CN110844496A - Intelligent electromechanical automatic feeding control system and method - Google Patents
Intelligent electromechanical automatic feeding control system and method Download PDFInfo
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- CN110844496A CN110844496A CN201911162605.XA CN201911162605A CN110844496A CN 110844496 A CN110844496 A CN 110844496A CN 201911162605 A CN201911162605 A CN 201911162605A CN 110844496 A CN110844496 A CN 110844496A
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- 238000012545 processing Methods 0.000 claims description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention belongs to the technical field of electromechanical automation equipment, and discloses an intelligent electromechanical automation feeding control system and method, wherein a moving wheel is installed at the bottom of a feeding table, an AGV trolley is arranged at the left end of the feeding table, a six-degree-of-freedom robot is installed on the left side of the feeding table, a belt frame is installed on the right side of the feeding table, a belt roller and a support roller are installed on the belt frame, a conveying belt is tensioned on the belt roller and the support roller, a motor is connected with the belt roller through a coupler, a controller is connected with the motor through a circuit, and a servo motor is respectively installed on the belt frame and the feeding table; the outer end of the six-degree-of-freedom robot is fixed with a vacuum chuck through a bolt, and the vacuum chuck is communicated with an air compressor through a vacuum pumping pipeline. The automatic conveying device has high automation degree, greatly improves the production efficiency and can carry out position change conveying; absorb the removal through vacuum chuck to the material, can not cause the injury of colliding with to the material, absorb moreover firmly, can follow quick realization to getting of material and put.
Description
Technical Field
The invention belongs to the technical field of electromechanical automation equipment, and particularly relates to an intelligent electromechanical automation feeding control system and method.
Background
At present, with the development of economy and construction and the popularization of mechanization, the construction scale and the production scale of various industries are rapidly expanded, and the requirement on an automatic feeding mechanism is higher and higher. In current machine-building field, the transport of material, the last unloading of work piece is weaker link, in actual production environment, because the restriction of production line overall arrangement, often can meet the slope transmission of slope, need arrange the transmission band of special structure alone, this has brought tedious work load for the design installation, the cost input has also been increased simultaneously, current feed mechanism is complicated because of the structure, it is difficult to make, the price is expensive, and can not satisfy the actual production requirement, and need a large amount of manpower and materials cooperation, and simultaneously, because the requirement to work efficiency and environmental security is higher, the manpower work also is difficult to satisfy the production requirement, not only the cost of labor is high, still there is certain danger, also greatly reduced production automation level.
In summary, the problems of the prior art are as follows: the existing feeding mechanism is complex in structure, difficult to manufacture, high in price, large in manpower and material resources, incapable of carrying out position change conveying and low in automation level.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent electromechanical automatic feeding control system and method.
The invention is realized in such a way that an intelligent electromechanical automatic feeding control system is provided with an AGV trolley, a six-degree-of-freedom robot, a feeding table, a moving wheel, a conveying belt, a belt roller, a supporting roller, a motor, a coupler, a controller, a belt frame, a servo motor and a shifting rod. The moving wheel is installed at the bottom of the feeding table, the AGV trolley is arranged at the left end of the feeding table, the six-degree-of-freedom robot is installed on the left side of the feeding table, the belt frame is installed on the right side of the feeding table, the belt roller and the supporting roller are installed on the belt frame, the conveying belt is tensioned on the belt roller and the supporting roller, the motor is connected with the belt roller through the coupler, the controller is connected with the motor through a circuit, the servo motor is installed on the belt frame and the feeding table respectively, the position changing rod is fixed with the servo motor and hinged with the belt frame and located on the plane of the feeding table;
the outer end of the six-degree-of-freedom robot is fixed with a vacuum chuck through a bolt, and the vacuum chuck is communicated with an air compressor through a vacuum pumping pipeline.
Furthermore, the AGV has a magnetic guide rail, and a fixed cargo clamp is installed on the roof.
Further, the six-degree-of-freedom robot base is provided with a mounting hole and is fixed with the feeding table through a screw.
Furthermore, the movable wheel is a steel wheel and is provided with a brake snap spring.
Furthermore, a folding baffle is arranged on the conveying belt, and the controller can control the unfolding and folding.
Furthermore, the servo motor is fixed on the belt frame through a screw, a motor shaft is connected with a screw rod, and the conveying position is adjusted through rotation.
Furthermore, the shifting rod is provided with two parts which are V-shaped, are hinged up and down and can rotate relatively.
