CN108750721B - Control method of arm-shifting type automatic loading robot - Google Patents
Control method of arm-shifting type automatic loading robot Download PDFInfo
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- 230000003287 optical effect Effects 0.000 claims abstract description 5
- 238000007405 data analysis Methods 0.000 claims abstract description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/18—Preventing escape of dust
- B65G69/181—Preventing escape of dust by means of sealed systems
- B65G69/182—Preventing escape of dust by means of sealed systems with aspiration means
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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
- 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
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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Abstract
The invention discloses a control method of a shifting arm type automatic loading robot, which comprises the following steps: step A: preparing a loading robot; and B: setting a position; and C: preparing for loading; the data center controls the work of the closed dust removal system; step D: the data center controls the conveying mechanism to work; step E: the optical sensor arranged on the conveying mechanism detects the distance between the bagged material bags and transmits data to the data center; step F: detecting the placing direction of the bagged material packet; step H: the position is detected, the detection data are transmitted to a data center, and the data center performs data analysis and controls the distance between the lifting mechanism and one side of a carriage of the vehicle; step I: detecting the position of a bagged material bag right below a vehicle box body/a loading machine head assembly of the loading machine head assembly; step J: the loading is completed. The invention effectively realizes automatic loading and can effectively correct the deviation.
Description
Technical Field
The invention relates to the technical field, in particular to a control method of a shifting arm type automatic loading robot.
Background
The current flow of solid materials is divided into two forms: bulk and bagged. The form of bulk is widely applied in developed countries, and is mainly applied to solid materials with better circulation, so that a large amount of packaging cost and labor cost for loading and unloading can be saved, and time, labor and money are saved. The defect is that the method has strong limitation and must be suitable for materials with strong circulation. Meanwhile, the requirements for land transportation are higher, the land transportation needs to be carried out by van vehicles or containers, and equipment for loading and unloading bulk goods needs to be provided.
The bag packaging mode is flexible, and the loading, unloading and transportation are convenient. The disadvantage is that a large amount of packaging cost and labor cost for loading and unloading are consumed. Foreign labor cost is high, so bagged goods are mostly transported by adopting a tray, materials are stacked on the tray by using a stacking machine and then are loaded and unloaded by using loading and unloading equipment such as a forklift. The biggest disadvantage of pallet loading and transportation is that the product cost is added together with the pallet when the product is sold, which increases the product cost. The tray loading and transporting device is only adopted in developed countries with higher labor cost or thick, unwieldy and scarce labor force, and the application of the tray loading and transporting in China is less.
With the rapid development of the economy of China and the improvement of the living standard of people, the phenomenon of labor shortage gradually appears in China in recent years, and particularly, the shortage of thick and unwieldy labor is more serious. The original condition of loading by manpower is gradually replaced by loading and unloading machinery, the loading and unloading operation in China is developed to the present, most products are stacked on a tray, and the products are unloaded from the tray and loaded when sold. Although the mode still consumes a large amount of manpower, compared with the traditional full-manual loading, the mode saves much time and labor, and also saves much cost compared with the situation that developed countries sell pallets together. Therefore, in the current conditional enterprises in China, the method is gradually adopted: products are stacked on the tray, the forklift is stacked in the warehouse, and the products are unloaded from the tray.
In the field of loading bagged goods, the mode of a conveyor is adopted for the vast majority in China at present: and manually unloading the products from the tray or the material pushing trolley, putting the products into a conveyor to be conveyed to the carriage, and putting the products conveyed by the conveyor into the carriage by the worker at the other end of the conveyor.
At present, domestic conveyors comprise: mobile conveyors, telescopic conveyors, van conveyors, etc. However, any conveyor is only convenient to move manually, cannot finish automatic loading, and needs to be manually connected with the other end of the conveyor for placing. A carloader with high manufacturing cost appears in the cement industry, but the carloader is a movable conveyor actually, the conveyor is only hung on a vehicle and is convenient to move up and down and back and forth, the operation and the placement are further performed in the aspect of loading compared with a common conveyor, the automation of loading cannot be completed due to the fact that the conveyor needs to be operated and placed manually, meanwhile, the carloader is manually loaded by means of conveying equipment, and due to the fact that the carloader cannot be accurately placed when the carloader is placed, the phenomenon that bagged goods packages are overlapped with one another is easily caused, and certain difficulty is caused for unloading.
Disclosure of Invention
The invention aims to provide a control method of a shifting arm type automatic loading robot, which can realize automatic material shifting by a material placing mechanism, effectively avoid damage to a bagged material bag and improve the working efficiency by mechanical operation.
