CN209554381U - A kind of bagged material automatic loading robot - Google Patents
A kind of bagged material automatic loading robot Download PDFInfo
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- CN209554381U CN209554381U CN201822105256.5U CN201822105256U CN209554381U CN 209554381 U CN209554381 U CN 209554381U CN 201822105256 U CN201822105256 U CN 201822105256U CN 209554381 U CN209554381 U CN 209554381U
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- automatic loading
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Abstract
The utility model discloses a kind of bagged material automatic loading robots, belong to automatic loading equipment.The automatic loading robot includes: cargo transfer mechanism, robot moving mechanism and robot palletizer, wherein cargo transfer mechanism includes the two cargo pipelines for shunting pipeline, connecting with the tail end for shunting pipeline；Robot moving mechanism includes the Liang Ge robot moving assembly being arranged on the inside of two cargo pipelines；Robot palletizer totally two, be separately positioned on Liang Ge robot moving assembly comprising the revolving platform that is arranged on moving assembly, the power device being mounted on the revolving platform, the robot assemblies being connected with the power device and with mechanical arm tie point grasping mechanism.The utility model controls robot palletizer by master control cabinet and carries out palletization operations between cargo pipeline and lorry, to solve the problems such as existing palletizing technology needs human intervention, the degree of automation is low.
Description
Technical field
The utility model belongs to automatic loading equipment, especially a kind of bagged material automatic loading robot.
Background technique
Solid material carries out circulation and is primarily present in bulk and packed two kinds of forms at present.For packed, this mode ratio
Relatively flexibly, it removes stage makeup and costume more convenient, the disadvantage is that needing to consume a large amount of packing charges and handling manpower.Existing handling means majority is
It is used cooperatively by manpower and fork truck, wastes a large amount of manpowers, and working efficiency is more low；Especially to some otherwise dangerous materials
The entrucking of (such as chemicals), there are some security risks for more or less meeting.Stacking entrucking, In are carried out by manipulator
After the complete cargo of code, it is also desirable to manually adjust the distance between robot and freight traffic line, lorry.The degree of automation needs to be mentioned
It is high.
Utility model content
Purpose of utility model: providing a kind of bagged material automatic loading robot in view of the deficiencies of the prior art, with solution
The problems such as certainly existing palletizing technology needs human intervention, the degree of automation is low.
A kind of technical solution: bagged material automatic loading robot, comprising:
Cargo transfer mechanism, including pipeline is shunted, the first cargo connecting with the tail end for shunting pipeline conveys
Line and the second cargo pipeline；
Robot moving mechanism, including being arranged in first on the inside of the first cargo pipeline and the second cargo pipeline
Robot moving assembly and the second robot moving assembly, and setting are moved in the first robot moving assembly and the second robot
Bracket below dynamic component；
Robot palletizer, is separately positioned on the first robot moving assembly and the second robot moving assembly totally by two,
It includes the revolving platform being arranged on moving assembly, and the power device being mounted on the revolving platform is filled with the power
Set the robot assemblies being connected, and with mechanical arm tie point grasping mechanism.
In a further embodiment, the starting point and shunting of the first cargo pipeline and the second cargo pipeline are defeated
The tail end of line sending is connected, and the tail end of the first cargo pipeline and the second cargo pipeline is provided with push and block mechanism, and two
Plan view shape after the combination of cargo pipeline is U-typed.
In a further embodiment, balancing pull rod is hinged between the robot assemblies and revolving platform.
In a further embodiment, 3D vision system is provided on the robot assemblies.
In a further embodiment, the robot grasping mechanism is equipped with sponge vacuum attracting instrument.
In a further embodiment, the second cargo pipeline side is provided with electric cabinet and master control cabinet, and passes through machine
Device people's moving assembly is electrically connected with robot palletizer.
The utility model has the advantages that the utility model relates to a kind of bagged material automatic loading robot, it will by cargo transport mechanism
Goods sorting is transferred to specified region, and the 3D vision system built in robot palletizer is detected automatically by robot and cargo transport
The parameters such as the relative position between line, lorry, by the way that in electric signal transmission to master control cabinet, then control system calculates stacking side
Formula and robot motion path are retransmitted to robot palletizer, complete palletization operations, realize full-automatic operation, to solve
The problems such as existing palletizing technology needs human intervention, the degree of automation is low.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the utility model floor plan.
Fig. 3 is the utility model front view.
Fig. 4 is the utility model robot palletizer structural schematic diagram.
