CN110451292A - Bagged cement automatic loading system and bagged cement automatic loading method - Google Patents
Bagged cement automatic loading system and bagged cement automatic loading method Download PDFInfo
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- CN110451292A CN110451292A CN201910770156.0A CN201910770156A CN110451292A CN 110451292 A CN110451292 A CN 110451292A CN 201910770156 A CN201910770156 A CN 201910770156A CN 110451292 A CN110451292 A CN 110451292A
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- automatic loading
- cement
- entrucking
- bagged cement
- vehicle
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The present invention provides a kind of bagged cement automatic loading system applied to cement manufacture plant technical field, the vehicle scan and positioning system, for scanning and positioning to entrucking vehicle location；Telescopic belt transportation system, for conveying bagged cement to close to entrucking vehicle location；Bag of cement clamp device, for grabbing the bagged cement in telescopic belt transportation system to entrucking vehicle；Automatic loading stacking control system, for controlling the motion profile of bag of cement clamp device, it realizes and is carrying out stacking to entrucking vehicle location, bagged cement automatic loading system and bagged cement automatic loading method of the present invention, can be realized the automated job of bagged cement entrucking, and ensure to realize stacking according to entrucking demand when entrucking, it replaces completely artificial, it is high-efficient, change the problems such as labor intensity of operating staff is big, working environment is poor, realizes environmentally protective operation.
Description
Technical field
The invention belongs to cement manufacture plant technical fields, are to be related to a kind of bagged cement automatic loading more specifically
System, the invention further relates to a kind of bagged cement automatic loading methods.
Background technique
In the standard that Chinese bagged cement logistics transportation is not unified, transport that vehicle is changeable and vehicle disunity, for a long time with
Come, the logistics links the degree of automation such as cement packing, shipping is lower, is substantially at manual operation level.It needs to carry out packed water
When mud entrucking, being will be to entrucking vehicle drive to bagged cement storage area, then by artificial entrucking, not only low efficiency, and
And labor intensity is high, the dust of bagged cement also influences operator's health, is unable to satisfy actual demand.
Summary of the invention
The technical problems to be solved by the present invention are: can be realized in view of the shortcomings of the prior art, to provide a kind of structure simple
The automated job of bagged cement entrucking, and ensure to realize stacking according to entrucking demand when entrucking, artificial, efficiency is replaced completely
Height changes the problems such as labor intensity of operating staff is big, working environment is poor, realizes the bagged cement automatic loading of environmentally protective operation
System.
Solve the problems, such as techniques discussed above, the technical scheme adopted by the invention is as follows:
The present invention is a kind of bagged cement automatic loading system, including vehicle scan and positioning system, telescopic belt conveying
System, bag of cement clamp device, automatic loading stacking control system, stand, telescopic belt transportation system extend to stand position；
The vehicle scan and positioning system, for scanning and positioning to entrucking vehicle location；
Telescopic belt transportation system, for conveying bagged cement to close to entrucking vehicle location；
Bag of cement clamp device, for grabbing the bagged cement in telescopic belt transportation system to entrucking vehicle；
Automatic loading stacking control system is realized for controlling the motion profile of bag of cement clamp device to entrucking vehicle
Position carries out stacking.
The stand includes stand bracket, and setting multiple tracks translates slide bar on stand bracket, translates activity setting on slide bar
Pan carriage, activity setting sliding rack, the bag of cement clamp device are mounted on sliding rack in pan carriage.
Belt body one end of telescopic belt transportation system extends to bagged cement conveyer belt position, the belt body other end
Extend to translation slide bar position.
It translates slide bar and twice is set, twice translate slide bar parallel arrangement, and pan carriage is arranged vertically with translation slide bar, sliding rack
It is arranged vertically with pan carriage
Vehicle scan and positioning system include laser sensor, vehicle scan and positioning system and loading system control unit
Connection, automatic loading stacking control system include 3D sweep unit, automatic loading stacking control system and loading system control unit
Part connection.
