Stacking control system based on Omron robot

Abstract

The utility model relates to the technical field of industrial control, in particular to a stacking control system based on an Omron robot. The automatic stacking device comprises a stacking robot arranged on an annular guide rail, a feeding device and a conveying device, the feeding device and the conveying device are arranged on the side portion of the stacking robot, the stacking robot comprises a driving bottom frame, a body and a controller, and the body and the controller are arranged on the driving bottom frame. The body comprises a supporting frame, a transverse moving mechanism, a vertical moving mechanism and a rotating arm, wherein the transverse moving mechanism, the vertical moving mechanism and the rotating arm are arranged on the supporting frame. The stacking robot rotates with the annular guide rail as the center, clamps goods on the feeding device and places the goods on the conveying device. The Omron series PLC is adopted as the controller, and the controller is electrically connected with the driving bottom frame, the body, the feeding device and the conveying device, so that centralized control over the whole system is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial control, and particularly relates to a palletizing control system based on an Omron robot. Background Art

[0002] The robot palletizing workstation needs to meet the high-efficiency production requirements, with the goal of palletizing at least 9 boxes per minute. This requires the robot to have the capabilities of quick response and high-speed movement, while maintaining stable and precise operation. To meet the requirements of diverse working environments and product lines, technicians have conducted many explorations. For example, the cable automatic palletizing device disclosed in Chinese Patent CN117302993A improves the efficiency and accuracy by controlling the palletizing transfer mechanism to clamp and palletize cables. However, there are still unsolved problems in this solution: high stack types are likely to cause equipment instability, with insufficient stability and load-bearing capacity, and it is difficult to adapt to the palletizing requirements of different types of goods. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is: to overcome the deficiencies of the prior art and provide a palletizing control system based on an Omron robot.

[0004] The technical scheme adopted by the utility model is as follows:

[0005] A palletizing control system based on an Omron robot includes a palletizing robot arranged on a circular guide rail, and a feeding device and a conveying device arranged on the side of the palletizing robot, wherein:

[0006] The palletizing robot includes a driving chassis, and a body and a controller arranged on the driving chassis. The body includes a support frame, and a lateral moving mechanism, a vertical moving mechanism and a rotating arm arranged on the support frame. The lateral moving mechanism is movably connected to the support frame through a drag chain. The vertical moving mechanism is movably installed at the end of the lateral moving mechanism. The rotating arm is movably installed at the top of the vertical moving mechanism. A clamp is arranged at the end of the rotating arm.

[0007] The feeding device is a feeding assembly line, on which goods are arranged.

[0008] The conveying device is a rotating vehicle body, on which goods are arranged, and driving wheels are arranged at the bottom thereof.

[0009] Wherein, the palletizing robot rotates around the circular guide rail, clamps the goods on the feeding device and places them on the conveying device.

[0010] Through the precise control of the lateral movement mechanism, vertical movement mechanism and rotating arm by the controller, the robot can achieve precise positioning and movement in three-dimensional space. The controller works in coordination with the loading device and the conveying device to ensure the smooth progress of the processes of gripping, placing and conveying goods. Specifically, the circular guide rail is the running track of the palletizing robot, and the robot operates continuously and cyclically, improving the space utilization rate. The driving chassis moves along the circular guide rail, thereby driving the palletizing robot to rotate. The main body includes a lateral movement mechanism, a vertical movement mechanism and a rotating arm, realizing the flexible movement of the robot in three-dimensional space. The lateral movement mechanism is movably connected to the support frame through a drag chain and can move left and right along the support frame, thereby adjusting the position of the robot in the horizontal direction. The vertical movement mechanism is movably installed at the end of the lateral movement mechanism and can move up and down to adjust the position of the robot in the vertical direction. The rotating arm is movably installed at the top of the vertical movement mechanism and can rotate around its axis, further increasing the flexibility of the robot. A clamp is provided at the end of the rotating arm for gripping and placing goods. The loading device is the input end of the goods, and the goods can be continuously and stably conveyed into the working range of the palletizing robot. The conveying device is the output end of the goods. The rotating vehicle body enables the goods to be placed at different positions, and at the same time, the setting of the driving wheels enables the conveying device to move flexibly to adapt to different palletizing requirements. The loading device conveys the goods into the working range of the palletizing robot. The robot grips the goods through motion control and then places the goods on the conveying device in sequence. Finally, the conveying device conveys the goods to the designated warehousing operation, realizing the automatic palletizing of goods and improving the work efficiency.

