CN108750721A - A kind of control method of wiper arm formula automatic loading robot - Google Patents
A kind of control method of wiper arm formula automatic loading robot Download PDFInfo
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- CN108750721A CN108750721A CN201810484606.5A CN201810484606A CN108750721A CN 108750721 A CN108750721 A CN 108750721A CN 201810484606 A CN201810484606 A CN 201810484606A CN 108750721 A CN108750721 A CN 108750721A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 189
- 239000000463 material Substances 0.000 claims abstract description 145
- 239000000428 dust Substances 0.000 claims abstract description 36
- 230000003028 elevating effect Effects 0.000 claims abstract description 21
- 238000005453 pelletization Methods 0.000 claims abstract description 20
- 238000002360 preparation method Methods 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract 5
- 230000003287 optical effect Effects 0.000 claims abstract 3
- 238000007405 data analysis Methods 0.000 claims abstract 2
- 238000007599 discharging Methods 0.000 claims description 54
- 230000033001 locomotion Effects 0.000 claims description 48
- 230000008859 change Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 238000004458 analytical method Methods 0.000 claims 1
- 238000004806 packaging method and process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000032258 transport Effects 0.000 description 5
- 238000012856 packing Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000011343 solid material Substances 0.000 description 2
- 239000004568 cement Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000383 hazardous chemical Substances 0.000 description 1
- 231100000206 health hazard Toxicity 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
-
- 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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/18—Preventing escape of dust
- B65G69/181—Preventing escape of dust by means of sealed systems
- B65G69/182—Preventing escape of dust by means of sealed systems with aspiration means
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The present invention discloses a kind of control method of wiper arm formula automatic loading robot, includes the following steps：Step A：Entrucking robot preparation；Step B：Setting position；Step C：Entrucking prepares；Data center controls closed dust pelletizing system work；Step D：Data center will control conveying mechanism work；Step E：Be arranged optical sensor on the conveyor to bagged material packet the distance between be detected, and pass data to data center；Step F：The placement direction of bagged material packet will be detected；Step H：Position is detected, and detection data is passed to data center, and data center carries out data analysis and controls distance of the elevating mechanism close to the railway carriage side of vehicle；Step I：To the position detection of the bagged material packet immediately below entrucking machine head assembly vehicle tank/entrucking machine head assembly；Step J：Complete this entrucking.The present invention effectively realizes automatic loading, and can effectively rectify a deviation.
Description
Technical field
The present invention relates to technical fields, are a kind of control methods of wiper arm formula automatic loading robot specifically.
Background technology
The circulation of solid material at present is divided into two kinds of forms：It is in bulk and packed.This form in bulk is applied in developed country
Than wide, it is mainly used in the relatively good solid material of circulation, can save the manpower of a large amount of packing charges and handling
Expense, it is time saving, laborsaving, economical.The disadvantage is that limitation is stronger, it is necessary to be suitable for the stronger material of circulation.It is to land route simultaneously
That transports is also more demanding, it is necessary to be van or Container Transport, it is necessary to have the equipment of handling bulk goods.
Packed this mode is more flexible, and handling transport is more convenient.The disadvantage is that consume a large amount of packing charges and dress
The manpower expense unloaded.Foreign countries are since labour cost is more expensive, so the bag cargo overwhelming majority uses pallet carried and transported, object
Then the stacking on pallet of material palletizing mechanical is loaded and unloaded with handling facilities such as fork trucks.Tray loading transport disadvantage be
When product is sold, it is included in product cost together together with pallet, product cost is made to increase.It is only higher or thick, stupid in human cost
For the in great shortage developed country of flexibe work(labour) power using more, the application of China's tray loading transport is less.
With the fast development and the improvement of people's living standards of China's economy, also gradually there is labor in China in recent years
The phenomenon of power shortage, especially slightly, stupid flexibe work(labour) power be even more shortage.Originally that depend merely on the case where manual loading will gradually by
Loading mechanization is replaced, China's handling operation till now, using it is most be product stacking on pallet, when product is sold
Product is laid down from pallet again, entrucking.Although this mode still consumes a large amount of manpower, traditional complete artificial dress is compared
Vehicle, time saving, laborsaving many, the case where also being sold together together with pallet than developed country, saves many expenses.So in China
Current conditional enterprise is in this way gradually：Product stacking on pallet, fork truck are stacked in warehouse, product
Entrucking is laid down from pallet.
In bag cargo entrucking field, what most domestic was taken is the mode by conveyer：Manually production
Product are unloaded from pallet or lorry, are put into conveyer and are transported to above compartment, and worker is again in the other end of conveyer, conveying
The product that machine conveying comes is put in compartment.
Country's conveyer has at present：Mobile conveyer, accordion conveyor, van conveyer etc..But whether
Any conveyer is only convenient artificial mobile, cannot all complete automatic loading, be required for another termination manually in conveyer
Expect, put.There is a kind of carloader that cost is high in cement industry, but it is actually also a kind of conveying of packaged type
Conveyer has only been hung in the upper surface of vehicle by machine, facilitates conveyer to be moved forward and backward up and down, than general conveyer in terms of entrucking
Further, it however also needs manually to operate, put, the automation of entrucking cannot be completed, while manually being set by conveying
Standby entrucking, when putting due to cannot mutually superimposed show so be easy to causeing between bag cargo packet and packet accurately in place
As causing certain difficulty to unloading.
Invention content
The purpose of the present invention is to provide a kind of control methods of wiper arm formula automatic loading robot, being capable of material placing mechanism energy
Material toggling is realized in enough automations, and the damage to packing material packet, mechanically actuated is effectively avoided to improve working efficiency.
