Alarm device for automatic operation area of manipulator

Abstract

The utility model belongs to the field of automatic storage, and relates to an alarm device for an automatic operation area of a manipulator, which is characterized in that photoelectric switches and reflectors are arranged at four points A, B, C and D close to the automatic operation area of the manipulator, and a stacking station, an alarm station and an outer side station are arranged between the point A and the point B; the stacking station, the alarm station and the outer side station are provided with conveying belts rotationally connected with the motor. A first proximity switch and a second proximity switch are installed on the alarm station and located on the two sides of an irradiation loop of the optoelectronic switch AB, protective fences are arranged on the left side and the right side of the stacking station, and the protective fences are parallel to the irradiation loop of the optoelectronic switch AB. The system further comprises a PLC, and the PLC is in wireless connection with the stacking station motor, the alarm station motor, the outer side station motor, the photoelectric switch, the first proximity switch and the second proximity switch. According to the utility model, automatic identification of people and goods is realized, and people are prevented from entering an automatic manipulator operation area during manipulator operation.

Description

Technical Field

[0001] The utility model belongs to the technical field of automated warehousing, and particularly relates to an alarm device for the automated operation area of a manipulator. Background Technique

[0002] In an automated warehousing system, as an important mechanical equipment for palletizing incoming and outgoing goods, the manipulator replaces manual palletizing and is used together with highly automated warehousing equipment such as conveyor chain machines, film laminating machines, and film wrapping machines, saving a large amount of manpower and material resources, and basically achieving unattended operation. The automated warehousing system can operate with high intelligence, automation, and high efficiency.

[0003] In an automated warehousing system, generally, no one enters. However, on-site duty personnel will occasionally handle some abnormalities, and maintenance personnel will enter the automated operation area of the manipulator when conducting equipment inspections and repairs. For the daily inspection and maintenance work of the highly mechanized incoming goods linkage area, due to the presence of many rotating devices such as manipulators, there are certain safety hazards. Among them, there are certain risks in the swinging arm and grasping process during the operation of the manipulator. Once maintenance and inspection personnel are careless, the consequences will be unimaginable.

[0004] Optical isolation protection in the automated operation area of the manipulator is a relatively reliable safety protection measure. However, on one side of the automated operation area of the manipulator is the goods inlet and outlet passage. Frequently passing in and out of goods will block the photoelectric switch, and the photoelectric switch cannot automatically determine whether the object passing through is a person or goods. The goods inlet and outlet passage has become a relatively obvious defect in the isolation protection of the automated operation area of the manipulator. Summary of the Invention

[0005] In order to solve the above technical problems, the utility model provides an alarm device for the automated operation area of a manipulator. The technical solution adopted by the utility model is as follows:

[0006] Alarm device for the automatic operation area of the manipulator. Photoelectric switches and reflectors are respectively arranged at four points A, B, C, and D on the outer periphery of the automatic operation area of the manipulator. The four points A, B, C, and D form a square. The photoelectric switches are wirelessly connected to the sound and light alarm. A palletizing station, an alarm station, and an outer station are arranged between point A and point B. The palletizing station is close to the manipulator, the outer station is far from the manipulator, and the alarm station is located in the middle of the palletizing station and the outer station. Gaps are provided between the palletizing station, the alarm station, and the outer station. A palletizing station conveyor belt, an alarm station conveyor belt, and an outer station conveyor belt are respectively arranged at the palletizing station, the alarm station, and the outer station. The palletizing station conveyor belt, the alarm station conveyor belt, and the outer station conveyor belt are respectively rotationally connected to a palletizing station motor, an alarm station motor, and an outer station motor; A proximity switch one and a proximity switch two are respectively installed on the alarm station. The proximity switch one and the proximity switch two are respectively located on both sides of the photoelectric switch AB irradiation circuit. Protective fences are respectively arranged on the left and right sides of the palletizing station. The protective fences are arranged parallel to the photoelectric switch AB irradiation circuit. The distance between the protective fences and the manipulator is greater than the distance between the photoelectric switch AB irradiation circuit and the manipulator; It also includes a PLC controller. The PLC controller is wirelessly connected to the palletizing station motor, the alarm station motor, the outer station motor, the photoelectric switch, the proximity switch one, and the proximity switch two respectively.

