CN106865245B - It is a kind of to move basket transfer robot and control method certainly - Google Patents
It is a kind of to move basket transfer robot and control method certainly Download PDFInfo
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- CN106865245B CN106865245B CN201710177655.XA CN201710177655A CN106865245B CN 106865245 B CN106865245 B CN 106865245B CN 201710177655 A CN201710177655 A CN 201710177655A CN 106865245 B CN106865245 B CN 106865245B
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- basket
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
本发明公开了一种自动换筐搬运机器人及控制方法，涉及自动装备领域。由移动小车、多筐贮放架、筐体取送机器人组成。三直角坐标机器人带动下方的两个内托叉上升，通过料筐的折口将生产作业区满料的料筐抬起并将料筐凸边放置到多筐贮放架内的托条上；三直角坐标机器人进而带动上方两个外托叉伸出，通过料筐的凸边将多筐贮放架托盘上的空料筐抬起送至生产作业区，仅利用内外托叉在单台直角坐标机器人的上下布置和料筐的上凸边、下折口结构配合，实现了一机的空筐、满筐自动更换和多筐体的自动搬运，结构与控制简便，满足了农业的水果、蔬菜及食用菌采收和工业生产中的大量筐体更换与现场转运作业需要。
The invention discloses an automatic basket-changing and conveying robot and a control method thereof, and relates to the field of automatic equipment. It consists of a mobile trolley, a multi-basket storage rack, and a robot for picking up and delivering baskets. The three-cartesian robot drives the two lower inner support forks to rise, lifts the full material basket in the production operation area through the fold of the material basket, and places the convex edge of the material basket on the support bar in the multi-basket storage rack; The Cartesian coordinate robot then drives the upper two outer support forks to extend out, lifts the empty material basket on the pallet of the multi-basket storage rack through the convex edge of the material basket and sends it to the production operation area, and only uses the inner and outer support forks to move in a single Cartesian coordinate The upper and lower layout of the robot cooperates with the structure of the upper convex edge and the lower fold of the material basket to realize the automatic replacement of empty baskets and full baskets and the automatic handling of multiple baskets in one machine. It is necessary for a large number of basket replacement and on-site transshipment operations in edible mushroom harvesting and industrial production.
Description
Technical field
The present invention relates to automatic equipment fields, in particular to a kind of to move basket transfer robot and control method certainly.
Background technique
In the water fruits and vegetables and edible mushroom collection and industrial production of agricultural, there is a large amount of basket replacement and turn with scene
Operate industry, large labor intensity and to production efficiency have decisive influence, realize basket replacement with transhipment automation have weight
The meaning wanted.Existing all kinds of automatic transporting vehicles, which address only, to be picked and transportation problem, and frequently expires basket and sky in operation
Basket is exchanged and is still needed to manually to realize.Yawei Zhan etc. develops intelligent fruit case movement system (Yawei Zhang, Yunxiang
Ye, Zhaodong Wang, Matthew E. Taylor, Geoffrey A. Hollinger, and Qin Zhang.
Intelligent In-Orchard Bin-Managing System for Tree Fruit Production. In
Proceedings of the Robotics in Agriculture workshop (at ICRA), May 2015.),
Only be able to achieve ground fruit case picks carrying.
Summary of the invention
The purpose of the present invention is to provide a kind of from basket transfer robot and control method is moved, to realize the sky of a machine
Basket, full basket is replaced automatically and the automatic transporting of more baskets.
In order to solve the above technical problems, the specific technical solution that the present invention uses is as follows:
It is a kind of to move a basket transfer robot certainly, it is characterised in that: to be taken by moving trolley (3), more baskets of storage framves (4), baskets
Robot is sent to form.More baskets of storages frame (4) are installed on the fronts of moving trolley (3), and basket fetches and delivers robot, and to be installed on movement small
The rear of vehicle (3), the center line that the more baskets of center lines for storing frame (4) and basket fetch and deliver robot is overlapped in top plan view, more
The center line that the center line and basket of basket storage frame (4) fetch and deliver robot is parallel with car body direction of travel.
It includes three Cartesian robots (8), two outer palette forks (2) and two interior palette forks that the basket, which fetches and delivers robot,
(1), two outer palette forks (2) are fetched and delivered in the top of two interior palette forks (1), two outer palette forks (2) and two interior palette forks (1) along basket
The center line of robot is symmetrical, two outer palette forks (2) driven by three Cartesian robots (8) realize vertical, horizontal cross and
Horizontal longitudinal symmetrical movement, two interior palette forks (1) driven by three Cartesian robots (8) realize vertical, horizontal cross and
Horizontal longitudinal symmetrical movement.