The present invention is achieved through the following technical solutions：A kind of control method of wiper arm formula automatic loading robot, waits loading
Behind designated position, entrucking robot brings into operation vehicle parks, includes the following steps：
Step A：Entrucking robot preparation；
First, positioning waits for the railway carriage position of loading vehicles, and it will send to data center and carry out analyzing processing；
Step B：According to the railway carriage position and body length for waiting for loading vehicles, entrucking robot will be by that will be equipped with guide rail, conveying
Mechanism, entrucking machine head assembly, elevating mechanism, closed dust pelletizing system servo-actuated rack be moved to and wait for setting in the railway carriages of loading vehicles
Position；
Step C：It is the conveying mechanism of carry out respectively of entrucking robot, entrucking machine head assembly, elevating mechanism, close according to railway carriage width
Dust pelletizing system position is closed to adapt to railway carriage width, entrucking is entered after adjustment and is prepared；Data center controls closed dust pelletizing system
Work；
Step D：The material packet that packed packaging is completed passes through existing equipment conveying to feed device from the production line of workshop
On, feed device is placed on the conveyor as requested by by bagged material packet, and data center will control conveying mechanism work；
Step E：Be arranged optical sensor on the conveyor to bagged material packet the distance between be detected, and by data
Pass to data center；
When bagged material meets pitch requirements, bagged material packet is transported in entrucking machine head assembly by conveying mechanism；
When the spacing between bagged material packet is not met, the speed of conveying will be adjusted；
Step F：After bagged material packet is transported in entrucking machine head assembly, entrucking machine head assembly main frame is mounted on close to conveying
Two optical sensors of mechanism side will be detected the placement direction of bagged material packet；
If identical as desired placement direction, data center will control allocation mechanism and bagged material packet be directly transported to movement material
On draw box mechanism；
If when opposite with desired placement direction, control is controlled the change in allocation mechanism to bagged material packet by data center,
It realizes and drops into bagged material packet in movement chair mechanisms；
Step H：Bagged material packet drops into movement chair mechanisms, and data center will be by being mounted on entrucking machine head assembly close to vehicle
The range sensor of babinet side is to the bagged material packet immediately below entrucking machine head assembly and vehicle tank/entrucking machine head assembly
Position be detected, and detection data is passed into data center, data center carries out data analysis and simultaneously controls elevating mechanism
Distance close to the railway carriage side of vehicle；
When meet stacking apart from when, data center will control be mounted on entrucking machine head assembly on allocation mechanism to bagged material packet
It drops into movement hopper mechanism, by moving stacking of the hopper mechanism realization to bagged material packet；
When be unsatisfactory for piling up require when, data center will control elevating mechanism reduction adjustment of adjusting the distance and meet to pile up and require, then lead to
Cross stacking of the movement hopper mechanism realization to bagged material packet.
Step I：Bagged material packet is piled up in railway carriage behind designated position, and control is servo-actuated adjustment entrucking head by data center
Assembly and the position relationship for being placed on bagged material packet in railway carriage；
If same position does not pile up specified altitude assignment in railway carriage, data center will control elevating mechanism to the side far from railway carriage
Movement；
If same position is piled up to specified altitude assignment in railway carriage, numer centre will control elevating mechanism, closed dust pelletizing system to vehicle
Other are that the position of stacking bagged material packet is moved to case, the repeatedly stacking work of bagged material packet again；
Step J：Bagged material packet is all piled up in railway carriage behind designated position, and data center will control entrucking by elevating mechanism
Machine head assembly is withdrawn from railway carriage, completes this entrucking.
Further, in order to preferably realize the present invention, the conveying mechanism includes conveying mechanism input terminal to output end
It sets gradually and by the separately-driven input delivery section of two groups of motors, speed change delivery section, the medial surface of the input conveyer frames
The photoelectric sensor being provided with, the motor and photoelectric sensor are connect with data center circuit；
The step E is specifically referred to：In transmission process, photoelectric sensor will be in real time to the bagged material packet on conveying mechanism
Position relationship detects, and by detection data real-time delivery to data center, data center analyzes the data of detection, identification
Whether bagged material packet meets the requirement of placement direction；When bagged material meets pitch requirements, bagged material packet will directly lead to
Input delivery section, speed change delivery section are crossed, is reached in installation machine head assembly；
When the spacing between bagged material packet is not met, data center works the motor for controlling speed change delivery section, adjusts bag
Conveying speed of the material packet in speed change delivery section is filled, to adjust the position relationship of bagged material packet.
Further, in order to preferably realize that the present invention, the material toggling structure include along conveying mechanism transporting direction
Line is symmetrically mounted on the first retainer platform in installation cavity and on main frame and along the center line of conveying mechanism transporting direction
Symmetrically arranged two material placing mechanisms；
The conveying mechanism close to the side of material placing mechanism and the first retainer platform close to the side of material placing mechanism in the same plane；
The movement hopper mechanism includes being arranged that discharging platform in the first retainer platform far from material placing mechanism side, to be mounted on main frame separate
Material placing mechanism side and for control discharging platform receive bagged material packet guiding movement mechanism, the side of the discharging platform with lead
It is slidably connected to motion far from conveying mechanism side；The material placing mechanism further includes being arranged between the first retainer platform and pacifying
The second retainer platform in installation cavity；The first retainer platform and the second retainer platform are put down close to the side of material placing mechanism same
On face；The second retainer platform is along the center line of conveying mechanism transporting direction and the center line of conveying mechanism transporting direction with always
On line；Described two material placing mechanism sides close to each other for the opposite bagged material packet of placement direction by channel；First support
Expect that platform, the second retainer platform, discharging platform structure are identical.
The step F is specifically referred to：If identical as desired placement direction, data center will control two material placing mechanisms to
Side movement close to each other pushes bagged material packet on the first retainer platform, and numer centre will control the first retainer platform and data
The cylinder driving retainer plate of center connection moves downward bagged material packet being transported in movement hopper mechanism；
If when opposite with desired placement direction, data center will control two material placing mechanisms and separately open channel, realizing will
Bagged material packet is fed directly on the second retainer platform, and data center will control the gas being connect with data center on the second retainer platform
Cylinder driving retainer plate moves downward to drop into bagged material packet on movement body structure.