[0007] Preferably, the manipulator is rotatably installed on the manipulator base.

[0008] Preferably, the PLC controller adopts a PLC controller with the model of SIMATIC S7-1200 CPU1214C.

[0009] The beneficial effects of the present utility model:

[0010] By setting a separate alarm station, cooperating with the setting of protective fences, and setting a proximity switch one and a proximity switch two on the alarm station, and cooperating with the PLC controller, the present utility model realizes automatic identification of people and goods, can fundamentally prevent personnel from entering the automatic operation area of the manipulator during the operation of the manipulator, and protects the personal safety of maintenance and repair personnel. Description of the Drawings

[0011] The drawings are used to provide a further understanding of the present utility model and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model. In the drawings:

[0012] Figure 1 is the top view of the alarm device arrangement in the prior art;

[0013] Figure 2 is the top view of the alarm device in the embodiment of the present utility model;

[0014] In the figure, 1 - photoelectric switch, 2 - reflector, 3 - robotic arm automated operation area, 4 - photoelectric switch ray, 5 - robotic arm base, 6 - robotic arm, 7 - goods conveyor belt, 8 - palletizing station, 9 - alarm station, 10 - outer station, 11 - guardrail. Detailed implementation manner

[0015] The technical solution of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments.

[0016] As Figure 1 shown, in the layout structure of the alarm device for the robotic arm automated operation area in the prior art, the robotic arm 6 is rotatably installed on the robotic arm base 5. The robotic arm 6 can rotate 360 degrees on the robotic arm base 5 to pick up and place goods. Within the coverage area of the robotic arm automated operation area 3, it is strictly prohibited for personnel to enter. In order to avoid the rotating robotic arm 6 causing injury accidents and timely prompt and alarm personnel entering the robotic arm automated operation area 3, photoelectric switches 1 and reflectors 2 are respectively arranged at four positions A, B, C, and D close to the robotic arm automated operation area 3. The photoelectric switch ray 4 emitted by the photoelectric switch 1 projects from the front onto the reflector 2, forming a square closed irradiation loop of photoelectric switches AB, BC, CD, and DA. During the rotation of the robotic arm 6, once the operation and maintenance personnel are about to enter the coverage area of the robotic arm automated operation area 3, they will necessarily pass through one of the photoelectric switch irradiation loops AB, BC, CD, or DA formed by the photoelectric switch 1 and the reflector 2. At this time, the photoelectric switch 4 will automatically send a signal to the sound and light alarm, causing the sound and light alarm to give an alarm reminder to prevent personnel from entering the robotic arm automated operation area 3 and thus causing safety accidents such as scratches and bruises.

[0017] However, since there is a goods conveyor belt 7 on the photoelectric switch AB irradiation loop, when the goods tray or goods on the goods conveyor belt 7 pass through the photoelectric switch AB irradiation loop, because the photoelectric switch 1 cannot automatically judge whether it is a person or goods entering or leaving, it will cause the sound and light alarm to give a false alarm. If the photoelectric switch AB irradiation loop is cancelled, there will be a safety hazard at the goods conveyor belt 7, and the production safety problem of the robotic arm automated operation area cannot be truly solved.

[0018] The technical solution provided by the embodiment of the present utility model mainly studies and solves the problem that the goods conveyor belt 7 is a goods entry and exit channel, and the frequent entry and exit of goods will block the photoelectric switch AB irradiation loop, thus unable to accurately realize the alarm function of the photoelectric switch 1. As Figure 2As shown in the figure, in the embodiment of the present utility model, the original goods conveyor belt 7 is decomposed into a palletizing station 8, an alarm station 9 and an outer station 10. The palletizing station 8 is close to the manipulator base 5 and the manipulator 6, the outer station 10 is far from the manipulator base 5 and the manipulator 6, and the alarm station 9 is located between the palletizing station 8 and the outer station 10. There are gaps between the palletizing station 8, the alarm station 9 and the outer station 10, and the width of the gaps does not affect the normal transfer of the goods tray from the palletizing station 8 to the alarm station 9 and the outer station 10 in sequence. The palletizing station 8, the alarm station 9 and the outer station 10 are respectively provided with a palletizing station conveyor belt, an alarm station conveyor belt and an outer station conveyor belt. The palletizing station conveyor belt, the alarm station conveyor belt and the outer station conveyor belt are respectively rotationally connected to a palletizing station motor, an alarm station motor and an outer station motor that are independently driven to operate, and the conveyor belts are driven to rotate forward or backward by the motors.

