CN116986340A - Be used for intelligent manipulator of chemical fertilizer pile up neatly - Google Patents
Be used for intelligent manipulator of chemical fertilizer pile up neatly Download PDFInfo
- Publication number
- CN116986340A CN116986340A CN202311225834.8A CN202311225834A CN116986340A CN 116986340 A CN116986340 A CN 116986340A CN 202311225834 A CN202311225834 A CN 202311225834A CN 116986340 A CN116986340 A CN 116986340A
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- Prior art keywords
- manipulator
- conveyor
- frame
- chemical fertilizer
- mounting frame
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- 239000003337 fertilizer Substances 0.000 title claims abstract description 55
- 239000000126 substance Substances 0.000 title claims abstract description 48
- 238000009434 installation Methods 0.000 claims description 38
- 230000003014 reinforcing effect Effects 0.000 claims description 25
- 230000007704 transition Effects 0.000 claims description 18
- 238000007493 shaping process Methods 0.000 claims description 9
- 238000003466 welding Methods 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims 1
- 229910052782 aluminium Inorganic materials 0.000 claims 1
- 238000005728 strengthening Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 18
- 238000003825 pressing Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 7
- 238000012856 packing Methods 0.000 abstract description 6
- 230000006835 compression Effects 0.000 abstract description 5
- 238000007906 compression Methods 0.000 abstract description 5
- 238000003754 machining Methods 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 11
- 238000004806 packaging method and process Methods 0.000 description 10
- 229910000838 Al alloy Inorganic materials 0.000 description 4
- 239000004033 plastic Substances 0.000 description 4
- 238000010079 rubber tapping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- 229910000975 Carbon steel Inorganic materials 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000010962 carbon steel Substances 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000004809 Teflon Substances 0.000 description 1
- 229920006362 Teflon® Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- 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
- 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
- B65G47/905—Control arrangements
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an intelligent manipulator for stacking chemical fertilizers, which relates to the technical field of machining and comprises a manipulator mounting base, wherein the manipulator mounting base is convenient to control the grabbing torque force of mechanical grabbing teeth by matching a manipulator assembly, a control box and a stacker assembly, the whole structure forms automatic operation, the phenomenon that the stacking speed of workers is not higher than the conveying efficiency of a production line, the chemical fertilizers are stacked on the production line to cause stagnation, the economic production of enterprises is influenced, the high-strength operation of workers is reduced, the operation efficiency is improved, meanwhile, under the matching of the manipulator assembly and the control box, the control box is convenient to transmit control electric signals to a pressing and packing cylinder through a circuit after grabbing, so that the pressing and packing cylinder drives a pressing and packing telescopic compression rod to press downwards, fertilizer bags inside the mechanical grabbing teeth are supported and fixed, and the phenomenon that the workers around are injured by package falling is avoided in the stacking operation process.
Description
Technical Field
The invention relates to the technical field of machining, in particular to an intelligent manipulator for chemical fertilizer stacking.
Background
The manipulator, the finger can imitate some action functions of people's hand and arm, the automatic operating device used for grasping, carrying articles or operating tools according to the fixed procedure, mainly made up of actuating mechanism, actuating mechanism and control system, it can replace the heavy work of people in order to realize mechanization and automation of production, can operate under the harmful environment in order to protect the personal safety, therefore the department of widely used machine manufacturing, metallurgy, electron, light industry and atomic energy, etc., and the manipulator arm is the biggest difference with the arm with human being in flexibility and resistant degree, namely the biggest advantage that can be repeated makes the same action can not feel tired always under the mechanical normal condition, the application of manipulator will become more and more extensive too.
However, in the prior art, at present, in the actual operation of automatic chemical fertilizer stacking and packaging vehicle operation line shutdown caused by no worker stacking and packaging, the stacking and packaging speed of workers is often lower than the conveying efficiency of the production line, so that chemical fertilizer stacking is stagnated on the production line, the economic production of enterprises is affected, and the labor intensity of the manual chemical fertilizer stacking and packaging is high, especially, the labor force is seriously insufficient in holidays and busy season, the chemical fertilizer unloading efficiency of the enterprises is seriously affected, and the economic cost of the enterprises is greatly increased along with the rise of the labor cost, so that a new intelligent manipulator for chemical fertilizer stacking is required.
