CN116374663A - Automatic loading system for bagged products - Google Patents
Automatic loading system for bagged products Download PDFInfo
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- CN116374663A CN116374663A CN202310643688.4A CN202310643688A CN116374663A CN 116374663 A CN116374663 A CN 116374663A CN 202310643688 A CN202310643688 A CN 202310643688A CN 116374663 A CN116374663 A CN 116374663A
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- screw rod
- loading system
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- linear actuating
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- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 14
- 239000000428 dust Substances 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000007665 sagging Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000004557 technical material Substances 0.000 description 1
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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
- 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
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of material transportation and provides an automatic loading system for bagged products, which comprises a triaxial truss manipulator, a gripper mechanism and a leveling mechanism, wherein the triaxial truss manipulator can drive the gripper mechanism to move along a X, Y, Z shaft; the flat supporting mechanism comprises a first linear executing element, a lifting frame, a second linear executing element, a two-way screw rod module, a sliding sleeve and a flat supporting rod, wherein the two-way screw rod module comprises a double-rotation-direction screw rod, and the two-way screw rod module drives the flat supporting rod to linearly move along the direction perpendicular to the Z axis. Through the technical scheme, the problems that the bagged products in the prior art are discharged to generate larger dust, the bagged products are easy to shift and the stacking bags are not orderly, so that stacking collapse is caused are solved.
Description
Technical Field
The invention relates to the technical field of technical material transportation, in particular to an automatic loading system for bagged products.
Background
After the packaged products such as cement, feed and other granular materials are packaged, the packaged products need to be transported or transported through a truck, and the packaged products need to be loaded into a truck carriage at the moment.
The manual carrying loading labor intensity is high, the working efficiency of workers is generally low, the safety risk is large, and accidents are easy to happen. At present, an automatic equipment carrying loading vehicle adopts a rake-shaped manipulator to clamp and take bagged products or a sucker to absorb the bagged products to take materials, and then the bagged products are transferred to the upper part of a carriage to be unloaded, so that the scheme has the following defects:
1. when the rake-shaped mechanical arm is used for clamping the bagged products, the bagged products need to be discharged at a certain height so as to be opened, the materials fall into the carriage in a free falling mode, and as the fall of the bottom surface of the carriage is large, the bagged products fall into the carriage to generate larger dust, and the bagged products are easy to shift, so that the stacking bags are not tidy;
2. the sucker absorbs the mode of packaged products, and the sucker generally absorbs the middle part at packaged products, and to the packaged products that the material is full, the whole state that can keep approximately straight of packaged products after the sucking of sucker, but to the packaged products of non-full state, the inside material of packaged products is less promptly, and the phenomenon of sagging at both ends of packaged products appears easily, if directly pack in proper order with it and pile up, the unstable condition of stacking very likely results in the pile up neatly to collapse.
Disclosure of Invention
The invention provides an automatic bagging product loading system, which solves the problems of bagging product loading in the related art.