Further, in order to preferably realize the present invention, the movement hopper mechanism include be arranged it is remote in the first retainer platform
Discharging platform from material placing mechanism side receives bagged articles mounted on main frame far from material placing mechanism side and for controlling discharging platform
Expect the guiding movement mechanism of packet, the side of the discharging platform is slidably connected with guiding movement mechanism far from conveying mechanism side；
When placement direction meets the requirements, when bagged material packet is dropped into discharging platform from the first retainer platform, data center will
Moved to the underface of the first retainer platform by guiding movement mechanism controls discharging platform, when to reach the first retainer platform underface
When, the first retainer platform is controlled the cylinder driving retainer plate that the first retainer platform is connect with data center and moved downward by numer centre,
Realize that bagged material packet drops on discharging platform；
When placement direction is undesirable, when bagged material packet is dropped into discharging platform from the second retainer platform, data center
To be moved to the underface of the first retainer platform by guiding movement mechanism controls discharging platform, when to reach the first retainer platform just under
First retainer platform is controlled the cylinder driving retainer plate that the first retainer platform is connect with data center and transported downwards by Fang Shi, numer centre
It is dynamic, realize that bagged material packet drops on discharging platform；
Further, it in order to preferably realize the present invention, is realized to bagged material packet in the step H by moving hopper mechanism
Stacking specifically include：
Step H：The position of data center's heap putting material according to railway carriage is placed with bagged articles by guiding movement mechanism controls
Expect the discharging platform wrapped to the position movement for needing progress bagged material packet stacking；
Step H：Behind in-position；It is downward that Data Control Center will control the retainer plate on the driving discharging platform of the cylinder on discharging platform
Bagged material packet is deposited in railway carriage by movement, realization.
Compared with prior art, the present invention haing the following advantages and advantageous effect：
（1）The present invention effectively realizes that the distance between babinet of entrucking machine head assembly and truck-loading facilities reduces by elevating mechanism
Adjustment, the effective automatic loading realized to bagged material packet, while effective reduction entrucking process is dirty caused by environment
Dye；
（2）The present invention can automate realization material toggling by the material placing mechanism of setting, effectively avoid the damage to packing material packet
Bad, mechanically actuated improves working efficiency；
（3）The present invention can effective bagged material package location be incorrect rectifies a deviation, so that into charging apparatus
Bagged material package location it is consistent, the effective utilization rate for improving stocking space；
（4）The present invention is effectively defined the movement locus of V-type holder by arc panel；
（5）The conveying mechanism that the present invention is arranged, according to the adjacent bagged articles that detect of photoelectric sensor in input delivery section
Spacing realizes that the entrucking machine head assembly that enters of bagged articles at the uniform velocity carries out bagged articles by adjusting the transmission speed of speed change delivery section
Loading stacking；
（6）It is equipped with closed dust pelletizing system set by the present invention, for loading the dedusting in workshop, improves the building ring loaded in workshop
Border reduces and loads the environment in workshop to loading the health hazards for working or passing in and out the worker in loading workshop in workshop；
（7）The closed dust pelletizing system that the present invention is arranged and promotion host apparatus synchronizing moving, i.e., it is synchronous with entrucking machine head assembly
It is mobile, so that the dust hood of closed dust pelletizing system is correspondingly arranged at the top of " loaded " position, for the serious loading position of dust pollution
It sets and is dusted, keep its dust removing effects more preferable；
（8）It is the configuration of the present invention is simple, highly practical.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram in Fig. 1 at C in the present invention；
Fig. 3 is the connection relationship diagram between elevating mechanism and loading mechanism assembly in the present invention；
Fig. 4 is the structural schematic diagram of entrucking machine head assembly in the present invention
Fig. 5 is material placing mechanism, the connection relationship diagram of the first retainer platform, the second retainer platform and discharging platform in the present invention；
Fig. 6 is the structural schematic diagram at A in Fig. 5 of the present invention；
Fig. 7 is the structural schematic diagram at B in Fig. 3 of the present invention；
The structural schematic diagram of closed dust pelletizing system in the present invention of the positions Fig. 8；
Wherein 10- main frames, 101- guided ways, 102- guide plates 102,2- entrucking machine head assembly, 21- material placing mechanisms, 211- limits
Making sheet, 212- buffer stoppers, 213- driving motors, 214- guide pads, 22- the first retainer platforms, 23- discharging platforms, the second retainers of 24-
Platform, 251- drive rods, 252- hinge bars, 253- connecting rods, 254- shafts, 255- cylinders, 256- retainer plates, 3- conveying mechanisms,
4- elevating mechanisms, 41- hoisting apparatus, 42- guide sleeves, 421- pulley blocks, 43- guide posts, 431- litter；5-closed dust pelletizing systems,
31-input transmission ends, 311-input conveyer frames, 312-conveying hinges, 32-speed change transmission ends, 321-speed change ends, 322-
Output end, 323-speed change conveyer frames, 324-speed changes convey hinge, 33-photoelectric sensors, 51-dust hoods, 52-pectinids
Machine, 53-dedusters, 54-return aircourses, 55-dust sucting pipelines, 56-erecting beds.
Specific implementation mode
The present invention is described in further detail with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1：
The present invention is achieved through the following technical solutions, as Figure 1-Figure 8, a kind of controlling party of wiper arm formula automatic loading robot
Method, it is characterised in that：After loading vehicles are parked in designated position, entrucking robot brings into operation, and includes the following steps：
Step A：Entrucking robot preparation；
First, positioning waits for the railway carriage position of loading vehicles, and it will send to data center and carry out analyzing processing；
Step B：According to the railway carriage position and body length for waiting for loading vehicles, entrucking robot will be by that will be equipped with guide rail 1, conveying
Mechanism 3, loading mechanism assembly 2, elevating mechanism 4, closed dust pelletizing system 5 servo-actuated rack be moved in the railway carriage for waiting for loading vehicles
Setting position；
Step C：According to railway carriage width, the conveying mechanism of carry out respectively 3 of entrucking robot, loading mechanism assembly 2, elevating mechanism 4,
5 position of closed dust pelletizing system enters entrucking to adapt to railway carriage width, after adjustment and prepares；Data center controls closed dedusting system
5 work of system；
Step D：The material packet that packed packaging is completed passes through existing equipment conveying to feed device from the production line of workshop
On, feed device is placed on by by bagged material packet on conveying mechanism 3 as requested, and data center will control 3 work of conveying mechanism
Make；
Step E：Distance of the optical sensor on conveying mechanism 3 between bagged material packet is arranged to be detected, and will count
According to passing to data center；
When bagged material meets pitch requirements, bagged material packet is transported on loading mechanism assembly 2 by conveying mechanism 3；
When the spacing between bagged material packet is not met, the speed of conveying will be adjusted；
Step F：After bagged material packet is transported on loading mechanism assembly 2,2 main frame of loading mechanism assembly is mounted on close to defeated
Send two optical sensors of 3 side of mechanism that will be detected to the placement direction of bagged material packet；
If identical as desired placement direction, data center will control allocation mechanism and bagged material packet be directly transported to movement material
On draw box mechanism；
If when opposite with desired placement direction, control is controlled the change in allocation mechanism to bagged material packet by data center,
It realizes and drops into bagged material packet in movement chair mechanisms；
Step H：Bagged material packet drops into movement chair mechanisms, and data center will be close by being mounted on loading mechanism assembly 2
The range sensor of vehicle tank side is to the bagged articles immediately below loading mechanism assembly 2 and vehicle tank/loading mechanism assembly 2
The position of material packet is detected, and detection data is passed to data center, and data center carries out data analysis and controls lifting
Distance of the mechanism 4 close to the railway carriage side of vehicle；
When meet stacking apart from when, data center will control be mounted on loading mechanism assembly 2 on allocation mechanism to bagged material
Packet drops into movement hopper mechanism, by moving stacking of the hopper mechanism realization to bagged material packet；
When be unsatisfactory for piling up require when, data center will control the reduction adjustment of adjusting the distance of elevating mechanism 4 and meet to pile up and require, then lead to
Cross stacking of the movement hopper mechanism realization to bagged material packet.
