Positioning mechanism for movement of palletizing robot

Abstract

A positioning mechanism for movement of a palletizing robot comprises a guide rail, a bottom plate and a photoelectric detection mechanism and is further provided with an alarm prompt circuit and a working state detection circuit. The two guide rails are arranged on the bottom plate at an interval; the wheels of the plurality of sets of electric driving wheels are respectively positioned in the grooves of the two guide rails; two sides of the guide rail are respectively provided with a baffle, two sets of photoelectric detection mechanisms are transversely arranged at two side ends of the chassis, and the third set of photoelectric detection mechanism is vertically arranged at the upper end of the clamp; and the alarm prompt circuit and the working state detection circuit are arranged in the electrical box and are electrically connected. When the palletizing robot is uncontrolled to move to a left stop point or a right stop point due to various reasons, a main power supply of equipment can be cut off in time, the probability that the equipment is collided and damaged is reduced, and when the palletizing robot does not work continuously for a certain period of time due to various faults, a worker can be prompted to go to the site for maintenance in time; as the [-shaped guide rail is used as a guide mechanism, the stable and reliable work of the equipment is ensured as far as possible.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot application, in particular to a positioning mechanism for the movement of a palletizing robot. Background Art

[0002] With the development of robot technology and the advancement of artificial intelligence technology, palletizers based on intelligent industrial robots (which pick up goods through fixtures) have been widely used in related production and logistics areas. According to different working methods, palletizing robots (palletizers) are divided into self-propelled type (palletizing robots are driven by electric drive or other methods), fixed type (palletizing robots are installed in a fixed position and work at a certain angle in the circumferential direction), track-guided type (palletizing robots work between loading and unloading along the laid tracks), and overhead crane-controlled type (overhead cranes moving in the workshop drive palletizing robots to work). Among them, track-guided palletizing robots are more widely used in fixed production sites for loading or unloading due to their stable and reliable operation.

[0003] Although the existing track-guided palletizing robots meet the operational needs to a certain extent, they are limited by the structure and still have the following technical problems to be solved. First, the host computer or PLC internal control software that controls its lateral movement along the track (including palletizing action), or the control software based on camera image acquisition and artificial intelligence recognition, cannot effectively ensure that the running spacing reaches the required position when bugs (program errors, the specific causes mainly include unstable program environment, tester's wrong operation, memory leak or lock, test data error, etc.) or other faults occur due to various reasons. That is to say, it is possible that the palletizing robot cannot stop moving when it moves along the guide track to the left stop point or the right stop point, so there is a probability of collision and damage between the equipment and the baffles on both sides of the track. Second, when it is working in unmanned control mode, after the equipment stops working due to various reasons (including damage to machine components or power failure, etc.), the staff who are not on site cannot understand and troubleshoot the fault in the first time, which will have an adverse impact on normal production. Third: The rails used in the current track-guided palletizing robots are T-shaped (the multiple sets of electric drive wheels on both sides of the lower end of the track-guided palletizing robot body are located on two rails respectively), which means that the equipment relies on gravity to stably move on the track. Due to the above situation, in extreme cases, when the weight of the goods in the palletizing is too heavy, the operation will be unsafe due to the unstable center of gravity, and there is even a chance of the equipment overturning. In summary, it is particularly necessary to provide a positioning mechanism that can monitor the travel and working conditions of the palletizing robot in real time and prevent unstable center of gravity and unstable operation. Utility Model Content

[0004] In order to overcome the drawbacks of the existing track-guided palletizing robots as described in the background due to structural limitations, the utility model provides a palletizing robot that works in coordination with a track-guided palletizing robot. In application, under the joint action of relevant mechanisms, when the palletizing robot moves to the left stop point or the right stop point uncontrollably due to various reasons, the main power supply of the equipment can be disconnected in time (and a voice prompt is given to the staff who are not on site), thereby reducing the probability of collision damage to the equipment. When the equipment does not work for a certain period of time due to various faults, the staff can be prompted to go to the site for maintenance in time. In addition, a "["-shaped guide rail is used as a guide mechanism to ensure that the equipment works stably and reliably as much as possible and will not overturn. A positioning mechanism for the movement of the palletizing robot is provided.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A positioning mechanism for the movement of a palletizing robot comprises a guide rail, a base plate, and a photoelectric detection mechanism, characterized in that it also comprises an alarm prompt circuit and a working state detection circuit; the guide rail is a "["-shaped structure, there are at least two guide rails, the two guide rails are installed on the base plate at a distance, and the wheels of multiple sets of electric drive wheels of a track-guided palletizing robot body are respectively located in the grooves of the two guide rails; baffles are respectively installed on both sides of the guide rail, and there are multiple sets of photoelectric detection mechanisms, two sets of which are horizontally installed at the two side ends of the chassis of the palletizing robot body, and the third set of photoelectric detection mechanisms is vertically installed at the upper end of the palletizing robot fixture; the alarm prompt circuit and the working state detection circuit are installed in an electrical box, and the control power output end of the alarm prompt circuit is electrically connected to the power input end of the palletizing robot body; the signal input end of the alarm prompt circuit is electrically connected to the signal output end of the working state detection circuit.