The invention is realized by the following technical scheme:
a control method of a shifting arm type automatic loading robot is provided, the loading robot starts to operate after a loading vehicle stops at a designated position, and the control method comprises the following steps:
step A: preparing a loading robot;
firstly, positioning the position of a carriage of a vehicle to be loaded, and sending the position to a data center for analysis and processing;
and B: according to the position and the length of a compartment of a vehicle to be loaded, a loading robot moves a follow-up frame provided with a guide rail, a conveying mechanism, a loading machine head assembly, a lifting mechanism and a closed dust removal system to a position in the compartment of the vehicle to be loaded;
and C: according to the width of the carriage, the loading robot adjusts the positions of the conveying mechanism, the loading machine head assembly, the lifting mechanism and the closed dust removal system to adapt to the width of the carriage, and then loading preparation is carried out after the adjustment is finished; the data center controls the work of the closed dust removal system;
step D: the bagged material bags after bagged packaging are transported to a feeding device from a production line of a production workshop through the existing equipment, the feeding device places the bagged material bags on a conveying mechanism as required, and a data center controls the conveying mechanism to work;
step E: the photoelectric sensor arranged on the conveying mechanism detects the distance between the bagged material bags and transmits data to the data center;
when the bagged material bags meet the spacing requirement, the conveying mechanism conveys the bagged material bags to a loader head assembly;
when the spacing between the bagged material bags is not accordant, the conveying speed is adjusted;
step F: after the bagged material bags are conveyed to the loading machine head assembly, two optical sensors arranged on one side of a main frame of the loading machine head assembly, which is close to the conveying mechanism, detect the placing direction of the bagged material bags;
if the placing direction is the same as the required placing direction, the data center controls the material stirring mechanism to directly convey the bagged material packet to the moving material box mechanism;
if the placement direction is opposite to the required placement direction, the data center controls the material poking mechanism to change the bagged material package, so that the bagged material package falls onto the moving box body mechanism;
step H: the data center detects the position of the bagged material bag right below the car loader head assembly and the car box body/car loader head assembly through a distance sensor arranged on the car loader head assembly close to one side of the car box body, transmits the detection data to the data center, and performs data analysis and controls the distance of the lifting mechanism close to one side of a carriage of the car;
when the stacking distance is met, the data center controls a material shifting mechanism arranged on a car loader head assembly to drop the bagged material package onto a moving material box mechanism, and the bagged material package is stacked through the moving material box mechanism;
when the stacking requirement is not met, the data center controls the lifting mechanism to adjust the distance to meet the stacking requirement, and stacking of the bagged material bags is achieved through the moving material box mechanism;
step I: after the bagged material bags are stacked at the designated positions in the carriage, the data center adjusts the position relation between the loading machine head assembly and the bagged material bags placed in the carriage in a control follow-up manner;
if the same position in the carriage is not stacked to the designated height, the data center controls the lifting mechanism to move towards one side far away from the carriage;
if the same position in the carriage is stacked to a specified height, the numerical control center controls the lifting mechanism and the closed dust removal system to move to other positions of the carriage where the bagged material bags are not stacked, and the stacking work of the bagged material bags is repeated again;
step J: after the bagged material bags are all stacked at the designated positions in the carriages, the data center controls the loading machine head assembly to evacuate from the carriages through the lifting mechanism, and the loading is finished.
Further, in order to better realize the invention, the conveying mechanism comprises an input conveying section and a variable speed conveying section which are sequentially arranged from the input end to the output end of the conveying mechanism and are respectively driven by two groups of motors, wherein the inner side surface of the input conveying section is provided with a photoelectric sensor, and the motors and the photoelectric sensors are both connected with a data center circuit;
the step E specifically comprises the following steps: in the conveying process, the photoelectric sensor detects the position relation of the bagged material bag on the conveying mechanism in real time, detected data are transmitted to the data center in real time, and the data center analyzes the detected data and identifies whether the bagged material bag meets the requirement of the placing direction;
when the bagged material bags meet the spacing requirement, the bagged material bags directly pass through the input conveying section and the variable speed conveying section to reach the machine head assembly of the machine;
when the spacing between the bagged material bags is inconsistent, the data center controls the motor of the variable-speed conveying section to work, and adjusts the conveying speed of the bagged material bags on the variable-speed conveying section so as to adjust the position relation of the bagged material bags.
