Safety interlocking stacker crane
By introducing photoelectric sensors and servo motor-driven robotic arm components into the palletizer, the problem of vacuum suction cup palletizers being unable to stop in time when encountering obstacles has been solved, achieving safe stopping of the robotic arm and ensuring the safety and stability of the equipment and goods.
Patent Information
- Application Number
- CN202422985393.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-04
- Publication Date
- 2025-10-21
- Estimated Expiration
- 2034-12-04
AI Technical Summary
Existing vacuum suction cup palletizing machines cannot stop their robotic arms in time when they encounter obstacles, which may cause the obstacles to be squeezed and create danger.
Photoelectric sensors detect abnormal situations and quickly transmit signals to the robotic arm control system, causing the robotic arm to stop operating immediately in abnormal situations. Combined with the coordinated work of servo motor drive and robotic arm components, this ensures that the robotic arm will not press down again in abnormal situations.
This effectively prevents the robotic arm from unknowingly squeezing the items below, ensuring the safe and stable operation of the palletizer and the integrity of the equipment, and ensuring the continuous, efficient and safe operation of palletizing.
Smart Images
Figure CN223457771U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a stacking machine technical field especially relates to a safe interlocking stacking machine. BACKGROUND
[0002] With the continuous improvement of industrial automation degree, various automation equipment is more and more widely used in production line. Among them, the stacking machine as an important equipment is widely used in various industries, and the use of stacking machine can greatly reduce labor and reduce labor intensity.
[0003] The existing stacking machine is mainly composed of a control system, a driving system, an execution mechanism, a sensing system and an auxiliary device. The control system, as the "brain", adopts PLC and the like, and processes information according to algorithm program to issue instructions. The driving system, like "muscle", has components such as motors to provide power. The execution mechanism, like "arm and finger", contains various grabbing components, which are determined according to the characteristics of the goods. The sensing system is "eyes and nerves", which has photoelectric switches and the like for monitoring feedback. The auxiliary device is "umbrella", including safety barriers and the like to ensure safety.
[0004] The existing vacuum chuck stacking machine is an automatic equipment for sucking goods by vacuum chuck and placing the goods at a specified position, and its principle mainly includes the adsorption principle of the vacuum chuck, the motion control of the mechanical arm and the realization of the stacking machine algorithm. When the mechanical arm controls the vacuum chuck to adsorb the goods, if the mechanical arm cannot stop running in time when there is an obstacle (such as a worker checking the equipment or checking the pallet, i.e. product) above the pallet, and keeps pressing, it will squeeze the obstacle (worker or other goods, etc.), which is dangerous. CONTENT OF THE UTILITY MODEL
[0005] In order to make up for the above shortcomings, the utility model provides a safe interlocking stacking machine, which aims at improving the existing vacuum chuck stacking machine mechanical arm that cannot stop running in time, and keeps pressing, which will squeeze the obstacle (worker or other goods, etc.), which is dangerous.
[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme: a safe interlocking stacking machine, including a support table, the support table top is fixedly connected with a pneumatic cylinder, the pneumatic cylinder output end is fixedly connected with a plurality of compression rods, the compression rod is slidably connected in the support table, the compression rod bottom is fixedly connected with a push table, the push table bottom is fixedly connected with a plurality of vacuum chucks, the support table top is fixedly connected with a photoelectric sensor, the photoelectric sensor top is fixedly connected with an indicator light.
[0007] Further, the support table side wall is provided with a machine body, and the machine body side wall is fixedly connected with a side table.
[0008] Further, the side table top is provided with a transmission table.
[0009] Further, the body top is fixedly connected with a connecting table, and a transmission column is rotatably connected in the connecting table.
[0010] Further, a servo motor is fixedly connected to the side wall of the connecting table, and a rotary table is fixedly connected to the output end of the servo motor.
[0011] Further, the transmission column is fixedly connected to the outer wall of the rotary table, and a mechanical arm assembly is arranged on the top of the transmission column.
[0012] Further, the mechanical arm assembly comprises a first mechanical arm, which is rotatably connected to the top of the rotary table.
[0013] Further, a second mechanical arm is rotatably connected to the side wall of the first mechanical arm, and the bottom of the second mechanical arm is rotatably connected to the top of the supporting table.
