CN113291861A - Double-operation robot bagged material intelligent loading system - Google Patents
Double-operation robot bagged material intelligent loading system Download PDFInfo
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- CN113291861A CN113291861A CN202110488753.1A CN202110488753A CN113291861A CN 113291861 A CN113291861 A CN 113291861A CN 202110488753 A CN202110488753 A CN 202110488753A CN 113291861 A CN113291861 A CN 113291861A
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- 239000000463 material Substances 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 239000000428 dust Substances 0.000 claims description 54
- 238000012423 maintenance Methods 0.000 claims description 6
- 238000011084 recovery Methods 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000000977 initiatory effect Effects 0.000 claims 1
- 239000004568 cement Substances 0.000 abstract description 24
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- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
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- 238000005259 measurement Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 239000004566 building material Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
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- 238000012856 packing Methods 0.000 description 1
- 206010035653 pneumoconiosis Diseases 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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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
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- 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
- B65G69/185—Preventing escape of dust by means of non-sealed systems
- B65G69/186—Preventing escape of dust by means of non-sealed systems with aspiration means
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to an intelligent loading system for bagged materials by using double-operation robots, which comprises a travelling mechanism, a rack arranged on the travelling mechanism, an overhaul platform arranged on the rack, a grabbing platform, a main control electric box arranged on the overhaul platform, a vehicle detection system and a double-gripper mechanism, wherein the main control electric box is arranged on the overhaul platform; the inside of the travelling mechanism is provided with a material conveying system, bagged materials are conveyed to the grabbing platform through the material conveying system, the vehicle detection system detects the overall dimension information of a vehicle entering the loading position, and the double-gripper mechanism is controlled to grab the bagged materials according to the preset information of the main control electric box system to replace manual loading operation. The invention frees workers from heavy labor force, improves production efficiency and realizes intelligent production, and the whole system has reasonable structure, advanced technology, stable operation and simple and convenient operation and has good adaptability to various types of transport vehicles in cement plants.
Description
Technical Field
The invention belongs to the technical field of automatic stacking of bagged fine materials such as building materials, metallurgy and chemical industry, and particularly relates to an intelligent loading system for bagged materials by using double-operation robots.
Background
In the industries of building materials, metallurgy, chemical industry and the like, the small materials are packed in bags and then loaded and shipped, and the loading operation of the bagged materials is still basically carried out by manpower during product shipment. In particular, in the cement industry, a high-platform type semi-automatic car loader is adopted, and after cement packages are conveyed from a packing machine to the position above a carriage of a loading truck, at least 1-2 car loaders are required to change the falling track of the cement packages through manpower so as to fall to the expected position in the carriage for loading.
By using the loading mode, the loading efficiency is low, the labor intensity is high, the cement fly dust is large, and the shipping workers are easy to get pneumoconiosis. With the development of society, fewer people are willing to go to work posts with severe working environments such as cement packaging vehicles, which causes difficulty for enterprise production. In addition, because the shipment of the bagged materials in China has no unified standard, the transport vehicle types are variable and the carriage sizes are different, and the transport vehicle type is also an important factor which causes the low automation degree of the loading of the bagged materials at present, therefore, the double-operation robot intelligent loading system for the bagged materials is provided.
Disclosure of Invention
The invention aims to solve the problems and provide the double-operation robot bagged material intelligent loading system which is simple in structure and reasonable in design.
The invention realizes the purpose through the following technical scheme:
an intelligent loading system for bagged materials of a double-operation robot comprises a travelling mechanism, a rack arranged on the travelling mechanism, an overhaul platform arranged on the rack, a grabbing platform, a main control electric box arranged on the overhaul platform, a vehicle detection system and a double-gripper mechanism, wherein the grabbing platform is arranged on the rack;
the inside of the travelling mechanism is provided with a material conveying system, bagged materials are conveyed to the grabbing platform through the material conveying system, the vehicle detection system detects the overall dimension information of a vehicle entering the loading position, and the double-gripper mechanism is controlled to grab the bagged materials according to the preset information of the main control electric box system to replace manual loading operation.
As a further optimized scheme of the present invention, the traveling mechanism includes a pair of ground rails and a third linear motor disposed on the pair of ground rails, and the frame is mounted on the third linear motor.