Furthermore, in order to better realize the invention, the material poking mechanism comprises a first material supporting table which is symmetrically arranged in the mounting cavity along the center line of the conveying direction of the conveying mechanism and two material placing mechanisms which are arranged on the main frame and are symmetrically arranged along the center line of the conveying direction of the conveying mechanism;
one side of the conveying mechanism, which is close to the material placing mechanism, and one side of the first material supporting table, which is close to the material placing mechanism, are on the same plane; the movement material box mechanism comprises a discharging platform arranged on one side, away from the material placing mechanism, of the first material supporting platform and a guiding movement mechanism which is arranged on one side, away from the material placing mechanism, of the main frame and used for controlling the discharging platform to receive bagged material bags, and one side of the discharging platform is connected with one side, away from the conveying mechanism, of the guiding movement mechanism in a sliding mode; the material placing mechanism further comprises a second material supporting platform which is arranged between the first material supporting platforms and is arranged in the mounting cavity; one sides of the first material supporting platform and the second material supporting platform, which are close to the material placing mechanism, are on the same plane; the center line of the second material supporting table along the conveying direction of the conveying mechanism and the center line of the conveying direction of the conveying mechanism are on the same straight line; the two material placing mechanisms are close to one side of each other and are used for placing a channel through which bagged material bags in opposite directions pass; the first material supporting platform, the second material supporting platform and the discharging platform are identical in structure.
Further, in order to better implement the present invention, step F specifically refers to: if the placing direction is the same as the required placing direction, the data center controls the two material placing mechanisms to move towards one side close to each other to push the bagged material package to the first material supporting platform, and the numerical control center controls a cylinder connected with the first material supporting platform and the data center to drive the material supporting plate to move downwards so as to convey the bagged material package to the moving material box mechanism;
if when opposite with the required direction of placing, data center will control two pendulum material mechanisms and separately open the passageway, realize directly carrying bagged materials package to the second and hold in the palm the material bench, thereby data center will control the second hold in the palm the material bench with the cylinder drive that data center is connected ask the flitch downstream with bagged materials package fall into the motion box structural.
Furthermore, in order to better realize the invention, the motion material box mechanism comprises a discharging platform arranged on one side of the first material supporting platform far away from the material placing mechanism, and a guiding motion mechanism which is arranged on one side of the main frame far away from the material placing mechanism and is used for controlling the discharging platform to receive the bagged material bags, wherein one side of the discharging platform is connected with one side of the guiding motion mechanism far away from the conveying mechanism in a sliding manner;
when the placing direction meets the requirement, when the bagged material package falls into the discharging table from the first material supporting table, the data center controls the discharging table to move towards the position under the first material supporting table through the guide movement mechanism, and when the bagged material package reaches the position under the first material supporting table, the numerical control center controls the first material supporting table to control a cylinder connected with the data center to drive the material supporting plate to move downwards, so that the bagged material package falls into the discharging table;
when placing the direction and not meeting the requirements, when falling into the platform of unloading with bagged material package from the second asks the material platform, data center will control the motion under the discharge table to the second asks the material platform through guiding movement mechanism, when arriving under the second asks the material platform, numerical control center will control the cylinder drive that second asks the material platform and data center to be connected and ask the flitch downstream, realizes that bagged material package falls into on the discharge table.
Further, in order to better implement the present invention, the stacking of the bagged material packets in the step H by the moving material box mechanism specifically includes:
step H1: the data center controls the discharge platform on which the bagged material packet is placed to move to the position where the bagged material packet needs to be stacked through the guide motion mechanism according to the position where materials are stacked in the compartment;
step H2: after reaching the position; the data control center controls the air cylinder on the discharging platform to drive the material supporting plate on the discharging platform to move downwards, and the bagged material package is stacked in the carriage.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the distance between the loading machine head assembly and the box body of the loading equipment is effectively reduced and adjusted through the lifting mechanism, automatic loading of the bagged material package is effectively realized, and meanwhile, the pollution to the environment in the loading process is effectively reduced;
(2) according to the automatic material stirring device, the material stirring can be automatically realized through the arranged material stirring mechanism, the damage to the bagged material bag is effectively avoided, and the mechanical operation improves the working efficiency;
(3) the deviation correction device can effectively correct the position of the bagged material bag incorrectly, so that the positions of the bagged material bags entering the charging equipment are consistent, and the utilization rate of the charging space is effectively improved;
(4) the invention effectively limits the motion trail of the V-shaped bracket through the arc-shaped plate;