The more baskets of storage framves (4) include frame, pallet (9) and multiple supporting bar groups, and pallet (9) is horizontally installed to frame
Top, each supporting bar group is containing there are two the supporting bar (7) being symmetrically fixed on frame, the direction of supporting bar (7) and more baskets of storage framves (4)
Centerline parallel, each supporting bar group is uniformly distributed in vertical direction, and the spacing of each supporting bar group is greater than the height H of charging basket (6).
The mouth outsole of the charging basket (6) is small, and the top of charging basket (6) has symmetrical chimb (11), and the middle part of charging basket (6) has
Have symmetrical Origuchi (10), the distance of symmetrical Origuchi (10) is less than the distance of symmetrical chimb (11).
Certainly the control method for moving basket transfer robot, it is characterised in that be made of following steps:
Step 1, moving trolley (3) put basket position (5) movement to production operation, until basket position is put in production operation reaches production
The rear of basket position (5) is put in operation, and the center line for making the center line of more baskets of storages frame (4) and production operation put basket position (5) is being bowed
It is overlapped in view plane；
Step 2 receives after changing basket order, and three Cartesian robots (8) drive two interior palette forks (1) to stretch out, in two
Palette fork (1) reaches below the Origuchi (10) that the charging basket (6) of the full material of basket position (5) is put in production operation；
Step 3, three Cartesian robots (8) drive two interior palette forks (1) to rise again, and two interior palette forks (1) pass through folding
Mouth (10) lifts the charging basket (6) that the full material of basket position (5) is put in production operation；
Step 4, three Cartesian robots (8) drive two interior palette forks (1) to decline again and enter more baskets of storage framves (4),
The chimb (11) of the charging basket (6) of full material is placed on supporting bar (7), completes the pick-and-place for the charging basket (6) once completely expected, then Neto
(1) is pitched to retract；
Step 5, three Cartesian robots (8) and then the outer palette forks (2) of drive two are stretched out, and two outer palette forks (2) reach
Below the chimb (11) of the charging basket (6) of the top sky on pallet (9), and then two outer palette forks (2) hold up empty charging basket (6) simultaneously
Empty charging basket (6) is sent to production operation to put and is put down at basket position (5), and latter two outer palette fork (2) retracts；
Step 6, and so on, until more baskets of storages frame (4) store the charging basket (6) of full material；
Step 7, moving trolley (3) starting send the charging basket (6) of full material to centralized processing area；
Step 8, three Cartesian robots (8) drive two interior palette forks (1) to stretch out, and two interior palette forks (1) reach supporting bar
(7) below the Origuchi (10) for the charging basket (6) completely expected on；
Step 9, three Cartesian robots (8) drive two interior palette forks (1) to rise again, and two interior palette forks (1) pass through folding
The charging basket (6) completely expected on supporting bar (7) is lifted and is put into centralized processing area by mouth (10), and so latter two interior palette fork (1) retracts；
Step 10, three Cartesian robots (8) and then the outer palette forks (2) of drive two are stretched out, and two outer palette forks (2) reach
Focus below the chimb (11) of empty charging basket (6) in area, so two outer palette forks (2) hold up sky charging baskets (6) and will be empty
Charging basket (6) send to putting down on pallet (9), and latter two outer palette fork (2) retracts；
Step 11 and so on until piling empty charging basket (6) on pallet (9), then carries out the charging basket in next period
(6) replacement and automatic transporting.
The present invention has beneficial effect.The present invention using inside and outside palette fork separate unit Cartesian robot arrangement up and down and
The upper chimb of charging basket, the cooperation of lower Origuchi structure, realize that the empty basket of a machine, full basket is replaced automatically and the automatic transporting of more baskets,
Structure and control are easy, meet the water fruits and vegetables of agricultural and a large amount of baskets replacement in edible mushroom collection and industrial production with
Scene transhipment operation needs.
Detailed description of the invention
Fig. 1 is from the schematic top plan view for moving basket carrying.
Fig. 2 is from the schematic side view for moving basket carrying.
Fig. 3 is more baskets of storage frame structural schematic diagrams.
Fig. 4 is tray structure diagram.
In figure, palette fork in 1., 2. outer palette forks, 3. moving trolleys, more than 4. baskets of storage framves, 5. production operations put basket position, 6. material
Basket, 7. supporting bars, 8. 3 Cartesian robots, 9. pallets, 10. Origuchis, 11. chimbs
Specific embodiment
In the following with reference to the drawings and specific embodiments, a step was done to technical solution of the present invention to be described in detail.
As shown in Figures 1 and 2, move basket transfer robot certainly and fetch and deliver machine by moving trolley 3, more baskets of storage framves 4, baskets
People's composition.More baskets of storage framves 4 are installed on the front of moving trolley 3, and basket fetches and delivers the rear that robot is installed on moving trolley 3,
The center line that the more baskets of center lines for storing frame 4 and basket fetch and deliver robot is overlapped in top plan view, the center of more baskets of storage framves 4
The center line that line and basket fetch and deliver robot is parallel with car body direction of travel.