Step I：Bagged material packet is piled up in railway carriage behind designated position, and control is servo-actuated adjustment loading mechanism by data center
Assembly 2 and the position relationship for being placed on bagged material packet in railway carriage；
If same position does not pile up specified altitude assignment in railway carriage, data center will control elevating mechanism 4 to one far from railway carriage
Side moves；
If in railway carriage same position pile up to specified altitude assignment, numer centre will control elevating mechanism 4, closed dust pelletizing system 5 to
Other are that the position of stacking bagged material packet is moved to railway carriage, the repeatedly stacking work of bagged material packet again；
Step J：Bagged material packet is all piled up in railway carriage behind designated position, and data center will be controlled by elevating mechanism 4 and be filled
Mechanism of car assembly 2 is withdrawn from railway carriage, completes this entrucking.
It should be noted that by above-mentioned improvement,
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 2：
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in Figure 1, a kind of wiper arm formula automatic loading machine
The control method of people, after loading vehicles are parked in designated position, entrucking robot brings into operation, and includes the following steps：
Step A：Entrucking robot preparation；
First, positioning waits for the railway carriage position of loading vehicles, and it will send to data center and carry out analyzing processing；
Step B：According to the railway carriage position and body length for waiting for loading vehicles, entrucking robot will be by that will be equipped with guide rail 1, conveying
Mechanism 3, entrucking machine head assembly 2, elevating mechanism 4, closed dust pelletizing system 5 servo-actuated rack be moved in the railway carriage for waiting for loading vehicles
Setting position；
Step C：According to railway carriage width, the conveying mechanism of carry out respectively 3 of entrucking robot, entrucking machine head assembly 2, elevating mechanism 4,
5 position of closed dust pelletizing system enters entrucking to adapt to railway carriage width, after adjustment and prepares；Data center controls closed dedusting system
5 work of system；
Step D：The material packet that packed packaging is completed passes through existing equipment conveying to feed device from the production line of workshop
On, feed device is placed on by by bagged material packet on conveying mechanism 3 as requested, and data center will control 3 work of conveying mechanism
Make；
Step E：Distance of the optical sensor on conveying mechanism 3 between bagged material packet is arranged to be detected, and will count
According to passing to data center；
When bagged material meets pitch requirements, bagged material packet is transported in entrucking machine head assembly 2 by conveying mechanism 3；
When the spacing between bagged material packet is not met, the speed of conveying will be adjusted；
Step F：After bagged material packet is transported in entrucking machine head assembly 2,2 main frame of entrucking machine head assembly is mounted on close to defeated
Send two optical sensors of 3 side of mechanism that will be detected to the placement direction of bagged material packet；
If identical as desired placement direction, data center will control allocation mechanism and bagged material packet be directly transported to movement material
On draw box mechanism；
If when opposite with desired placement direction, control is controlled the change in allocation mechanism to bagged material packet by data center,
It realizes and drops into bagged material packet in movement chair mechanisms；
Step H：Bagged material packet drops into movement chair mechanisms, and data center will be close by being mounted on entrucking machine head assembly 2
The range sensor of vehicle tank side is to the bagged articles immediately below entrucking machine head assembly 2 and vehicle tank/entrucking machine head assembly 2
The position of material packet is detected, and detection data is passed to data center, and data center carries out data analysis and controls lifting
Distance of the mechanism 4 close to the railway carriage side of vehicle；
When meet stacking apart from when, data center will control be mounted on entrucking machine head assembly 2 on allocation mechanism to bagged material
Packet drops into movement hopper mechanism, by moving stacking of the hopper mechanism realization to bagged material packet；
When be unsatisfactory for piling up require when, data center will control the reduction adjustment of adjusting the distance of elevating mechanism 4 and meet to pile up and require, then lead to
Cross stacking of the movement hopper mechanism realization to bagged material packet.
Step I：Bagged material packet is piled up in railway carriage behind designated position, and control is servo-actuated adjustment entrucking head by data center
Assembly 2 and the position relationship for being placed on bagged material packet in railway carriage；
If same position does not pile up specified altitude assignment in railway carriage, data center will control elevating mechanism 4 to one far from railway carriage
Side moves；
If in railway carriage same position pile up to specified altitude assignment, numer centre will control elevating mechanism 4, closed dust pelletizing system 5 to
Other are that the position of stacking bagged material packet is moved to railway carriage, the repeatedly stacking work of bagged material packet again；
Step J：Bagged material packet is all piled up in railway carriage behind designated position, and data center will be controlled by elevating mechanism 4 and be filled
Vehicle machine head assembly 2 is withdrawn from railway carriage, completes this entrucking.