(5) according to the conveying mechanism, the conveying speed of the variable-speed conveying section is adjusted according to the distance between adjacent bagged objects detected by the photoelectric sensor on the input conveying section, so that the bagged objects enter the loading machine head assembly at a constant speed to be loaded and stacked;
(6) the closed dust removal system is used for removing dust in the loading workshop, improving the working environment in the loading workshop and reducing the health injury of the environment in the loading workshop to workers working in the loading workshop or entering and exiting the loading workshop;
(7) the closed dust removal system and the lifting host device move synchronously, namely move synchronously with the loading machine head assembly, so that the dust hood of the closed dust removal system is correspondingly arranged above the loading position, and dust is removed from the loading position with serious dust pollution, and the dust removal effect is better;
(8) the invention has simple structure and strong practicability.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 at C according to the present invention;
FIG. 3 is a schematic view of the connection between the lifting mechanism and the loading mechanism assembly according to the present invention;
FIG. 4 is a schematic structural view of a truck loader head assembly according to the present invention
FIG. 5 is a schematic view showing a connection relationship between a material placing mechanism, a first material supporting table, a second material supporting table and a material discharging table according to the present invention;
FIG. 6 is a schematic view of the structure of FIG. 5 at A in accordance with the present invention;
FIG. 7 is a schematic view of the structure of FIG. 3 at B in accordance with the present invention;
FIG. 8 is a schematic structural diagram of the closed dedusting system of the present invention;
10-a main frame, 101-a guide rail, 102-a guide plate 102, 2-a loading machine head assembly, 21-a material swinging mechanism, 211-a limiting plate, 212-a buffer block, 213-a driving motor, 214-a guide block, 22-a first material supporting platform, 23-a material discharging platform, 24-a second material supporting platform, 251-a driving rod, 252-a hinged rod, 253-a connecting rod, 254-a rotating shaft, 255-a cylinder, 256-a material supporting plate, 3-a conveying mechanism, 4-a lifting mechanism, 41-a lifting device, 42-a guide sleeve, 421-a pulley block, 43-a guide column and 431-a sliding rod; 5-closed dust removal system, 31-input conveying section, 311-input conveying frame, 312-conveying hinge, 32-variable speed conveying section, 321-variable speed section, 322-output section, 323-variable speed conveying frame, 324-variable speed conveying hinge, 33-photoelectric sensor, 51-dust hood, 52-fan, 53-dust remover, 54-return air channel, 55-dust collection pipeline and 56-mounting table.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1:
the invention is realized by the following technical scheme, as shown in figures 1-8, a control method of a shifting arm type automatic loading robot is characterized in that: after a vehicle to be loaded stops at a specified position, the loading robot starts to operate, and the method comprises the following steps:
step A: preparing a loading robot;
firstly, positioning the position of a carriage of a vehicle to be loaded, and sending the position to a data center for analysis and processing;
and B: according to the position and the length of a compartment of a vehicle to be loaded, a loading robot moves a follow-up frame provided with a guide rail 1, a conveying mechanism 3, a loading mechanism assembly 2, a lifting mechanism 4 and a closed dust removal system 5 to a position in the compartment of the vehicle to be loaded;
and C: according to the width of the carriage, the loading robot adjusts the positions of the conveying mechanism 3, the loading mechanism assembly 2, the lifting mechanism 4 and the closed dust removal system 5 to adapt to the width of the carriage, and enters loading preparation after the adjustment is finished; the data center controls the closed dust removal system 5 to work;
step D: the bagged material bags which are packaged in bags are transported to a feeding device from a production line of a production workshop through the existing equipment, the feeding device places the bagged material bags on a conveying mechanism 3 according to requirements, and a data center controls the conveying mechanism 3 to work;
step E: the photoelectric sensor 33 arranged on the conveying mechanism 3 detects the distance between the bagged material bags and transmits the data to the data center;
when the bagged material bags meet the space requirement, the conveying mechanism 3 conveys the bagged material bags to the loading mechanism assembly 2;
when the spacing between the bagged material bags is not accordant, the conveying speed is adjusted;
step F: after the bagged material packet is conveyed to the loading mechanism assembly 2, two optical sensors arranged on one side of a main frame of the loading mechanism assembly 2 close to the conveying mechanism 3 detect the placement direction of the bagged material packet;
if the placing direction is the same as the required placing direction, the data center controls the material stirring mechanism to directly convey the bagged material packet to the moving material box mechanism;
if the placement direction is opposite to the required placement direction, the data center controls the material poking mechanism to change the bagged material package, so that the bagged material package falls onto the moving box body mechanism;
step H: the bagged material package falls into the moving box body mechanism, the data center detects the positions of the bagged material package under the loading mechanism assembly 2 and the vehicle box body/loading mechanism assembly 2 through a distance sensor arranged on one side of the loading mechanism assembly 2 close to the vehicle box body, the detected data are transmitted to the data center, and the data center analyzes the data and controls the distance of the lifting mechanism 4 close to one side of a carriage of the vehicle;
when the stacking distance is met, the data center controls a material stirring mechanism arranged on the loading mechanism assembly 2 to drop the bagged material package onto the moving material box mechanism, and the stacking of the bagged material package is realized through the moving material box mechanism;
when not satisfying the requirement of putting things in good order, data center will control elevating system 4 and adjust the requirement of putting things in good order to the distance, and rethread motion workbin mechanism realizes the stack to bagged materials package.