Disclosure of Invention
The invention aims to provide an intelligent manipulator for chemical fertilizer stacking, which solves the problems that the prior art proposes that the stacking speed of workers is not higher than the conveying efficiency of a production line, so that chemical fertilizer stacking is stagnated in the production line, the economic production of enterprises is influenced, and the workers are extremely easy to cause self fatigue due to high-strength operation, so that the operation efficiency is reduced.
In order to achieve the above purpose, the present invention provides the following technical solutions: the intelligent manipulator for chemical fertilizer stacking comprises a manipulator mounting base, wherein the periphery of the manipulator mounting base is fixedly mounted through a ground bolt and the ground, a rotating cantilever support is mounted at the top of the manipulator mounting base, a flange connecting disc is mounted at the side end of the rotating cantilever support, a manipulator assembly is fixedly mounted at the bottom of the flange connecting disc, and a stacker assembly is mounted at the bottom of the manipulator assembly;
the manipulator subassembly includes first mounting bracket and second mounting bracket respectively, first mounting bracket with the second mounting bracket presents for symmetrical installation, just first mounting bracket with the bottom fastening of second mounting bracket installs the connection reinforcement piece board, wherein, first mounting bracket with the second mounting bracket is aluminium alloy frame, first mounting bracket with the center of second mounting bracket is connected with the connection frame through fastening bolt fastening, the top welding of connection frame installs the rectangle connecting plate, annular mounting hole groove has been seted up on the surface of rectangle connecting plate, just annular mounting hole groove pass through self-tapping bolt with flange connection pad fastening connection, first mounting bracket with the side end bottom mounting of second mounting bracket is provided with the cylinder mounting panel, the top of cylinder mounting panel is erect and is firmly installed the cylinder, just the bottom fastening of cylinder mounting panel installs the adapter sleeve seat, the internally mounted of adapter sleeve seat is provided with the rotation axostylus axostyle, the side end connection of rotation axostylus axostyle is provided with the take-up pulley, the side end of take-up pulley is provided with the swing arm and installs the swing arm, and the swing arm side end is provided with the arm, and the swing arm side end has the pressure bar through the end of swing arm, the end is provided with the end of swing arm, the end is connected with the end of pressure bar, and has the end of pressure bar, and is connected with the end of pressure bar.
Preferably, a control box is arranged at the side end of the surface of the manipulator mounting base, and the control box is connected with the air cylinder through a circuit.
Preferably, the left end and the right end of the manipulator mounting base are respectively provided with a first stacking position conveyor and a second stacking position conveyor, and the side ends of the first stacking position conveyor and the second stacking position conveyor are respectively provided with a first fork position taking conveyor and a second fork position taking conveyor.
Preferably, the stacker crane assembly comprises a supporting framework, a driving motor is arranged at the inner part of the top end of the supporting framework, a tooth slot frame is arranged at the top of the supporting framework, and a driving roller set is arranged at the inner part of the tooth slot frame.
Preferably, side brackets are arranged at the left end and the right end of the tooth slot frame, grooves are formed in the side sides of the driving roller group, and the gaps of the grooves are larger than the sizes of the grabbing edges of the mechanical grabbing teeth.
Preferably, the top side end of the supporting framework is fixedly provided with a reinforcing frame, the side end of the reinforcing frame is fixedly provided with a retaining plate through two connecting rods, and the bottom four ends of the supporting framework are fixedly provided with supporting stand legs.
Preferably, the first mounting frame, the second mounting frame and the connecting end of the connecting reinforcing sheet plate are provided with reinforcing rib frames, and the surface of each reinforcing rib frame is provided with pneumatic pins in a fastening manner.
Preferably, a shaping conveyor is arranged at the side end of the supporting framework, and a square roller conveyor is arranged at the right side end of the shaping conveyor.
Preferably, the right side end of the square roller conveyor is provided with a first transition conveyor and a second transition conveyor respectively.