Further, be provided with in the evacuation pipeline between vacuum chuck and the air compressor and filter relief pressure valve and vacuum generator, filter relief pressure valve passes through pipeline and air compressor intercommunication, and the filter relief pressure valve other end has the solenoid valve through the tube coupling, and the solenoid valve other end communicates with vacuum generator, and the intercommunication has vacuum filter between vacuum generator and the vacuum chuck.
Another object of the present invention is to provide a novel automatic feeding device control system for an intelligent electromechanical automatic feeding control system, the novel automatic feeding device control system comprising:
the feeding module is connected with the main control module and used for intelligently controlling the AGV trolley through the main control module, and the AGV trolley transports the materials to a feeding position;
the identification module is connected with the main control module and is used for collecting the position information and the image information of the goods through a distance sensor and a camera which are arranged at the outer end of the six-degree-of-freedom robot and transmitting the collected information to the main control module;
the unloading module is connected with the main control module and used for grabbing the goods identified on the AGV through the six-degree-of-freedom robot;
the driving module is connected with the main control module and used for controlling the grabbing action of the six-freedom-degree robot according to the control instruction of the main control module through a plurality of driving motors;
the suction module is connected with the main control module and used for providing negative pressure suction force for the vacuum chuck through the vacuum generator, and the vacuum chuck is driven by the six-degree-of-freedom robot to suck cargoes;
the cargo placement module is connected with the main control module and used for controlling the six-degree-of-freedom robot to move the cargo to the feeding table of the feeding belt at the set position through the position parameters preset by the controller;
the speed control module is connected with the main control module and used for controlling the transmission speed of the material supply belt through the controller according to the control instruction;
the main control module is used for processing the acquired information through the controller, generating a control instruction according to a processing result and controlling each controlled device;
a memory module connected with the main control module and used for storing various preset parameters and historical processing information of the controller through a memory,
further, the speed control module specifically includes:
the speed information acquisition unit is used for acquiring the transmission speed information of the feeding belt through a speed sensor;
and the speed level setting unit is used for setting the gear of the transmission speed of the material supply belt through the speed adjusting knob.
Further, the identification module specifically includes:
the information acquisition unit is used for acquiring the position information and the image information of the goods acquired by the distance sensor and the camera;
the preset information extraction unit is used for extracting the goods position information and the image information preset in the memory;
and the comparison unit is used for comparing the acquired external information with preset information, confirming whether the goods are to be taken or not through the image information, and confirming whether the preset sucking position is reached or not through the position information.
The invention has the advantages and positive effects that: the automatic conveying device has the advantages of high automation degree, labor saving, greatly improved production efficiency, clear structure composition, easy production matching, capability of carrying out position change conveying, wider application range, convenient movement and suitability for various fields.
The vacuum sucking disc is used for sucking and moving the materials, so that the materials cannot be collided and damaged, the sucking is firm, and the materials can be quickly taken and placed.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent electromechanical automatic feeding control system provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of an overall structure of the transportation system provided by the embodiment of the invention;
FIG. 3 is a schematic view of a drum structure provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a vacuum line according to an embodiment of the present invention;
in the figure: 1. an AGV trolley; 2. a six-degree-of-freedom robot; 3. a feeding table; 4. a moving wheel; 5. a conveyor belt; 6. a belt drum; 7. a support roller; 8. a motor; 9. a coupling; 10. a controller; 11. a belt frame; 12. a servo motor; 13. a shifting rod; 14. a vacuum chuck; 15. an air compressor; 16. a filtering pressure reducing valve; 17. an electromagnetic valve; 18. a vacuum generator; 19. and (4) a vacuum filter.
Fig. 5 is a schematic structural diagram of a control system of the novel automatic feeding device provided by the embodiment of the invention.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.
The structure of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 4, the intelligent electromechanical automatic feeding control system provided by the embodiment of the present invention includes an AGV cart 1, a six-degree-of-freedom robot 2, a feeding table 3, a moving wheel 4, a transport belt 5, a belt roller 6, a support roller 7, a motor 8, a coupling 9, a controller 10, a belt frame 11, a servo motor 12, a shift lever 13, a vacuum chuck 14, an air compressor 15, a filtering and pressure reducing valve 16, an electromagnetic valve 17, a vacuum generator 18, and a vacuum filter 19. The installation of 3 bottoms of pay-off table remove wheel 4, the 3 left ends of pay-off table set up AGV dolly 1, the installation of left side on the pay-off table 3 six degree of freedom robot 2, the installation of right side on the pay-off table 3 belt frame 11, the installation on the belt frame 11 belt drum 6 with support cylinder 7, belt drum 6 with the last tensioning of support cylinder 7 the transportation area 5, motor 8 passes through shaft coupling 9 with the hookup of belt drum 6, controller 10 with motor 8 passes through line connection, servo motor 12 install respectively in belt frame 11 with on the pay-off table 3, shifting rod 13 with servo motor 12 is fixed, with belt frame 11 is articulated, is located on the pay-off table 3 plane.