The bag of cement clamp device includes truss, puma manipulator, clamping jaw, and truss is connect with sliding rack, intelligent machine
Tool hand is connect with truss, and clamping jaw is connect with puma manipulator.
Telescopic cylinder is set on the sliding rack, and the telescopic cylinder control unit flexible with that can control telescopic cylinder connects
It connects, the truss of bag of cement clamp device is connect with telescopic cylinder.
Driving wheel I is set on the translation slide bar of the rack, and driving wheel I passes through the chain wheel I on drive chain I and pan carriage
It connects, driving wheel II is set in the pan carriage, driving wheel II is connect by drive chain II with the chain wheel II on sliding rack.It drives
Driving wheel I and driving wheel II are connect with control unit respectively.
The bagged cement automatic loading system is arranged in the dust pelletizing system cabinet of dust pelletizing system, dust pelletizing system cabinet
Upper setting air inlet, air inlet are connect with deduster, when bagged cement automatic loading system operation, setting in dust pelletizing system cabinet
For the structure in negative pressure state.
Laser sensor is configured to scan the knot to entrucking vehicle location and vehicle car entrucking cabinet space data
Structure, automatic loading stacking set-up of control system are that can be calculated according to laser sensor data collected to entrucking vehicle stacking
Starting three-dimensional space position structure.
The invention further relates to a kind of application method of bagged cement automatic loading system, the bagged cement automatic loading
The use step of the application method of system are as follows: 1) enter stand position, vehicle scan and positioning system sense to entrucking vehicle driving
Signals of vehicles should be arrived, is scanned to entrucking vehicle location and vehicle car entrucking cabinet space data, and by data feedback to control
Component；2) the belt body starting of control unit control telescopic belt transportation system, continues bagged cement is defeated from bagged cement
Band position is sent to be transported to stand position；3) control unit control automatic loading stacking control system starting, automatic loading stacking control
System processed calculates the starting three-dimensional space position to entrucking vehicle stacking according to laser sensor data collected；4) automatic dress
The starting control bag of cement clamp device movement of vehicle stacking control system, bag of cement clamp device clamp in telescopic belt transportation system
Bagged cement, it is mobile to be placed into positioning on entrucking vehicle；5) bag of cement clamp device persistently clamps telescopic belt delivery system
Mobile be placed into of bagged cement on system positions to realize automatic stacking on entrucking vehicle.
When the automatic loading stacking control system starting control bag of cement clamp device acts, automatic loading stacking control
The motion profile in tri- directions X, Y, Z of system control puma manipulator processed, so that the clamping jaw by puma manipulator 7 will be multiple
Bagged cement is successively grabbed to be placed into and is transported to each position of entrucking vehicle, realizes automatic stacking.
Using technical solution of the present invention, can obtain it is below the utility model has the advantages that
Bagged cement automatic loading system and bagged cement automatic loading method of the present invention enters to entrucking vehicle
After entrucking position in stand is come to a complete stop, vehicle scan and positioning system are stopped using laser sensor scanning to entrucking vehicle, are passed through
Vehicle scan system positioning software algorithm (positioning software algorithm is the prior art) extracts positioning data of vehicles, is car loading operation
It prepares.And by the flexible of telescopic belt transportation system, bagged cement can be transported to entrucking vehicle lengthwise direction
Different location grabs bagged cement for bag of cement clamp device and provides condition.Automatic loading stacking control system realizes 3D scanning,
To control the spatial position of bag of cement clamp device, to realize the bagged cement of clamping jaw crawl in the railway carriage to entrucking vehicle
Interior different location is mobile and positions, convenient for being placed into different location.Above-mentioned technical proposal can be realized automated job, in water
The processes such as mud delivery transport stacking, carrying entrucking effectively replace manually, and while reducing production cost, it is strong to reduce hand labor
Degree, improves efficiency.Bagged cement automatic loading system and bagged cement automatic loading method of the present invention, structure is simple,
Step is simple, can be realized the automated job of bagged cement entrucking, and ensures to realize stacking according to entrucking demand when entrucking,
It replaces completely manually, it is high-efficient, change the problems such as labor intensity of operating staff is big, working environment is poor, realizes environmentally protective operation,
Effectively promote the market competitiveness of enterprise.