Preferably, the side ends of the first transition conveyor and the second transition conveyor are respectively provided with a first package reversing conveyor and a second package reversing conveyor.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, under the cooperation of the manipulator assembly, the control box and the stacker crane assembly, the driving motor is convenient to start, the driving roller set is driven to rotate in the tooth slot frame, chemical fertilizer packages are convenient to convey to the abutting plate, the chemical fertilizer packages at the abutting plate are controlled to be grabbed under the cooperation of the photoelectric position sensor installed on the surface of the side bracket, grabbing operation is carried out after grabbing edges of mechanical grabbing teeth shrink from the inside of the groove, the abutting plate is detachably installed under the cooperation of the reinforcing frame and the two connecting rods, the packaging bags are conveniently conveyed to the first stacking position conveyor and the second stacking position conveyor under the condition that the whole operation of the robot is problematic, then under the control action of the control box, the cylinders are controlled to start, under the cooperation of the cylinders, the rotating shaft rod arranged in the inner installation of the connecting sleeve seat is rotated at an angle under the action of output air pressure, the cooperation of the angle sensor, the rotating arm, the connecting frame and the mechanical grabbing teeth are driven to operate synchronously, so that the grabbing operation is carried out after the grabbing edges of the mechanical grabbing teeth shrink from the inside of the groove, the abutting plate is convenient to convey the packaging bags to the first stacking position conveyor and the second stacking position conveyor, the packaging bags to the first stacking position conveyor and the second stacking position conveyor are controlled to the cylinder under the control action of the control box, and then the cylinder is controlled to start under the action of the air pressure of the control, and the rotation shaft is high in the effect of the output air pressure, and the rotation efficiency is high enough, and the production efficiency is high enough to cause the production efficiency to cause the high to the production efficiency to be adjusted to the production efficiency and the production efficiency to the machine.
2. According to the invention, the driving motor is conveniently used for starting under the cooperation of the stacker crane assembly, the driving roller set is driven to rotate in the tooth slot frame, so that the chemical fertilizer package is conveniently conveyed to the abutting plate, the chemical fertilizer package at the abutting plate is grabbed under the cooperation of the photoelectric position sensor arranged on the surface of the side bracket, the grabbing edges of the mechanical grabbing teeth shrink from the inside of the slot and then are grabbed, the abutting plate is detachably arranged under the cooperation of the reinforcing frame and the two connecting rods, and the packaging bag is conveniently conveyed to the first stacking position conveyor and the second stacking position conveyor to be manually stacked under the condition that the integral operation of the robot is problematic.
3. According to the invention, under the cooperation of the manipulator assembly and the control box, after grabbing, control electric signals are transmitted to the ladle pressing cylinder through a circuit by utilizing the control box again, so that the ladle pressing cylinder drives the ladle pressing telescopic compression rod to press downwards, the fertilizer ladle in the mechanical grabbing teeth is propped against, and the damage to surrounding workers caused by the ladle falling in the stacking operation process is avoided.
Drawings
FIG. 1 is a schematic diagram of the structure of the installation position of a manipulator assembly in an intelligent manipulator for chemical fertilizer stacking;
fig. 2 is a schematic bottom view of a manipulator assembly used in the intelligent manipulator for stacking chemical fertilizers;
FIG. 3 is a schematic diagram of the front view of a manipulator assembly used in the intelligent manipulator for stacking chemical fertilizers;
FIG. 4 is a schematic side view of a manipulator assembly for an intelligent manipulator for chemical fertilizer stacking according to the present invention;
FIG. 5 is a schematic top view of a manipulator assembly for use in the intelligent manipulator for chemical fertilizer palletizing according to the present invention;
FIG. 6 is a schematic view of a manipulator assembly installation preset position in the intelligent manipulator for chemical fertilizer stacking;
FIG. 7 is a schematic view of the structure of a manipulator assembly portion of an intelligent manipulator for chemical fertilizer palletizing according to the present invention;
FIG. 8 is an enlarged schematic view of the structure of the position A in FIG. 2 in the intelligent manipulator for stacking chemical fertilizers;
fig. 9 is a schematic structural view of a stacker assembly used in the intelligent chemical fertilizer stacker robot of the present invention.
