CN212126855U - Bagged material loading system - Google Patents

Bagged material loading system Download PDF

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Publication number
CN212126855U
CN212126855U CN201922284092.1U CN201922284092U CN212126855U CN 212126855 U CN212126855 U CN 212126855U CN 201922284092 U CN201922284092 U CN 201922284092U CN 212126855 U CN212126855 U CN 212126855U
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China
Prior art keywords
line
conveying line
conveying
bagged
robot
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CN201922284092.1U
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Chinese (zh)
Inventor
彭军飞
黄才英
朱栗波
饶永忠
贺礼
李洪苗
易建伟
朱垂桥
康顺生
郭东妮
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Anhui Conch Zhongnan intelligent robot Co.,Ltd.
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Hunan Zhongnan Intelligent Equipment Co ltd
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Abstract

The utility model relates to a bagged materials loading system, including laser vision system, conveying system, robotic system and control system, robotic system includes six industrial robot, walking guide rail and the robot clamp who sets up at six industrial robot, industrial robot sets up on walking guide rail, industrial robot sets up the end at conveying system and is used for loading the bagged materials on the conveying system, laser vision system includes that two sets install line laser sensor and two sets of point laser sensor of installing on six terminal anchor clamps of robot on the fixed bolster in ground, line laser sensor and control system communication connection, control system receives laser vision system's information and controls conveying system, the automatic loading of material is realized in the linkage of robotic system. The utility model discloses an automatic loading pile up neatly of material has been realized, has simplified manual control's requirement, and system structure is compact, occupation space is little, intelligent degree is high, strong adaptability.