The conveying mechanism 3 sets gradually to output end including 3 input terminal of conveying mechanism and is driven respectively by two groups of motors
Dynamic input delivery section 31, speed change delivery section 32, the photoelectric sensor 33 that the medial surfaces of the input conveyer frames 311 is provided with,
The motor and photoelectric sensor 33 are connect with data center circuit；
The step E is specifically referred to：In transmission process, photoelectric sensor 33 will be in real time to the bagged material on conveying mechanism 3
The position relationship of packet detects, and by detection data real-time delivery to data center, data center analyzes the data of detection,
Whether identification bagged material packet meets the requirement of placement direction；When bagged material meets pitch requirements, bagged material packet will be straight
Input delivery section 31, speed change delivery section 32 were connected, was reached in installation machine head assembly；
When the spacing between bagged material packet is not met, data center works the motor for controlling speed change delivery section, adjusts bag
Conveying speed of the material packet in speed change delivery section is filled, to adjust the position relationship of bagged material packet.
The material toggling structure includes being symmetrically mounted on the first retainer in installation cavity along the center line of 3 transporting direction of conveying mechanism
Platform 22 and on main frame 10 and along symmetrically arranged two material placing mechanisms 21 of the center line of 3 transporting direction of conveying mechanism；
The conveying mechanism 3 close to the side of material placing mechanism 21 with the first retainer platform 22 close to the side of material placing mechanism 21 same
In plane；The movement hopper mechanism includes that discharging platform 23 in the first retainer platform 22 far from 21 side of material placing mechanism, peace is arranged
The guiding movement mechanism of bagged material packet is received mounted in main frame 10 far from 21 side of material placing mechanism and for controlling discharging platform 23,
The side of the discharging platform 23 is slidably connected with guiding movement mechanism far from 3 side of conveying mechanism；The material placing mechanism 21 is also wrapped
Include the second retainer platform 24 being arranged between the first retainer platform 22 and in installation cavity；The first retainer platform 22 and second
Retainer platform 24 close to the side of material placing mechanism 21 in the same plane；The second retainer platform 24 is along 3 transporter of conveying mechanism
To center line and 3 transporting direction of conveying mechanism center line on the same line；21 side close to each other of described two material placing mechanisms
For the opposite bagged material packet of placement direction by channel；First retainer platform 22, the second retainer platform 24,23 structure phase of discharging platform
Together.
The step F is specifically referred to：If identical as desired placement direction, data center will control two material placing mechanisms 21
It is moved to side close to each other and pushes bagged material packet on the first retainer platform 22, numer centre will control the first retainer platform 22
The cylinder driving retainer plate being connect with data center moves downward bagged material packet being transported in movement hopper mechanism；
If when opposite with desired placement direction, data center will control two material placing mechanisms 21 and separately open channel, realize
Bagged material packet is fed directly on the second retainer platform 24, data center, which will control, to be connected on the second retainer platform 24 with data center
The cylinder driving retainer plate connect moves downward to drop into bagged material packet on movement body structure.
The movement hopper mechanism includes that discharging platform 23 in the first retainer platform 22 far from 21 side of material placing mechanism, peace is arranged
The guiding movement mechanism of bagged material packet is received mounted in main frame 10 far from 21 side of material placing mechanism and for controlling discharging platform 23,
The side of the discharging platform 23 is slidably connected with guiding movement mechanism far from 3 side of conveying mechanism；
When placement direction meets the requirements, when bagged material packet is dropped into discharging platform 23 from the first retainer platform 22, in data
The heart will be moved by guiding movement mechanism controls discharging platform 23 to the underface of the first retainer platform 22, when to reach the first retainer platform
When 22 underface, the first retainer platform 22 is controlled the cylinder that the first retainer platform 22 is connect with data center and drives support by numer centre
Flitch moves downward, and realizes that bagged material packet drops on discharging platform 23；
When placement direction is undesirable, when bagged material packet is dropped into discharging platform 23 from the second retainer platform 24, data
Center will be moved by guiding movement mechanism controls discharging platform 23 to the underface of the first retainer platform 22, when to reaching the first retainer
When the underface of platform 22, the first retainer platform 22 is controlled the cylinder that the first retainer platform 22 is connect with data center and driven by numer centre
Retainer plate moves downward, and realizes that bagged material packet drops on discharging platform 23；
The stacking of bagged material packet is specifically included by moving the realization of hopper mechanism in the step H：
Step H1：The position of data center's heap putting material according to railway carriage is placed with packed by guiding movement mechanism controls
The discharging platform 23 of material packet to need carry out bagged material packet stacking position move；
Step H2：Behind in-position；Data Control Center will control the retainer on the driving discharging platform 23 of the cylinder on discharging platform 23
Plate moves downward, and bagged material packet is deposited in railway carriage by realization.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 3：
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in Figure 1, a kind of wiper arm formula automatic loading machine
People, it is characterised in that：It is slidably mounted on two guide rails 1 including two guide rails 1 disposed in parallel, loading mechanism assembly 2, one end
And the elevating mechanism along the conveying mechanism 3 of two 1 length directions of guide rail sliding and for being promoted or being declined to loading mechanism assembly 2
4 and with loading mechanism assembly 2；The other end of the conveying mechanism 3 is connect with installation mechanism assembly；
The loading mechanism assembly 2 includes the material toggling structure being separately connected with conveying mechanism 3 and guide post 43, is mounted on material toggling
Movement hopper mechanism of the structure far from 43 side of guide post；
The material toggling structure include be provided with installation cavity and connect far from guide sleeve one end with guide post main frame 10, along conveying mechanism
The center line of 3 transporting directions is symmetrically mounted on the first retainer platform 22 in installation cavity and on main frame 10 and along conveyer
Symmetrically arranged two material placing mechanisms 21 of center line of 3 transporting direction of structure；
The conveying mechanism 3 close to the side of material placing mechanism 21 with the first retainer platform 22 close to the side of material placing mechanism 21 same
In plane；The movement hopper mechanism includes that discharging platform 23 in the first retainer platform 22 far from 21 side of material placing mechanism, peace is arranged
The guiding movement mechanism of bagged material packet is received mounted in main frame 10 far from 21 side of material placing mechanism and for controlling discharging platform 23,
The side of the discharging platform 23 is slidably connected with guiding movement mechanism far from 3 side of conveying mechanism.
The guide post 43 includes for connecting more litter 431 of loading mechanism assembly 2, being arranged between litter 431
Connecting plate；The guide sleeve 42 is provided with the pulley blocks 421 being used cooperatively with litter 431 close to the side of litter 431.