[0007] Furthermore, the outer diameter of the electric drive wheel is smaller than the upper and lower heights of the inner groove of the guide rail.

[0008] Furthermore, the detection heads and the two baffles of the two sets of photoelectric detection mechanisms are respectively in a face-to-face structure.

[0009] Furthermore, the alarm prompt circuit includes an electrically connected adjustable resistor, a resistor, a thyristor, and an alarm. It is connected to two sets of photoelectric detection mechanisms, the positive power input ends of the two sets of photoelectric detection mechanisms are connected to the thyristor anode, the power output ends of the two sets of photoelectric detection mechanisms are connected to one end of the adjustable resistor, the other end of the adjustable resistor is connected to one end of the first resistor and one end of the second resistor, the other end of the second resistor is connected to the thyristor control electrode, the other end of the first resistor is connected to the negative power input end of the relay and the negative power input end of the alarm, and the cathode of the thyristor is connected to the positive power input end of the relay and the positive power input end of the alarm.

[0010] Furthermore, the working status detection circuit includes electrically connected resistors, capacitors, and transistors, and is connected to a third set of photoelectric detection mechanisms, the positive power supply output end of the photoelectric detection mechanism is connected to one end of the resistor and the emitter of the first transistor, the other end of the first is connected to the positive electrode of the capacitor and one end of the second resistor, the other end of the second resistor is connected to the base of the second transistor, the collector of the second transistor is connected to the base of the first transistor, and the negative power supply input end of the photoelectric detection mechanism is connected to the negative electrode of the capacitor and the emitter of the second transistor.

[0011] The beneficial effects of the utility model are as follows: (1) the utility model cooperates with the palletizing robot based on the track guidance. In application, under the action of two sets of detection mechanisms and alarm prompt circuits, when the palletizing robot moves to the left stop point or the right stop point uncontrollably due to various reasons, the main power supply of the equipment can be disconnected in time (and the staff who are not on site can be prompted by voice), thereby reducing the probability of equipment collision damage. Under the joint action of the third set of photoelectric detection mechanism and working status detection circuit, when the palletizing robot does not work for a certain period of time due to various faults, the staff can be prompted to go to the site for maintenance in time; (2) because the utility model uses the "["-shaped guide rail as the guide mechanism, it can ensure that the equipment works stably and reliably as much as possible and will not overturn, and can achieve good safety and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0013] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0014] Figure 2 It is a circuit diagram of the utility model. DETAILED DESCRIPTION

[0015] Figure 1 , 2As shown in the figure, a positioning mechanism for the movement of a palletizing robot comprises a guide rail 1, a base plate 2, a voltage module W1, a photoelectric detection mechanism, and has an alarm prompt circuit 3 and a working state detection circuit 4; the guide rail 1 is a "["-shaped structure, there are at least two guide rails 1, the lower ends of the two guide rails 1 are welded to the left and right ends of the base plate 2 at a horizontal distance, and the groove surfaces of the two guide rails 1 are in a face-to-face structure, and the wheels of the multiple sets of electric drive wheels 51 on both sides of the lower end of the track-guided palletizing robot body 5 are respectively located in the grooves of the guide grooves of the two guide rails 1 The bottom plate 2 is vertically welded with a rectangular baffle 11 in the middle of the front and rear sides, respectively. There are three sets of photoelectric detection mechanisms, two of which are horizontally installed in the middle of the front and rear sides of the chassis of the palletizing robot body 5 (lower than the height of the upper end of the baffle), and the third set of photoelectric detection mechanism W4 is vertically installed in the middle of the fixing frame 53 at the upper end of the palletizing robot fixture 52, and the detection head of the photoelectric detection mechanism W4 is located at the lower part; the power module W1, the alarm prompt circuit 3 and the working status detection circuit 4 are installed in the electric control box of the palletizing robot body.

