CN209939909U - Emulsion explosive loading robot - Google Patents
Emulsion explosive loading robot Download PDFInfo
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- CN209939909U CN209939909U CN201920375487.XU CN201920375487U CN209939909U CN 209939909 U CN209939909 U CN 209939909U CN 201920375487 U CN201920375487 U CN 201920375487U CN 209939909 U CN209939909 U CN 209939909U
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- driving device
- supporting platform
- controller
- emulsion explosive
- support arm
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- 239000002360 explosive Substances 0.000 title claims abstract description 27
- 239000000839 emulsion Substances 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 239000000463 material Substances 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 239000004816 latex Substances 0.000 abstract description 6
- 229920000126 latex Polymers 0.000 abstract description 6
- 238000012856 packing Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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Abstract
The utility model discloses a latex explosive getting on bus robot, including supporting platform and crawler-type running gear supporting platform's the left and right sides all is provided with parallel detection ware supporting platform's front side is provided with obstacle detector and distance detector respectively, install control mechanism in the supporting platform be fixed with the roating seat rotatory by first drive arrangement drive on the supporting platform, the roating seat rotates through the lower extreme of second drive arrangement with first support arm to be connected, and the upper end of this first support arm is articulated through the left end of third drive arrangement with the second support arm, the right-hand member of second support arm is connected through the one end rotation of fourth drive arrangement with the swinging boom, the other end of swinging boom is connected with the locking device through rotating electrical machines, and this locking device provides the clamp force by fifth drive arrangement. The remarkable effects are as follows: the conveying and stacking of the emulsion explosive packing box are automatically completed, the production efficiency is effectively improved, and the production cost and the management difficulty are reduced.
Description
Technical Field
The utility model relates to latex explosive production technical field, concretely relates to latex explosive gets on bus machine people.
Background
The production capacity of the emulsion explosive production industry is 8-10 tons per hour along with the change of science and technology. Meanwhile, the number of on-line personnel is limited by the industry by regulations, so that the labor intensity of one post is very high. Moreover, the explosive strapping tape carried by a carrying person is easy to break, has the risk of hurting people when falling, and can not meet the principle of lightly taking and putting dangerous goods. Fatigue and fidgety work also present potential safety hazards. If the post operation of two employees is managed one post for one shift in a humanized way, the production cost and the management difficulty of an enterprise are increased invisibly.
Disclosure of Invention
The utility model aims at providing a not enough to prior art, the utility model aims at providing a latex explosive gets on bus robot can accomplish loading, pile from the conveyer belt is automatic with the latex explosive finished product, can improve production efficiency by a wide margin and show reduction intensity of labour.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an emulsion explosive machine people that gets on bus which the key lies in: the crawler type walking mechanism comprises a supporting platform and a crawler type walking mechanism arranged below the supporting platform, wherein parallel detectors are arranged on the left side and the right side of the supporting platform, an obstacle detector and a distance detector are arranged on the front side of the supporting platform respectively, a control mechanism is arranged in the supporting platform, a rotating seat driven by a first driving device to rotate is fixed on the supporting platform, the rotating seat is rotatably connected with the lower end of a first supporting arm through a second driving device, the upper end of the first supporting arm is hinged with the left end of a second supporting arm through a third driving device, the right end of the second supporting arm is rotatably connected with one end of a rotating arm through a fourth driving device, the other end of the rotating arm is connected with a holding tool through a rotating motor, and the holding tool is provided with clamping force through a fifth driving device;
the control mechanism comprises a controller and a power supply module, a signal input end group of the controller is respectively connected with the parallel detector, the obstacle detector and the distance detector, a first signal output end group of the controller is connected with the crawler-type traveling mechanism through a driving mechanism, a second signal output end group of the controller is respectively connected to control ends of the first driving device, the second driving device, the third driving device, the fourth driving device, the rotating motor and the fifth driving device, and the controller is further communicated and interconnected with the management terminal through a communication module.
Furthermore, a balance pull rod is connected between the upper ends of the rotating seat and the first supporting arm, and the balance pull rod and the first supporting arm are respectively connected to two sides of the rotating seat.
