基于机器人的自动取料设备设计与应用

Design and application on automatic reclaiming equipment based on robot

为降低某电池检测输送线中取料设备的制造成本、减小输送线的占地布局、提高生产效率,设计了一套机器人自动取料设备,包括机器人、转塔A、转塔B及水平输送皮带组件,通过各组件的配合自动完成电池的取料、输送至后端设备。并为兼容不同的装电池盒型设计了一套柔性机器人夹具,该夹具设计有铷磁铁组,以实现电池组的抓取。水平输送皮带设置有挡边、黑磁铁及对射传感器,机器人与输送皮带挡边刮碰,同时受到皮带下方黑磁铁的作用,实现电池的取料;对射传感器实现皮带上电池有无的检测,输送皮带实现电池的输送。整个过程只需1人,将整盘电池放置于转塔之上,与原有设备相比,有效地降低了制造成本、人工成本,并提高了生产效率,目前该设备已投入实际生产,整线运转良好。

In order to reduce the manufacturing cost of reclaiming equipment in a battery detection conveyor line,reduce the land occupation layout of conveyor line and improve the production efficiency,a set of robot automatic reclaiming equipment was designed including robot,turret A,turret B and horizontal conveyor belt components,and through the cooperation of various components,the battery was automatically taken out and transported to the back-end equipment.Then,a set of flexible robot fixture was designed,which was compatible with different battery box types,and the fixture was designed with rubidium magnet group to realize the grasping of battery pack.Furthermore,the horizontal conveyor belt was equipped with rib,black magnet and firing sensor,the robot scraped against the rib of conveyor belt and was affected by the black magnet under the belt to realize the reclaiming of battery,the firing sensor detected the presence or absence of battery on the belt,and the conveyor belt realized the transportation of battery.In the whole process,only one person was needed to place the whole battery on the turret.Compared with the original equipment,the manufacturing cost and labor cost were effectively reduced,and the production efficiency was improved.At present,the equipment is put into actual production,and the whole line runs well.