Description

Bagged material loading system
Technical Field
The utility model belongs to the technical field of cargo handling, concretely relates to material loading system in bags.
Background
The cement is used as an important material of buildings and is widely applied, and the loading system of the bagged cement is used as an important link in the cement production and transportation process, so that the cost of the loading system accounts for the great proportion of the logistics cost. At present, the conventional bagged cement truck loading equipment in China generally adopts a movable bagged cement truck loader, the truck loader adopts a semi-automatic truck loading mode, and a truck loading terminal of the truck loader requires workers to stand in a truck box for manual truck loading.
The manual loading mainly has the following problems: dust is easily generated in the loading process of bagged cement, so that the environment and the physical health of workers are influenced; because the manual loading and stacking are random, potential dangers such as personal and property are easy to generate; labor and production costs are high; the loading efficiency is low. In order to replace manual loading with robotic loading, it is important to determine the position of the body accurately and quickly in this application.
In addition, when the product is produced and needs to be transported to other places for storage or delivered to a next-link distributor, the goods need to be stacked on a truck and delivered to a designated place through the truck. In the existing loading work, most of the materials are directly conveyed to the upper part of a carriage by a conveying belt line, and stacking is finished manually; the labor intensity is high and the environment is severe. Most of automatic products loading are generally carried out, the products are stacked on a goods shelf or a tray, when loading is needed, the tray and goods are placed in a boxcar in a fork-lift mode through a fork lift, the method is high in requirements for factory site scale and investment fund, the tray is troublesome to recover in the circulation process, and large-scale popularization cannot be achieved.
In summary, it is urgently needed to provide a heating bagged material loading system which is compact in structure, small in occupied space, high in intelligent degree and strong in adaptability.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a compact structure, occupation space are little, intelligent degree is high, strong adaptability generate heat bagged materials loading system.
The above purpose is realized by the following technical scheme: the bagged material loading system comprises a laser vision system, a conveying system, a robot system and a control system, wherein the robot system comprises six industrial robots, a walking guide rail and robot clamps arranged on the six industrial robots, the industrial robots are arranged on the walking guide rail and can move along the walking guide rail, the conveying system is used for conveying bagged materials to preset positions, the industrial robots are arranged at the tail ends of the conveying system and used for loading the bagged materials on the conveying system, the laser vision system comprises two sets of linear laser sensors arranged on a ground fixing support and two sets of point laser sensors arranged on the six tail end clamps of the robots, the linear laser sensors and the point laser sensors are in communication connection with the control system, the control system receives information of the laser vision system and controls the conveying system, And the robot system is linked to realize automatic loading of bagged materials.
The utility model discloses a line laser sensor is used for tentatively fixing a position carriage position inspection carriage inclination, some laser sensor are used for the inspection carriage around the side wall board position and calculate carriage length and width size parameter, line laser sensor and some laser sensor will detect to calculate the parameter that obtains and upload to control system, control system receive laser vision system's information and control the packagine machine and the relevant transfer chain linkage in conveying system, robot system and upper reaches, the utility model discloses can realize the automatic loading pile up neatly of material, and can adapt to the automatic loading demand of different vehicles, simplified manual control's requirement, and entire system compact structure, occupation space is little, intelligent degree is high, strong adaptability.
The conveying system and the robot can keep linkage, and on one hand, the same distance between the horizontal direction and the movement of the robot can be ensured; on the other hand can guarantee when the pile up neatly layer number rises, the terminal roller bed transfer chain of snatching can rise the number of layers height that corresponds.
The further technical scheme is that the conveying system comprises a material receiving belt conveying line, a square roller shaping line, an inclined belt conveying line and a grabbing roller way conveying line which are sequentially arranged and connected. The square roller shaping line can realize the shaping function of bagged materials, so that the states of the bagged materials on the conveying line are kept consistent, and the subsequent robot can grab the bagged materials conveniently.
The technical scheme is that the material receiving belt conveying line is horizontally arranged, the inclined belt conveying line and the material receiving belt conveying line are arranged in an inclined angle mode, the square roller shaping line is arranged on the material receiving belt conveying line, the output end of the square roller shaping line is connected with the inclined belt conveying line, the tail end of the inclined belt conveying line is provided with a grabbing roller way conveying line which is connected with the grabbing roller way conveying line and used for horizontally conveying bagged materials, and the robot grabs the bagged materials on the grabbing roller way conveying line to load.
The further technical scheme is that the grabbing roller way conveying line is provided with a position avoiding groove and a lateral guide wheel. So set up, make things convenient for the robot tongs to snatch fast, reliably from wrapping bag below.