As a further optimization scheme of the invention, the vehicle detection system comprises a rotary table arranged on the maintenance platform, a first linear motor arranged on the rotary table, a base and a drag chain cable arranged on the outer side of the first linear motor, and a distance measurement assembly arranged outside the base, wherein the distance measurement assembly consists of four horizontal distance meters and one vertical distance meter.
As a further optimization scheme of the invention, the double-gripper mechanism comprises a mounting frame arranged on the maintenance platform and a second linear motor arranged on the mounting frame, two six-axis manipulators are arranged on the second linear motor, and pneumatic gripper frames are arranged at the end parts of the six-axis manipulators.
As a further optimization scheme of the invention, the dust recycling system comprises a portal frame arranged on the front side of the maintenance platform and a dust collector arranged on the portal frame, a pair of support frames are arranged on the portal frame, telescopic sleeves are arranged on the support frames, one ends of the telescopic sleeves are connected with a bent pipe, one end of the bent pipe is connected with the dust collector, the other end of the telescopic sleeves is connected with a first dust collection cover, four corners of the outer part of the dust collection cover are connected with steel cables, and a lifting mechanism for driving the steel cables to lift is arranged on the portal frame.
As a further optimization scheme of the invention, the material conveying system consists of a pair of horizontal conveying frames and horizontal conveying crawler belts arranged on the horizontal conveying frames, and the horizontal conveying crawler belts are driven by a driving motor.
As a further optimization scheme of the invention, one end of the grabbing platform is downward inclined in a zigzag shape and is in butt joint with the upper surface of the horizontal conveying crawler belt, and a pair of tightening plates are arranged at the front end of the inclined surface of the grabbing platform, which is close to the horizontal conveying crawler belt.
As a further optimization scheme of the invention, a material dust collection system is arranged at the starting end of the material conveying system, the material dust collection system comprises a dust collector and a side frame which are arranged on a horizontal conveying frame, a rotating shaft is arranged on the side frame, a second dust collection cover is sleeved outside the rotating shaft and connected with the dust collector through a pipeline, a cylinder is arranged outside the side frame, a piston rod end of the cylinder is hinged with a connecting rod, and one end of the connecting rod is connected with the rotating shaft.
The invention has the beneficial effects that:
the intelligent unmanned loading system is specially designed for loading in the cement industry, so that workers are liberated from heavy labor force, the production efficiency is improved, intelligent production is realized, the whole set of system is reasonable in structure, advanced in technology, stable in operation and simple and convenient to operate, and the system has good adaptability to various types of transport vehicles in a cement plant.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a left side view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic view of the construction of the dust recovery system of the present invention;
FIG. 5 is a schematic structural view of the dual gripper mechanism of the present invention;
FIG. 6 is a schematic structural view of the vehicle detection system of the present invention;
in the figure: 1. a frame; 2. overhauling the platform; 3. a master control electric box; 4. a vehicle detection system; 41. a first linear motor; 42. a turntable; 43. a base; 44. a ranging assembly; 45. a tow chain cable; 5. a dust recovery system; 51. a gantry; 52. a support frame; 53. a telescopic sleeve; 54. a first dust collection cover; 55. a steel cord; 56. a lifting mechanism; 57. bending the pipe; 58. a dust collector; 6. a double-gripper mechanism; 61. a mounting frame; 62. a second linear motor; 63. a six-axis manipulator; 64. a pneumatic material grabbing frame; 7. grabbing a platform; 8. a horizontal conveying frame; 9. a horizontal conveying crawler belt; 10. a ground rail; 11. a third linear motor; 12. a material dust collection system; 121. a dust collector; 122. a side frame; 123. a second dust collection cover; 124. a rotating shaft; 125. a connecting rod; 126. a cylinder; 13. and tightening the plate.
Detailed Description
The present application will now be described in further detail with reference to the drawings, it should be noted that the following detailed description is given for illustrative purposes only and is not to be construed as limiting the scope of the present application, as those skilled in the art will be able to make numerous insubstantial modifications and adaptations to the present application based on the above disclosure.
Example 1
As shown in fig. 1-6, an intelligent loading system for bagged materials with a double-operation robot comprises a traveling mechanism, a frame 1 arranged on the traveling mechanism, an overhaul platform 2 arranged on the frame 1, a grabbing platform 7, a main control electrical box 3 arranged on the overhaul platform 2, a vehicle detection system 4 and a double-gripper mechanism 6;
the inside of the traveling mechanism is provided with a material conveying system, bagged materials are conveyed to the grabbing platform 7 through the material conveying system, the vehicle detection system 4 detects the overall dimension information of a vehicle entering the loading position, and the double-gripper mechanism 6 is controlled to grab the bagged materials according to the system preset information of the main control electric box 3 to replace manual loading operation.
