being commonly called as machine (Robot),Automatically control machinery (such as robot dog, the Doraemon that machine includes all simulation human behaviors or thought and simulation other biologicalDeng).To the definition of robot, there are also many classification and dispute, some computer programs or even also referred to as robots in the narrow sense.In contemporary industry, robot refers to the man-made machine device that can execute task automatically, to replace or assist human work.It is idealIn highly emulated robot be advanced integral traffic control opinion, mechano-electronic, computer and artificial intelligence, materialogy and bionic productionObject, scientific circles research and develop to this direction at present.During material transportation, the carrying that material is neat is manually removedLarge labor intensity is transported, working efficiency is low, lacks a kind of articulated robot stacking line now to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide articulated robot stacking lines, to solve mentioned above in the background art askTopic.
To achieve the above object, the invention provides the following technical scheme: articulated robot stacking line, including feeding conveyMachine ontology and robot body, the robot body are arranged close to the output of material conveyer ontology, the feedingConveyer ontology output end is respectively arranged on the left side and the right side the first support platform and the second support platform, the upper material conveyer sheetThe top of body is equipped with trimmer ontology, and the trimmer ontology is equipped with meter in the side close to upper material conveyer ontology output endNumber device ontology.
Preferably, the trimmer ontology is located at the surface of upper material conveyer ontology, can carry out to mixed and disorderly materialCorrection, convenient for the operation of next step, is reserved with cargo channel between the trimmer ontology and upper material conveyer ontology.
Preferably, the detection probe of the counter ontology is down-set, and towards the upper surface of upper material conveyer ontology,It can be realized the counting to material.
Preferably, the upper material conveyer ontology includes horizontally disposed workbench, and the trimmer ontology is across workThe setting of platform two sides, the workbench are equipped with motor-driven conveyer belt, and the bottom of the workbench is additionally provided with supporting leg.
Preferably, it is uniformly equipped with support roller on the workbench of the conveyer belt bottom, provides effectively branch to conveyer beltSupport reduces the conveyer belt friction between workbench during operation.
Preferably, the robot body includes pedestal, and the top of the pedestal is equipped with rotating platform, the rotating platformTop be fixedly connected with organic frame, the rack is equipped with the driving arm of force, and the end of the driving arm of force is equipped with handgrip.
Preferably, the pedestal is horizontally disposed, and the pedestal, which is bolted, is installed on bottom surface.
Preferably, the driving arm of force is link mechanism, and the handgrip is in claw shape, and the handgrip includes several cardsPawl.
Compared with prior art, the beneficial effects of the present invention are: articulated robot stacking line of the present invention, structure novel,It is easy to operate, change the traditional artificial mode for carrying material, material is transported by upper material conveyer ontology, by feedingTrimmer ontology is installed in the surface of conveyer ontology, trimmer ontology is arranged across workbench two sides, and make trimmer sheetCargo channel is reserved between body and upper material conveyer ontology, material can entangle mixed and disorderly material by cargo channelPartially, by the way that robot body to be arranged close to the output of upper material conveyer ontology, stacking is carried out using robot body,Arm of force driving handgrip is driven to grab the material on upper material conveyer ontology, and neat amplifier is to the first support platform and secondIn support platform, realizes robot stacking, greatly reduce labor intensity, stacking is high-efficient, adds counter ontology, counterThe detection probe of ontology is down-set, and towards the upper surface of upper material conveyer ontology, can be realized the counting to material, haveVery high practicability, greatly improve the articulated robot stacking line uses functionality, guarantees its using effect and useBenefit is suitble to be widely popularized.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of articulated robot stacking line of the present invention；
Fig. 2 is the robot body structure schematic diagram of articulated robot stacking line of the present invention.
In figure: material conveyer ontology, 2 robot bodies, 3 first support platforms, 4 second support platforms, 5 trimmers on 1Ontology, 6 counter ontologies, 7 pedestals, 8 rotating platforms, 9 racks, the 10 driving arm of forces, 11 handgrips.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment shall fall within the protection scope of the present invention.
In the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", "horizontal",The orientation or positional relationship of the instructions such as "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouchingIt states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specificOrientation construction and operation, therefore be not considered as limiting the invention；Term " first ", " second ", " third " are only used forPurpose is described, relative importance is not understood to indicate or imply；Furthermore unless specifically defined or limited otherwise, term" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or oneConnect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediaryIt is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete conditionState the concrete meaning of term in the present invention.
The present invention provides a kind of technical solution: articulated robot stacking line, including upper material conveyer referring to FIG. 1-2,Ontology 1 and robot body 2, the robot body 2 are arranged close to the output of material conveyer ontology 1, it is described on1 output end of material conveyer ontology is respectively arranged on the left side and the right side the first support platform 3 and the second support platform 4, and the feeding is defeatedThe top of machine ontology 1 is sent to be equipped with trimmer ontology 5, the trimmer ontology 5 is close to the one of upper 1 output end of material conveyer ontologySide is equipped with counter ontology 6.
Specifically, the trimmer ontology 5 is located at the surface of upper material conveyer ontology 1, can to mixed and disorderly material intoRow correction, convenient for the operation of next step, is reserved with cargo channel between the trimmer ontology 5 and upper material conveyer ontology 1.
Specifically, the detection probe of the counter ontology 6 is down-set, and towards the upper table of upper material conveyer ontology 1Face can be realized the counting to material.
Specifically, the upper material conveyer ontology 1 includes horizontally disposed workbench, the trimmer ontology 5 is across workMake the setting of platform two sides, the workbench is equipped with motor-driven conveyer belt, and the bottom of the workbench is additionally provided with supporting leg.
Specifically, being uniformly equipped with support roller on the workbench of the conveyer belt bottom, effectively branch is provided to conveyer beltSupport reduces the conveyer belt friction between workbench during operation.
Specifically, the robot body 2 includes pedestal 7, the top of the pedestal 7 is equipped with rotating platform 8, the rotationThe top of platform 8 is fixedly connected with organic frame 9, and the rack 9 is equipped with the driving arm of force 10, and the end of the driving arm of force 10 is equipped withHandgrip 11.
Specifically, the pedestal 7 is horizontally disposed, the pedestal 7, which is bolted, is installed on bottom surface.
Specifically, the driving arm of force 10 is link mechanism, the handgrip 11 is in claw shape, and the handgrip 11 includes severalA claw.
Working principle: articulated robot stacking line of the present invention, in use, change the traditional artificial mode for carrying material,Material is transported by upper material conveyer ontology 1, by installing trimmer ontology 5 in the surface of upper material conveyer ontology 1,Trimmer ontology 5 is set across workbench two sides, and makes to reserve between trimmer ontology 5 and upper material conveyer ontology 1 available in stockObject channel, material can rectify a deviation to mixed and disorderly material, by cargo channel by the way that robot body 2 to be arranged close toThe output of upper material conveyer ontology 1 carries out stacking using robot body 2, and the driving arm of force 10 drives handgrip 11 by feedingMaterial crawl on conveyer ontology 1, and in neat amplifier to the first support platform 3 and the second support platform 4, realize machinePeople's stacking greatly reduces labor intensity, and stacking is high-efficient, adds counter ontology 6, the detection probe of counter ontology 6 toLower setting, and towards the upper surface of upper material conveyer ontology 1, it can be realized the counting to material, also there is compact-sized, designReasonable feature.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be withA variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understandingAnd modification, the scope of the present invention is defined by the appended.