In the figure: 1. a manipulator mounting base; 2. rotating the arm support; 3. a first fork positioning conveyor; 4. a second binary conveyor; 5. installing a guardrail; 6. shaping conveyor; 7. a square roller conveyor; 8. a conveyor; 9. a first transition conveyor; 10. a second transition conveyor; 11. a first ladle conveyor; 12. a second ladle conveyor; 13. a first palletizing conveyor; 14. the second stacking position conveyor; 15. a manipulator assembly; 151. a first mounting frame; 152. a second mounting frame; 153. connecting a reinforcing sheet plate; 154. a cylinder mounting plate; 155. rotating the shaft lever; 156. mechanical grabbing teeth; 157. a connecting frame; 158. a rectangular connecting plate; 159. a tensioning wheel; 1510. a bag pressing cylinder; 1511. a cylinder; 1512. a reinforcing rib frame; 1513. a connecting sleeve seat; 1514. a swing arm; 1516. a pneumatic pin; 1517. an angle sensor; 1518. an annular mounting hole groove; 16. a stacker assembly; 161. a support structure; 162. a driving motor; 163. a tooth slot frame; 164. a driving roller group; 165. a retaining plate; 166. a side bracket; 167. slotting; 168. supporting the standing legs; 169. and a reinforcing frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled 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.
Embodiment one: referring to fig. 1-9: the intelligent manipulator for chemical fertilizer stacking comprises a manipulator mounting base 1, wherein the periphery of the manipulator mounting base 1 can be fixedly mounted through a ground bolt and the ground, a rotary cantilever support 2 is mounted at the top of the manipulator mounting base 1, a flange connecting disc is mounted at the side end of the rotary cantilever support 2, a manipulator assembly 15 is fixedly mounted at the bottom of the flange connecting disc, and a stacker assembly 16 is mounted at the bottom of the manipulator assembly 15; the manipulator assembly 15 includes first mounting bracket 151 and second mounting bracket 152 respectively, first mounting bracket 151 and second mounting bracket 152 present symmetrical installation, and the bottom fastening installation of first mounting bracket 151 and second mounting bracket 152 has connection reinforcing sheet 153, wherein, first mounting bracket 151 and second mounting bracket 152 are the aluminium alloy frame, the center end of first mounting bracket 151 and second mounting bracket 152 is connected with the connection framework through fastening bolt fastening, the top welding of connection framework has rectangular connection board 158, annular mounting hole groove 1518 has been seted up on the surface of rectangular connection board 158, and annular mounting hole groove 1518 passes through self tapping bolt and flange connection dish fastening connection, the side end bottom installation of first mounting bracket 151 and second mounting bracket 152 is provided with cylinder mounting plate 154, the top of cylinder mounting plate 154 is erect the fastening and is installed cylinder 1511, and the bottom fastening of cylinder mounting plate 154 is installed the adapter sleeve seat 1513, the internally mounted of adapter sleeve seat 1513 is provided with rotation axostylus axostyle 155, the side end connection of rotation axostylus axostyle 155 is provided with 159, the side end of idler 159 is provided with swing arm 4, and the side end of swing arm 1514 is provided with swing arm 1517, the side end of swing arm 1514 is provided with the pressure bar 157 is connected with the pressure bar 157, the pressure bar 157 is connected with the pressure bar 157 through the pressure bar end of swing arm 1517, the pressure bar end of pressure bar mounting plate 157 is connected with the pressure bar 157, the pressure bar mounting plate is connected with the pressure bar 157.