The main control system of the electrical box 3 adopts SIMATIC S7 series PLC of Germany Siemens, the CPU has 24 DI and 16 DO, 4 AI and 1 AO, 16K EPROM and EEPROM, the functions of logic interlocking, state feedback, multi-path high-speed counting, system power failure protection, on-line setting, modification, automatic compensation and the like of the system can be realized, an analog quantity expansion module (a device for acquiring analog quantity signals of a remote field to a computer) is arranged in the main control electric box 3, a 12-bit AI/AO module matched with the company is adopted, the remote control system realizes the acquisition and the control output of field signals and the remote control of an operation field, also comprises the communication with a standard signal (4-20mA) of a central control room (DCS system) to realize the remote data transmission, in addition, according to the needs of users, the communication of various buses such as Profibus-DP and industrial Ethernet can be realized;
the actual car loading process is that firstly, bagged materials (such as cement materials) are shaped into shapes with the same standard, the phenomenon of package clamping can be prevented, the cement packages shaped by pressing the packages reach the grabbing platform 7 through the material conveying system, meanwhile, after the cars reach the car loading positions, the car position detection system 4 detects the external dimension information of the cars, according to the car position information, the external dimension information and the system preset information, the calculation is carried out according to the information detected by the cars by the cement stacking software arranged in the system in the main control electric box 3, the stacking mode is automatically selected, for example, the stacking mode is adopted, the seam-crossing cement packages are stacked on the top, and the phenomenon that the seam is enlarged after the joint of the cement packages jolts along the way is effectively prevented, so that the phenomenon of half-way 'package loss' or car turnover is caused;
meanwhile, the whole loading system is matched with a stacking and loading process through the travelling mechanism, the process of moving and loading is realized according to the length of the vehicle, the double-gripper mechanism 6 grabs cement materials according to a selected stacking mode to replace manual loading operation, the grabbed cement materials are sequentially stacked in a vehicle carriage, and the loading process can be finished
In addition, after the loading parameters are set, full-automatic loading can be started by one key, the mechanism automatically returns to the initial position after loading is finished under the condition that normal loading is not alarmed, in addition, when a fault occurs in the loading process, the system is automatically suspended, the fault reason can be checked through a tablet personal computer, and after the fault is eliminated, the system can continue loading;
the intelligent unmanned loading system is specially designed for loading in the cement industry, so that workers are liberated from heavy labor force, the production efficiency is improved, intelligent production is realized, the whole set of system is reasonable in structure, advanced in technology, stable in operation and simple and convenient to operate, and the system has good adaptability to various types of transport vehicles in a cement plant.
Running gear includes a pair of ground rail 10 and locates the third linear electric motor 11 on this pair of ground rail 10, frame 1 installs on third linear electric motor 11, adopts and directly falls to the ground to walk on ground rail 10, therefore the loading of applicable overlength vehicle.
The vehicle detection system 4 realizes automatic measurement of the size and the position of the vehicle, and alarms the position deviation, the vehicle detection system 4 comprises a rotary table 42 arranged on the maintenance platform 2, a first linear motor 41 arranged on the rotary table 42, a base 43 and a drag chain cable 45 arranged on the outer side of the first linear motor 41, and a distance measuring assembly 44 arranged on the outer side of the base 43, the distance measuring assembly 44 is composed of four horizontal distance measuring instruments and one vertical distance measuring instrument, a vehicle enters a preset loading position of the robot, the distance measuring assembly 44 descends into a carriage, in the process, the height of the bottom plate of the carriage from the ground and the height of the upper of the carriage are measured, then, the distance measuring assembly 44 starts to rotate and scan at a preset position in the carriage by using the rotary table 42, data are collected, the length and width of the carriage are obtained according to the algorithm rule, and multipoint measurement can be performed in order to improve the measurement accuracy; in the measuring process, the coordinate relation between the four sides of the carriage and the rotation center of the multi-line positioning system is determined, the position posture (inclination angle) of the carriage and the working place is calculated simultaneously, data are transmitted to the main control electric box 3, and the automatic generation of the stacking strategy is realized.