[0016] Figure 1 , 2As shown in , the outer diameter of the electric drive wheel is slightly smaller than the upper and lower heights in the inner groove of the guide rail 1. The detection heads of the two sets of photoelectric detection mechanisms W3 and the two baffles 11 are respectively in a face-to-face structure. The alarm prompt circuit includes an adjustable resistor RP1, resistors R1 and R2, a thyristor VS1, and an alarm BX connected by circuit board wiring. And connected to the two sets of photoelectric detection mechanisms W3 through wires, the positive power input terminal 1 pin of the two sets of photoelectric detection mechanisms W3 is connected to the anode of the thyristor VS1, the power output terminal 3 pins of the two sets of photoelectric detection mechanisms W3 is connected to one end of the adjustable resistor RP1, the other end of the adjustable resistor RP1 is connected to one end of the first resistor R1 and one end of the second resistor R2, the other end of the second resistor R2 is connected to the control electrode of the thyristor VS1, the other end of the first resistor R1 is connected to the negative power input terminal of the relay K1 and the negative power input terminal of the alarm BX, and the cathode of the thyristor VS1 is connected to the positive power input terminal of the relay K1 and the positive power input terminal of the alarm BX. The working status detection circuit includes a resistor R3, a capacitor C1, transistors Q1 and Q2 connected via circuit board wiring, and is connected to a third set of photoelectric detection mechanisms W4 via wires. Pin 3 of the positive power supply output terminal of the photoelectric detection mechanism W4 is connected to one end of the resistor R3 and the emitter of the first transistor Q2. The other end of the first resistor R3 is connected to the positive electrode of the capacitor C1 and one end of the second resistor R4. The other end of the second resistor R4 is connected to the base of the second transistor Q1. The collector of the second transistor Q1 is connected to the base of the first transistor Q3. Pin 2 of the negative power supply input terminal of the photoelectric detection mechanism W4 is connected to the negative electrode of the capacitor C1 and the emitter of the second transistor Q1. The power input terminals 1 and 2 of the power module W1, the two control power input terminals of the relay K1 of the alarm prompt circuit and the two poles of the AC 220V power supply are connected through wires respectively, and the two normally closed contact terminals of the control power output terminal relay K1 of the alarm prompt circuit and the total power input terminal of the stacking robot body 5 (W2) are connected through wires; one end of the resistor R2 at the signal input terminal of the alarm prompt circuit and the collector of the transistor Q2 at the signal output terminal of the working state detection circuit are connected through wires; the power output terminals 3 and 4 of the power module W1 are connected in series through the power switch S1 (located between the positive pole of the battery G1 and the anode of the thyristor VS1) and the power input terminals 1 and 2 of the three sets of photoelectric detection mechanisms W3 and W4, as well as the power input terminal thyristor VS1 anode of the alarm prompt circuit and the negative power input terminal of the relay K1, and the power input terminal 1 and 2 of the photoelectric detection mechanism W4 at the power input terminal of the working state detection circuit are connected through wires respectively. The power output terminal of the power module W1 and the two poles of the power supply of a battery G1 (12V / 10Ah) are connected through wires respectively.