Detailed description of the invention
Brief description is made to content expressed by each attached drawing of this specification and the label in figure below:
Fig. 1 is the overall structure diagram of bagged cement automatic loading system of the present invention；
Fig. 2 is the forward sight structural schematic diagram of bagged cement automatic loading system of the present invention；
Fig. 3 is the structural schematic diagram of the dust pelletizing system of bagged cement automatic loading system of the present invention；
Appended drawing reference are as follows: 1, stand；2, stand bracket；3, slide bar is translated；4, pan carriage；5, sliding rack；6, truss；7, intelligence
It can manipulator；8, belt body；9, bagged cement conveyer belt；10, to entrucking vehicle；11, dust pelletizing system cabinet；12, rack；
13, clamping jaw；14, vehicle scan and positioning system 3D scanning area；15, deduster.
Specific embodiment
Below against attached drawing, by the description of the embodiment, to for example related each structure of a specific embodiment of the invention
The works such as the shape of part, construction, the mutual alignment between each section and connection relationship, the effect of each section and working principle are further
Detailed description:
As shown in attached drawing 1- attached drawing 3, the present invention is a kind of bagged cement automatic loading system, including vehicle scan and positioning
System, telescopic belt transportation system, bag of cement clamp device, automatic loading stacking control system, stand 1, telescopic belt conveying
System extends to 1 position of stand；The vehicle scan and positioning system, for scanning and positioning to entrucking vehicle location；It stretches
Contracting belt conveyor system, for conveying bagged cement to close to entrucking vehicle location；Bag of cement clamp device is stretched for grabbing
Bagged cement on contracting belt conveyor system is to entrucking vehicle；Automatic loading stacking control system, for controlling bag of cement folder
The motion profile of device is taken, realizes and is carrying out stacking to entrucking vehicle location.Above structure enters in stand to entrucking vehicle
After entrucking position is come to a complete stop, vehicle scan and positioning system are stopped using laser sensor scanning to entrucking vehicle, pass through vehicle scan
System positioning software algorithm (positioning software algorithm is the prior art) extracts positioning data of vehicles, prepares for car loading operation.And
By the flexible of telescopic belt transportation system, bagged cement can be transported to the different location to entrucking vehicle lengthwise direction,
Bagged cement is grabbed for bag of cement clamp device, and condition is provided.Automatic loading stacking control system realizes 3D scanning, to control
The spatial position of bag of cement clamp device, to realize the bagged cement of the clamping jaw crawl different positions in the railway carriage to entrucking vehicle
Mobile and positioning is set, convenient for being placed into different location.Above-mentioned technical proposal can be realized automated job, transport in cement delivery
The processes such as defeated stacking, carrying entrucking effectively replace manually, while reducing production cost, reduce labor intensity, improve
Efficiency.Bagged cement automatic loading system of the present invention, structure is simple, can be realized being turned into automatically for bagged cement entrucking
Industry, and ensure to realize stacking according to entrucking demand when entrucking, it replaces completely manually, it is high-efficient, it is strong to change operator's labour
The problems such as degree is big, working environment is poor, realizes environmentally protective operation, effectively promotes the market competitiveness of enterprise.