The technical scheme is that the square roller shaping line is connected with the grabbing roller bed conveying line through a four-bar linkage formed by a first connecting bar, a second connecting bar, a third connecting bar and an inclined belt conveying line, wherein the first connecting bar is longitudinally arranged at the joint of the square roller shaping line and the inclined belt conveying line and hinged with the square roller shaping line and the inclined belt conveying line, the second connecting bar is longitudinally arranged at the joint of the inclined belt conveying line and the grabbing roller bed conveying line and hinged with the inclined belt conveying line and the grabbing roller bed conveying line, and two ends of the third connecting bar are hinged with the first connecting bar and the second connecting bar respectively. So, utilize four-bar linkage's characteristic, guarantee oblique belt conveyor line in the lift in-process, still can guarantee that the terminal snatchs the roller way line level, the snatching of the robot of being convenient for.
The technical scheme is that the conveying system further comprises a lifting device arranged on the material receiving belt conveying line, the lifting device is connected with the grabbing roller way conveying line and can adjust the height of the grabbing roller way conveying line, and the lifting device is in communication connection with the control system. So, when guaranteeing the pile up neatly number of piles risees, conveying system terminal snatchs the number of piles height that the roller table transfer chain can rise the correspondence.
The further technical scheme is that the lifting device comprises a winch and a lifting rope, the lifting rope is connected with the grabbing roller bed conveying line, a laser displacement sensor used for detecting the height position of the grabbing roller bed conveying line is arranged on the winch, and the laser displacement sensor is in communication connection with the control system. Therefore, the distance between the horizontal direction of the grabbing roller way conveying line at the tail end of the conveying system and the movement of the robot can be guaranteed.
The bagged material loading system comprises a horizontal rail, the conveying system is integrally arranged on the horizontal rail and horizontally travels along the horizontal rail, a coding ruler for detecting the horizontal position of the conveying system is arranged on the conveying system, and the coding ruler is in communication connection with the control system. In the specific application process, a supporting platform is arranged in a factory building, the lower portion of the supporting platform is suspended to load and unload vehicles, a horizontal rail is arranged on the supporting platform, an inclined belt conveying line extends downwards to the lower portion of the supporting platform from the supporting platform, and a grabbing roller way conveying line is located in a loading and unloading area of the lower portion of the supporting platform.
The bagged material loading system further comprises a main conveying line and a turning chute, and the turning chute connects the main conveying line with the material receiving belt conveying line.
The further technical scheme is that the walking guide rail adopts a fully-enclosed metal plate dustproof structure. According to the arrangement, dust can be prevented from entering the walking guide rail, the service life is prolonged, and the later maintenance is reduced.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation.
Fig. 1 is a schematic structural view of a bagged material loading system according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a conveying system according to an embodiment of the present invention.
In the figure:
1 laser vision system, 2 conveying system, 3 robot system and 4 control system
5 6 vehicle 7 of supporting platform 8 main transfer chain that turn round
9 connect material belt conveyor 10 square roller plastic line 11 oblique belt conveyor 12 to snatch roller way transfer chain
13 first connecting rod 14 second connecting rod 15 third connecting rod 16 hoist
17 lifting rope
Detailed Description
The present invention will be described in detail with reference to the drawings, which are provided for illustrative and explanatory purposes only and should not be construed as limiting the scope of the present invention in any way. Furthermore, features from embodiments in this document and from different embodiments may be combined accordingly by a person skilled in the art from the description in this document.
The embodiment of the utility model provides a as follows, refer to fig. 1, a bagged material loading system, including laser vision system 1, conveying system 2, robot system 3 and control system 4, robot system 3 includes six industrial robots, walking guide rail and sets up the robot anchor clamps at six industrial robots, industrial robot sets up on the walking guide rail and can follow the motion of walking guide rail, conveying system 2 is used for carrying bagged material to preset position, industrial robot sets up the end of conveying system 2 is used for loading the bagged material on conveying system 2, laser vision system 1 includes two sets of line laser sensor and two sets of point laser sensor that install on the six end anchor clamps of robot on the ground fixed bolster, line laser sensor and point laser sensor with control system 4 communication connection, the control system 4 receives the information of the laser vision system 1 and controls the conveying system 2 and the robot system 3 to be linked to realize automatic loading of bagged materials.
The utility model discloses a line laser sensor is used for tentatively fixing a position the carriage position and detects carriage inclination, some laser sensor are used for examining the carriage around the side wall board position and calculate carriage length and width size parameter, line laser sensor and some laser sensor will detect the parameter that obtains of calculation and upload to control system 4, control system 4 receive laser vision system 1's information and control conveying system 2, robot system 3 and the packagine machine and the relevant transfer chain linkage in upper reaches, the utility model discloses can realize the automatic loading pile up neatly of material, and can adapt to the automatic loading demand of different vehicles 6, simplified manual control's requirement, and entire system compact structure, occupation space is little, intelligent degree is high, strong adaptability.
Specifically, the utility model discloses 1 platform of robot quantity, line laser install on ground fixed bolster, and six ends of point laser installation robot install two line laser on the fixed bolster of ground and detect parking position and measure carriage parking inclination, install two point laser measurement carriages on six epaxial robot and control breast board position around and calculate carriage length and width size.