[0011] In addition, according to the palletizing control system based on the Omron robot proposed above in the present invention, the following additional technical features may also be provided:

[0012] According to an embodiment of the present invention, at least two groups of loading devices are provided around the circular guide rail, respectively conveying different types of goods.

[0013] By providing multiple groups of loading devices in this technical solution, they can work in parallel and process multiple types of goods simultaneously, thereby significantly improving the working efficiency of the system. The multiple groups of loading devices can also achieve continuous supply of goods, reduce waiting time, and further improve the production capacity of the system. When one of the loading devices fails, it can be switched to another group of loading devices to continue working, ensuring the continuous operation of the system.

[0014] According to an embodiment of the present invention, the palletizing robot grips different types of goods respectively through the clamp and places them on the rotating vehicle body in sequence.

[0015] In this technical solution, the palletizing robot places the goods on the rotating vehicle body in sequence, which not only facilitates subsequent logistics transportation and warehousing management, but also reduces the risk of damage during the goods handling process.

[0016] According to an embodiment of the present invention, when the fixture drops above the rotating vehicle body, the driving wheel drives the rotating vehicle body to rotate a certain angle to place the goods at the designated position.

[0017] In this technical solution, the rotating vehicle body not only allows the goods to be arranged in an orderly manner on the horizontal plane, but also realizes the spatial optimization in the vertical direction through the rotation action; when the fixture drops, the rotating vehicle body can rotate in a timely manner to create a suitable placement space for the goods, thus avoiding collisions or improper stacking between the goods, which not only improves the space utilization rate, but also enhances the palletizing efficiency.

[0018] According to an embodiment of the present invention, the height of the support frame meets the stacking height requirements of the goods on the rotating vehicle body.

[0019] In this technical solution, the height of the support frame is directly related to the stacking height of the goods on the rotating vehicle body. By accurately calculating the height of each layer of goods and the structural limitations of the rotating vehicle body, the optimal height of the support frame can be determined, so as to maximize the use of vertical space for goods storage.

[0020] According to an embodiment of the present invention, the controller adopts the Omron series PLC, and the controller is electrically connected to the driving chassis, the body, the feeding device, and the conveying device respectively.

[0021] In this technical solution, the Omron series PLC is used as the controller, and by electrically connecting the PLC to the driving chassis, the body, the feeding device, and the conveying device, centralized control of the entire system is realized. It should be noted that the algorithms adopted by the controller are all prior arts, and the present invention only improves the hardware structure of the system.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) By using the Omron series PLC as the controller and electrically connecting it to the driving chassis, the body, the feeding device, and the conveying device, centralized control of the entire system is realized.

[0024] (2) The palletizing robot rotates around the annular guide rail, grabs the goods on the feeding device and places them on the conveying device, and the whole process does not require manual intervention, significantly improving the work efficiency. Description of the Drawings

[0025] Figure 1 is one of the state diagrams of the present invention.

[0026] Figure 2 It is the second state diagram of the present utility model.

[0027] Figure 3 It is a schematic structural diagram of the annular guide rail.

[0028] In the figure: 1, driving chassis; 2, controller; 3, support frame; 4, transverse moving mechanism; 5, drag chain; 6, vertical moving mechanism; 7, rotating arm; 8, fixture; 9, rotating vehicle body; 10, goods; 11, driving wheel; 12, annular guide rail; 13, loading device. Specific embodiments

[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0030] Embodiment 1

[0031] As Figures 1 to 3 shown, this embodiment provides a palletizing control system based on an Omron robot, including a palletizing robot arranged on the annular guide rail 12, and a loading device 13 and a conveying device arranged on the side of the palletizing robot. Among them:

[0032] The palletizing robot includes a driving chassis 1, and a body and a controller 2 arranged on the driving chassis 1. The body includes a support frame 3 and a transverse moving mechanism 4, a vertical moving mechanism 6 and a rotating arm 7 arranged on the support frame 3. The transverse moving mechanism 4 is movably connected to the support frame 3 through a drag chain 5. The vertical moving mechanism 6 is movably installed at the end of the transverse moving mechanism 4. The rotating arm 7 is movably installed at the top of the vertical moving mechanism 6. A fixture 8 is arranged at the end of the rotating arm 7;

[0033] The loading device 13 is a loading assembly line, on which goods 10 are arranged;

[0034] The conveying device is a rotating vehicle body 9, on which goods 10 are arranged, and driving wheels 11 are arranged at the bottom thereof;

[0035] Among them, the palletizing robot rotates around the annular guide rail 12, grabs the goods 10 on the loading device 13 and places them on the conveying device.