The technical scheme of the invention is as follows: the automatic bagging product loading system comprises a triaxial truss manipulator and a gripper mechanism arranged at the output end of the triaxial truss manipulator, wherein the triaxial truss manipulator can drive the gripper mechanism to move along a X, Y, Z shaft, the gripper mechanism comprises a rotating device, a mounting frame, a buffer mechanism and a vacuum chuck, the upper end of the rotating device is arranged at the output end of the triaxial truss manipulator, the lower end of the rotating device is provided with the mounting frame and can drive the mounting frame to rotate around a Z shaft, and the lower end of the mounting frame is provided with the vacuum chuck through the buffer mechanism; the device comprises a mounting frame, a first linear actuating element, a lifting frame, a second linear actuating element, a bidirectional screw rod module, a sliding sleeve and a flat supporting rod, wherein the flat supporting mechanism is further arranged on the mounting frame and comprises a first linear actuating element, a lifting frame, a second linear actuating element, a bidirectional screw rod module, a sliding sleeve and a flat supporting rod, the lifting frame is arranged at the output end of the first linear actuating element and is driven by the first linear actuating element to linearly move along the Z-axis direction, the lifting frame is arranged on the second linear actuating element and the bidirectional screw rod module, the bidirectional screw rod module comprises a double-rotation-direction screw rod, a group of nut pairs are respectively arranged on two sections of the double-rotation-direction screw rod with opposite rotation directions, the sliding sleeve is fixedly arranged on each nut pair, the bidirectional screw rod module is driven by the sliding sleeve to linearly move along the direction vertical to the Z-axis, and the flat supporting rod is driven by the second linear actuating element to linearly move along the direction vertical to the double-rotation-direction screw rod. The buffer mechanism has a certain elastic allowance in the Z-axis direction and can deform when being stressed in the Z-axis direction, so that the vacuum chuck is convenient to be abutted with the bagged product, and the grabbing success rate of the vacuum chuck on the bagged product is improved. The supporting and leveling mechanism can support the two ends of the sagging of the bagged product through the movement of the supporting and leveling rod, and flattens the bottom of the bagged product, so that the bagged product can be leveled and piled conveniently, the situation that the pile up neatly collapses due to the unevenness of the bottom of the bagged product can be avoided, and the pile up neatly stability of the bagged product is improved.
Preferably, the triaxial truss manipulator comprises an upright post and a longitudinal guide rail arranged at the upper end of the upright post, the longitudinal direction of the longitudinal guide rail is parallel to the Y-axis direction, a truss arm capable of walking along the longitudinal guide rail is arranged on the longitudinal guide rail, the longitudinal direction of the truss arm is parallel to the X-axis direction, a Z-axis robot capable of walking along the truss arm is arranged on the truss arm, and the rotating device is arranged on the Z-axis robot and driven by the Z-axis robot to move along the Z-axis direction.
Preferably, the truss arms are provided in at least two. In this way, the loading efficiency can be improved.
Preferably, the Z-axis robot is provided with a 3D vision camera with a fixed height. The 3D vision camera can take a picture in a positioning way above the tray and above the truck, select target packages above the tray according to information of the 3D image, determine a stacking position in the truck and carry out corresponding truck loading and stacking operation.
Preferably, the buffer gear includes upper mounting plate, lower floor's mounting plate, pressure spring and bolt assembly, upper mounting plate and mounting bracket fixed connection, is connected through a plurality of bolt assembly between upper mounting plate and the lower floor's mounting plate, and the cover is equipped with the pressure spring on bolt assembly's the bolt, and the pressure spring upper end is connected with upper mounting plate, and the pressure spring lower extreme is connected with lower floor's mounting plate. Therefore, the vacuum chuck can be ensured to compact the bagged products, and the grabbing success rate of the vacuum chuck on the bagged products with loose structures is improved.
Preferably, the buffer mechanism further comprises a photoelectric sensor arranged at the lower end of the upper mounting plate, and the detection end of the photoelectric sensor faces the lower mounting plate. The photoelectric sensor is used for judging whether the vacuum chuck compacts the bagged products or not by detecting the distance change between the lower mounting plate and the upper mounting plate.
Preferably, the vacuum chuck is communicated with a negative pressure source through a negative pressure pipeline, and a vacuum sensor is arranged on the negative pressure pipeline. And whether the material grabbing is successful or not can be judged through negative pressure information detected by the vacuum sensor.
Preferably, a laser scanner is mounted on the upright. The laser scanner sets up a plurality of, can carry out laser scanning operation, scans the profile of the vehicle in getting into the stand to keep away the barrier, be convenient for the loading.