Furthermore, the balance pull rod comprises a vertical part and a horizontal part which are hinged with each other, the free end of the vertical part is hinged with the rotating seat, and the free end of the horizontal part is hinged with the upper end of the first support arm.
Further, still be provided with torque sensor and material sensor on the locking device, torque sensor and material sensor all are connected to the input of controller.
Further, the parallel detector adopts a laser ranging sensor, the obstacle detector adopts an infrared sensor, the distance detector adopts an electronic ruler displacement sensor, and the material sensor adopts an infrared sensor.
Furthermore, an alarm mechanism is fixed on the supporting platform and connected to one signal output end group of the controller, and the alarm mechanism is used for giving alarm prompts to different types of signals sent by the controller.
The utility model discloses a show the effect and be: the robot is formed by improving the adaptability of the existing six-axis robot, can automatically enter a carriage and reach an initial position after a transport vehicle stops in place, then automatically finishes the carrying and stacking of a latex explosive packing box by taking the initial position as a reference point, and prompts a driver to drive away through sound and light after the stacking of the whole vehicle is finished, so that the defects of high labor intensity, low safety coefficient and the like existing in the manual carrying and loading in the traditional technology are overcome, the production efficiency is effectively improved, and the production cost and the management difficulty are reduced.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a schematic view of the internal structure of the present invention;
fig. 3 is a schematic block circuit diagram of the present invention.
Detailed Description
The following provides a more detailed description of the embodiments and the operation of the present invention with reference to the accompanying drawings.
As shown in fig. 1 and 2, an emulsion explosive loading robot includes a supporting platform 1 and a crawler type traveling mechanism 2 installed below the supporting platform 1, parallel detectors 3 are respectively installed on the left and right sides of the supporting platform 1, a barrier detector 4 and a distance detector 5 are respectively installed on the front side of the supporting platform 1, a control mechanism 6 is installed in the supporting platform 1, a rotating seat 8 driven to rotate by a first driving device 7 is fixed on the supporting platform 1, the first driving device 7 is used for driving the rotating seat 8 to rotate at any angle in a horizontal plane, the rotating seat 8 is rotatably connected with the lower end of a first supporting arm 10 through a second driving device 9, the second driving device 9 is used for driving the first supporting arm 10 to swing left and right, the upper end of the first supporting arm 10 is hinged with the left end of a second supporting arm 12 through a third driving device 11, the third driving device 11 is configured to control the second support arm 12 to pitch and swing, the right end of the second support arm 12 is rotatably connected to one end of a rotating arm 14 through a fourth driving device 13, the fourth driving device 13 is configured to control the rotating arm 14 to pitch and swing, the other end of the rotating arm 14 is connected to a clamp 15 through a rotating motor 16, the rotating motor 16 is configured to drive the clamp 15 to rotate at any angle in a horizontal plane, and the clamp 15 is provided with a clamping force by a fifth driving device 17;
as can be seen from fig. 1, a balance pull rod 18 is further connected between the rotary base 8 and the upper end of the first support arm 10, and the balance pull rod 18 and the first support arm 10 are respectively connected to both sides of the rotary base 8. Specifically, the balance pull rod 18 includes a vertical portion and a horizontal portion, which are hinged to each other, a free end of the vertical portion is hinged to the rotating seat 8, and a free end of the horizontal portion is hinged to an upper end of the first support arm 10.
As can also be seen from fig. 1, an alarm mechanism 19 is further fixed on the support platform 1, and a torque sensor 20 and a material sensor 21 are further disposed on the clamp 15.