[0014] The utility model has the advantages of the following beneficial effects:
[0015] In the utility model, firstly, the photoelectric sensor rapidly and accurately senses abnormal conditions and transmits the abnormal conditions to the mechanical arm control system by means of light sensing capacity, and after the mechanical arm control system receives the abnormal signal, the mechanical arm with the suction cup is instantly stopped from running according to the preset emergency treatment program, the mechanical arm is not pressed down any more, the mechanical arm is effectively prevented from continuously pressing down under the unaware condition to cause excessive extrusion of the lower articles and damage of the articles, and the mechanical arm, the suction cup and other related equipment components are prevented from being damaged due to excessive extrusion, the possible dangerous conditions are prevented in all directions, the safety and stability of the stacking machine are ensured, and the stacking operation is continuously, efficiently and safely carried out. BRIEF DESCRIPTION OF DRAWINGS
[0016] Figure 1 A perspective view of the safety interlocking stacking machine is provided in the utility model;
[0017] Figure 2 A supporting table structure schematic view of the safety interlocking stacking machine is provided in the utility model;
[0018] Figure 3 A rotary table structure schematic view of the safety interlocking stacking machine is provided in the utility model.
[0019] LEGEND:
[0020] 1, supporting table; 2, air cylinder; 3, photoelectric sensor; 4, indicator light; 5, compression rod; 6, pushing table; 7, suction cup; 8, body; 9, side table; 10, transmission table; 11, connecting table; 12, servo motor; 13, transmission column; 14, rotary table; 15, first mechanical arm; 16, second mechanical arm. DETAILED DESCRIPTION
[0021] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.
[0022] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application. Figure 1 Figure 3 The present application provides an embodiment: a safe interlocking stacker, comprising a support platform 1, the top of the support platform 1 is fixedly connected with a cylinder 2, the output end of the cylinder 2 is fixedly connected with a plurality of compression rods 5, the compression rods 5 are slidingly connected in the support platform 1, the bottom of the compression rods 5 is fixedly connected with a pushing platform 6, the bottom of the pushing platform 6 is fixedly connected with a plurality of suction cups 7, the top of the support platform 1 is fixedly connected with a photoelectric sensor 3, the top of the photoelectric sensor 3 is fixedly connected with an indicator light 4, the side wall of the support platform 1 is provided with a machine body 8, the side wall of the machine body 8 is fixedly connected with a side platform 9, the top of the side platform 9 is provided with a transmission platform 10, the top of the machine body 8 is fixedly connected with a connecting platform 11, the connecting platform 11 is rotatably connected with a transmission column 13 in the inside, the side wall of the connecting platform 11 is fixedly connected with a servo motor 12, the output end of the servo motor 12 is fixedly connected with a rotating platform 14, the transmission column 13 is fixedly connected to the outer wall of the rotating platform 14, the top of the transmission column 13 is provided with a mechanical arm assembly, the mechanical arm assembly comprises a mechanical arm one 15, the mechanical arm one 15 is rotatably connected to the top of the rotating platform 14, the side wall of the mechanical arm one 15 is rotatably connected with a mechanical arm two 16, and the bottom of the mechanical arm two 16 is rotatably connected to the top of the support platform 1.
[0023] Specifically, the mechanical arm assembly is driven by the power provided by the servo motor 12, the servo motor 12 outputs torque to drive the rotary table 14 to rotate, the transmission column 13 fixed to the outer wall of the rotary table 14 rotates synchronously, the mechanical arm one 15 connected with the transmission column 13 starts to rotate, the rotary joints between the mechanical arm one 15 and the mechanical arm two 16 work cooperatively, through the accurate adjustment and cooperation of the joint angles, the mechanical arm moves flexibly and accurately positions the target position in the three-dimensional space, in the process of moving the mechanical arm, the high-precision sensor and the intelligent image recognition algorithm are used to quickly and accurately position and identify the target object by the advanced object recognition system, after the position of the object is determined, the suction cup 7 is driven by the mechanical arm to move stably above the object, at this time, the piston in the air cylinder 2 is driven to drive the compression rod 5 to slide smoothly in the specific track inside the support table 1 under the action of air pressure, the compression rod 5 drives the push table 6 to move vertically downward at a constant speed to make the suction cup 7 close to the object, after the suction cup 7 contacts the surface of the object, the vacuum generating device is started to form a negative pressure environment inside the suction cup 7 by using the suction capacity of the suction cup 7 to tightly adsorb the object, then the mechanical arm moves the suction cup 7 adsorbing the object to the specified stacking position at a stable speed according to the predetermined path, after reaching the position, the control system adjusts the vacuum degree of the suction cup 7 to reduce the adsorption force to make the object fall off the suction cup 7 and complete the stacking action, in the whole stacking operation process, when the suction cup 7 is lowered to approach the object after identifying the object, if the object is deviated abnormally or blocked by foreign matter, the suction cup 7 does not reach the system set position, the compression rod 5 is forced to press upward, when the system set safety height threshold is exceeded, the photoelectric sensor 3 located at the top of the support table 1 quickly and accurately senses this abnormal situation by using the light sensing ability and transmits the abnormal information to the mechanical arm control system through the data transmission line in a very short time, after receiving the abnormal signal, the mechanical arm control system quickly transmits the instruction according to the pre-set emergency treatment program to make the mechanical arm with the suction cup 7 stop running instantly, the mechanical arm does not press downward any more, which effectively avoids the mechanical arm to continue pressing downward under the unaware condition to cause excessive extrusion to the object below, damages the object and avoids the damage of the mechanical arm, the suction cup 7 and other related equipment parts caused by excessive extrusion, prevents the possible dangerous situation from all directions, ensures the safe and stable operation of the stacking machine and the integrity of the object and equipment, and ensures the continuous, efficient and safe operation of the stacking operation.
