CN110404806A - A kind of coverture material packet sorting system - Google Patents
A kind of coverture material packet sorting system Download PDFInfo
- Publication number
- CN110404806A CN110404806A CN201910702774.1A CN201910702774A CN110404806A CN 110404806 A CN110404806 A CN 110404806A CN 201910702774 A CN201910702774 A CN 201910702774A CN 110404806 A CN110404806 A CN 110404806A
- Authority
- CN
- China
- Prior art keywords
- material packet
- coverture
- handgrip mechanism
- sorting system
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/18—Sorting according to weight using a single stationary weighing mechanism
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a kind of coverture material packet sorting systems, including detection device, robot, handgrip mechanism, control device；Wherein, detection device is used to detect the target position of target material packet in feed bin；Robot connect with handgrip mechanism, is mobile for controlling handgrip mechanism；Handgrip mechanism is used to grab target material packet in target position and in predeterminated position drop target material packet；Control device is used to control robot according to the target position of acquisition and handgrip mechanism acts.When using coverture material packet sorting system provided by the present application, operator is not necessarily in continuous casting line scene manual operation, coverture material packet sorting system can substitute artificial progress sorting operation, material packet is transferred to predeterminated position from feed bin, it is achieved that the effect for reducing labor intensity of workers, improving operational safety.
Description
Technical field
The present invention relates to continuous casting technical fields, more specifically to a kind of coverture material packet sorting system.
Background technique
Coverture is to be used to be covered on molten steel surface, prevent molten steel surface because of ingress of air temperature on steel mill's continuous casting line
It reduces and a kind of granular article of tuberculosis.Steel mill substantially will be at bag by the worker on continuous casting platform both at home and abroad at present
Coverture is launched into molten steel.In casting process, the additive amount of coverture is bigger, and single additive amount is up to 300kg, thus work
People's labor intensity is larger.In addition, the operating area of worker is closer with molten steel, the operating environment of worker is more severe, operating risk
It is higher.
It is current this field skill in conclusion operator how to be facilitated to add coverture in continuous casting operation process
Art personnel's urgent problem to be solved.
Summary of the invention
In view of this, can substitute manually will material the object of the present invention is to provide a kind of coverture material packet sorting system
Packet is moved to predeterminated position from feed bin, reduces the labor intensity of worker, improves the safety of operation.
To achieve the goals above, the invention provides the following technical scheme:
A kind of coverture material packet sorting system, comprising:
Detection device, the detection device are used to detect the target position of target material packet in feed bin；
Robot, the robot connect with the handgrip mechanism, are mobile for controlling the handgrip mechanism；
Handgrip mechanism, the handgrip mechanism are used to grab the target material packet in the target position and in predeterminated position
Place the target material packet；
Control device, the control device are used to control the robot according to the target position of acquisition and described grab
Hand mechanism action；The detection device, the robot, the handgrip mechanism are connect with the control device respectively.
It preferably, further include the weighing sensor for grabbing the actual mass of material packet for detecting the handgrip mechanism, institute
Control device is stated for the handgrip mechanism being controlled and being opened above feed bin when the actual mass is more than preset quality range
Gripping apparatus simultaneously controls the detection device and detects the target position again.
Preferably, the handgrip mechanism includes connection component and for grabbing the gripping apparatus for placing the target material packet,
Described connection component one end is fixedly connected with the robot, the other end is fixedly connected with the gripping apparatus.
Preferably, the gripping apparatus includes movable jaw and the cylinder for controlling the movable jaw opening and closing, the cylinder
Fixing end connect with the connection component, the movable end of the cylinder is connect with the movable jaw, the cylinder with it is described
Control device electrical connection.
Preferably, the weighing sensor is set between the connection component and the cylinder, with real described in real-time detection
Border quality.
Preferably, the connection component includes the connecting rod extended along the vertical direction, the connecting rod upper end and the machine
Device people fixes, lower end is fixed with the weighing sensor, and the detection device is arranged the periphery for being fixed on the connecting rod.