Wherein basket fetch and deliver robot include the outer palette fork 2 of three Cartesian robot 8, two and two interior palette forks 1, two
For outer palette fork 2 in the top of two interior palette forks 1, two outer palette forks 2 and two interior palette forks 1 fetch and deliver the center line pair of robot along basket
Claiming, two outer palette forks 2 are driven by three Cartesian robots 9 realizes vertical, horizontal cross and horizontal longitudinal symmetrical movement, two
A interior palette fork 1 is driven by three Cartesian robots 8 realizes vertical, horizontal cross and horizontal longitudinal symmetrical movement.
As shown in figure 3, wherein more baskets of storage framves 4 include that frame, pallet 9 and multiple supporting bar groups, pallet 9 are horizontally installed to frame
The top of frame, each supporting bar group contain there are two the supporting bar 7 being symmetrically fixed on frame, and the direction of supporting bar 7 stores frame 4 with more baskets
Centerline parallel, each supporting bar group are uniformly distributed in vertical direction, and the spacing of each supporting bar group is greater than the height H of charging basket 6.
As shown in figure 4, wherein the mouth outsole of charging basket 6 is small, the top of charging basket 6 has symmetrical chimb 11, the middle part of charging basket 6
With symmetrical Origuchi 10, the distance of symmetrical Origuchi 10 is less than the distance of symmetrical chimb 11.
The control flow for moving basket transfer robot certainly of the invention are as follows:
(1) moving trolley 3 puts the movement of basket position 5 to production operation, until the arrival production operation of basket position is put in production operation puts basket
The rear of position 5, and the center line for making the center line of more baskets of storage framves 4 and production operation put basket position 5 is overlapped in top plan view；
(2) it receives after changing basket order, three Cartesian robots 8 drive two interior palette forks 1 to stretch out, and two interior palette forks 1 are stretched
To below the Origuchi 10 of the charging basket 6 for the full material for putting basket position 5 in production operation；
(3) three Cartesian robots 8 drive two interior palette forks 1 to rise again, and two interior palette forks 1 will be in life by Origuchi 10
The charging basket 6 for producing the full material that basket position 5 is put in operation lifts；
(4) three Cartesian robots 8 drive two interior palette forks 1 to decline again and enter more baskets of storage framves 4, by the material of full material
The chimb 11 of basket 6 is placed into supporting bar 7, completes the pick-and-place for the charging basket 6 once completely expected, then interior palette fork 1 retracts；
(5) three Cartesian robots 8 drive two outer palette forks 2 to stretch out in turn, and two outer palette forks 2 reach on pallet 9
11 lower section of chimb of the charging basket 6 of the top sky, and then two outer palette forks 2 hold up empty charging basket 6 and send empty charging basket 6 to production
Operation is put to be put down at basket position 5, and latter two outer palette fork 2 retracts；
(6) and so on, until more baskets of storage framves 4 store the charging basket 6 of full material；
(7) moving trolley 3 starts, and the charging basket 6 of full material is sent to centralized processing area；
(8) three Cartesian robots 8 drive two interior palette forks 1 to stretch out, and two interior palette forks 1 reach completely expects in supporting bar 7
10 lower section of Origuchi of charging basket 6；
(9) three Cartesian robots 8 drive two interior palette forks 1 to rise again, and two interior palette forks 1 pass through Origuchi 10 for supporting bar
The charging basket 6 completely expected on 7 lifts and is put into centralized processing area, and so latter two interior palette fork 1 retracts；
(10) three Cartesian robots 8 drive two outer palette forks 2 to stretch out in turn, and two outer palette forks 2 reach centralized processing
11 lower section of chimb of the empty charging basket 6 in area, and then two outer palette forks 2 hold up empty charging basket 6 and send empty charging basket 6 to pallet 9
On put down, and latter two outer palette fork 2 retracts；
(11) and so on, until piling empty charging basket 6 on pallet 9, then the replacement of charging basket 6 in next period and automatic is carried out
It carries.
In step 2, when towards manually-operated production operation, after charging basket 6 is filled, is moved the sending of basket key by manually pressing and changed
Basket order；And in fully-automatic production operation, then by counting automatically or sensor detection to judge that charging basket 6 is filled and issued changes basket
Order.