[0024] Working principle: when the stacking machine starts to work, first set the relevant parameters and running path by program, the mechanical arm assembly starts to work under the drive of the servo motor 12, the servo motor 12 drives the rotary table 14 to rotate, and then makes the transmission column 13 fixed on the outer wall of the rotary table 14 rotate, the mechanical arm one 15 connected with the transmission column 13 rotates, the rotary joint between the mechanical arm one 15 and the mechanical arm two 16 works cooperatively, so that the mechanical arm can move flexibly in space, in the process of moving the mechanical arm, the target object is positioned and identified by the object identification system, after determining the position of the object, the mechanical arm drives the suction cup 7 to move above the object, at this time, the cylinder 2 drives the compression rod 5 to slide in the supporting table 1, the compression rod 5 pushes the pushing table 6 to move downward, so that the suction cup 7 approaches the object, when the suction cup 7 contacts the object, the suction ability of the vacuum suction cup 7 is used to tightly adsorb the object on the suction cup 7, then the mechanical arm continues to run, moves the suction cup 7 adsorbing the object to the specified stacking position, after reaching the specified position, the suction force of the suction cup 7 is reduced, and the object will fall off the suction cup 7, completing the stacking action, in the whole process, when the object is identified, if the suction cup 7 does not reach the system set position and meets an obstacle in the process of lowering, for example, the object is placed abnormally or other foreign matters block, at this time, the compression rod 5 is forced to press upward due to the obstruction, when exceeding the set height, the photoelectric sensor 3 located at the top of the supporting table 1 will sense this abnormal situation, the photoelectric sensor 3 quickly transmits the abnormal information to the mechanical arm control system, after receiving the signal, the mechanical arm control system immediately transmits the instruction to make the mechanical arm with the suction cup 7 stop running, the mechanical arm no longer presses downward, which effectively avoids the mechanical arm continuing to press downward without knowing the situation, causing excessive extrusion to the object below, thereby preventing the possible dangerous situation and ensuring the safe and stable operation of the stacking machine and the integrity of the object and equipment.
[0025] Finally, it should be pointed out that: the above only describes the preferred embodiments of the present application, and is not used to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.
Claims
1. A safety interlocked stacker comprising a carriage (1), characterized in that: The top of the table (1) is fixedly connected with a cylinder (2), the output end of the cylinder (2) is fixedly connected with a plurality of compression rods (5), the compression rods (5) are slidably connected in the table (1), the bottom of the compression rod (5) is fixedly connected with a push table (6), the bottom of the push table (6) is fixedly connected with a plurality of suction cups (7), the top of the table (1) is fixedly connected with a photoelectric sensor (3), the top of the photoelectric sensor (3) is fixedly connected with an indicator light (4).
2. A safety interlocked stacker according to claim 1, characterized in that: The side wall of the table (1) is provided with a machine body (8), and the side wall of the machine body (8) is fixedly connected with a side table (9).
3. A safety interlocked stacker according to claim 2, characterized in that: The top of the side table (9) is provided with a transmission table (10).
4. A safety interlocked stacker according to claim 3, wherein: The top of the machine body (8) is fixedly connected with a connecting table (11), and the transmission column (13) is rotatably connected in the connecting table (11).
5. A safety interlocked stacker according to claim 4, characterized in that: The side wall of the connecting table (11) is fixedly connected with a servo motor (12), and the output end of the servo motor (12) is fixedly connected with a rotary table (14).
6. A safety interlocked stacker according to claim 5, wherein: The transmission column (13) is fixedly connected to the outer wall of the rotary table (14), and the top of the transmission column (13) is provided with a mechanical arm assembly.
7. A safety interlocked stacker according to claim 6, characterized in that: The mechanical arm assembly comprises a mechanical arm one (15), and the mechanical arm one (15) is rotatably connected to the top of the rotary table (14).
8. A safety interlocked stacker according to claim 7, characterized in that: The side wall of the mechanical arm one (15) is rotatably connected with a mechanical arm two (16), and the bottom of the mechanical arm two (16) is rotatably connected to the top of the table (1).