Preferably, the detection device is used to detect the extreme higher position that packet is all expected in feed bin in moving process, and will
Extreme higher position is sent to the control device as the target position.
Preferably, the detection device is visual detection equipment.
It preferably, further include the target material packet placed set on the predeterminated position, for carrying the handgrip mechanism
Hopper.
Coverture material packet sorting system provided by the invention includes detection device, robot, handgrip mechanism and connects with three
The control device connect；Wherein, detection device is used to detect the target position of target material packet；Control device is used for the mesh according to acquisition
Cursor position controls robot and handgrip mechanism movement；Robot is mobile for controlling handgrip mechanism；Handgrip mechanism is used in target
Position grabs target material packet and in predeterminated position drop target material packet.
During the work time, target position corresponding to target material packet and by target position in detection device detection feed bin
It is sent to control device；Control device controls robot motion, and the handgrip mechanism connecting with robot is made to be moved to target position,
Then control gripping structure grabs target material packet.When handgrip mechanism is moved to default position in the control of robot, control device
It postpones, handgrip mechanism puts down target material packet.
Coverture material packet sorting system provided by the present application, which can substitute, is manually transferred to predeterminated position from feed bin for material packet,
In case subsequent use, reduces the labor intensity of worker；Simultaneously because worker is not necessarily in continuous casting line field operation, therefore drop
The low operating risk of worker.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the structural schematic diagram of coverture material packet sorting system provided by the present invention；
Fig. 2 is the structural schematic diagram of handgrip mechanism provided by the present invention.
Appended drawing reference in Fig. 1~2 are as follows:
Robot 1, feed bin 3, connecting rod 4, hopper 5, detection device 6, weighing sensor 7, cylinder 8, lives at handgrip mechanism 2
Dynamic claw 9.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of coverture material packet sorting system, can substitute and manually move material packet from feed bin
It moves to predeterminated position, reduces the labor intensity of worker, improves the safety of operation.
Fig. 1~2 is please referred to, Fig. 1 is the structural schematic diagram of coverture material packet sorting system provided by the present invention；Fig. 2 is
The structural schematic diagram of handgrip mechanism provided by the present invention.
This application provides a kind of coverture material packet sorting systems, including detection device 6, robot 1, handgrip mechanism 2, control
Device processed；Wherein, detection device 6 is used to detect the target position of target material packet in feed bin 3；Robot 1 and handgrip mechanism 2 connect
It connects, is mobile for controlling handgrip mechanism 2；Handgrip mechanism 2 is used to grab target material packet in target position and place in predeterminated position
Target material packet；Control device is used to control robot 1 according to the target position of acquisition and handgrip mechanism 2 acts；Detection device 6,
Robot 1, handgrip mechanism 2 are connect by way of electrical connection or signal connection with control device respectively.
Specifically, in actual use, within a certain area, which is known as expecting the unified storage of material packet to be sorted
Storehouse 3.In addition, the movement and storage of material packet for convenience, setting opening at the top of feed bin 3 and the edge of feed bin 3 can be set every
Plate.
Robot 1 is mainly used for driving handgrip mechanism 2 mobile, and specific structure and working principle can refer to the prior art.
Handgrip mechanism 2 is fixed on the front end of robot 1, and moves under the drive of robot 1；In addition, handgrip mechanism 2 is far from robot
1 one end is provided with gripping apparatus, to realize the crawl and placement of material packet.
Detection device 6 can be visual detection equipment or other detection devices, be mainly used for the material in storage material packet
Target position is determined in storehouse 3 and target position is sent to control device.It in the detection process, can be according to preset rules
Or determining mode is used as target material packet from all selecting one in material packet in feed bin 3 at random, and by the material packet in feed bin 3
Physical location be sent to control device as target position.Control device can be specially the control class member device such as PLC controller
Part comprising related hardware and software systems, in actual use, control device can integrate in robot 1.