The first embodiment of the invention has the advantages that when chemical fertilizer bags are required to be piled up, the fixed ground bolt is used for fastening and installing the manipulator installation base 1 and the ground, the upper bottom plate and the lower bottom plate of the manipulator installation base 1 are made of 16mm steel plates, the side plates are bent by 6mm steel plates, the whole strength is ensured by adopting a full-welding process in the connecting process, and the stability of the intelligent manipulator in high-speed operation is ensured; the whole device is made of carbon steel by spraying plastic, the whole service life is ensured, the placement and installation angle of the rotating support arm frame 2 is adjusted, the flange connecting disc and the annular installation hole groove 1518 are fastened and connected through self-tapping bolts, then the first installation frame 151 and the second installation frame 152 are symmetrically installed below the rectangular connection plate 158 and the connection frame, then the connection reinforcing sheet 153 is fastened and installed at the bottoms of the first installation frame 151 and the second installation frame 152 through welding or threaded connection, then under the control action of a control box, the cylinder 1511 is controlled and started, the cylinder 1511 adopts a CGua63-75 cylinder, under the cooperation of the cylinder 1511, the rotating shaft lever 155 arranged in the connecting sleeve seat 1513 is rotated in angle under the action of output air pressure, and under the cooperation of the angle sensor 1517, the rotating shaft lever 155 is rotated, the swing arm 1514, the connecting frame 157 and the mechanical grabbing teeth 156 are driven to synchronously operate, so that fertilizer bags above the driving roller set 164 can be conveniently grabbed, before grabbing, the rotation damping coefficient of the rotating shaft lever 155 can be conveniently adjusted by adjusting the tension wheel 159, the grabbing torque of the mechanical grabbing teeth 156 can be conveniently controlled, meanwhile, the dead weight of the mechanical grabbing teeth 156 is smaller than 40KG, the grabbing weight is 50KG, an aluminum alloy frame is integrally adopted, the aluminum alloy Teflon grabbing teeth have high grabbing operation intensity, after grabbing, a control box is used for sending control electric signals to the pressing and packing cylinder 1510 through a circuit, so that the pressing and packing cylinder 1510 drives a pressing and packing telescopic compression rod to press down, the fertilizer bags inside the mechanical grabbing teeth 156 are prevented from being propped and fixed, surrounding workers are prevented from being injured by the falling bags in the stacking operation process, the whole operation is set to be 2 operation lines, the bidirectional code bags are formed, the alternating operation of the standby code area and the full code area can be realized, the operation efficiency is improved, the day and night efficiency of each manipulator code bag design reaches 1500T/day which is far higher than 1000T/day of the manpower code bags, the code bag service workers and the working strength required by each chemical fertilizer machine are changed from 7 persons to 5 persons, and the economic loss is reduced for enterprises.
Embodiment two: according to the figures 1, 2, 6, 7 and 9, a control box is arranged at the side end of the surface of the manipulator mounting base 1, the control box is connected with a cylinder 1511 through a circuit, a first stacking position conveyor 13 and a second stacking position conveyor 14 are respectively arranged at the left end and the right end of the manipulator mounting base 1, a first fork position conveyor 3 and a second fork position conveyor 4 are respectively arranged at the side ends of the first stacking position conveyor 13 and the second stacking position conveyor 14, a mounting guardrail 5 is arranged at the side ends of the first stacking position conveyor 13 and the second stacking position conveyor 14, a stacker assembly 16 comprises a supporting framework 161, the top internally mounted of support frame 161 is provided with driving motor 162, the top installation of support frame 161 is provided with tooth's socket frame 163, the internally mounted of tooth's socket frame 163 is provided with driving roller group 164, the left and right sides both ends of tooth's socket frame 163 are all installed and are provided with side support 166, the avris of driving roller group 164 is provided with fluting 167, and the clearance of fluting 167 is greater than the tooth edge size of grabbing of machinery tooth 156, the top side fastening of support frame 161 installs reinforcement frame 169, the lateral end of reinforcement frame 169 is installed through two connecting rods fastening and is kept out the board 165, and the four end fastening of bottom of support frame 161 is installed and is supported riser 168.
The second embodiment of the present invention achieves the effects that, after the installation of the manipulator installation base 1 is completed, the first stacking conveyor 13 and the second stacking conveyor 14 are installed at the left and right ends of the manipulator installation base 1, then the first fork positioning conveyor 3 and the second fork positioning conveyor 4 are installed and placed, so that an enterprise can fork and take the fertilizer packages above the first fork positioning conveyor 3 and the second fork positioning conveyor 4 by using two forklifts respectively, under the cooperation of the installation guardrails 5 placed at the side ends of the manipulator installation base 1, the movable ranges of the manipulator installation base 1, the rotating cantilever crane 2 and the manipulator assembly 15 can be defined, personnel are prevented from entering by mistake to ensure equipment and personnel safety, the installation guardrails 5 are made of carbon steel and plastic, the whole protection performance is strong, then the support frame 161 is installed below the preset manipulator assembly 15 under the cooperation of the support stand 168, then the driving motor 162 is utilized to start, the driving roller set 164 is driven to rotate in the tooth slot frame 163, so that the chemical fertilizer package is conveniently conveyed to the abutting plate 165, the chemical fertilizer package at the abutting plate 165 is grabbed under the cooperation of the photoelectric position sensor arranged on the surface of the side bracket 166 by the control manipulator assembly 15, the grabbing edges of the mechanical grabbing teeth 156 shrink from the inside of the groove 167 to carry out grabbing operation, the abutting plate 165 is detachably arranged under the cooperation of the reinforcing frame 169 and the two connecting rods, the packaging bag is conveniently conveyed to the first stacking position conveyor 13 and the second stacking position conveyor 14 to be manually stacked under the condition that the integral operation of the robot is problematic, an electric control system in the control box consists of a main circuit and a control circuit, and the manual and automatic operation can be realized, the control circuit is programmed by a programmable process controller (PLC) to realize logic control, provides a front-and-back equipment association signal, has an automatic stop function when the front-end equipment fails, and feeds back the running state of the back-end equipment to the front-end equipment to ensure that the production equipment runs stably, so that equipment and personal safety can be protected when accidents occur, and the safety of overall operation is improved.