The stand 1 includes stand bracket 2, and setting multiple tracks translates slide bar 3 on stand bracket 2, translates activity on slide bar 3
Pan carriage 4 is set, and activity setting sliding rack 5, the bag of cement clamp device are mounted on sliding rack 5 in pan carriage 4.This hair
In the bright bagged cement automatic loading system, stand is arranged on the rack 12 on ground；Transport vehicle is (to entrucking vehicle
) can enough drive into stand, the translation cross bar lower position positioned at stand upper end；Telescopic belt transportation system, one end and bag
Cement transportation band (conveyer belt) connection is filled, the other end protrudes into stand, is easy to implement bagged cement and is transported to close to entrucking vehicle
Position, then convenient and efficient realization entrucking, stacking；Pan carriage is slidably mounted on translation cross bar, and pan carriage can translate
It is slided on cross bar length direction；Sliding rack is slidably mounted in pan carriage, and sliding rack can be slided on pan carriage length direction
It is dynamic.Above structure expands bag of cement clamp device by the adjusting of the respective position of pan carriage, sliding rack, bag of cement clamp device
Space operation range, meet when carrying out entrucking, bag of cement clamp device can by bagged cement crawl, be placed into entrucking
The automation control of stacking is realized in the corresponding position of vehicle, improves stacking efficiency.
8 one end of belt body of telescopic belt transportation system extends to 9 position of bagged cement conveyer belt, and belt body 8 is another
One end extends to translation 3 position of slide bar.The belt body of above structure, telescopic belt transportation system can be along to entrucking vehicle
Length direction telescopic moving, the bagged cement of entrucking can will be needed to be transported to different location, convenient for crawl place, improve effect
Rate.
It translates slide bar 3 and twice is set, twice translate slide bar 3 and are arranged in parallel, and pan carriage 4 is arranged vertically with translation slide bar 3, sliding
Moving frame 5 is arranged vertically with pan carriage 4.Above structure, pan carriage can realize translation rack position relative to translation sliding bar
Mobile, sliding rack can be mobile relative to pan carriage, realizes the movement of sliding rack position, in this way, effectively expanding bag of cement clamping
The variation range of device spatial position, crawl cover entire compartment when placing bagged cement.
Vehicle scan and positioning system include laser sensor, vehicle scan and positioning system and loading system control unit
Connection, automatic loading stacking control system include 3D sweep unit, automatic loading stacking control system and loading system control unit
Part connection.Whole systems of above structure, loading system are all connect with loading system control unit, realize coordinating and unifying scheduling control
System.
The bag of cement clamp device includes truss 6, puma manipulator 7, clamping jaw, and truss 6 is connect with sliding rack 5, intelligence
Energy manipulator 7 is connect with truss 6, and clamping jaw is connect with puma manipulator 7.Above structure passes through automatic loading stacking control system
Scanning and calculating, can be realized each position of bagged cement for needing to place and determine, then control bag of cement clamp device
Puma manipulator movement, realize spatial position change, accurate place bagged cement to realize.
Telescopic cylinder, the telescopic cylinder loading system flexible with that can control telescopic cylinder are set on the sliding rack 5
Control unit (i.e. control unit) connection, the truss 6 of bag of cement clamp device are connect with telescopic cylinder.Above structure, stretch gas
The setting of cylinder, by flexible, space is realized in the variation of realization truss depth position, the mobile cooperation with pan carriage and sliding rack
Displacement.
Driving wheel I is set on the translation slide bar 3 of the rack 1, and driving wheel I passes through the chain on drive chain I and pan carriage 4
Wheel I connects, and driving wheel II is arranged in the pan carriage 4, and driving wheel II is connected by the chain wheel II on drive chain II and sliding rack 5
It connects.Driving wheel I and driving wheel II are connect with control unit respectively.Driving wheel I realizes movement of the pan carriage relative to translation slide bar,
Driving wheel II realizes movement of the sliding rack relative to pan carriage, realizes space displacement.