Preferably, the flat supporting mechanism further comprises a push plate and a limiting ring, the push plate is connected with the output end of the second linear actuating element, the push plate is provided with a movable opening, the length direction of the movable opening is parallel to the length direction of the double-rotation-direction screw rod, one end of the flat supporting rod extends into the movable opening, and the limiting rings are fixed on the flat supporting rod and located on two sides of the movable opening. The size of the limiting ring is larger than that of the movable opening, so that the limiting ring is prevented from passing through the movable opening; the second linear actuating element can drive the flat stay rod to move by arranging the push plate and the limiting ring; the second linear executing element drives the push plate to move, and the push plate drives the limiting ring and the stay bar to move, so that the stay bar is close to or far away from the position right below the vacuum chuck.
Preferably, a guide sleeve is fixed on the mounting frame, a guide rod is slidably mounted in the guide sleeve, and the lower end of the guide rod is fixedly connected with the lifting frame. The guide sleeve and the guide rod play a role in guiding the lifting frame, so that the first linear actuating element can drive the lifting frame to stably and linearly lift.
The working principle and the beneficial effects of the invention are as follows:
1. according to the invention, the three-axis truss manipulator drives the handle mechanism to move in the three-axis directions of XYZ, the bagged product is sucked through the vacuum chuck for loading, the flatstay rod of the flatstay mechanism moves towards the end part of the bagged product before unloading, the two sagged ends of the bagged product are supported, and the bottom of the bagged product is flattened, so that the bagged product can be stacked flatly, the occurrence of stacking collapse caused by the unevenness of the bottom of the bagged product can be avoided, and the stacking stability of the bagged product is improved;
2. the vacuum chuck sucks the bagged products and can descend to a proper height close to a support of a stacking position, the bagged products are discharged, the height drop of the discharged materials is reduced while the smooth stacking of the bagged products is ensured, dust is reduced, the displacement of the bagged products is avoided, and the neat stacking effect is improved.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is a schematic diagram of an automatic bagging product loading system according to the present invention;
FIG. 2 is an enlarged partial schematic view of the gripper mechanism and spreader mechanism of FIG. 1;
FIG. 3 is a side view of the automatic bagging product loading system of the present invention;
FIG. 4 is an enlarged partial schematic view of the gripper mechanism and spreader mechanism of FIG. 3;
in the figure: 1. three-axis truss manipulator; 11. a column; 12. a longitudinal guide rail; 13. truss arms; 14. a Z-axis robot; 2. a gripper mechanism; 21. a rotating device; 22. a mounting frame; 23. a buffer mechanism; 231. an upper mounting plate; 232. a lower mounting plate; 233. a pressure spring; 234. a bolt assembly; 235. a photoelectric sensor; 24. a vacuum chuck; 25. a negative pressure pipeline; 26. a vacuum sensor; 27. a guide sleeve; 28. a guide rod; 3. a leveling mechanism; 31. a first linear actuator; 32. a lifting frame; 33. a second linear actuator; 34. a bidirectional screw rod module; 341. a double-flighted screw; 342. a nut pair; 35. a sliding sleeve; 36. a leveling rod; 37. a push plate; 371. a movable opening; 38. a limiting ring; 4. a 3D vision camera; 5. a laser scanner.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in FIGS. 1-4, the embodiment provides an automatic bagging product loading system, which comprises a three-axis truss manipulator 1 and a gripper mechanism 2 arranged at the output end of the three-axis truss manipulator 1, wherein the XYZ three axes of the three-axis truss manipulator 1 can be driven by adopting a gear rack structure, the three-axis truss manipulator 1 can drive the gripper mechanism 2 to move along a X, Y, Z axis, the actual travel X is more than or equal to 18m, Y is more than or equal to 6m, and Z is more than or equal to 2m. The gripper mechanism 2 comprises a rotating device 21, a mounting frame 22, a buffer mechanism 23 and a vacuum chuck 24, wherein the upper end of the rotating device 21 is arranged at the output end of the triaxial truss manipulator 