Embodiment III: according to the arrangement of the connection ends of the first mounting frame 151, the second mounting frame 152 and the connection reinforcing sheet 153, as shown in fig. 1, 2, 5, 6, 7 and 9, a reinforcing rib frame 1512 is mounted, pneumatic pins 1516 are mounted on the surface of the reinforcing rib frame 1512 in a fastening manner, a shaping conveyor 6 is mounted on the side end of the supporting frame 161, a square roller conveyor 7 is mounted on the right end of the shaping conveyor 6, a conveyor 8 is mounted on the right end of the square roller conveyor 7, a first transition conveyor 9 and a second transition conveyor 10 are mounted on the right end of the conveyor 8, and a first pouring conveyor 11 and a second pouring conveyor 12 are mounted on the side ends of the first transition conveyor 9 and the second transition conveyor 10 in a erecting manner.
The effect that its embodiment three reached is, when first mounting bracket 151, second mounting bracket 152 and connection reinforcing sheet 153 are installed, can utilize pneumatic pin 1516 to carry out the fastening installation with rib frame 1512 and first mounting bracket 151, second mounting bracket 152, connection reinforcing sheet 153, when carrying the pay-off, can utilize first package conveyer 11 and second package conveyer 12 in proper order to carry the chemical fertilizer package to first transition conveyer 9 and second transition conveyer 10 top after, utilize conveyer 8, square roller conveyer 7 and plastic conveyer 6 to carry to driving roller group 164 top, utilize plastic conveyer 6 to flatten the material package that the anterior segment was carried, be convenient for snatch pile up neatly operation with the chemical fertilizer package under manipulator subassembly 15 cooperation.
The wiring diagrams of the cylinder 1511, the tension pulley 159, the angle sensor 1517, the photoelectric position sensor and the control box in the present invention are common knowledge in the art, and the working principle thereof is a known technology, and the model thereof is selected to be an appropriate model according to actual use, so that the control manner and wiring arrangement will not be explained in detail for the cylinder 1511, the tension pulley 159, the angle sensor 1517, the photoelectric position sensor and the control box.