The outer end of the six-degree-of-freedom robot 2 is fixed with a vacuum chuck through a bolt, and the vacuum chuck is communicated with an air compressor through a vacuum pumping pipeline.
The AGV trolley 1 provided by the embodiment of the invention is provided with a magnetic guide rail, and a fixed cargo clamp is arranged on the roof of the AGV trolley.
The base of the six-degree-of-freedom robot 2 in the embodiment of the invention is provided with a mounting hole and is fixed with the feeding table 3 through a screw.
The moving wheel 4 in the embodiment of the invention is a steel wheel and is provided with a brake snap spring.
The conveyer belt 5 in the embodiment of the invention is provided with a folding baffle plate, and the controller 10 can control the unfolding and folding.
The servo motor 12 in the embodiment of the invention is fixed on the belt frame 11 through a screw, and a screw rod is connected on a motor 8 shaft, so that the material conveying position is adjusted through rotation.
The shifting rod 13 in the embodiment of the invention has two parts, is V-shaped, is hinged up and down and can rotate relatively.
As shown in fig. 4, a filtering and pressure reducing valve 16 and a vacuum generator 18 are disposed in a vacuum pumping pipeline between the vacuum chuck 14 and the air compressor 15 in the embodiment of the present invention, the filtering and pressure reducing valve 16 is communicated with the air compressor 15 through a pipeline, the other end of the filtering and pressure reducing valve 16 is connected with an electromagnetic valve 17 through a pipeline, the other end of the electromagnetic valve 17 is communicated with the vacuum generator 18, and a vacuum filter 19 is communicated between the vacuum generator 18 and the vacuum chuck 14.
As shown in fig. 5, the control system of the novel automatic feeding device provided by the embodiment of the present invention includes:
the feeding module 501 is connected with the main control module and used for intelligently controlling the AGV trolley through the main control module, and the AGV trolley transports the materials to a feeding position;
the identification module 502 is connected with the main control module and is used for collecting the position information and the image information of the goods through a distance sensor and a camera which are arranged at the outer end of the six-degree-of-freedom robot and transmitting the collected information to the main control module;
the unloading module 503 is connected with the main control module and is used for grabbing the goods identified on the AGV through the six-degree-of-freedom robot;
the driving module 504 is connected with the main control module and is used for controlling the grabbing action of the six-degree-of-freedom robot through a plurality of driving motors according to the control instruction of the main control module;
the suction module 505 is connected with the main control module and used for providing negative pressure suction force for the vacuum chuck through the vacuum generator, and the vacuum chuck is driven by the six-degree-of-freedom robot to suck cargoes;
the cargo placement module 506 is connected with the main control module and used for controlling the six-degree-of-freedom robot to move the cargo to the feeding belt feeding table at the set position through the position parameters preset by the controller;
the speed control module 507 is connected with the main control module and used for controlling the transmission speed of the material supply belt through the controller according to the control instruction;
the main control module 508 is configured to process the acquired information through the controller, generate a control instruction according to a processing result, and control each controlled device;
a storage module 509 connected to the main control module for storing various preset parameters and historical processing information of the controller via a memory,
further, the speed control module 507 specifically includes:
the speed information acquisition unit is used for acquiring the transmission speed information of the feeding belt through a speed sensor;
and the speed level setting unit is used for setting the gear of the transmission speed of the material supply belt through the speed adjusting knob.
Further, the identifying module 502 specifically includes:
the information acquisition unit is used for acquiring the position information and the image information of the goods acquired by the distance sensor and the camera;
the preset information extraction unit is used for extracting the goods position information and the image information preset in the memory;
and the comparison unit is used for comparing the acquired external information with preset information, confirming whether the goods are to be taken or not through the image information, and confirming whether the preset sucking position is reached or not through the position information.
When the automatic material conveying device is used for conveying materials, firstly, an AGV trolley 1 conveys the materials to the left end of a belt frame 11, the materials are taken through a six-degree-of-freedom robot 2 and are placed on a conveying belt 5, a motor 8 is controlled through a controller 10 to drive a belt roller 6 to rotate, the materials are fed through a supporting roller 7, the materials are conveyed in a shifting mode through a servo motor 12, and the whole conveying device is convenient to move through a moving wheel 4.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. An intelligent electromechanical automatic feeding control system is characterized in that the intelligent electromechanical automatic feeding control system is provided with a feeding table;
the automatic feeding device comprises a feeding table, a belt roller, a supporting roller, a conveying belt, a motor, a controller, a servo motor, a shifting rod, an AGV trolley, a six-degree-of-freedom robot, a belt frame, a belt roller and a supporting roller, wherein the moving wheel is installed at the bottom of the feeding table;
the outer end of the six-degree-of-freedom robot is fixed with a vacuum chuck through a bolt, and the vacuum chuck is communicated with an air compressor through a vacuum pumping pipeline.