1, the mounting frame 22 is arranged at the lower end of the rotating device 21 and can drive the mounting frame 22 to rotate around the Z axis, and the vacuum chuck 24 is arranged at the lower end of the mounting frame 22 through the buffer mechanism 23; the support leveling mechanism 3 is further installed on the installation frame 22, the support leveling mechanism 3 comprises a first linear actuating element 31, a lifting frame 32, a second linear actuating element 33, a bidirectional screw rod module 34, a sliding sleeve 35 and a support leveling rod 36, the first linear actuating element 31 is installed on the installation frame 22, the lifting frame 32 is installed at the output end of the first linear actuating element 31 and is driven by the first linear actuating element 31 to linearly move along the Z-axis direction, the second linear actuating element 33 and the bidirectional screw rod module 34 are installed on the lifting frame 32, the bidirectional screw rod module 34 comprises a double-rotation-direction screw rod 341, a group of nut pairs 342 are installed on two sections of the double-rotation-direction screw rod 341 with opposite rotation directions, a sliding sleeve 35 is fixedly installed on each nut pair 342, the bidirectional screw rod module 34 drives the sliding sleeve 35 to linearly move along the direction vertical to the Z-axis, the bidirectional screw rod module 34 is driven by a stepping motor, the sliding sleeve 35 slides and the support leveling rod 36 is driven by the second linear actuating element 33 to linearly move along the direction vertical to the double-rotation-direction screw rod 341. The vacuum chuck 24 is preferably a sponge vacuum chuck 24. The rotating device 21 is an electric rotating table. The first linear actuator 31 and the second linear actuator 33 are cylinders, or may be electric cylinders or hydraulic cylinders. The buffer mechanism 23 has a certain elastic allowance in the Z-axis direction and can deform when being stressed in the Z-axis direction, so that the vacuum chuck 24 can be conveniently abutted with the bagged products, and the grabbing success rate of the vacuum chuck 24 on the bagged products is improved. The vacuum chuck 24 can adsorb the bagged products, and the bagged products are transferred into a carriage from a tray for loading; before unloading, the leveling mechanism 3 can drive the lifting frame 32 to descend through the first linear actuating element 31, the second linear actuating element 33 can drive the leveling rod 36 to move towards the lower side of the bagged product, the lifting frame 32 is driven to ascend through the first linear actuating element 31, the leveling rod 36 is close to the bottom of the bagged product, the two sets of nut pairs 342 are driven to move back to back through the two-way screw rod module 34, the leveling rod 36 moves towards the end part of the bagged product, the two ends of the bagged product, which are sagged, are supported, the bottom of the bagged product is flattened, the bagged product can be leveled and piled conveniently, the occurrence of the condition that the pile up and collapse are caused due to the unevenness of the bottom of the bagged product can be avoided, and the pile up stability of the bagged product is improved.
The triaxial truss manipulator 1 includes stand 11 and installs the longitudinal rail 12 in the stand 11 upper end, and longitudinal rail 12 parallel arrangement is two, and the length direction of longitudinal rail 12 is parallel with the Y-axis direction, installs the truss arm 13 that can follow longitudinal rail 12 and walk on the longitudinal rail 12, and the length direction of truss arm 13 is parallel with the X-axis direction, installs the Z-axis robot 14 that can follow the truss arm 13 on the truss arm 13, and rotary device 21 installs on Z-axis robot 14 and is driven by Z-axis robot 14 and follow Z-axis direction and remove.
The truss arms 13 are provided in at least two. In this way, the loading efficiency can be improved. Arranging more truss arms 13 may improve loading efficiency, but may also result in increased costs, so the number of truss arms 13 to be applied needs to be selected according to actual circumstances.
The Z-axis robot 14 has mounted thereon a highly fixed 3D vision camera 4. The 3D vision camera 4 can take a picture in a positioning way above the tray and above the truck, select target packages above the tray according to the information of the 3D image, determine the stacking position in the truck and carry out corresponding truck loading and stacking operation.