Referring to fig. 3, the control mechanism 6 includes a controller and a power module, a signal input end group of the controller is respectively connected to the parallel detector 3, the obstacle detector 4 and the distance detector 5, the parallel detector 3 is used for acquiring a walking posture of the robot and determining whether the robot is parallel to the vehicle, the obstacle detector 4 is used for detecting a road condition of a traveling route of the robot, and the distance detector 5 is used for acquiring a distance between the robot and a carriage edge; a first signal output end group of the controller is connected with the crawler type travelling mechanism 2 through a driving mechanism so as to control a travelling route of the robot; the moment sensor 20 and the material sensor 21 are both connected to the input end of the controller, the moment sensor 20 is used for detecting whether a product falls or whether the holding tool 15 is overloaded, and the material sensor 21 is used for detecting the position of the finished emulsion explosive packaging box;
a second signal output end group of the controller is respectively connected to control ends of the first driving device 7, the second driving device 9, the third driving device 11, the fourth driving device 13, the rotating motor 16 and the fifth driving device 17 so as to control the robot to realize clamping, stacking and other operations on the emulsion explosive packing boxes on the conveying belt; the controller also realizes communication interconnection with the management terminal through the communication module, so that the robot can conveniently acquire control instructions and various parameters sent by the management terminal, such as the length, width and height of a carriage, the load weight, the weight of each box of explosive, the length, width and height of an illuminated packing box and the like, and simultaneously upload data in time, wherein the communication module can be determined in a wired or wireless mode specifically according to the requirements of a use site. The alarm mechanism 19 is connected to a signal output end group of the controller and is used for giving alarm prompts to different types of signals sent by the controller, such as reminding a driver of driving away or stopping a product falling system or giving an overload alarm or a roadblock alarm to the holding tool 15 after the carton of the emulsion explosive product is stacked.
In this example, the parallel detector 3 adopts a laser ranging sensor, the obstacle detector 4 adopts an infrared sensor, the distance detector 5 adopts an electronic ruler displacement sensor, and the material sensor 21 adopts an infrared sensor.
Preferably, the crawler-type traveling mechanism 2 comprises a steering part and a traveling part, the driving module controls the steering part through a steering actuator, and the traveling part is controlled through a traveling actuator.
Preferably, the power module includes a charging control module and a battery pack, the charging control module is configured to adjust a charging process of the battery pack according to a control signal of the controller, and the battery pack is configured to provide operating power to each of the modules.
The working process of the robot is as follows:
firstly, system setting: the overall dimension of the carton of the emulsion explosive product is finished, the relation setting of rows and layers required by the verification and the load of the whole vehicle is met, and products of various specifications are placed according to the requirements. Inputting relevant parameters through a human-computer interface touch screen of a management terminal, wherein the specific input parameters comprise the length, the width and the height of a carriage; the weight of the load; the weight of each bin of explosive; length, width, high-level parameters of the geometric shape and the like; the combination of the stacked layers and the stacked rows of the finished emulsion explosive packaging boxes is optimized, and the purpose is to uniformly place the finished emulsion explosive packaging boxes in a carriage.
Secondly, determining an initial position: when the empty vehicle is parked in place, the controller drives the crawler type traveling mechanism 2 to work, so that the robot moves forwards towards the carriage and simultaneously drives the telescopic belt to move forwards; after the robot completely enters the carriage, the two parallel detectors 3 on the side face start to collect data, and the parallel of the robot and the carriage is ensured by utilizing a differential principle after system calculation. Meanwhile, the obstacle detector 4 detects the road condition on the robot traveling route, ensures that the robot carries out obstacle avoidance operation, carries out parking processing if necessary, carries out alarm reminding through the alarm mechanism 19, and uploads a signal to the management terminal; the distance detector 5 detects a predetermined value and stops the vehicle, and this stop point is also the origin of coordinates and the initial position, and all the piles are used as a reference point.
Step three, stacking in sequence: after the initial position is determined, the carton is detected by the material sensor 21, and the control mechanism 6 outputs signals to the first driving device 7, the second driving device 9, the third driving device 11, the rotating motor 16 and the fifth driving device 17 to drive the holding tool 15 to clamp and convey the carton to a given position. And after the first row is finished, the control mechanism 6 provides an accurate displacement signal to control the crawler-type travelling mechanism 2 to accurately move, and the second row of sequential stacking is started after the vehicle stops until the whole vehicle stacking is finished. In the process, the torque sensor 20 and the material sensor 21 arranged on the holding tool 15 detect, and an alarm is given when the conditions of falling of a product, overload of the holding weight of the holding tool 15, overload of superposed torque after center of gravity shift and the like occur, so that potential safety hazards are avoided.