2. The intelligent electromechanical automated feed control system of claim 1, wherein the AGV has magnetic rails and a fixed load clamp is mounted on the roof.
3. The intelligent electromechanical automatic feed control system of claim 1, wherein the six-degree-of-freedom robot base is provided with mounting holes and is fixed with the feed table through screws.
4. The intelligent electromechanical automated feed control system of claim 1, wherein the moving wheel is a steel wheel and is provided with a brake snap spring.
5. The intelligent electromechanical automated feed control system of claim 1, wherein the conveyor belt has folding flaps that are controllable to unfold and fold by the controller.
6. The intelligent electromechanical automatic feed control system according to claim 1, wherein the servo motor is fixed on the belt rack by screws, a screw rod is connected to a motor shaft, and a feed position is adjusted by rotation; the shifting rod is provided with two parts which are V-shaped, are hinged up and down and can rotate relatively.
7. The intelligent electromechanical automatic feed control system according to claim 1, wherein a vacuum pumping pipeline between the vacuum chuck and the air compressor is provided with a filter pressure reducing valve and a vacuum generator, the filter pressure reducing valve is communicated with the air compressor through a pipeline, the other end of the filter pressure reducing valve is connected with an electromagnetic valve through a pipeline, the other end of the electromagnetic valve is communicated with the vacuum generator, and a vacuum filter is communicated between the vacuum generator and the vacuum chuck.
8. The intelligent electromechanical automated feed control system of claim 1, further comprising:
the feeding module is connected with the main control module and used for intelligently controlling the AGV trolley through the main control module, and the AGV trolley transports the materials to a feeding position;
the identification module is connected with the main control module and is used for collecting the position information and the image information of the goods through a distance sensor and a camera which are arranged at the outer end of the six-degree-of-freedom robot and transmitting the collected information to the main control module;
the unloading module is connected with the main control module and used for grabbing the goods identified on the AGV through the six-degree-of-freedom robot;
the driving module is connected with the main control module and used for controlling the grabbing action of the six-freedom-degree robot according to the control instruction of the main control module through a plurality of driving motors;
the suction module is connected with the main control module and used for providing negative pressure suction force for the vacuum chuck through the vacuum generator, and the vacuum chuck is driven by the six-degree-of-freedom robot to suck cargoes;
the cargo placement module is connected with the main control module and used for controlling the six-degree-of-freedom robot to move the cargo to the feeding table of the feeding belt at the set position through the position parameters preset by the controller;
the speed control module is connected with the main control module and used for controlling the transmission speed of the material supply belt through the controller according to the control instruction;
the main control module is used for processing the acquired information through the controller, generating a control instruction according to a processing result and controlling each controlled device;
and the storage module is connected with the main control module and is used for storing various preset parameters and historical processing information of the controller through the memory.
9. The intelligent electromechanical automated feed control system of claim 8, wherein the speed control module specifically comprises:
the speed information acquisition unit is used for acquiring the transmission speed information of the feeding belt through a speed sensor;
the speed level setting unit is used for setting the transmission speed of the material supply belt through a speed adjusting knob;
the identification module specifically comprises:
the information acquisition unit is used for acquiring the position information and the image information of the goods acquired by the distance sensor and the camera;
the preset information extraction unit is used for extracting the goods position information and the image information preset in the memory;
and the comparison unit is used for comparing the acquired external information with preset information, confirming whether the goods are to be taken or not through the image information, and confirming whether the preset sucking position is reached or not through the position information.
10. An intelligent electromechanical automatic feeding control method for operating the intelligent electromechanical automatic feeding control system according to any one of claims 1 to 9, the intelligent electromechanical automatic feeding control method comprising: the AGV conveying device comprises a controller, a control motor, a belt roller, a supporting roller and a servo motor, wherein the controller is used for controlling the motor to drive the belt roller to rotate, the supporting roller is used for loading materials, and the servo motor is used for shifting and conveying materials.
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| KR20210124706A (en) * | 2020-04-07 | 2021-10-15 | 주식회사 삼미정공 | AGV with lifting apparatus and AGV operating system |
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Application publication date: 20200228 |