The buffer mechanism 23 comprises an upper mounting plate 231, a lower mounting plate 232, a pressure spring 233 and a bolt assembly 234, wherein the upper mounting plate 231 is fixedly connected with the mounting frame 22, the upper mounting plate 231 is connected with the lower mounting plate 232 through a plurality of bolt assemblies 234, the bolts of the bolt assemblies 234 are sleeved with the pressure spring 233, the upper end of the pressure spring 233 is connected with the upper mounting plate 231, and the lower end of the pressure spring 233 is connected with the lower mounting plate 232. Thus, the vacuum chuck 24 can be ensured to compact the bagged products, and the grabbing success rate of the vacuum chuck 24 on the bagged products with loose structures is improved.
The buffer mechanism 23 further includes a photoelectric sensor 235 mounted to the lower end of the upper mounting plate 231, and the detection end of the photoelectric sensor 235 faces the lower mounting plate 232. The photoelectric sensor 235 determines whether the vacuum cup 24 is compacting the bagged product by detecting the change in the spacing between the lower mounting plate 232 and the upper mounting plate 231.
The vacuum chuck 24 is communicated with a negative pressure source through a negative pressure pipeline 25, and a vacuum sensor 26 is arranged on the negative pressure pipeline 25. By the negative pressure information detected by the vacuum sensor 26, it can be judged whether the material gripping is successful.
The column 11 is provided with a laser scanner 5. The laser scanner 5 is provided in plural, and can perform laser scanning operation to scan the outline of the vehicle entering the upright 11, thereby avoiding the obstacle and facilitating loading.
The leveling mechanism 3 further comprises a push plate 37 and a limiting ring 38, the push plate 37 is connected with the output end of the second linear execution element 33, a movable opening 371 is formed in the push plate 37, the length direction of the movable opening 371 is parallel to the length direction of the double-rotation-direction screw 341, one end of a leveling rod 36 extends into the movable opening 371, and limiting rings 38 are fixed on the leveling rod 36 and located on two sides of the movable opening 371. The size of the limit ring 38 is larger than that of the movable port 371, so that the limit ring 38 is prevented from passing through the movable port 371; the second linear actuating element 33 can drive the flat supporting rod 36 to move by arranging the push plate 37 and the limiting ring 38; the second linear actuator 33 drives the push plate 37 to move, and the push plate 37 drives the limiting ring 38 and the flat supporting rod 36 to move, so that the flat supporting rod 36 is close to or far from the position right below the vacuum chuck 24.
A guide sleeve 27 is fixed on the mounting frame 22, a guide rod 28 is slidably arranged in the guide sleeve 27, and the lower end of the guide rod 28 is fixedly connected with a lifting frame 32. The guide sleeve 27 and the guide rod 28 play a role in guiding the lifting frame 32, so that the lifting frame 32 can be driven by the first linear actuator 31 to stably and linearly lift.
The overall process of loading in this embodiment is:
1. information input: the upper system informs the order information of the warehouse-out of the mixed code algorithm in advance and calculates the warehouse-out sequence of each tray;
2. the tray is in place: the manual forklift carries the full pallet to a designated position, and issues an in-place instruction after reaching the designated position;
3. the truck is in place: the empty wagon enters a designated position and issues an in-place instruction after reaching the designated position;
4. single split mixed code: the 3D vision camera 4 performs positioning photographing above the tray, identifies materials in the tray according to the information of the 3D image, identifies an optimal stacking mode by using an algorithm, the three-axis truss manipulator 1 drives the gripper mechanism 2 to move along a X, Y, Z axis, and the rotating device 21 drives the gripper mechanism 2 to rotate around a Z axis, so that the vacuum chuck 24 can accurately adsorb bagged materials, and moves the bagged materials to a stacking position of a truck carriage; during the period that the bagged materials are absorbed by the vacuum chuck 24, the leveling mechanism 3 works, and the first linear actuating element 31 drives the lifting frame 32 to descend so that the leveling rod 36 is lower than the bottom of the bagged materials; the second linear executing element 33 drives the push plate 37 to move, and drives the flat supporting rod 36 to move towards the direction of