Fourth, vehicle replacement: after the whole vehicle stacking is finished, the control mechanism 6 sends out sound and light signals through the alarm mechanism 19 to prompt a driver to drive and leave. If continuous finished product output exists in the continuous production line, the management terminal controls the telescopic belt to stop running and controls the transmission belt of the whole production line to perform variable-frequency and speed-reducing running simultaneously, so that enough time for replacing vehicles is ensured. And entering a new cycle after the new vehicle is parked.
The technical scheme provided by the utility model is introduced in detail above. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (6)
1. The utility model provides an emulsion explosive gets on bus machine people which characterized in that: the crawler type walking mechanism comprises a supporting platform and a crawler type walking mechanism arranged below the supporting platform, wherein parallel detectors are arranged on the left side and the right side of the supporting platform, an obstacle detector and a distance detector are arranged on the front side of the supporting platform respectively, a control mechanism is arranged in the supporting platform, a rotating seat driven by a first driving device to rotate is fixed on the supporting platform, the rotating seat is rotatably connected with the lower end of a first supporting arm through a second driving device, the upper end of the first supporting arm is hinged with the left end of a second supporting arm through a third driving device, the right end of the second supporting arm is rotatably connected with one end of a rotating arm through a fourth driving device, the other end of the rotating arm is connected with a holding tool through a rotating motor, and the holding tool is provided with clamping force through a fifth driving device;
the control mechanism comprises a controller and a power supply module, a signal input end group of the controller is respectively connected with the parallel detector, the obstacle detector and the distance detector, a first signal output end group of the controller is connected with the crawler-type traveling mechanism through a driving mechanism, a second signal output end group of the controller is respectively connected to control ends of the first driving device, the second driving device, the third driving device, the fourth driving device, the rotating motor and the fifth driving device, and the controller is further communicated and interconnected with the management terminal through a communication module.
2. The emulsion explosive loading robot according to claim 1, wherein: and a balance pull rod is connected between the rotating seat and the upper end of the first support arm, and the balance pull rod and the first support arm are respectively connected to two sides of the rotating seat.
3. The emulsion explosive loading robot according to claim 2, wherein: the balance pull rod comprises a vertical part and a horizontal part which are hinged, the free end of the vertical part is hinged with the rotating seat, and the free end of the horizontal part is hinged with the upper end of the first support arm.
4. The emulsion explosive loading robot according to claim 1, wherein: the clamp is further provided with a torque sensor and a material sensor, and the torque sensor and the material sensor are both connected to the input end of the controller.
5. The emulsion explosive loading robot according to claim 4, wherein: the parallel detector adopts laser range finding sensor, infrared sensor is chooseed for use to the obstacle detector, distance detector adopts electronic ruler displacement sensor, material sensor adopts infrared sensor.
6. The emulsion explosive loading robot according to claim 1, wherein: and an alarm mechanism is also fixed on the supporting platform, is connected to one signal output end group of the controller and is used for carrying out alarm prompt on different types of signals sent by the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920375487.XU CN209939909U (en) | 2019-03-23 | 2019-03-23 | Emulsion explosive loading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920375487.XU CN209939909U (en) | 2019-03-23 | 2019-03-23 | Emulsion explosive loading robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209939909U true CN209939909U (en) | 2020-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920375487.XU Expired - Fee Related CN209939909U (en) | 2019-03-23 | 2019-03-23 | Emulsion explosive loading robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN209939909U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169358A (en) * | 2020-01-20 | 2020-05-19 | 浙江大工新能源有限公司 | Loading robot for logistics distribution |
| CN111805504A (en) * | 2020-07-25 | 2020-10-23 | 唐翠华 | Crawler-type multifunctional stacking robot |
-
2019
- 2019-03-23 CN CN201920375487.XU patent/CN209939909U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169358A (en) * | 2020-01-20 | 2020-05-19 | 浙江大工新能源有限公司 | Loading robot for logistics distribution |
| CN111805504A (en) * | 2020-07-25 | 2020-10-23 | 唐翠华 | Crawler-type multifunctional stacking robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200114 |