The material placing mechanism 21 further includes the second retainer for being arranged between the first retainer platform 22 and being mounted in installation cavity
Platform 24；The first retainer platform 22 and the second retainer platform 24 close to the side of material placing mechanism 21 in the same plane；Described
Two retainer platforms 24 along center line and 3 transporting direction of conveying mechanism of 3 transporting direction of conveying mechanism center line on the same line.
The first retainer platform 22 includes symmetrically arranged two pieces of retainer plates 256, for driving retainer plate 256 to be unloaded to close
Expect the driving mechanism of 23 side of platform movement；
The driving mechanism include external baric systerm cylinder 255, with cylinder 255 export axis connection drive rod 251 and
Two shafts 254 being connect respectively with 251 both ends of drive rod, the retainer plate 256 are fixedly mounted on the side of shaft 254；
The connecting rod 253 that one end is fixedly connected with shaft 254 is provided between the drive rod 251 and shaft 254, in addition with connecting rod 253
The hinge bar 252 that one end is told somebody what one's real intentions are, the one end of the hinge bar 252 far from connecting rod 253 and the free end of drive rod 251 are hinged；Institute
Cylinder 255 is stated to be arranged in side of the retainer plate 256 far from the second retainer platform 24；
The first retainer platform 22, the second retainer platform 24,23 structure of discharging platform are identical, the driving machine of the second retainer platform 24
Structure is arranged far from side of the retainer plate 256 far from the first conveying mechanism 3；The discharging platform 23 driving mechanism setting by
Closely/side far from guiding movement mechanism.
The material placing mechanism 21 includes the driving motor 213 being mounted on main frame 10, the output shaft with driving motor 213
Connection and the swing arm to move reciprocatingly along the circumferential direction of output shaft；The swing arm is arranged in the top of the first retainer platform 22.
The support plate of fixed driving motor 213 is provided on the main frame 10, the output shaft of the driving motor 213 is worn
Support plate is crossed to be rotatablely connected with swing arm.
The swing arm includes the V-type holder of one end and the output shaft rotation connection of driving motor 213, is arranged in V-type holder
Restriction plate 211211 far from 3 side of conveying mechanism；V-type holder side close to each other is provided with buffer stopper 212；It is described
The small end of V-type holder is rotatablely connected with the output shaft of driving motor 213；The V-type holder includes defeated with driving motor 213
The connecting rod of shaft rotation connection, the V-type rack body being connect with output shaft side of the connecting rod far from driving motor 213.
Size of the output shaft of the driving motor 213 apart from the output shaft one end of V-type holder far from driving motor 213 is small
In output shaft one of the first retainer platform 22 far from driving motor 213 of the output shaft distance and V-type holder homonymy of driving motor 213
The size of side, and more than the output shaft distance of driving motor 213 and the first retainer platform 22 of V-type holder homonymy close to driving motor
The size of 213 output shaft side.
It is symmetrically arranged with guide plate between the main frame 10 and installation cavity and along 3 transporting direction center line of conveying mechanism
102, the guide plate 102 is to the arc panel close to V-type holder side indent, and the radius of curvature of the arc panel is less than V-type
Radius of curvature of the holder compared with big end；
The main frame 10 is additionally provided with the guide pad 214 being axially arranged along the output shaft of driving motor 213, the V-type holder
It is provided with and is slidably mounted on the guided way 101 on guide pad 214 close to the side of driving motor 213.
The conveying mechanism 3 sets gradually to output end including 3 input terminal of conveying mechanism and is driven respectively by two groups of motors
Dynamic input transmission end 31, speed change transmission end 32, the input transmission end 31 include input conveyer frames 311 and conveying hinge 312,
The speed change transmission end 32 include speed change conveyer frames 323, speed change convey hinge 324, it is described input conveyer frames 311 output end with
The input terminal of speed change conveyer frames 323 is hinged；The photoelectric sensor 33 that the medial surface of the input conveyer frames 311 is provided with, it is described
Motor and photoelectric sensor 33 are connect with control system circuit, and it is variable speed electric motors, particularly to drive the motor of the speed change transmission end 32；
The input terminal of the input transmission end 31 is erected on two guide rails 1 and can be moved along guide rail 1；The output of the output transmission end
End is fixedly connected with loading mechanism assembly 2, and the elevating mechanism 4 is arranged on two guide rails 1 and can be moved along guide rail 1.
The photoelectric sensor 33 that is connect with control system circuit of setting two of input 311 medial surface of conveyer frames or
It is placed equidistant with that there are three photoelectric sensors 33 that is above and being connect with control system circuit.
The medial surface of the speed change conveyer frames 323 is provided with the photoelectric sensor 33 being connect with control system circuit.
The speed change transmission end 32 includes being arranged on speed change conveyer frames 323 and respectively driving speed change end by two groups of motors
321 and output end 322；The speed change end 321 and output end correspond to a transmission hinge respectively；Drive the speed change end 321
Motor is variable speed electric motors, particularly.The output end connect with loading mechanism assembly 2
The medial surface of 322 corresponding speed change conveyer frames 323 of the speed change end 321 and output end is both provided with and control system circuit
The photoelectric sensor 33 of connection.
The elevating mechanism 4 includes the guide post 43 being connect with loading mechanism assembly 2, the guide sleeve being slidably socketed on the outside of guide post
42 and mounted on guide sleeve far from 2 side of loading mechanism assembly and the hoisting apparatus 41 that is connect with guide post 43；
The loading mechanism assembly 2 includes the material toggling structure being separately connected with conveying mechanism 3 and guide post 43, is mounted on material toggling structure
Movement hopper mechanism far from 43 side of guide post；
The guide post 43 includes for connecting more litter 431 of loading mechanism assembly 2, the connection being arranged between litter 431
Plate；The guide sleeve 42 is provided with the pulley blocks 421 being used cooperatively with litter 431 close to the side of litter 431.
Further include the closed dust pelletizing system being slidably mounted on guide rail 1, the closed dust pelletizing system connects with elevating mechanism 4
It connects.