The double-gripper mechanism 6 comprises an installation frame 61 arranged on the overhaul platform 2 and a second linear motor 62 arranged on the installation frame 61, two six-axis manipulators 63 are arranged on the second linear motor 62, pneumatic gripper frames 64 are arranged at the end parts of the six-axis manipulators 63, the two six-axis manipulators 63 adjust corresponding positions under the driving of the second linear motor 62 according to a selected stacking mode, then the six-axis manipulators 63 rotate to enable the pneumatic gripper frames 64 at the front ends of the six-axis manipulators to rotate to the grabbing platform 7 and then descend, the pneumatic gripper frames 64 expand under the pneumatic driving to grab cement materials on the grabbing platform 7, the degree of freedom is very high, the double-gripper mechanism is suitable for various types of truck types, and the stacking shape can also be freely selected.
Still include dust recovery system 5, dust recovery system 5 is including locating the portal frame 51 of overhauing 2 front sides of platform and locating the dust collector 58 on the portal frame 51, be equipped with a pair of support frame 52 on the portal frame 51, and be equipped with telescopic tube 53 on the support frame 52, telescopic tube 53's one end is connected with return bend 57, and the one end of return bend 57 is connected with dust collector 58, telescopic tube 53's the other end is connected with first dust hood 54, and the outside four corners department of first dust hood 54 all is connected with cable wire 55, be equipped with elevating system 56 that drive cable wire 55 goes up and down on the portal frame 51, descend to suitable position through elevating system 56 drive first dust hood 54, at the in-process of pile up neatly, open dust collector 58, dust collector 58 is connected with telescopic tube 53 through return bend 57, forms the passageway that gathers dust, realizes the limit pile up neatly, makes the loading scene realize unmanned, Dust-free loading is realized, and the environmental protection requirement is effectively met.
The material conveying system is composed of a pair of horizontal conveying frames 8 and horizontal conveying tracks 9 arranged on the horizontal conveying frames 8, the horizontal conveying tracks 9 are driven by a driving motor, and the driving motor drives the horizontal conveying tracks 9 to horizontally convey on the horizontal conveying frames 8 so as to realize the operation process of conveying cement materials to the grabbing platform 7.
One end of the grabbing platform 7 is inclined downwards in a zigzag shape and is in butt joint with the upper surface of the horizontal conveying crawler 9, so that cement materials conveyed on the horizontal conveying crawler 9 can be moved to the grabbing platform 7 on an inclined plane, a pair of tightening plates 13 is arranged at the positions, close to the horizontal conveying crawler 9, of the front end of the inclined plane of the grabbing platform 7, the cement materials are tightened and positioned before entering the grabbing platform 7, and the cement materials are made to be close to the horizontal central axis of the grabbing platform 7, and subsequent grabbing operation is facilitated.
As shown in fig. 2-3, the starting end of the material conveying system is provided with a material dust collecting system 12, the material dust collecting system 12 includes a dust collector 121 and a side frame 122 arranged on the horizontal conveying frame 8, a rotating shaft 124 is arranged on the side frame 122, and a second dust collecting cover 123 is sleeved outside the rotating shaft 124, the second dust collecting cover 123 is connected with the dust collector 121 through a pipeline, a cylinder 126 is arranged outside the side frame 122, a connecting rod 125 is hinged to a piston rod end of the cylinder 126, one end of the connecting rod 125 is connected with the rotating shaft 124, when the cement material just enters the horizontal conveying track 9, the cylinder 126 pushes the connecting rod 125 to rotate the rotating shaft 124 connected with the connecting rod 125, and then the included angle between the second dust collecting cover 123 and the side frame 122 is reduced, and then the dust collector 121 is started, the cement material entering the horizontal conveying track 9 is subjected to primary dust collecting treatment through the second dust collecting cover 123, the dust collection system realizes the head-tail matching dust collection operation, and takes care of each link where dust is possibly generated in the working environment, so that the dust pollution in the working environment is reduced to the minimum.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (8)
1. The utility model provides a two work robot bagged materials intelligence loading system which characterized in that: the device comprises a travelling mechanism, a rack (1) arranged on the travelling mechanism, an overhaul platform (2) arranged on the rack (1), a grabbing platform (7), a main control electric box (3) arranged on the overhaul platform (2), a vehicle detection system (4) and a double-gripper mechanism (6);
the inside of the travelling mechanism is provided with a material conveying system, bagged materials are conveyed to the grabbing platform (7) through the material conveying system, the vehicle detection system (4) detects the overall dimension information of a vehicle entering the loading position, and the double-grab mechanism (6) is controlled to grab the bagged materials according to the system preset information of the main control electric box (3) to replace manual loading operation.