The bagged cement automatic loading system is arranged in the dust pelletizing system cabinet 11 of dust pelletizing system, dust pelletizing system case
Air inlet is set on body 11, air inlet is connect with deduster 15, when bagged cement automatic loading system operation, dust pelletizing system cabinet
The structure of negative pressure state is arranged in 11.Above structure, using envelope between entrucking locating for bagged cement automatic loading system
Design is closed, multiple air inlets are set on dust pelletizing system cabinet 11, the deduster 15 of efficient pocket type is configured outside dust pelletizing system cabinet 11,
It keeps being in negative pressure state in entrucking, negative pressure pressure prevents flour dust overflow in work between -100~-200Pa.In this way,
The dust uncontrollable discharge problem of artificial entrucking bring entrucking position can thoroughly be changed, realization cleans greenization production.
Laser sensor is configured to scan the knot to entrucking vehicle location and vehicle car entrucking cabinet space data
Structure, automatic loading stacking set-up of control system are that can be calculated according to laser sensor data collected to entrucking vehicle stacking
Starting three-dimensional space position structure.
The invention further relates to a kind of application method of bagged cement automatic loading system, the bagged cement automatic loading
The use step of the application method of system are as follows: 1) enter 1 position of stand, vehicle scan and positioning system sense to entrucking vehicle driving
Signals of vehicles should be arrived, is scanned to entrucking vehicle location and vehicle car entrucking cabinet space data, and by data feedback to control
Component；2) belt body 8 of control unit control telescopic belt transportation system starts, and continues bagged cement is defeated from bagged cement
9 position of band is sent to be transported to 1 position of stand；3) control unit control automatic loading stacking control system starting, automatic loading stacking
Control system calculates the starting three-dimensional space position to entrucking vehicle stacking according to laser sensor data collected；4) automatic
The starting control bag of cement clamp device movement of entrucking stacking control system, bag of cement clamp device clamp telescopic belt transportation system
On bagged cement, it is mobile to be placed into positioning on entrucking vehicle；5) bag of cement clamp device persistently clamps telescopic belt conveying
Mobile be placed into of bagged cement in system positions to realize automatic stacking on entrucking vehicle.Above-mentioned steps can be realized automatic
It is turned into industry, transports the processes such as stacking, carrying entrucking in cement delivery and effectively replace manually, while reducing production cost, drop
Low labor intensity, improves efficiency.Bagged cement automatic loading method of the present invention, step is simple, can be realized bag
The automated job of cement entrucking is filled, and ensures to realize stacking according to entrucking demand when entrucking, replaces artificial, efficiency completely
Height changes the problems such as labor intensity of operating staff is big, working environment is poor, realizes environmentally protective operation.
When the automatic loading stacking control system starting control bag of cement clamp device acts, automatic loading stacking control
The motion profile in tri- directions X, Y, Z of system control puma manipulator processed, so that the clamping jaw by puma manipulator 7 will be multiple
Bagged cement is successively grabbed to be placed into and is transported to each position of entrucking vehicle, realizes automatic stacking.Above-mentioned steps can pass through
The laser sensor scanning being arranged on puma manipulator (manipulator) stop to entrucking vehicle, acquire to entrucking vehicle location
With cabin space data, the starting three-dimensional space position of vehicle data and stacking is calculated according to the collected data；Pass through control
Bagged cement is transported to the last each position of truck, realizes Automatic Code by the motion profile in tri- directions X, Y, Z of manipulator
Pile.