The closed dust pelletizing system includes erecting bed 56 and dust hood 51 on erecting bed 56, ventilating fan 52, removes
Dirt device 53, return aircourse 54, the dust hood 51, deduster 53, ventilating fan 52 dust delivering tube road be connected to by dust discharge air duct,
The return aircourse 54 is connected to the air outlet of deduster 53；56 lower section of the erecting bed, which is equipped with, to be arranged on two guide rails 1
Multiple idler wheels；The erecting bed 56 is provided with the connecting rod being connect with elevating mechanism 4 close to the side of elevating mechanism 4.
42 side of the guide sleeve is provided with air suction opening, and the air suction opening is connected with the sweep-up pipe that distal end is connected to dust hood 51
Road 55.
It loads 2 air of the top containing a large amount of dust of host and deduster 53 is entered by dust sucting pipeline 55, improve dedusting effect
Fruit.
Host lifting device 4 is located at the vertical direction for loading host 2, is needed to bagged articles into luggage due to loading host 2
Distribution and stacking are carried, a large amount of dust is also easy to produce, therefore, the top dust content for loading host 2 is larger.Loading host 2
Dust sucting pipeline 55 is installed on the guide sleeve 42 of vertical direction, so that the dust of 2 top of loading host is entered deduster 53 and is dusted, keep away
Exempt from it and spread apart, increases dedusting difficulty.
It should be noted that by above-mentioned improvement, in the limited block that is provided at both ends with of guided way 101, limited block pair makes
Material placing mechanism 21 can only carry out the rotation of 180 degree；To ensure working efficiency, the quantity of the discharging platform 23 is two.
The main frame 10 is provided with anticollision strip close to the side of discharging platform 23, effectively avoids during the work time, main
Frame 10 and bagging equipment hard contact so that the device of the design damages.
Driving motor, cylinder in the design are the prior art, therefore its internal structure is no longer described in detail.To ensure for dress
The stability that mechanism of car assembly 2 is promoted, the hoisting apparatus are hoist engine.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is every according to
According to the technical spirit of the present invention to any simple modification, equivalent variations made by above example, the protection of the present invention is each fallen within
Within the scope of.
Claims (5)
1. a kind of control method of wiper arm formula automatic loading robot, it is characterised in that：Wait for that loading vehicles are parked in designated position
Afterwards, entrucking robot brings into operation, and includes the following steps：
Step A：Entrucking robot preparation；
First, positioning waits for the railway carriage position of loading vehicles, and it will send to data center and carry out analyzing processing；
Step B：According to the railway carriage position and body length for waiting for loading vehicles, entrucking robot will be by that will be equipped with guide rail（1）, it is defeated
Send mechanism（3）, entrucking machine head assembly（2）, elevating mechanism（4）, closed dust pelletizing system（5）Servo-actuated rack be moved to and wait for load wagon
Railway carriage in setting position；
Step C：According to railway carriage width, the carry out conveying mechanism respectively of entrucking robot（3）, entrucking machine head assembly（2）, elevator
Structure（4）, closed dust pelletizing system（5）Position enters entrucking to adapt to railway carriage width, after adjustment and prepares；Data center's control is close
Close dust pelletizing system（5）Work；
Step D：The material packet that packed packaging is completed passes through existing equipment conveying to feed device from the production line of workshop
On, feed device is placed on conveying mechanism as requested by by bagged material packet（3）On, data center will control conveying mechanism
（3）Work；
Step E：It is arranged in conveying mechanism（3）On optical sensor to bagged material packet the distance between be detected, and will
Data transfer is to data center；
When bagged material meets pitch requirements, conveying mechanism（3）Bagged material packet is transported to entrucking machine head assembly（2）On；
When the spacing between bagged material packet is not met, the speed of conveying will be adjusted；
Step F：It is transported to entrucking machine head assembly in bagged material packet（2）After upper, it is mounted on entrucking machine head assembly（2）Main frame leans on
Nearly conveying mechanism（3）Two optical sensors of side will be detected the placement direction of bagged material packet；
If identical as desired placement direction, data center will control allocation mechanism and bagged material packet be directly transported to movement material
On draw box mechanism；
If when opposite with desired placement direction, control is controlled the change in allocation mechanism to bagged material packet by data center,
It realizes and drops into bagged material packet in movement chair mechanisms；
Step H：Bagged material packet drops into movement chair mechanisms, and data center will be by being mounted on entrucking machine head assembly（2）It leans on
The range sensor of nearly vehicle tank side is to entrucking machine head assembly（2）With vehicle tank/entrucking machine head assembly（2）Underface
The position of bagged material packet is detected, and detection data is passed to data center, and data center carries out data analysis and controls
Elevating mechanism processed（4）Distance close to the railway carriage side of vehicle；
When meet stacking apart from when, data center will control be mounted on entrucking machine head assembly（2）On allocation mechanism to bagged articles
Material packet drops into movement hopper mechanism, by moving stacking of the hopper mechanism realization to bagged material packet；
When be unsatisfactory for pile up require when, data center will control elevating mechanism（4）Reduction adjustment of adjusting the distance, which meets to pile up, to be required, then
By moving stacking of the hopper mechanism realization to bagged material packet；
Step I：Bagged material packet is piled up in railway carriage behind designated position, and control is servo-actuated adjustment entrucking machine head assembly by data center
（2）With the position relationship for being placed on bagged material packet in railway carriage；
If same position does not pile up specified altitude assignment in railway carriage, data center will control elevating mechanism（4）To separate railway carriage
Side moves；
If same position is piled up to specified altitude assignment in railway carriage, numer centre will control elevating mechanism（4）, closed dust pelletizing system
（5）To railway carriage, other are the position movement for piling up bagged material packet, the again repeatedly stacking work of bagged material packet；
Step J：Bagged material packet is all piled up in railway carriage behind designated position, and data center will pass through elevating mechanism（4）Control
Entrucking machine head assembly（2）It is withdrawn from railway carriage, completes this entrucking.