Appended drawing reference are as follows: it is mobile to shunt pipeline 1, the first cargo pipeline 2, the second cargo pipeline 3, the first robot
Component 4, the second robot moving assembly 5, bracket 6, lorry 7, robot palletizer 8, master control cabinet 9, electric cabinet 10, revolving platform 801,
Power device 802, robot assemblies 803, grabbing device 804,3D vision system 805, sponge vacuum attracting instrument 806, balancing pull rod
807。
Specific embodiment
In the following description, a large amount of concrete details are given more thoroughly to manage in order to provide to the utility model
Solution.It is, however, obvious to a person skilled in the art that the utility model may not need it is one or more of these thin
It saves and is carried out.In other examples, in order to avoid obscuring with the utility model, for more well known in the art
Technical characteristic is not described.
As shown in attached drawing 1~3, a kind of bagged material automatic loading robot, comprising: cargo transfer mechanism, robot move
8 three parts of motivation structure and robot palletizer.
Wherein, cargo transfer mechanism includes shunting pipeline 1, the first cargo pipeline 2 and the second cargo pipeline 3；The
What the starting point of one cargo pipeline 2 and the second cargo pipeline 3 was connect with the tail end for shunting pipeline 1.Cargo is shunting conveying
After being sorted on line 1, it is transferred to the first cargo pipeline 2 and the second cargo pipeline 3, is sent to specified region.
As a preferred embodiment, the starting point and shunting pipeline of the first cargo pipeline 2 and the second cargo pipeline 3
1 tail end links together, and the tail end of the first cargo pipeline 2 and the second cargo pipeline 3 is provided with push and block mechanism, and two
Plan view shape after the combination of cargo pipeline is U-typed.Cargo transport is conveyed to the first cargo pipeline 2 and the second cargo
When 3 tail end of line, push and block mechanism can by Cargo bag it is orderly be put into stacking 2X5 format or 2X2 format, wait robot palletizer 8
It is drawn.
Robot moving mechanism includes: bracket 6, the first robot moving assembly 4 and the second robot moving assembly 5；The
One robot moving assembly 4 and the setting of the second robot moving assembly 5 are shunted in the first cargo pipeline 2 and the second cargo
On bracket 6 on the inside of line.Robot palletizer 8 can the horizontal movement on the moving assembly, back and forth to cargo carry out palletization operations.
As shown in Fig. 4, robot palletizer 8 totally two are separately positioned on the first robot moving assembly 4 and the second machine
On people's moving assembly 5 comprising the revolving platform 801 on moving assembly is set, is mounted on dynamic on the revolving platform 801
Power device 802, the robot assemblies 803 being connected with the power device, and with mechanical arm tie point grasping mechanism.With
Industrial robot replaces manually repeating simple repeated labor, realizes full-automatic operation.
As a preferred embodiment, balancing pull rod 807 is hinged between the robot assemblies 803 and revolving platform 801.
It is mainly used for balancing the load, in the case where loading biggish situation, guarantees the stability of entire robot palletizer 8.
As a preferred embodiment, the robot grasping mechanism is equipped with sponge vacuum attracting instrument 806.It can be more stable
Grab bagged material.
As a preferred embodiment, 3D vision system 805 is provided on the robot assemblies 803.3D vision system 805
Device is found out compartment end and tail position, can be obtained according to robot location's relationship from compartment tail end forward end motion scan
Compartment length and width and the parameter values such as side plate height and height of wagon, feed back to control centre.
As a preferred embodiment, 3 side of the second cargo pipeline is provided with electric cabinet 10 and master control cabinet 9, and passes through
Robot moving assembly is electrically connected with robot palletizer 8.Electric cabinet 10 is the power center (PC) of entire robot system, provides power
Source；Master control cabinet 9 belongs to control centre, is summarized to the data that 3D vision system 805 detects, analyzes and most have operation algorithm, passed
It is defeated by robot and carries out automation stacking.
The workflow of the automatic loading robot is as follows in the specific implementation process:
S1, lorry 7 rest in specified parking area.Parking area, which is equipped with, is accommodated to designated position for steer motor
Compartment front end ground graticule.
S2, two sides robot carry 805 device of 3D vision system from compartment tail end forward end motion scan, find out compartment
End and tail position can obtain the parameter value of compartment length and width and side plate height according to robot location's relationship.
S3, Image detection of being taken pictures according to the 3D vision on compartment obtain the parameter value of height of wagon.
S4,3D vision image of taking pictures will test the parameter value of acquisition and feeds back to control system, so that control system is according to 3D
The parameter value that the detection of vision system 805 obtains, plans entrucking.The length and width and height in compartment are calculated by initial alignment, and system is pre-
The length of article to be palletized is first set, and then calculates the number of plies of article stacking, pendulum can be designed according to the difference of vehicle width
It is perpendicular to put such as two cross three of mode, two erect two horizontal equal stackings modes.After robot location's variation, compartment has been calculated by previous step
Relative to the new position of robot, the position that robot only need to be new using compartment front end at this time, subsequent stacking can basis
Offset is fixed in the length and width and height of article (such as cement packet).