[0019] A proximity switch one and a proximity switch two are respectively installed on the alarm station 9. The proximity switch one and the proximity switch two are respectively located on the front and rear sides of the illumination circuit of the photoelectric switch AB, and the proximity switch one is close to the palletizing station 8. At the same time, guardrails 11 are respectively arranged on the left and right sides of the palletizing station 8. The guardrails 11 are arranged parallel to the illumination circuit of the photoelectric switch AB, and the distance between the guardrails 11 and the manipulator 6 is greater than the distance between the illumination circuit of the photoelectric switch AB and the manipulator 6.

[0020] In order to realize the automatic recognition and alarm of people and goods at the illumination circuit of the photoelectric switch AB, the embodiment of the present utility model is also provided with a PLC controller. The PLC controller is respectively electrically connected to the palletizing station motor, the alarm station motor, the outer station motor, the photoelectric switch 1, the proximity switch one and the proximity switch two through the PNP connection method, and uses high-level signals to realize data interaction. The PLC controller adopts a PLC controller with the model of SIMATIC S7-1200 CPU1214C.

[0021] The working process of the alarm device for the automatic operation area of the manipulator provided by the embodiment of the present utility model is as follows:

[0022] 1. Automated storage system shipment. When it is necessary to ship goods from the storage system, the manipulator 6 first removes the goods from the shelf and stacks them on the goods tray on the palletizing station conveyor belt at the palletizing station 8. At this time, the palletizing station motor, the alarm station motor, and the outer station motor are in the off state and do not work. When the number of stacked goods reaches the quantity for one shipment, the automated storage system sends a shipment signal to the PLC controller. The PLC controller issues a control signal to control the palletizing station motor, the alarm station motor, and the outer station motor to start rotating forward. The goods tray on the palletizing station conveyor belt is conveyed to the front end of the alarm station conveyor belt. When proximity switch 1 detects that the goods tray has reached the front end of the alarm station conveyor belt, that is, the goods tray is about to reach the illumination circuit of photoelectric switch AB, proximity switch 1 sends signal 1 to the PLC controller. After the PLC controller receives signal 1, it sends a control signal to photoelectric switch 1 to shield the emission signal of photoelectric switch 1, avoiding false alarms when the goods tray reaches the illumination circuit of photoelectric switch AB. The goods tray continues to be conveyed to the outer station conveyor belt on the alarm station conveyor belt. When proximity switch 2 detects that the goods tray is about to reach the outer station conveyor belt, that is, the goods tray is about to leave the illumination circuit of photoelectric switch AB, proximity switch 2 sends signal 2 to the PLC controller. After the PLC controller receives signal 2, it sends a control signal to photoelectric switch 1 to turn on the emission signal of photoelectric switch 1, restoring the alarm function of the illumination circuit of photoelectric switch AB. The goods tray is conveyed from the alarm station conveyor belt to the outer station conveyor belt, and the goods tray continues to be conveyed to the next station on the outer station conveyor belt.