[0036] As Figures 1 to 3As shown in the figure, through the precise control of the lateral movement mechanism 4, the vertical movement mechanism 6 and the rotating arm 7 by the controller 2, the robot can achieve precise positioning and movement in three-dimensional space; the controller 2 works in coordination with the loading device 13 and the conveying device to ensure the smooth progress of the processes of gripping, placing and conveying the goods 10. Specifically, the annular guide rail 12 is the running track of the palletizing robot, and the robot operates continuously and cyclically, improving the space utilization rate; the driving chassis 1 moves along the annular guide rail 12, thereby driving the rotation of the palletizing robot; the body includes a lateral movement mechanism 4, a vertical movement mechanism 6 and a rotating arm 7, realizing the flexible movement of the robot in three-dimensional space; the lateral movement mechanism 4 is movably connected to the support frame 3 through a drag chain 5 and can move left and right along the support frame 3, thereby adjusting the position of the robot in the horizontal direction; the vertical movement mechanism 6 is movably installed at the end of the lateral movement mechanism 4 and can move up and down to adjust the position of the robot in the vertical direction; the rotating arm 7 is movably installed at the top of the vertical movement mechanism 6 and can rotate around its axis, further increasing the flexibility of the robot; the maximum load of the rotating arm 7 of model TM20 is 20 kg, the fixture 8 is generally about 2 kg, and the weight of the goods 10 is about 10 kg; the maximum height: refers to the case where the rotating arm 7 uses the maximum pallet size (1219 mm × 1016 mm) in the working range, and generally can reach 1200 mm; the fastest is 7-8 boxes per minute (single grip) / 14-16 boxes per minute (double grip). A fixture 8 is provided at the end of the rotating arm 7 for gripping and placing the goods 10; the loading device 13 is the input end of the goods 10, and the goods 10 can be continuously and stably conveyed into the working range of the palletizing robot; the conveying device is the output end of the goods 10, and the rotating vehicle body 9 enables the goods 10 to be placed at different positions. At the same time, the setting of the driving wheels 11 enables the conveying device to move flexibly to meet different palletizing requirements; the loading device 13 conveys the goods 10 into the working range of the palletizing robot, the robot grips the goods 10 through motion control, then places the goods 10 on the conveying device in sequence, and finally the conveying device conveys the goods 10 to the designated warehousing operation, realizing the automatic palletizing of the goods 10 and improving the work efficiency.

[0037] In addition, according to the palletizing control system based on the Omron robot proposed above in the present utility model, it may further have the following additional technical features:

[0038] According to an embodiment of the present utility model, at least two groups of loading devices 13 are provided around the annular guide rail 12 to convey different types of goods 10 respectively.

[0039] In this technical solution, multiple feeding devices 13 are provided to work in parallel and process multiple kinds of goods 10 simultaneously, thus significantly improving the working efficiency of the system. The multiple feeding devices 13 can also achieve continuous supply of the goods 10, reduce waiting time, and further improve the production capacity of the system. When one of the feeding devices 13 fails, it can be switched to another feeding device 13 to continue working, ensuring the continuous operation of the system.

[0040] According to an embodiment of the present utility model, the palletizing robot uses the fixture 8 to respectively pick up different kinds of goods 10 and sequentially place them on the rotating vehicle body 9.

[0041] In this technical solution, the palletizing robot sequentially places the goods 10 on the rotating vehicle body 9, which not only facilitates subsequent logistics transportation and warehousing management, but also reduces the risk of damage to the goods 10 during the handling process.

[0042] According to an embodiment of the present utility model, when the fixture 8 drops to above the rotating vehicle body 9, the driving wheel 11 drives the rotating vehicle body 9 to rotate by a certain angle to place the goods 10 at the designated position.

[0043] In this technical solution, the rotating vehicle body 9 not only allows the goods 10 to be arranged orderly on the horizontal plane, but also realizes spatial optimization in the vertical direction through the rotating action. When the fixture 8 drops, the rotating vehicle body 9 can rotate in a timely manner to create a suitable placement space for the goods 10, thus avoiding collisions or improper stacking between the goods 10, improving not only the space utilization rate but also the palletizing efficiency.

[0044] According to an embodiment of the present utility model, the height of the support frame 3 meets the requirements for the stacking height of the goods 10 on the rotating vehicle body 9.

[0045] In this technical solution, the height of the support frame 3 is directly related to the stacking height of the goods 10 on the rotating vehicle body 9. By accurately calculating the height of each layer of goods 10 and the structural limitations of the rotating vehicle body 9, the optimal height of the support frame 3 can be determined, so as to maximize the use of vertical space for storing the goods 10.