During the work time, detection device 6 is sent to control device after detecting target position, and control device controls machine
People 1 acts, and the handgrip mechanism 2 for connecting robot 1 is moved to target position, and then control device control handgrip mechanism 2 grabs
Target material packet.After the completion of the crawl of target material packet, robot 1 drives handgrip mechanism 2 to be moved to predeterminated position and places material packet.
Coverture material packet sorting system provided by the present application uses operating in a key, and operator only need to be in operating room to covering
Lid agent sorting system issues sorting instruction, without in continuous casting line field operation, coverture material packet sorting system, that is, alternative
Full-automatic sorting operation is manually carried out, material packet is transferred to predeterminated position from feed bin 3, in case subsequent use.Therefore, coverture material
Packet sorting system reduces the labor intensity of worker, improves the safety of worker's operation.And in sort process, detection device 6
Automatic capture is carried out to the position of material packet, for operator it is not necessary that material packet is pressed regularly placing in advance, use is more convenient.
Optionally, in a kind of embodiment provided by the present application, handgrip mechanism 2 includes connection component and places mesh for grabbing
The gripping apparatus of mark material packet, connection component one end is fixedly connected with robot 1, the other end is fixedly connected with gripping apparatus.
Specifically, connection component is for connecting robot 1 and gripping apparatus.Gripping apparatus can be clamp cylinder or other can be clamped
Expect the clamp structure of packet, the preferred gripping apparatus of the present embodiment includes movable jaw 9 and the cylinder 8 for controlling 9 opening and closing of movable jaw, gas
The fixing end of cylinder 8 is connect with connection component, the movable end of cylinder 8 is connect with movable jaw 9, in addition, cylinder 8 and control device electricity
Connection.During the work time, 8 movable end of cylinder is released, opens movable jaw 9, and the movable jaw 9 in open configuration is inserted into
When the target position that detection device 6 is fed back, 8 movable end of cylinder withdraws and movable jaw 9 is driven to close up, and will expect teamed, realization
Expect the crawl process of packet.The placement process of material packet equally passes through cylinder 8 and controls, and this embodiment is not repeated.
Further, in order to optimize the using effect of coverture material packet sorting system, a kind of embodiment provided by the present application
In, coverture material packet sorting system further includes the weighing sensor for grabbing the actual mass of material packet for detecting handgrip mechanism 2
7, control device be used for actual mass be more than preset quality range when, control handgrip mechanism 2 opened above feed bin 3 gripping apparatus,
And it controls detection device 6 and detects target position again.
Specifically, in view of needing to put into quantitative coverture into molten steel in actual use, and handgrip mechanism 2 is in reality
During the crawl of border, it is understood that there may be while grabbing more Bag Material packets or could not catch and expecting the case where wrapping.Therefore, it is grabbed to ensure
Mobile phone structure 2 grabs the validity of operation, and weighing sensor 7 is arranged in the present embodiment.
When handgrip mechanism 2 grabbed from feed bin 3 material packet after, 7 pairs of weighing sensor grabbed material packet actual mass into
Row detection, system judges automatically the quantity of the coverture material packet of single clamping, if actual mass meets preset quality range, into
Row follow-up process；If not meeting preset quality range, control device controls handgrip mechanism 2 in the original location or other in feed bin 3
Gripping apparatus is unclamped in position, prepares for crawl next time, while being again introduced into the work flow of detection target position.Optionally, in advance
If mass range is on the basis of the quality of a Bag Material packet and the obtained range of certain margin value that floats up and down.
Optionally, the material packet actual mass grabbed is detected for convenience, in the present embodiment, weighing sensor 7
Between connection component and cylinder 8.Specifically, weighing sensor 7 determines the actual mass of material packet by elastic strain, due to
Weighing sensor 7 is arranged between 8 fixing end of connection component and cylinder, therefore handgrip mechanism 2 lifts rear, weighing sensor 7 i.e.