the bagged product, so that the flat supporting rod 36 moves to the position below the bagged material; then the lifting frame 32 is driven to ascend by the first linear actuator 31, so that the flat supporting rod 36 is close to the bottom of the bagged product, and the bagged product is convenient to support; then the two sets of nut pairs 342 are driven to move back to back through the two-way screw rod module 34, the sliding sleeve 35 drives the flat supporting rods 36 to move, so that the two sets of flat supporting rods 36 respectively move towards two ends of the bagged product to support the two sagged ends of the bagged product, the flat supporting rods 36 can rotate in the movable ports 371 under the friction force when contacting with the bagged product, the sliding friction between the flat supporting rods 36 and the bagged product is reduced, and the abrasion of the bagged product is reduced; the leveling rod 36 rotates and moves to flatten the bottom of the bagged product; finally, the Z-axis robot 14 drives the hand grasping mechanism 2 and the leveling mechanism 3 to descend, so that the leveling rod 36 approaches to a support below (piled bagged products or carriage bottom), the second linear actuating element 33 drives the push plate 37 to move, the leveling rod 36 is driven to be far away from the bagged products, and then the vacuum chuck 24 unloads the bagged products, so that the bagged products can be leveled and piled, occurrence of pile-up collapse caused by uneven bottoms of the bagged products can be avoided, and pile-up stability of the bagged products is improved;
5. carrying logistics: after the mixed code is finished, the worker calls an operator, drives a full truck out of the loading area, and sends a signal to the upper system to wait for the next truck to drive in.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. The utility model provides an automatic loading system of packaged product, includes triaxial truss manipulator (1) and installs tongs mechanism (2) at triaxial truss manipulator (1) output, triaxial truss manipulator (1) can drive tongs mechanism (2) along X, Y, Z axle removal, a serial communication port, tongs mechanism (2) include rotary device (21), mounting bracket (22), buffer gear (23), vacuum chuck (24), and the output at triaxial truss manipulator (1) is installed to rotary device (21) upper end, and mounting bracket (22) and can drive the rotation of mounting bracket (22) around the Z axle are installed to rotary device (21) lower extreme, and vacuum chuck (24) are installed through buffer gear (23) to mounting bracket (22) lower extreme; the device is characterized in that the supporting and leveling mechanism (3) is further arranged on the mounting frame (22), the supporting and leveling mechanism (3) comprises a first linear actuating element (31), a lifting frame (32), a second linear actuating element (33), a two-way screw rod module (34), a sliding sleeve (35) and a supporting and leveling rod (36), the first linear actuating element (31) is arranged on the mounting frame (22), the lifting frame (32) is arranged at the output end of the first linear actuating element (31) and is driven by the first linear actuating element (31) to linearly move along the Z-axis direction, the second linear actuating element (33) and the two-way screw rod module (34) are arranged on the lifting frame (32), the two-way screw rod module (34) comprises a double-rotation-direction screw rod (341), a group of nut pair (342) is arranged on two sections of the double-rotation-direction screw rod (341), the sliding sleeve (35) is fixedly arranged on the nut pair (342), the two-way screw rod module (34) is driven by the sliding sleeve (35) to linearly move along the direction perpendicular to the Z-axis, the supporting rod (36) is slidably arranged in the sliding sleeve (35), and the second linear actuating element (33) is driven by the double-rotation direction perpendicular to the screw rod (341).
2. The automatic bagged product loading system according to claim 1, wherein the triaxial truss manipulator (1) comprises a stand column (11) and a longitudinal guide rail (12) arranged at the upper end of the stand column (11), the longitudinal direction of the longitudinal guide rail (12) is parallel to the Y-axis direction, a truss arm (13) capable of walking along the longitudinal guide rail (12) is arranged on the longitudinal guide rail (12), the longitudinal direction of the truss arm (13) is parallel to the X-axis direction, a Z-axis robot (14) capable of walking along the truss arm (13) is arranged on the truss arm (13), and the rotating device (21) is arranged on the Z-axis robot (14) and is driven by the Z-axis robot (14) to move along the Z-axis direction.