The application method and the working principle of the device are as follows: firstly, when the chemical fertilizer bags need to be grabbed and piled up, the mechanical arm installation base 1 and the ground are fastened and installed by the ground fixing bolts, the placement and installation angles of the rotary support arm frame 2 are adjusted, so that the flange connection disc and the annular installation hole groove 1518 are fastened and connected by self-tapping bolts, then the first installation frame 151 and the second installation frame 152 are symmetrically installed below the rectangular connection plate 158 and the connection frame, then the connection reinforcing sheet 153 is fastened and installed at the bottoms of the first installation frame 151 and the second installation frame 152 by welding or threaded connection, then the chemical fertilizer bags can be conveyed to the positions above the first transition conveyor 9 and the second transition conveyor 10 by the first bag pouring conveyor 11 and the second bag pouring conveyor 12 in sequence, and then conveyed to the positions above the driving roller group 164 by the conveyor 8, the square roller conveyor 7 and the shaping conveyor 6, after flattening the material packet conveyed by the front section by the shaping conveyor 6, starting the material packet by using the driving motor 162, driving the driving roller set 164 to rotate in the tooth slot frame 163, facilitating the chemical fertilizer packet to be conveyed to the abutting plate 165, enabling the control manipulator assembly 15 to grasp the chemical fertilizer packet at the abutting plate 165 under the cooperation of the photoelectric position sensor installed on the surface of the side bracket 166, enabling the gripping edges of the mechanical gripping teeth 156 to retract from the inside of the groove 167 and then grasp the chemical fertilizer packet, enabling the abutting plate 165 to form detachable installation under the cooperation of the reinforcing frame 169 and the two connecting rods, facilitating the manual palletizing of the packaging bag on the first palletizing conveyor 13 and the second palletizing conveyor 14 under the condition that the whole operation of the robot is problematic, and then enabling an electric control system in the control box to consist of a main circuit and a control circuit under the control action of the control box, the cylinder 1511 and the press-wrapping cylinder 1510 can be controlled manually and automatically, a control circuit is programmed by a programmable process controller (PLC) to realize logic control, a front-end equipment and a rear-end equipment are provided with related signals, the manipulator assembly 15 is enabled to realize an automatic shutdown function when the front-end equipment fails, the operation state of the rear-end equipment is fed back to the front-end equipment, the production equipment is ensured to be stable in operation, equipment and personal safety can be protected when accidents occur, the safety of overall operation is improved, after the cylinder 1511 is controlled and started by a control box, the rotating shaft lever 155 arranged in the connecting sleeve seat 1513 is enabled to rotate in an angle under the action of output air pressure, and the rotating shaft lever 155 is enabled to rotate under the action of an angle sensor 1517, the rotating shaft lever 155 drives the swinging arm 1514, the connecting frame 157 and the mechanical grabbing teeth 156 to synchronously operate, the fertilizer-wrapping machine is convenient to grab fertilizer packs above the transmission roller set 164, the rotating damping coefficient of the rotating shaft lever 155 can be adjusted through the adjusting wheels 159 before grabbing, the grabbing torque of the fertilizer packs is convenient to control the grabbing torque of the mechanical teeth 156, the stretching torque of the machine teeth 156, the stretching-wrapping machine is prevented from being damaged by the control box to the pneumatic compression belt 1510 after the pneumatic wrapping machine is controlled again, and the stretching-wrapping machine is enabled to rotate around the pneumatic bags to be prevented from being compressed by the compression belt.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. Be used for intelligent manipulator of chemical fertilizer pile up neatly, its characterized in that: the manipulator mounting base (1) is fixedly mounted on the periphery of the manipulator mounting base (1) through a ground fixing bolt, a rotating cantilever support (2) is mounted on the top of the manipulator mounting base (1), a flange connecting disc is mounted at the side end of the rotating cantilever support (2), a manipulator assembly (15) is fixedly mounted at the bottom of the flange connecting disc, and a stacker crane assembly (16) is mounted at the bottom of the manipulator assembly (15);
the manipulator assembly (15) respectively comprises a first mounting frame (151) and a second mounting frame (152), the first mounting frame (151) and the second mounting frame (152) are symmetrically mounted, and the bottoms of the first mounting frame (151) and the second mounting frame (152) are fixedly provided with a connection reinforcing sheet plate (153), wherein the first mounting frame (151) and the second mounting frame (152) are aluminum profile frames, the central ends of the first mounting frame (151) and the second mounting frame (152) are fixedly connected with a connection framework through fastening bolts, a rectangular connecting plate (158) is welded above the connection framework, an annular mounting hole groove (1518) is formed in the surface of the rectangular connecting plate (158), the annular mounting hole groove (1518) is fixedly connected with a flange connecting plate through a self-bolt, the side bottoms of the first mounting frame (151) and the second mounting frame (152) are fixedly provided with a cylinder mounting plate (154), the upper side of the cylinder (154) is fixedly provided with a fastening frame, the upper side of the cylinder (154) is fixedly provided with a tensioning wheel (1511), the side of the cylinder (155) is fixedly provided with a tensioning wheel (155), the side of the cylinder (155) is fixedly connected with a rotary connecting sleeve (155), swing arm (1514) is installed to the side setting of take-up pulley (159), just angle sensor (1517) is installed in the side setting of swing arm (1514), the side surface of swing arm (1514) is connected with link (157) through nut fastening installation, the bottom integrated into one piece welding of link (157) has mechanical grabbing tooth (156), just the bottom installation of connection reinforcing sheet board (153) is provided with presses package cylinder (1510), press package flexible depression bar is installed to the output of package cylinder (1510).