The actual mass of material packet can be measured in real time, measurement process is simpler quick, if the material packet grabbed is off quality,
It can also direct plunge into feed bin 3.It should be understood that weighing sensor 7 and handgrip mechanism 2 can also use the side of split settings
Formula, for example, the setting of weighing sensor 7, in a fixed position, handgrip mechanism 2 drives material to wrap the detection for being moved to weighing sensor 7
The detection of station progress actual mass.
Optionally, target position is determined for convenience, in a kind of embodiment provided by the present application, detection device 6
It is fixed in handgrip mechanism 2.Specifically, connection component includes the connecting rod 4 extended along the vertical direction, 4 upper end of connecting rod and machine
Device people 1 fixes, lower end and weighing sensor 7 are fixed, and detection device 6 is arranged the periphery for being fixed on connecting rod 4.In the course of work
In, coverture material packet sorting system is not necessarily to the mobile mechanism for detection device 6 individually with its movement of available, and the control of robot 1 is grabbed
Mobile phone structure 2 is mobile, and detection device 6 can be scanned feed bin 3, so that it is determined that target position.
Optionally, in a kind of embodiment provided by the present application, detection device 6 is used to detect in feed bin 3 in moving process
All extreme higher positions of material packet, and control device is sent to using extreme higher position as target position.Specifically, detection device 6 can
To include laser vision sensor, moved under the drive of handgrip mechanism 2 or other mobile mechanisms in 3 upper horizontal of feed bin
It is dynamic, and emit scan-type line-structured light to feed bin 3 in the process of moving, target is determined after carrying out analytical calculation to scanning result
Position.After determining target position in this way, the target material packet that handgrip mechanism 2 is grabbed is the material packet positioned at 3 the top of feed bin,
Not by the extruding of other material packets, more convenient crawl when the material packet of the position moves up.
Optionally, during production operations, coverture material packet sorting system can also cooperate other equipment to realize automatic
Change continuous casting work.For example, it is also possible to the hopper 5 of feed intake robot and the target material packet for carrying the placement of handgrip mechanism 2 is set,
I.e. handgrip mechanism 2 will be placed in hopper 5 after material packet sorting, and when needing to launch coverture into molten steel, the robot that feeds intake is opened
Material packet in hopper 5 is simultaneously poured onto molten steel by dynamic crawl hopper 5.
It, can will be more by related driving device during actual job it should be understood that multiple hoppers 5 if it exists
A hopper 5 is successively moved to predeterminated position, and each hopper 5 is made to place the material packet of preset quantity；Can also to predeterminated position into
Row adjustment, i.e., the predeterminated position that adjustment handgrip mechanism 2 is currently set after each sorting, the every subjob of handgrip mechanism 2 will grab
The material packet taken is placed on current predetermined position.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Coverture material packet sorting system provided by the present invention is described in detail above.It is used herein specifically
Principle and implementation of the present invention are described for a example, the present invention that the above embodiments are only used to help understand
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from original of the invention
, can be with several improvements and modifications are made to the present invention under the premise of reason, these improvement and modification also fall into right of the present invention and want
In the protection scope asked.
Claims (9)
1. a kind of coverture material packet sorting system characterized by comprising
Detection device (6), the detection device (6) are used to detect the target position of target material packet in feed bin (3)；
Robot (1), the robot (1) connect with the handgrip mechanism (2), are mobile for controlling the handgrip mechanism (2)；
Handgrip mechanism (2), the handgrip mechanism (2) are used to grab the target material packet in the target position and in default position
Target material packet described in placement location；
Control device, the control device are used to control the robot (1) according to the target position of acquisition and described grab
Mobile phone structure (2) movement；The detection device (6), the robot (1), the handgrip mechanism (2) respectively with the control device
Connection.
2. coverture material packet sorting system according to claim 1, which is characterized in that further include for detecting the handgrip
Mechanism (2) grabs the weighing sensor (7) of the actual mass of material packet, and the control device for being more than in the actual mass
When preset quality range, controls the handgrip mechanism (2) and open gripping apparatus above feed bin (3) and control the detection device (6)
Again the target position is detected.