Claims (2)
1. a kind of move a basket transfer robot certainly, it is characterised in that: fetched and delivered by moving trolley (3), more baskets of storage framves (4), baskets
Robot composition；More baskets of storages frame (4) are installed on the front of moving trolley (3), and basket fetches and delivers robot and is installed on moving trolley
(3) rear, the center line that the more baskets of center lines for storing frame (4) and basket fetch and deliver robot are overlapped in top plan view, and more baskets
The center line that the center line and basket for storing frame (4) fetch and deliver robot is parallel with car body direction of travel；
It includes three Cartesian robots (8), two outer palette forks (2) and two interior palette forks (1) that the basket, which fetches and delivers robot, and two
For a outer palette fork (2) in the top of two interior palette forks (1), two outer palette forks (2) and two interior palette forks (1) fetch and deliver robot along basket
Center line it is symmetrical, two outer palette forks (2) are driven by three Cartesian robots (8) realizes that vertical, horizontal cross and level are vertical
To symmetrical movement, two interior palette forks (1) are driven by three Cartesian robots (8) realizes that vertical, horizontal cross and level are vertical
To symmetrical movement；
The more baskets of storage framves (4) include frame, pallet (9) and multiple supporting bar groups, and pallet (9) is horizontally installed to the upper of frame
Side, each supporting bar group contain there are two the supporting bar (7) being symmetrically fixed on frame, and the direction of supporting bar (7) stores frame (4) with more baskets
Centerline parallel, each supporting bar group are uniformly distributed in vertical direction, and the spacing of each supporting bar group is greater than the height H of charging basket (6)；
Charging basket (6) shape is that mouth outsole is small, and the top of charging basket (6) has symmetrical chimb (11), and the middle part of charging basket (6) has
Have symmetrical Origuchi (10), the distance of symmetrical Origuchi (10) is less than the distance of symmetrical chimb (11).
2. according to claim 1 a kind of from the control method for moving basket transfer robot, it is characterised in that including following
Step:
Step 1, moving trolley (3) put basket position (5) movement to production operation, until basket position is put in production operation reaches production operation
The rear of basket position (5) is put, and the center line for making the center line of more baskets of storages frame (4) and production operation put basket position (5) is flat in vertical view
It is overlapped in face；
Step 2 receives after changing basket order, and three Cartesian robots (8) drive two interior palette forks (1) to stretch out, two interior palette forks
(1) it reaches below the Origuchi (10) that the charging basket (6) of the full material of basket position (5) is put in production operation；
Step 3, three Cartesian robots (8) drive two interior palette forks (1) to rise again, and two interior palette forks (1) pass through Origuchi
(10) charging basket (6) that the full material of basket position (5) is put in production operation is lifted；
Step 4, three Cartesian robots (8) drive two interior palette forks (1) to decline again and enter more baskets of storage framves (4), will expire
The chimb (11) of the charging basket (6) of material is placed on supporting bar (7), the pick-and-place for the charging basket (6) that completion is once completely expected, and latter two Neto
(1) is pitched to retract；
Step 5, three Cartesian robots (8) and then the outer palette forks (2) of drive two are stretched out, and two outer palette forks (2) reach pallet
(9) below the chimb (11) of the charging basket (6) of the top sky on, so two outer palette forks (2) hold up sky charging baskets (6) and will be empty
Charging basket (6) send to production operation to put and put down at basket position (5), and latter two outer palette fork (2) retracts；
Step 6, and so on, until more baskets of storages frame (4) store the charging basket (6) of full material；
Step 7, moving trolley (3) starting send the charging basket (6) of full material to centralized processing area；
Step 8, three Cartesian robots (8) drive two interior palette forks (1) to stretch out, and two interior palette forks (1) reach supporting bar (7)
On below the Origuchi (10) of charging basket (6) completely expected；
Step 9, three Cartesian robots (8) drive two interior palette forks (1) to rise again, and two interior palette forks (1) pass through Origuchi
(10) charging basket (6) completely expected on supporting bar (7) is lifted and is put into centralized processing area, so latter two interior palette fork (1) retracts；
Step 10, three Cartesian robots (8) and then the outer palette forks (2) of drive two are stretched out, and two outer palette forks (2) reach concentration
Below the chimb (11) of the empty charging basket (6) for the treatment of region, and then two outer palette forks (2) hold up empty charging basket (6) and by the material of sky
Basket (6) is sent to putting down on pallet (9), and latter two outer palette fork (2) retracts；
Step 11 and so on until piling empty charging basket (6) on pallet (9), then carries out the charging basket (6) in next period more
It changes and automatic transporting.
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| CN201710177655.XA CN106865245B (en) | 2017-03-23 | 2017-03-23 | It is a kind of to move basket transfer robot and control method certainly |
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| CN201710177655.XA CN106865245B (en) | 2017-03-23 | 2017-03-23 | It is a kind of to move basket transfer robot and control method certainly |
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| CN106865245B true CN106865245B (en) | 2018-12-25 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115119557B (en) * | 2022-08-02 | 2023-06-27 | 浙江省农业科学院 | Hidden loading mechanism of intelligent agricultural robot |
| CN115383716A (en) * | 2022-08-03 | 2022-11-25 | 华中农业大学 | System and method for robot picking eggs |
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