S5, bagged material are transported to end blocking position by pipeline shunting, pass through the mechanism alternation sack on pipeline
Moving direction, push and block mechanism it is orderly sack is put into 2 × 5 format of stacking or 2 × 2 formats, wait robot to draw.Machine
Device people carries out palletization operations to vehicle by above-mentioned S4 step after obtaining dependent instruction, and origin position is moved to after filling vehicle
It sets.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not contradiction
In the case where, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the utility model is to various
No further explanation will be given for possible combination.
Claims (6)
1. a kind of bagged material automatic loading robot characterized by comprising
Cargo transfer mechanism, including shunt pipeline, with the first cargo pipeline that connect of tail end for shunting pipeline and
Second cargo pipeline；
Robot moving mechanism, including the first machine on the inside of the first cargo pipeline and the second cargo pipeline is arranged in
People's moving assembly and the second robot moving assembly, and the bracket below robot moving assembly is set；
Robot palletizer, is separately positioned on the first robot moving assembly and the second robot moving assembly totally by two, packet
The revolving platform being arranged on moving assembly is included, the power device being mounted on the revolving platform, with the power device phase
The robot assemblies of connection, and with mechanical arm tie point grasping mechanism.
2. bagged material automatic loading according to claim 1 robot, which is characterized in that the first cargo pipeline
It is connected with the starting point of the second cargo pipeline and the tail end for shunting pipeline, it is defeated in the first cargo pipeline and the second cargo
The tail end of line sending is provided with push and block mechanism, and the plan view shape after the combination of two cargo pipelines is U-typed.
3. bagged material automatic loading according to claim 1 robot, which is characterized in that the robot assemblies and return
Turn to be hinged with balancing pull rod between platform.
4. bagged material automatic loading according to claim 1 robot, which is characterized in that set on the robot assemblies
It is equipped with 3D vision system.
5. bagged material automatic loading according to claim 1 robot, which is characterized in that the robot grasping mechanism
Equipped with sponge vacuum attracting instrument.
6. bagged material automatic loading according to claim 1 robot, which is characterized in that the second cargo pipeline
Side is provided with electric cabinet and master control cabinet, and is electrically connected by robot moving assembly with robot palletizer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822105256.5U CN209554381U (en) | 2018-12-14 | 2018-12-14 | A kind of bagged material automatic loading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822105256.5U CN209554381U (en) | 2018-12-14 | 2018-12-14 | A kind of bagged material automatic loading robot |
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| CN209554381U true CN209554381U (en) | 2019-10-29 |
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| CN201822105256.5U Active CN209554381U (en) | 2018-12-14 | 2018-12-14 | A kind of bagged material automatic loading robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086887A (en) * | 2019-12-30 | 2020-05-01 | 芜湖哈特机器人产业技术研究院有限公司 | Intelligent loading system for bagged materials |
| CN112130556A (en) * | 2020-08-19 | 2020-12-25 | 山东省科学院自动化研究所 | Robot automatic stacking and loading control system and method |
| CN112478823A (en) * | 2020-11-23 | 2021-03-12 | 聚和(天津)智能制造有限公司 | Automatic loading system and loading method thereof |
| CN113526122A (en) * | 2021-07-01 | 2021-10-22 | 山东富润邦智能装备有限公司 | High breast board area cuts off freight train powder bag intelligence loading and unloading car production line |
| CN114275496A (en) * | 2021-12-13 | 2022-04-05 | 珠海格力智能装备有限公司 | Stacking equipment and stacking storage method |
| CN115196357A (en) * | 2022-06-17 | 2022-10-18 | 江苏拓斯达机器人有限公司 | Pallet unstacking workstation |
-
2018
- 2018-12-14 CN CN201822105256.5U patent/CN209554381U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111086887A (en) * | 2019-12-30 | 2020-05-01 | 芜湖哈特机器人产业技术研究院有限公司 | Intelligent loading system for bagged materials |
| CN112130556A (en) * | 2020-08-19 | 2020-12-25 | 山东省科学院自动化研究所 | Robot automatic stacking and loading control system and method |
| CN112130556B (en) * | 2020-08-19 | 2024-03-29 | 山东省科学院自动化研究所 | Robot automatic stacking and loading control system and method |
| CN112478823A (en) * | 2020-11-23 | 2021-03-12 | 聚和(天津)智能制造有限公司 | Automatic loading system and loading method thereof |
| CN113526122A (en) * | 2021-07-01 | 2021-10-22 | 山东富润邦智能装备有限公司 | High breast board area cuts off freight train powder bag intelligence loading and unloading car production line |
| CN114275496A (en) * | 2021-12-13 | 2022-04-05 | 珠海格力智能装备有限公司 | Stacking equipment and stacking storage method |
| CN115196357A (en) * | 2022-06-17 | 2022-10-18 | 江苏拓斯达机器人有限公司 | Pallet unstacking workstation |
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