3. coverture material packet sorting system according to claim 2, which is characterized in that the handgrip mechanism (2) includes connecting
Connected components and for grabbing the gripping apparatus for placing the target material packet, described connection component one end and the robot (1) are solid
Fixed connection, the other end are fixedly connected with the gripping apparatus.
4. coverture material packet sorting system according to claim 3, which is characterized in that the gripping apparatus includes movable jaw
(9) connect with the cylinder (8) for controlling the movable jaw (9) opening and closing, the fixing end of the cylinder (8) and the connection component
Connect, the movable end of the cylinder (8) is connect with the movable jaw (9), the cylinder (8) is electrically connected with the control device.
5. coverture material packet sorting system according to claim 4, which is characterized in that the weighing sensor (7) is set to
Between the connection component and the cylinder (8), with actual mass described in real-time detection.
6. coverture material packet sorting system according to claim 5, which is characterized in that the connection component includes along vertical
The connecting rod (4) that direction extends, connecting rod (4) upper end and the robot (1) fixation, lower end and the weighing sensor
(7) fixed, and the detection device (6) is arranged the periphery for being fixed on the connecting rod (4).
7. coverture material packet sorting system according to claim 6, which is characterized in that the detection device (6) is used for
The extreme higher position for all expecting packet in feed bin (3) is detected in moving process, and is sent to extreme higher position as the target position
The control device.
8. coverture material packet sorting system according to claim 7, which is characterized in that the detection device (6) is vision
Detection device.
9. coverture material packet sorting system according to claim 8, which is characterized in that further include being set to the default position
It sets, the hopper (5) for carrying the target material packet that the handgrip mechanism (2) are placed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910702774.1A CN110404806A (en) | 2019-07-31 | 2019-07-31 | A kind of coverture material packet sorting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910702774.1A CN110404806A (en) | 2019-07-31 | 2019-07-31 | A kind of coverture material packet sorting system |
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| Publication Number | Publication Date |
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| CN110404806A true CN110404806A (en) | 2019-11-05 |
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ID=68364791
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910702774.1A Pending CN110404806A (en) | 2019-07-31 | 2019-07-31 | A kind of coverture material packet sorting system |
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| JPH07314105A (en) * | 1994-05-24 | 1995-12-05 | Nkk Corp | Method for automatically charging mold powder at start of pouring molten steel and device thereof |
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| KR20140033639A (en) * | 2012-09-10 | 2014-03-19 | 주식회사 포스코 | Method for supplying bulk type mold flux |
| CN104385289A (en) * | 2013-07-26 | 2015-03-04 | 发那科株式会社 | Robot gripping device |
| CN106552909A (en) * | 2015-09-28 | 2017-04-05 | 宝山钢铁股份有限公司 | For the robot coverture added automatically system and its method of continuous casting work |
| CN106735015A (en) * | 2015-11-25 | 2017-05-31 | 衡阳镭目科技有限责任公司 | A kind of articulated robot automatic slag adding machine |
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2019
- 2019-07-31 CN CN201910702774.1A patent/CN110404806A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07314105A (en) * | 1994-05-24 | 1995-12-05 | Nkk Corp | Method for automatically charging mold powder at start of pouring molten steel and device thereof |
| CN103038001A (en) * | 2010-03-12 | 2013-04-10 | 西门子Vai金属科技有限责任公司 | Process and plant for applying a pulverulent material to a surface of a metallic melt in a metallurgical vessel |
| KR20140033639A (en) * | 2012-09-10 | 2014-03-19 | 주식회사 포스코 | Method for supplying bulk type mold flux |
| CN104385289A (en) * | 2013-07-26 | 2015-03-04 | 发那科株式会社 | Robot gripping device |
| CN106552909A (en) * | 2015-09-28 | 2017-04-05 | 宝山钢铁股份有限公司 | For the robot coverture added automatically system and its method of continuous casting work |
| CN106735015A (en) * | 2015-11-25 | 2017-05-31 | 衡阳镭目科技有限责任公司 | A kind of articulated robot automatic slag adding machine |
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Application publication date: 20191105 |
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