2. The intelligent manipulator for chemical fertilizer palletizing of claim 1, wherein: the surface side end of the manipulator installation base (1) is provided with a control box, and the control box is connected with the air cylinder (1511) through a circuit.
3. The intelligent manipulator for chemical fertilizer palletizing of claim 1, wherein: the left end and the right end of the manipulator installation base (1) are respectively provided with a first stacking position conveyor (13) and a second stacking position conveyor (14), the side ends of the first stacking position conveyor (13) and the second stacking position conveyor (14) are respectively provided with a first fork position taking conveyor (3) and a second fork position taking conveyor (4), and the side ends of the first stacking position conveyor (13) and the second stacking position conveyor (14) are provided with an installation guardrail (5).
4. The intelligent manipulator for chemical fertilizer palletizing of claim 1, wherein: hacking machine subassembly (16) are including supporting framework (161), the top internally mounted of supporting framework (161) is provided with driving motor (162), the top-mounted of supporting framework (161) is provided with tooth's socket frame (163), the internally mounted of tooth's socket frame (163) is provided with driving roller group (164).
5. The intelligent manipulator for chemical fertilizer palletizing of claim 4, wherein: the left end and the right end of the tooth slot frame (163) are respectively provided with a side bracket (166), the side of the driving roller group (164) is provided with a slot (167), and the gap of the slot (167) is larger than the size of the grabbing tooth edge of the mechanical grabbing tooth (156).
6. The intelligent manipulator for chemical fertilizer palletizing of claim 4, wherein: the top side end fastening of support framework (161) is installed and is strengthened frame (169), the side end of strengthening frame (169) is installed through two connecting rods fastening and is kept out board (165), just support stand (168) are installed in the four end fastening in bottom of support framework (161).
7. The intelligent manipulator for chemical fertilizer palletizing of claim 1, wherein: the first mounting frame (151), the second mounting frame (152) and the connecting ends of the connecting reinforcing sheet plates (153) are provided with reinforcing rib frames (1512), and the surfaces of the reinforcing rib frames (1512) are fixedly provided with pneumatic pins (1516).
8. The intelligent manipulator for chemical fertilizer palletizing of claim 4, wherein: the shaping conveyor (6) is arranged at the side end of the supporting framework (161), and the square roller conveyor (7) is arranged at the right side end of the shaping conveyor (6).
9. The intelligent manipulator for chemical fertilizer palletizing of claim 8, wherein: the right side end installation of square roller conveyer (7) is provided with conveyer (8), the right side end of conveyer (8) is installed respectively and is provided with first transition conveyer (9) and second transition conveyer (10).
10. The intelligent manipulator for chemical fertilizer palletizing of claim 9, wherein: the side ends of the first transition conveyor (9) and the second transition conveyor (10) are respectively provided with a first package reversing conveyor (11) and a second package reversing conveyor (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311225834.8A CN116986340A (en) | 2023-09-22 | 2023-09-22 | Be used for intelligent manipulator of chemical fertilizer pile up neatly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311225834.8A CN116986340A (en) | 2023-09-22 | 2023-09-22 | Be used for intelligent manipulator of chemical fertilizer pile up neatly |
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| Publication Number | Publication Date |
|---|---|
| CN116986340A true CN116986340A (en) | 2023-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311225834.8A Pending CN116986340A (en) | 2023-09-22 | 2023-09-22 | Be used for intelligent manipulator of chemical fertilizer pile up neatly |
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| US20220402709A1 (en) * | 2021-06-16 | 2022-12-22 | Dexterity, Inc. | State estimation using geometric data and vision system for palletizing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN209740224U (en) * | 2018-12-27 | 2019-12-06 | 广州寅源自动化科技有限公司 | Tongs of pocket type article |
| CN210284834U (en) * | 2019-05-16 | 2020-04-10 | 盛隆化工有限公司 | Automatic assembly line system for ammonium sulfate material transfer |
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Application publication date: 20231103 |