Bagged cement automatic loading system and bagged cement automatic loading method of the present invention enters to entrucking vehicle
After entrucking position in stand is come to a complete stop, vehicle scan and positioning system are stopped using laser sensor scanning to entrucking vehicle, are passed through
Vehicle scan system positioning software algorithm (positioning software algorithm is the prior art) extracts positioning data of vehicles, is car loading operation
It prepares.And by the flexible of telescopic belt transportation system, bagged cement can be transported to entrucking vehicle lengthwise direction
Different location grabs bagged cement for bag of cement clamp device and provides condition.Automatic loading stacking control system realizes 3D scanning,
To control the spatial position of bag of cement clamp device, to realize the bagged cement of clamping jaw crawl in the railway carriage to entrucking vehicle
Interior different location is mobile and positions, convenient for being placed into different location.Above-mentioned technical proposal can be realized automated job, in water
The processes such as mud delivery transport stacking, carrying entrucking effectively replace manually, and while reducing production cost, it is strong to reduce hand labor
Degree, improves efficiency.Bagged cement automatic loading system and bagged cement automatic loading method of the present invention, structure is simple,
Step is simple, can be realized the automated job of bagged cement entrucking, and ensures to realize stacking according to entrucking demand when entrucking,
It replaces completely manually, it is high-efficient, change the problems such as labor intensity of operating staff is big, working environment is poor, realizes environmentally protective operation,
Effectively promote the market competitiveness of enterprise.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that concrete implementation of the present invention is not by above-mentioned
The limitation of mode, as long as using the various improvement that the inventive concept and technical scheme of the present invention carry out, or not improved by this
The conception and technical scheme of invention directly apply to other occasions, are within the scope of the invention.
Claims (10)
1. a kind of bagged cement automatic loading system, it is characterised in that: including vehicle scan and positioning system, telescopic belt conveying
System, bag of cement clamp device, automatic loading stacking control system, stand (1), telescopic belt transportation system extend to stand
(1) position；
The vehicle scan and positioning system, for scanning and positioning to entrucking vehicle location；
Telescopic belt transportation system, for conveying bagged cement to close to entrucking vehicle location；
Bag of cement clamp device, for grabbing the bagged cement in telescopic belt transportation system to entrucking vehicle；
Automatic loading stacking control system is realized for controlling the motion profile of bag of cement clamp device to entrucking vehicle position
Set carry out stacking.
2. bagged cement automatic loading system according to claim 1, it is characterised in that: the stand (1) includes vertical
Frame bracket (2), setting multiple tracks translates slide bar (3) on stand bracket (2), and activity setting pan carriage (4) in translation slide bar (3) is put down
Activity setting sliding rack (5), the bag of cement clamp device on frame (4) is moved to be mounted on sliding rack (5).
3. bagged cement automatic loading system according to claim 1 or 2, it is characterised in that: telescopic belt transportation system
Belt body (8) one end extend to bagged cement conveyer belt (9) position, belt body (8) other end extends to translation slide bar
(3) position.
4. bagged cement automatic loading system according to claim 1 or 2, it is characterised in that: vehicle scan and positioning system
System includes that laser sensor, vehicle scan and positioning system are connect with loading system control unit, automatic loading stacking control system
System includes 3D sweep unit, and automatic loading stacking control system is connect with loading system control unit.
5. bagged cement automatic loading system according to claim 2, it is characterised in that: the bag of cement clamp device
Including truss (6), puma manipulator (7), clamping jaw, truss (6) is connect with sliding rack (5), puma manipulator (7) and truss (6)
Connection, clamping jaw are connect with puma manipulator (7).
6. bagged cement automatic loading system according to claim 2, it is characterised in that: the translation of the rack (1)
Driving wheel I is set on slide bar (3), and driving wheel I is connect by drive chain I with the chain wheel I of pan carriage (4), the pan carriage (4)
Upper setting driving wheel II, driving wheel II are connect by drive chain II with the chain wheel II on sliding rack (5), driving wheel I and driving wheel
II connect with loading system control unit respectively.
7. bagged cement automatic loading system according to claim 1 or 2, it is characterised in that: the bagged cement is certainly
Dynamic loading system is arranged in the dust pelletizing system cabinet (11) of dust pelletizing system, and air inlet is arranged on (11) in dust pelletizing system cabinet, inhales
Air port is connect with deduster, when bagged cement automatic loading system operation, is arranged in negative pressure in dust pelletizing system cabinet (11)
The structure of state.