The conveying system 2 and the robot can keep linkage, and on one hand, the same distance between the horizontal direction and the movement of the robot can be ensured; on the other hand, when the number of layers of the stacking is ensured to be increased, the tail end grabbing roller way conveying line 12 can be increased by the corresponding number of layers.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 and fig. 2, the conveying system 2 includes a material receiving belt conveying line 9, a square roller shaping line 10, an inclined belt conveying line 11 and a grabbing roller conveying line 12 which are sequentially arranged and connected. The square roller shaping line 10 can realize the shaping function of bagged materials, so that the bagged materials are kept consistent in state on a conveying line, and follow-up grabbing by a robot is facilitated.
On the basis of the embodiment, in the other embodiment of the utility model, as shown in fig. 2, connect material belt conveyor line 9 level to set up, belt conveyor line 11 becomes predetermined angle slope setting to one side, setting up of square roller plastic line 10 is on connecing material belt conveyor line 9, the output and the belt conveyor line 11 that inclines of square roller plastic line 10 link up, belt conveyor line 11's end to one side is equipped with to connect and is used for horizontal transport to treat the snatching roller way transfer chain 12 of material, the robot snatchs the dress material and carries out the loading on snatching roller way transfer chain 12.
On the basis of the above embodiment, in another embodiment of the present invention, the grabbing roller conveyor line 12 is provided with a avoiding groove and a lateral guide wheel. So set up, make things convenient for the robot tongs to snatch fast, reliably from wrapping bag below.
On the basis of the above-mentioned embodiment, in the utility model discloses in another embodiment, as fig. 2, square roller plastic line 10 with snatch the four-bar linkage that forms through first connecting rod 13, second connecting rod 14, third connecting rod 15 and oblique belt conveyor line 11 between the roller way conveyor line 12 and link up, wherein, first connecting rod 13 vertically sets up square roller plastic line 10 with oblique belt conveyor line 11's linking department and with square roller plastic line 10, oblique belt conveyor line 11 are articulated, second connecting rod 14 vertically sets up oblique belt conveyor line 11 with snatch roller way conveyor line 12's linking department and with oblique belt conveyor line 11, snatch roller way conveyor line 12 and articulate, the both ends of third connecting rod 15 are articulated with first connecting rod 13 and second connecting rod 14 respectively. Therefore, the characteristic of the four-bar linkage mechanism is utilized to ensure that the inclined belt conveyor line 11 can still ensure the horizontal grabbing roller line at the tail end in the lifting process, so that the robot can grab the inclined belt conveyor line conveniently.
On the basis of the above embodiment, in another embodiment of the utility model, as shown in fig. 2, conveying system 2 still including set up in connect the hoisting device of material belt transfer chain 9, hoisting device with it links to each other and is adjustable to snatch roller table transfer chain 12 snatch the height of roller table transfer chain 12, hoisting device with control system 4 communication connection. So, when guaranteeing the pile up neatly number of piles risees, 2 terminal grabbing roller way transfer chain 12 of conveying system can rise the number of piles height that corresponds.
On the basis of the above-mentioned embodiment, in another embodiment of the utility model, as in fig. 2, hoisting device includes hoist engine 16 and lifting rope 17, lifting rope 17 with it links to each other to snatch roller table transfer chain 12, be equipped with the laser displacement sensor who is used for detecting lifting rope 17 displacement on hoist engine 16, laser displacement sensor with control system 4 communication connection. Therefore, the tail end of the conveying system 2 can be guaranteed to grab the roller way conveying line 12, and the same distance between the horizontal direction and the robot movement can be guaranteed.
On the basis of the embodiment, in another embodiment of the utility model, bagged materials loading system includes horizontal track, conveying system 2 wholly sets up horizontal track is last and then follow horizontal track horizontal walking, be equipped with the coding chi that is used for detecting 2 horizontal position of conveying system on conveying system 2, the coding chi with control system 4 communication connection. In the specific application process, a supporting platform 5 is arranged in a factory building, the lower portion of the supporting platform 5 is suspended to be loaded and unloaded as a vehicle 6, a horizontal rail is arranged on the supporting platform 5, an inclined belt conveying line 11 is downwards extended to the lower portion of the supporting platform 5 from the supporting platform 5, and a grabbing roller way conveying line 12 is located in a loading and unloading area at the lower portion of the supporting platform 5.
On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the bagged material loading system further includes a main conveying line 8 and a turning scraper-trough conveyer 7, and the turning scraper-trough conveyer 7 connects the main conveying line 8 and the material receiving belt conveying line 9.
On the basis of the above embodiment, in another embodiment of the utility model, the walking guide rail adopts totally enclosed panel beating dustproof construction. According to the arrangement, dust can be prevented from entering the walking guide rail, the service life is prolonged, and the later maintenance is reduced.
The system work flow is as follows:
the vehicle 6 stops at the loading position according to the guidance line and the traffic light prompt;
a driver swipes a card to determine the cement loading quantity and presses a 'system start' key;
the ground line laser starts and detects the position information of the carriage and sends the position information to the system;
when the position of the carriage accords with the set parameters of the system, the robot descends into the carriage, the positions of front, rear, left and right side boards of the carriage are measured through two point lasers carried on a robot clamp and are sent to the system, and the system calculates the length and width parameters in the carriage, the position of the center line of the carriage and the initial point parameters of carriage loading and sends the information to the robot;
the robot carries out automatic compensation calculation according to the received carriage position information;
the control system 4 controls the conveying system 2 to horizontally walk and vertically lift to the loading starting point position according to the calculated carriage position information;