[0023] 2. Inbound operation of the automated warehousing system. When goods need to be received into the warehousing system, the palletizing station motor, the alarm station motor, and the outer station motor are in the off state and not working at this time. External goods are palletized by relevant mechanical equipment and placed on the goods pallet on the outer station conveyor belt. When the goods are palletized to reach the quantity of one inbound operation, the automated warehousing system sends an inbound signal to the PLC controller. The PLC controller issues a control signal to control the palletizing station motor, the alarm station motor, and the outer station motor to start reversing. The goods pallet on the outer station conveyor belt is conveyed to the rear end of the alarm station conveyor belt. Proximity switch 2 detects that the goods pallet has reached the rear end of the alarm station conveyor belt, that is, the goods pallet is about to reach the irradiation loop of the photoelectric switch AB. Proximity switch 2 sends signal 3 to the PLC controller. After receiving signal 3, the PLC controller sends a control signal to the photoelectric switch 1 to shield the emission signal of the photoelectric switch 1, avoiding false alarms when the goods pallet reaches the irradiation loop of the photoelectric switch AB. The goods pallet continues to be conveyed on the alarm station conveyor belt towards the palletizing station conveyor belt. When proximity switch 1 detects that the goods pallet is about to reach the palletizing station conveyor belt, that is, the goods pallet is about to leave the irradiation loop of the photoelectric switch AB, proximity switch 1 sends signal 4 to the PLC controller. After receiving signal 4, the PLC controller sends a control signal to the photoelectric switch 1 to turn on the emission signal of the photoelectric switch 1, that is, to restore the alarm function of the irradiation loop of the photoelectric switch AB. After the goods pallet continues to be conveyed and in place on the palletizing station conveyor belt, the PLC controller controls the palletizing station motor to stop running. The manipulator 6 places the goods on the shelf to complete the inbound operation.

[0024] During the outbound and inbound operations of the automated warehousing system, when the emission signal of the photoelectric switch 1 is temporarily shielded, the guardrail 11 can prevent personnel from entering the manipulator automated operation area 3 during this period.

[0025] During the goods inbound and outbound process, there are corresponding goods numbers for the goods conveyed to each different conveyor belt position. The server of the automated warehousing system sends corresponding signals to the PLC controller according to the traveling process of the goods. This part is the prior art.

[0026] Specifically in implementation, the horizontal distance between the photoelectric switch 1 at a certain point and the corresponding reflector 2 at another point is slightly more than 0.5 meters greater than the diameter of the manipulator automated operation area 3. The effective detection distance of the selected photoelectric switch 1 should be greater than this distance. The installation heights of the photoelectric switch 1 and the reflector 2 are determined according to the height of the conveyor belt, about 0.1 meters above the upper plane of the conveyor belt. It can accurately detect the running goods pallet without being affected by the conveyor belt, and this height is also below the height of the maintenance personnel. The height positions of the photoelectric switch 1 and the reflector 2 are usually between 0.6 - 0.8 meters from the ground.

[0027] In the embodiments of the present utility model, the technical features not described in detail are all prior art or conventional technical means, and will not be elaborated herein.

[0028] Finally, it should be noted that the above embodiments are only specific implementation manners of the present utility model, used to illustrate the technical solutions of the present utility model, rather than limiting it. The protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that any person skilled in the art within the technical scope disclosed by the present utility model can modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present utility model, and should all be covered within the protection scope of the present utility model.

Claims

1. Alarm device for the automatic operation area of the manipulator. Photoelectric switches and reflectors are respectively arranged at four points A, B, C, and D on the outer periphery of the automatic operation area of the manipulator. The four points A, B, C, and D form a square. The photoelectric switches are wirelessly connected to the sound and light alarm. It is characterized in that, A palletizing station, an alarm station and an outer station are arranged between point A and point B. The palletizing station is close to the manipulator, the outer station is far from the manipulator, and the alarm station is located in the middle of the palletizing station and the outer station. A gap is arranged between the palletizing station, the alarm station and the outer station. A palletizing station conveyor belt, an alarm station conveyor belt and an outer station conveyor belt are respectively arranged at the palletizing station, the alarm station and the outer station. The palletizing station conveyor belt, the alarm station conveyor belt and the outer station conveyor belt are respectively rotationally connected to a palletizing station motor, an alarm station motor and an outer station motor; A proximity switch one and a proximity switch two are respectively installed on the alarm station. The proximity switch one and the proximity switch two are respectively located on both sides of the irradiation circuit of the photoelectric switch AB. Protective fences are respectively arranged on the left and right sides of the palletizing station. The protective fences are arranged parallel to the irradiation circuit of the photoelectric switch AB. The distance between the protective fences and the manipulator is greater than the distance between the irradiation circuit of the photoelectric switch AB and the manipulator; It also includes a PLC controller, and the PLC controller is wirelessly connected to the palletizing station motor, the alarm station motor, the outer station motor, the photoelectric switch, the proximity switch one and the proximity switch two respectively.

2. The alarm device for the automated operation area of the manipulator according to claim 1, wherein, The manipulator is rotationally installed on the manipulator base.

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