[0046] According to an embodiment of the present utility model, the controller 2 adopts the Omron series PLC, and the controller 2 is electrically connected to the driving chassis 1, the body, the feeding device 13, and the conveying device respectively.

[0047] In this technical solution, the Omron series PLC is used as the controller 2. By electrically connecting the PLC to the driving chassis 1, the body, the feeding device 13, and the conveying device, centralized control of the entire system is achieved. It should be noted that the algorithms adopted by the controller 2 are all prior arts, and the present utility model only improves the hardware structure of the system.

[0048] The usage process of the above embodiments is as follows:

[0049] As Figures 1 to 3 shown, first, the palletizing robot continuously rotates along the annular guide rail 12, and its driving chassis 1 drives the body and the controller 2 to move together; the transverse moving mechanism 4 on the body is movably connected to the support frame 3 through a drag chain 5 and can move left and right to adjust the horizontal position; the vertical moving mechanism 6 is installed at the end of the transverse moving mechanism 4 and can move up and down to adjust the vertical position; the rotating arm 7 is movably installed at the top of the vertical moving mechanism 6 and can rotate around the axis to increase flexibility; the fixture 8 at the end of the rotating arm 7 is used to pick up and place the goods 10; second, when the palletizing robot rotates near the feeding device 13, the controller 2 precisely controls the transverse and vertical moving mechanisms 6 and the rotating arm 7 to align the fixture 8 with and pick up the goods 10 on the feeding assembly line; subsequently, the palletizing robot continues to rotate above the rotating vehicle body 9, and the controller 2 adjusts the position again to align the fixture 8 with the designated position on the rotating vehicle body 9; at this time, the driving wheel 11 drives the rotating vehicle body 9 to rotate a certain angle to create a suitable placement space for the goods 10; after the fixture 8 releases the goods 10, the palletizing robot returns to the feeding device 13 to continue working; by setting multiple groups of feeding devices 13, multiple types of goods 10 can be processed in parallel, improving the working efficiency of the system; the Omron series PLC is used as the controller 2 and is electrically connected to the driving chassis 1, the body, the feeding device 13, and the conveying device. The entire working process realizes the automatic palletizing of the goods 10, improves the working efficiency and space utilization rate, and reduces the risk of damage to the goods 10 during the handling process.

[0050] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, those of ordinary skill in the art can make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions should all fall within the scope of the present invention / Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A palletizing control system based on an Omron robot, characterized in that, It includes a palletizing robot arranged on a circular guide rail (12), and a feeding device (13) and a conveying device arranged on the side of the palletizing robot, where: The palletizing robot includes a driving chassis (1), and a body and a controller (2) arranged on the driving chassis (1). The body includes a support frame (3) and a lateral moving mechanism (4), a vertical moving mechanism (6) and a rotating arm (7) arranged on the support frame (3). The lateral moving mechanism (4) is movably connected to the support frame (3) through a drag chain (5). The vertical moving mechanism (6) is movably installed at the end of the lateral moving mechanism (4). The rotating arm (7) is movably installed at the top of the vertical moving mechanism (6). A clamp (8) is arranged at the end of the rotating arm (7); The feeding device (13) is a feeding assembly line, on which goods (10) are arranged; The conveying device is a rotating vehicle body (9), on which goods (10) are arranged, and driving wheels (11) are arranged at the bottom thereof; Among them, the palletizing robot rotates around the circular guide rail (12), grabs the goods (10) on the feeding device (13) and places them on the conveying device.

2. The palletizing control system based on the Omron robot according to claim 1, characterized in that At least two groups of feeding devices (13) are arranged around the circular guide rail (12) to convey different types of goods (10) respectively.

3. The palletizing control system based on an Omron robot according to claim 2, wherein, The palletizing robot grabs different types of goods (10) respectively through the clamp (8) and sequentially places them on the rotating vehicle body (9).

4. The palletizing control system based on an Omron robot according to claim 3, wherein When the clamp (8) drops above the rotating vehicle body (9), the driving wheels (11) drive the rotating vehicle body (9) to rotate a certain angle to place the goods (10) at a designated position.

5. The palletizing control system based on an Omron robot according to claim 1, wherein The height of the support frame (3) meets the stacking height requirements of the goods (10) on the rotating vehicle body (9).

6. The palletizing control system based on Omron robots according to claim 1, characterized in that, The controller (2) adopts an Omron series PLC, and the controller (2) is electrically connected to the driving chassis (1), the body, the feeding device (13) and the conveying device respectively.

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