[0017] Figure 1 , 2As shown, the new type of coordinated palletizing robot body 5 based on the track guidance type works, and the palletizing robot body 5 operates between loading and unloading along the laid guide rail 1. Since the guide rail 1 is a "[" type, the wheel of the electric drive wheel of the palletizing robot body 5 is located between the upper and lower ends of the inner groove of the guide rail 1, and the guide rail 1 limits the wheel. In this way, the wheel of the palletizing robot body 5 is limited by the guide rail, and the palletizing robot will not escape from the guide rail, which ensures that the equipment works stably and reliably as much as possible and will not overturn, and can achieve good safety and stability. After the AC 220V power supply enters the 220V power supply, the power output end of the power module W1 outputs a stable DC 12V power supply to enter the power input end of the three sets of photoelectric detection mechanisms W3 and W4, as well as the power input end of the alarm prompt circuit and the working status detection circuit (at the same time, the 12V power supply enters the battery G1 to charge the battery G1, ensuring that the equipment can still work normally after the 220V power supply is cut off). When the palletizing robot moves normally to the left or right along the guide rail, that is, the palletizing robot has not moved to the left or right stop point of the guide rail, the distance between the transmitter head of the left or right photoelectric detection mechanism W3 and the end baffles 11 on both sides is greater than the threshold value (for example, greater than 30 cm), the control electrode of the thyristor VS1 will not be triggered, the thyristor VS1 will not be turned on, the relay K1 continues to lose power, its control power input terminal and the normally closed contact terminal are closed, and the palletizing robot body 5 (W2) continues to be powered on and work. When the palletizing robot body does not move normally along the guide rail 1 due to various reasons (such as damage to machine parts or power failure, or problems with the control software of the palletizing robot body), that is, when the palletizing robot moves to the left or right stop point of the guide rail, the distance between the transmitter head of the left or right photoelectric detection mechanism W3 and the left or right baffle is less than the threshold value (for example, less than 30 cm), and the 3rd foot of the left or right photoelectric detection mechanism W3 outputs a high level and enters the other end of the adjustable resistor RP1. The high level is divided by the adjustable resistor RP1 and the resistor R1, and the resistor R2 reduces the voltage and limits the current and enters the control electrode of the thyristor VS1. The thyristor VS1 is triggered and turned on, and the relay K1 is energized to attract its control power input terminal and the normally closed contact terminal to open the circuit. In this way, the palletizing robot body W2 will lose power and no longer work, and at the same time, the buzzer BX will be energized to emit a loud warning sound to prompt the personnel who are not on site to arrive at the site in time. In actual situations, when the palletizing robot body works normally and its clamp 52 regularly clamps the goods, the light beam emitted by the transmitter head of the photoelectric detection mechanism W4 shines on the upper end of the goods, the 3rd pin of the photoelectric detection mechanism W4 does not output a high level, and the subsequent relay K1 will not be energized and attracted, and the palletizing robot body W2 works normally (the 220V AC power supply enters the power input terminal of the palletizing robot body W2 through the relay K1 control power input terminal and the normally closed contact terminal).In actual situations, when the equipment stops working due to various reasons (including damage to machine parts or power failure, etc.), and the clamp no longer clamps the goods, since there is no object blocking the 3-pin transmitter of the photoelectric detection mechanism W4, its 3-pin output is high. The high level is reduced and limited by resistor R3 to charge capacitor C1. In the initial period of time (for example, the time is less than 240 seconds), when capacitor C1 is not fully charged, the high level enters the base of transistor Q1 below 0.7V through resistors R3 and R4, and transistors Q1 and Q2 will not be turned on. In this way, thyristor VS1 will not be turned on either, and relay K1 continues to lose power, its control power input terminal and normally closed contact terminal are closed, and the stacking robot body 5 (W2) continues to be powered on. When the equipment stops working due to various reasons and the clamp no longer clamps the goods for more than 240 seconds, the 3rd pin of the photoelectric detection mechanism W4 continues to output a high level for more than 240 seconds (the formula is as follows, time seconds T=1.1*capacitance of capacitor C1*resistance value of resistor R3). When capacitor C1 is fully charged, the high level enters the base of transistor Q1 through resistors R3 and R4 with voltage reduction and current limiting, and is higher than 0.7V. The transistor Q1 turns on the collector and outputs a low level Q2 base. The transistor Q2 will turn on the collector and output a high level, and enter the control electrode of thyristor VS1 through resistor R2 with current reduction and current limiting. The thyristor VS1 is triggered and turned on, and the relay K1 is energized to close its control power input terminal and the normally closed contact terminal to open the circuit. In this way, the stacking robot body W2 will lose power and stop working, and at the same time, the buzzer BX will be energized to emit a loud warning sound to prompt the personnel who are not on site to arrive at the site in time.

[0018] Figure 1 , 2 As shown above, in the application of the utility model, when the palletizing robot moves to the left stop point or the right stop point uncontrollably due to various reasons, the main power supply of the equipment can be disconnected in time (and a voice prompt is given to the staff who are not on site), thereby reducing the probability of equipment collision and damage. When the palletizing robot does not work for a certain period of time due to various faults, the staff can be prompted to go to the site for maintenance in time; and because the "["-shaped guide rail is used as the guide mechanism, the equipment is guaranteed to work stably and reliably as much as possible without overturning, which can achieve good safety and stability. Figure 2In the figure, the power module W1 is a finished product of the AC 220V to DC 12V switching power module; the resistance values ​​of resistors R1, R2, R3, and R4 are 10K, 100K, 2.2M, and 470K respectively; the transistor Q1 is a NPN transistor of model 9013; the transistor Q2 is a PNP transistor of model 9012; the relay K1 model is DC12V; the buzzer B is a finished product of the high-decibel buzzer of model SFM-12 (working voltage 12V); the capacitor C1 is a 100μF / 25V electrolytic capacitor; the thyristor VS1 is a unidirectional thyristor of model MCR100-6; the adjustable resistor RP1 has a resistance of 470K ( This embodiment is adjusted to 70K); the photoelectric detection mechanisms W3 and W4 are NPN and PNP type photoelectric switch products of model E3F-DS30C4 respectively. The photoelectric detection mechanisms W3 and W4 have two power input terminals and one signal output terminal. When there is an obstacle at the front end of the detection head of the photoelectric detection mechanism W3, the signal output terminal outputs power, otherwise it does not output power. When there is an obstacle at the front end of the detection head of the electrical detection mechanism W4, the signal output terminal does not output power, otherwise it outputs power (the outer side of the housing of the photoelectric switch has a distance adjustment knob. Adjusting it to the left will shorten the detection distance, and adjusting it to the right will make the detection distance farther. The new model is adjusted to 30 cm and 20 cm respectively). It should be noted that the new photoelectric switch W4 can only detect equipment failure when the fixture is not clamped in the goods. In actual situations, an NPN photoelectric switch (the power output end is connected to one end of the resistor R3) can be installed on the side end of the photoelectric switch W4 according to needs in production. When clamping the goods, the NPN photoelectric switch outputs a high level. If the palletizing robot fails and the fixture cannot unload the goods normally, the 3rd foot of the NPN photoelectric switch outputs a high level for more than 240 seconds. Similarly, the palletizing robot body W2 will lose power and no longer work, and at the same time, the buzzer BX will be energized to emit a loud prompt sound, prompting the personnel who are not on site to arrive at the site in time (generally, the palletizing robot will not clamp and unload the goods for more than 4 minutes in one process. The 4-minute delay in this application also has a function that under normal circumstances, there is also a time interval when the fixture clamps the goods to prevent the normal clamping or putting down of the goods. The equipment fails and the buzzer falsely alarms, but it is impossible not to clamp or unload the goods for 4 minutes during normal operation, so normal use can be guaranteed). After use, turn off the main power switch, and the entire device will lose power (and turn off the power switch S1 outside the front of the electric control box, and all circuits will not work).