2. The double-operation robot bagged material intelligent loading system of claim 1, wherein: the traveling mechanism comprises a pair of ground rails (10) and a third linear motor (11) arranged on the pair of ground rails (10), and the rack (1) is installed on the third linear motor (11).
3. The double-operation robot bagged material intelligent loading system of claim 1, wherein: the vehicle detection system (4) comprises a rotary table (42) arranged on the maintenance platform (2), a first linear motor (41) arranged on the rotary table (42), a base (43) and a drag chain cable (45) which are arranged on the outer side of the first linear motor (41), and a ranging assembly (44) arranged outside the base (43), wherein the ranging assembly (44) comprises four horizontal range finders and a vertical range finder.
4. The double-operation robot bagged material intelligent loading system of claim 1, wherein: the double-gripper mechanism (6) comprises a mounting frame (61) arranged on the maintenance platform (2) and a second linear motor (62) arranged on the mounting frame (61), two six-axis manipulators (63) are arranged on the second linear motor (62), and pneumatic gripper frames (64) are arranged at the end parts of the six-axis manipulators (63).
5. The double-operation robot bagged material intelligent loading system of claim 1, wherein: still include dust recovery system (5), dust recovery system (5) are including locating portal frame (51) of overhauing platform (2) front side and locating dust collector (58) on portal frame (51), be equipped with a pair of support frame (52) on portal frame (51), and be equipped with telescopic tube (53) on support frame (52), the one end of telescopic tube (53) is connected with return bend (57), and the one end of return bend (57) is connected with dust collector (58), the other end of telescopic tube (53) is connected with first dust hood (54), and the outside four corners department of first dust hood (54) all is connected with cable wire (55), be equipped with elevating system (56) that drive cable wire (55) go up and down on portal frame (51).
6. The double-operation robot bagged material intelligent loading system of claim 1, wherein: the material conveying system is composed of a pair of horizontal conveying frames (8) and horizontal conveying tracks (9) arranged on the horizontal conveying frames (8), and the horizontal conveying tracks (9) are driven by a driving motor.
7. The double-operation robot bagged material intelligent loading system of claim 6, wherein: one end of the grabbing platform (7) is downward inclined in a zigzag shape and is in butt joint with the upper surface of the horizontal conveying crawler belt (9), and a pair of tightening plates (13) are arranged at the front end of the inclined surface of the grabbing platform (7) close to the horizontal conveying crawler belt (9).
8. The double-operation robot bagged material intelligent loading system of claim 6, wherein: the utility model discloses a material conveying system's initiating terminal is equipped with material dust collecting system (12), material dust collecting system (12) are including locating dust catcher (121) and side bearer (122) on horizontal transport frame (8), be equipped with pivot (124) on side bearer (122), and the outside cover of pivot (124) is equipped with second dust hood (123), second dust hood (123) are connected with dust catcher (121) through the pipeline, the outside of side bearer (122) is equipped with cylinder (126), and the tailpiece of the piston rod of cylinder (126) articulates there is connecting rod (125), the one end of connecting rod (125) is connected with pivot (124).
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| CN202110488753.1A CN113291861A (en) | 2021-05-06 | 2021-05-06 | Double-operation robot bagged material intelligent loading system |
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| CN202110488753.1A CN113291861A (en) | 2021-05-06 | 2021-05-06 | Double-operation robot bagged material intelligent loading system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162632A (en) * | 2021-12-07 | 2022-03-11 | 安徽海螺中南智能机器人有限责任公司 | Method for changing lanes of bagged materials and continuously loading bagged materials |
| CN116351749A (en) * | 2023-04-07 | 2023-06-30 | 合肥固泰自动化有限公司 | Automatic loading vehicle contour detection device capable of automatically removing dust |
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| CN209177636U (en) * | 2018-11-26 | 2019-07-30 | 湖北哈佛水泥机械有限公司 | A kind of bag-pack cement loading machine dust arrester installation |
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