2. a kind of control method of wiper arm formula automatic loading robot according to claim 1, it is characterised in that：It is described defeated
Send mechanism（3）Including conveying mechanism（3）Input terminal sets gradually to output end and is passed by the separately-driven input of two groups of motors
Send section（31）, speed change delivery section（32）, the input conveyer frames（311）The photoelectric sensor that is provided with of medial surface（33）, institute
State motor and photoelectric sensor（33）It is connect with data center circuit；
The step E is specifically referred to：In transmission process, photoelectric sensor（33）It will be in real time to conveying mechanism（3）On it is packed
The position relationship of material packet detects, and by detection data real-time delivery to data center, and data center carries out the data of detection
Whether analysis, identification bagged material packet meet the requirement of placement direction；
When bagged material meets pitch requirements, bagged material packet will be directly by inputting delivery section（31）, speed change delivery section
（32）, reach in installation machine head assembly；
When the spacing between bagged material packet is not met, data center works the motor for controlling speed change delivery section, adjusts bag
Conveying speed of the material packet in speed change delivery section is filled, to adjust the position relationship of bagged material packet.
3. a kind of control method of wiper arm formula automatic loading robot according to claim 2, it is characterised in that：Described group
Expect that structure includes along conveying mechanism（3）The center line of transporting direction is symmetrically mounted on the first retainer platform in installation cavity（22）And peace
Mounted in main frame（10）Above and along conveying mechanism（3）Symmetrically arranged two material placing mechanisms of center line of transporting direction（21）；
The conveying mechanism（3）Close to material placing mechanism（21）Side and the first retainer platform（22）Close to material placing mechanism（21）One
Side is in the same plane；The movement hopper mechanism includes being arranged in the first retainer platform（22）Far from material placing mechanism（21）Side
Discharging platform（23）, be mounted on main frame（10）Far from material placing mechanism（21）Side and for controlling discharging platform（23）Receive bagged articles
Expect the guiding movement mechanism of packet, the discharging platform（23）Side and guiding movement mechanism far from conveying mechanism（3）One Slideslip
Connection；The material placing mechanism（21）Further include being arranged in the first retainer platform（22）Between and the second retainer in the installation cavity
Platform（24）；The first retainer platform（22）With the second retainer platform（24）Close to material placing mechanism（21）Side in the same plane；
The second retainer platform（24）Along conveying mechanism（3）The center line and conveying mechanism of transporting direction（3）The center line of transporting direction exists
On same straight line；Described two material placing mechanisms（21）Side close to each other for the opposite bagged material packet of placement direction by it is logical
Road；First retainer platform（22）, the second retainer platform（24）, discharging platform（23）Structure is identical；
The step F is specifically referred to：If identical as desired placement direction, data center will control two material placing mechanisms（21）To
Bagged material packet is pushed the first retainer platform by side movement close to each other（22）On, numer centre will control the first retainer platform
（22）The cylinder driving retainer plate being connect with data center moves downward bagged material packet being transported to movement hopper mechanism
On；
If when opposite with desired placement direction, data center will control two material placing mechanisms（21）It separates and opens channel, it is real
Bagged material packet is now fed directly to the second retainer platform（24）On, data center will control the second retainer platform（24）Upper and data
The cylinder driving retainer plate of center connection moves downward to drop into bagged material packet on movement body structure.
4. a kind of control method of wiper arm formula automatic loading robot according to claim 3, it is characterised in that：The fortune
Dynamic hopper mechanism includes being arranged in the first retainer platform（22）Far from material placing mechanism（21）The discharging platform of side（23）, be mounted on main frame
Frame（10）Far from material placing mechanism（21）Side and for controlling discharging platform（23）Receive the guiding movement mechanism of bagged material packet, institute
State discharging platform（23）Side and guiding movement mechanism far from conveying mechanism（3）Side is slidably connected；
When placement direction meets the requirements, by bagged material packet from the first retainer platform（22）Drop into discharging platform（23）When, number
It will pass through guiding movement mechanism controls discharging platform according to center（23）To the first retainer platform（22）Underface movement, when to reaching the
One retainer platform（22）Underface when, numer centre is by the first retainer platform（22）Control the first retainer platform（22）Connect with data center
The cylinder driving retainer plate connect moves downward, and realizes that bagged material packet drops into discharging platform（23）On；
When placement direction is undesirable, by bagged material packet from the second retainer platform（24）Drop into discharging platform（23）When,
Data center will pass through guiding movement mechanism controls discharging platform（23）To the first retainer platform（22）Underface movement, when to arrival
First retainer platform（22）Underface when, numer centre is by the first retainer platform（22）Control the first retainer platform（22）With data center
The cylinder driving retainer plate of connection moves downward, and realizes that bagged material packet drops into discharging platform（23）On.
5. a kind of control method of wiper arm formula automatic loading robot according to claim 4, it is characterised in that：The step
The stacking of bagged material packet is specifically included by moving the realization of hopper mechanism in rapid H：
Step H1：The position of data center's heap putting material according to railway carriage is placed with packed by guiding movement mechanism controls
The discharging platform of material packet（23）It is moved to the position for carrying out bagged material packet stacking is needed；
Step H2：Behind in-position；Data Control Center will control discharging platform（23）On cylinder drive discharging platform（23）On
Retainer plate moves downward, and bagged material packet is deposited in railway carriage by realization.
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| CN201810484606.5A CN108750721B (en) | 2018-05-20 | 2018-05-20 | Control method of arm-shifting type automatic loading robot |
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|---|---|---|---|
| CN201810484606.5A CN108750721B (en) | 2018-05-20 | 2018-05-20 | Control method of arm-shifting type automatic loading robot |
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| CN108750721A true CN108750721A (en) | 2018-11-06 |
| CN108750721B CN108750721B (en) | 2020-01-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281256A (en) * | 2023-05-12 | 2023-06-23 | 山东蔚创智能科技有限公司 | Continuous automatic loading system for bagged articles |
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| CN107150911A (en) * | 2017-05-15 | 2017-09-12 | 烟台博特自动化设备有限公司 | A kind of bag-shaped material loader device people vehicle identification and control system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116281256A (en) * | 2023-05-12 | 2023-06-23 | 山东蔚创智能科技有限公司 | Continuous automatic loading system for bagged articles |
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| CN108750721B (en) | 2020-01-03 |
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Denomination of invention: A Control Method for an Arm Pulling Automatic Loading Robot Effective date of registration: 20231130 Granted publication date: 20200103 Pledgee: China Construction Bank Corporation Chengdu hi tech sub branch Pledgor: CHENGDU HONGYUAN JINCHENG ROBOT Co.,Ltd. Registration number: Y2023980068288 |