[0019] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is limited to the details of the above exemplary embodiments, and the utility model can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the utility model.

[0020] In addition, it should be understood that although the present specification is described according to the implementation mode, the implementation mode does not only include an independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A positioning mechanism for a palletizing robot, comprising a guide rail, a bottom plate, and a photoelectric detection mechanism, characterized in that: The invention also has an alarm prompt circuit and a working state detection circuit; the guide rail is a "["-shaped structure, there are at least two guide rails, the two guide rails are installed on the bottom plate at a distance, and the wheels of multiple sets of electric drive wheels of the track-guided palletizing robot body are respectively located in the grooves of the two guide rails; baffles are respectively installed on both sides of the guide rail, and there are multiple sets of photoelectric detection mechanisms, two sets of which are horizontally installed on both sides of the chassis of the palletizing robot body, and the third set of photoelectric detection mechanisms is vertically installed on the upper end of the palletizing robot fixture; the alarm prompt circuit and the working state detection circuit are installed in an electrical box, and the control power output end of the alarm prompt circuit is electrically connected to the power input end of the palletizing robot body; the signal input end of the alarm prompt circuit is electrically connected to the signal output end of the working state detection circuit.

2. A positioning mechanism for the movement of a palletizing robot according to claim 1, characterized in that: The outer diameter of the electric drive wheel is smaller than the upper and lower heights in the inner groove of the guide rail.

3. The positioning mechanism for the movement of a palletizing robot according to claim 1, characterized in that: The detection heads of the two sets of photoelectric detection mechanisms and the two baffles are respectively in a face-to-face structure.

4. The positioning mechanism for the movement of a palletizing robot according to claim 1, characterized in that: The alarm prompt circuit includes an electrically connected adjustable resistor, a resistor, a thyristor, and an alarm, and is connected to two sets of photoelectric detection mechanisms. The positive power supply input ends of the two sets of photoelectric detection mechanisms are connected to the anode of the thyristor, the power supply output ends of the two sets of photoelectric detection mechanisms are connected to one end of the adjustable resistor, the other end of the adjustable resistor is connected to one end of the first resistor and one end of the second resistor, the other end of the second resistor is connected to the thyristor control electrode, the other end of the first resistor is connected to the negative power supply input end of the relay and the negative power supply input end of the alarm, and the cathode of the thyristor is connected to the positive power supply input end of the relay and the positive power supply input end of the alarm.

5. The positioning mechanism for the movement of a palletizing robot according to claim 1, characterized in that: The working state detection circuit includes an electrically connected resistor, a capacitor, and a transistor, and is connected to a third set of photoelectric detection mechanisms. The positive power supply output end of the photoelectric detection mechanism is connected to one end of the resistor and the emitter of the first transistor, the other end of the first is connected to the positive electrode of the capacitor and one end of the second resistor, the other end of the second resistor is connected to the base of the second transistor, the collector of the second transistor is connected to the base of the first transistor, and the negative power supply input end of the photoelectric detection mechanism is connected to the negative electrode of the capacitor and the emitter of the second transistor.

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