the grabbing roller way conveying line 11, the inclined belt conveying line 12, the square roller shaping line 10 and the material receiving belt line 9 are sequentially started, and cement packages enter the conveying system 2 from the packaging machine, the ash removing machine and the main conveying line 8 through the turning chute 7 until the cement packages reach the grabbing roller way conveying line 12;
the robot picks 3 bags each time and transversely stacks the bags into the carriage, after each stacking is carried out twice (two layers), the conveying system and the robot move by one step, and loading is carried out back and forth according to the S shape until the order number requirement is met;
after the loading operation is finished, the robot and the conveying system return to the original point, and the system prompts a driver to leave and enter the next order production state.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The bagged material loading system comprises a laser vision system, a conveying system, a robot system and a control system, and is characterized in that the robot system comprises six-axis industrial robots, a walking guide rail and robot clamps arranged on the six-axis industrial robots, the industrial robots are arranged on the walking guide rail and can move along the walking guide rail, the conveying system is used for conveying bagged materials to a preset position, the industrial robots are arranged at the tail ends of the conveying system and used for loading the bagged materials on the conveying system, the laser vision system comprises two sets of linear laser sensors arranged on a ground fixing support and two sets of point laser sensors arranged on the six-axis tail end clamps of the robots, the linear laser sensors and the point laser sensors are in communication connection with the control system, and the control system receives information of the laser vision system and controls the conveying system, And the robot system is linked to realize automatic loading of bagged materials.
2. The bagged material loading system according to claim 1, wherein the conveying system comprises a material receiving belt conveying line, a square roller shaping line, an inclined belt conveying line and a grabbing roller way conveying line which are arranged and connected in sequence.
3. The bagged material loading system according to claim 2, wherein the material receiving belt conveying line is horizontally arranged, the inclined belt conveying line and the material receiving belt conveying line are obliquely arranged at an angle, the square roller shaping line is arranged on the material receiving belt conveying line, an output end of the square roller shaping line is connected with the inclined belt conveying line, a grabbing roller way conveying line connected with the inclined belt conveying line for horizontally conveying bagged materials is arranged at the tail end of the inclined belt conveying line, and the robot grabs the bagged materials on the grabbing roller way conveying line for loading.
4. The bagged material loading system according to claim 2 or 3, wherein the grabbing roller way conveying line is provided with a spacing groove and a lateral guide wheel.
5. The bagged material loading system according to claim 3, wherein the square roller shaping line is connected with the grabbing roller way conveying line through a four-bar linkage formed by a first connecting bar, a second connecting bar, a third connecting bar and an inclined belt conveying line, wherein the first connecting bar is longitudinally arranged at the joint of the square roller shaping line and the inclined belt conveying line and hinged with the square roller shaping line and the inclined belt conveying line, the second connecting bar is longitudinally arranged at the joint of the inclined belt conveying line and the grabbing roller way conveying line and hinged with the inclined belt conveying line and the grabbing roller way conveying line, and two ends of the third connecting bar are hinged with the first connecting bar and the second connecting bar respectively.
6. The bagged material loading system of claim 5, wherein the conveying system further comprises a lifting device disposed on the material receiving belt conveying line, the lifting device is connected to the grabbing roller way conveying line and can adjust the height of the grabbing roller way conveying line, and the lifting device is in communication connection with the control system.
7. The bagged material loading system of claim 6, wherein the lifting device comprises a hoist and a lifting rope, the lifting rope is connected to the grabbing roller conveyor line, the hoist is provided with a laser displacement sensor for detecting the height position of the grabbing roller conveyor line, and the laser displacement sensor is in communication connection with the control system.
8. The bagged material loading system of claim 5, wherein the bagged material loading system comprises a horizontal rail, the conveying system is integrally arranged on the horizontal rail and further horizontally travels along the horizontal rail, a coding ruler for detecting the horizontal position of the conveying system is arranged on the conveying system, and the coding ruler is in communication connection with the control system.
9. The bagged material loading system of claim 8, further comprising a main conveyor line and a turning conveyor that connects the main conveyor line with a receiving belt conveyor line.
10. The bagged material loading system of claim 8, wherein the travel rail is of a fully enclosed sheet metal dust-proof structure.
CN201922284092.1U 2019-12-18 2019-12-18 Bagged material loading system Active CN212126855U (en)

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Application Number Priority Date Filing Date Title
CN201922284092.1U CN212126855U (en) 2019-12-18 2019-12-18 Bagged material loading system

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Application Number Priority Date Filing Date Title
CN201922284092.1U CN212126855U (en) 2019-12-18 2019-12-18 Bagged material loading system

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111071822A (en) * 2019-12-18 2020-04-28 湖南中南智能装备有限公司 Bagged material loading system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111071822A (en) * 2019-12-18 2020-04-28 湖南中南智能装备有限公司 Bagged material loading system

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Effective date of registration: 20210809

Address after: 241000 8th floor, comprehensive service center of Management Committee of Economic Development Zone, Fanchang District, Wuhu City, Anhui Province

Patentee after: Anhui Conch Zhongnan intelligent robot Co.,Ltd.

Address before: 410000 Building 2, zhiting garden, Zhenhua Road, Yuhua District, Changsha City, Hunan Province

Patentee before: Hunan Zhongnan Intelligent Equipment Co.,Ltd.

TR01 Transfer of patent right