3. The automatic bagged product loading system according to claim 2, wherein the truss arms (13) are provided in at least two.
4. The automatic bagged product loading system according to claim 2, wherein the Z-axis robot (14) is provided with a 3D vision camera (4) with a fixed height.
5. The automatic bagged product loading system according to claim 1, wherein the buffer mechanism (23) comprises an upper layer mounting plate (231), a lower layer mounting plate (232), a pressure spring (233) and a bolt assembly (234), the upper layer mounting plate (231) is fixedly connected with the mounting frame (22), the upper layer mounting plate (231) is connected with the lower layer mounting plate (232) through a plurality of bolt assemblies (234), the pressure spring (233) is sleeved on a bolt of the bolt assembly (234), the upper end of the pressure spring (233) is connected with the upper layer mounting plate (231), and the lower end of the pressure spring (233) is connected with the lower layer mounting plate (232).
6. The automatic bagged product loading system according to claim 5, wherein the buffer mechanism (23) further comprises a photoelectric sensor (235) installed at the lower end of the upper mounting plate (231), and the detection end of the photoelectric sensor (235) faces to the lower mounting plate (232).
7. The automatic bagged product loading system according to claim 1, wherein the vacuum sucker (24) is communicated with a negative pressure source through a negative pressure pipeline (25), and a vacuum sensor (26) is arranged on the negative pressure pipeline (25).
8. The automatic bagged product loading system according to claim 2, wherein the upright (11) is provided with a laser scanner (5).
9. The automatic bagged product loading system according to claim 1, wherein the leveling mechanism (3) further comprises a push plate (37) and a limiting ring (38), the push plate (37) is connected with the output end of the second linear actuating element (33), the push plate (37) is provided with a movable opening (371), the length direction of the movable opening (371) is parallel to the length direction of the double-rotation screw (341), one end of the leveling rod (36) extends into the movable opening (371), and the limiting rings (38) are fixed on the leveling rod (36) and located on two sides of the movable opening (371).
10. The automatic bagged product loading system according to claim 1, wherein a guide sleeve (27) is fixed on the mounting frame (22), a guide rod (28) is slidably installed in the guide sleeve (27), and the lower end of the guide rod (28) is fixedly connected with the lifting frame (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310643688.4A CN116374663A (en) | 2023-06-02 | 2023-06-02 | Automatic loading system for bagged products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310643688.4A CN116374663A (en) | 2023-06-02 | 2023-06-02 | Automatic loading system for bagged products |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116374663A true CN116374663A (en) | 2023-07-04 |
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| CN210973091U (en) * | 2019-11-11 | 2020-07-10 | 武汉人天机器人工程有限公司 | Automatic loading system of truss robot |
| CN214990058U (en) * | 2021-02-04 | 2021-12-03 | 江门思味园食品有限公司 | Full-electric pallet stacking car that security performance is high |
| CN115122378A (en) * | 2022-07-26 | 2022-09-30 | 常熟市兆恒众力精密机械有限公司 | Titanium alloy fixed claw for wafer clamping |
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| CN105945931A (en) * | 2016-06-12 | 2016-09-21 | 青岛万龙智控科技有限公司 | Underpinning carrying manipulator |
| CN209602028U (en) * | 2019-01-09 | 2019-11-08 | 北京中港大方国际货运代理有限公司 | A kind of fork truck for being exclusively used in palletless goods and copying mechanically |
| CN110127369A (en) * | 2019-06-04 | 2019-08-16 | 深圳市时代高科技设备股份有限公司 | A kind of handgrip mechanism |
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| CN214990058U (en) * | 2021-02-04 | 2021-12-03 | 江门思味园食品有限公司 | Full-electric pallet stacking car that security performance is high |
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Application publication date: 20230704 |