8. bagged cement automatic loading system according to claim 1 or 2, it is characterised in that: laser sensor is set as
The structure to entrucking vehicle location and vehicle car entrucking cabinet space data can be scanned, automatic loading stacking control system is set
It is set to the structure that the starting three-dimensional space position to entrucking vehicle stacking can be calculated according to laser sensor data collected.
9. a kind of application method of bagged cement automatic loading system, it is characterised in that: the bagged cement automatic loading system
The use step of the application method of system are as follows: 1) enter stand (1) position, vehicle scan and positioning system sense to entrucking vehicle driving
Signals of vehicles should be arrived, is scanned to entrucking vehicle location and vehicle car entrucking cabinet space data, and by data feedback to entrucking
System control component；2) belt body (8) starting of loading system control unit control telescopic belt transportation system, continues bag
It fills cement and is transported to stand (1) position from bagged cement conveyer belt (9) position；3) loading system control unit controls automatic loading
The starting of stacking control system, automatic loading stacking control system are calculated according to laser sensor data collected to entrucking vehicle
The starting three-dimensional space position of stacking；4) automatic loading stacking control system starting control bag of cement clamp device movement, cement
Bagged cement in bag clamp device clamping telescopic belt transportation system, it is mobile to be placed into positioning on entrucking vehicle；5) cement
Bag clamp device persistently clamps mobile be placed into of the bagged cement in telescopic belt transportation system and positions to realize on entrucking vehicle
Automatic stacking.
10. the application method of bagged cement automatic loading system according to claim 9, it is characterised in that: it is described from
When dynamic entrucking stacking control system starting control bag of cement clamp device movement, automatic loading stacking control system controls intelligent machine
The motion profile in tri- directions X, Y, Z of tool hand, so that the clamping jaw by puma manipulator (7) successively grabs multiple bagged cements
It takes to be placed into and be transported to each position of entrucking vehicle, realize automatic stacking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910770156.0A CN110451292A (en) | 2019-08-20 | 2019-08-20 | Bagged cement automatic loading system and bagged cement automatic loading method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910770156.0A CN110451292A (en) | 2019-08-20 | 2019-08-20 | Bagged cement automatic loading system and bagged cement automatic loading method |
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| Publication Number | Publication Date |
|---|---|
| CN110451292A true CN110451292A (en) | 2019-11-15 |
Family
ID=68488132
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910770156.0A Pending CN110451292A (en) | 2019-08-20 | 2019-08-20 | Bagged cement automatic loading system and bagged cement automatic loading method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459200A (en) * | 2020-03-27 | 2020-07-28 | 中信重工机械股份有限公司 | Bagged cement automatic loading robot servo control system |
| CN114572725A (en) * | 2022-05-05 | 2022-06-03 | 邳州市南方建材有限公司 | Static foam dual dust suppression type bagged cement car loader |
| CN117602396A (en) * | 2023-11-29 | 2024-02-27 | 中国农业大学 | Automatic following, throwing and filling method for green fodder harvester |
| CN117602396B (en) * | 2023-11-29 | 2024-04-30 | 中国农业大学 | Automatic following, throwing and filling method for green fodder harvester |
-
2019
- 2019-08-20 CN CN201910770156.0A patent/CN110451292A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459200A (en) * | 2020-03-27 | 2020-07-28 | 中信重工机械股份有限公司 | Bagged cement automatic loading robot servo control system |
| CN111459200B (en) * | 2020-03-27 | 2021-10-22 | 中信重工机械股份有限公司 | Bagged cement automatic loading robot servo control system |
| CN114572725A (en) * | 2022-05-05 | 2022-06-03 | 邳州市南方建材有限公司 | Static foam dual dust suppression type bagged cement car loader |
| CN117602396A (en) * | 2023-11-29 | 2024-02-27 | 中国农业大学 | Automatic following, throwing and filling method for green fodder harvester |
| CN117602396B (en) * | 2023-11-29 | 2024-04-30 | 中国农业大学 | Automatic following, throwing and filling method for green fodder harvester |
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