Step I: after the bagged material bags are stacked at the designated positions in the carriage, the data center controls the following to adjust the position relation between the loading mechanism assembly 2 and the bagged material bags placed in the carriage;
if the same position in the carriage is not stacked to the designated height, the data center controls the lifting mechanism 4 to move towards the side far away from the carriage;
if the same position in the carriage is stacked to the designated height, the numerical control center controls the lifting mechanism 4 and the closed dust removal system 5 to move to other positions of the carriage for stacking the bagged material bags, and the stacking work of the bagged material bags is repeated again;
step J: after the bagged material packages are all stacked at the designated positions in the carriages, the data center withdraws the vehicle from the carriages by controlling the loading mechanism assembly 2 through the lifting mechanism 4, and the loading is finished.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 2:
in this embodiment, a control method of a boom-shifting type automatic loading robot is further optimized based on the above embodiments, as shown in fig. 1, and after a loaded vehicle stops at a designated position, the loading robot starts to operate, including the following steps:
step A: preparing a loading robot;
firstly, positioning the position of a carriage of a vehicle to be loaded, and sending the position to a data center for analysis and processing;
and B: according to the position and the length of a compartment of a vehicle to be loaded, a loading robot moves a follow-up frame provided with a guide rail 1, a conveying mechanism 3, a loading machine head assembly 2, a lifting mechanism 4 and a closed dust removal system 5 to a position in the compartment of the vehicle to be loaded;
and C: according to the width of the carriage, the loading robot adjusts the positions of the conveying mechanism 3, the loading machine head assembly 2, the lifting mechanism 4 and the closed dust removal system 5 to adapt to the width of the carriage, and enters loading preparation after the adjustment is finished; the data center controls the closed dust removal system 5 to work;
step D: the bagged material bags which are packaged in bags are transported to a feeding device from a production line of a production workshop through the existing equipment, the feeding device places the bagged material bags on a conveying mechanism 3 according to requirements, and a data center controls the conveying mechanism 3 to work;
step E: the photoelectric sensor 33 arranged on the conveying mechanism 3 detects the distance between the bagged material bags and transmits the data to the data center;
when the bagged material bags meet the space requirement, the conveying mechanism 3 conveys the bagged material bags to the loader head assembly 2;
when the spacing between the bagged material bags is not accordant, the conveying speed is adjusted;
step F: after the bagged material package is conveyed to the loading machine head assembly 2, two optical sensors arranged on one side of a main frame of the loading machine head assembly 2 close to the conveying mechanism 3 detect the placement direction of the bagged material package;
if the placing direction is the same as the required placing direction, the data center controls the material stirring mechanism to directly convey the bagged material packet to the moving material box mechanism;
if the placement direction is opposite to the required placement direction, the data center controls the material poking mechanism to change the bagged material package, so that the bagged material package falls onto the moving box body mechanism;
step H: the bagged material package falls into the moving box mechanism, the data center detects the positions of the bagged material package under the car loader head assembly 2 and the car box body/car loader head assembly 2 through a distance sensor arranged on one side of the car loader head assembly 2 close to the car box body, the detected data are transmitted to the data center, and the data center performs data analysis and controls the distance of the lifting mechanism 4 close to one side of a carriage of the car;
when the stacking distance is met, the data center controls a material stirring mechanism arranged on the car loader head assembly 2 to drop the bagged material package onto the moving material box mechanism, and the stacking of the bagged material package is realized through the moving material box mechanism;
when not satisfying the requirement of putting things in good order, data center will control elevating system 4 and adjust the requirement of putting things in good order to the distance, and rethread motion workbin mechanism realizes the stack to bagged materials package.
Step I: after the bagged material bags are stacked at the designated positions in the carriage, the data center controls the follow-up adjustment of the position relation between the loader head assembly 2 and the bagged material bags placed in the carriage;
if the same position in the carriage is not stacked to the designated height, the data center controls the lifting mechanism 4 to move towards the side far away from the carriage;
if the same position in the carriage is stacked to the designated height, the numerical control center controls the lifting mechanism 4 and the closed dust removal system 5 to move to other positions of the carriage where the bagged material bags are not stacked, and the stacking work of the bagged material bags is repeated again;
step J: after the bagged material bags are all stacked at the designated positions in the carriages, the data center can control the loading machine head assembly 2 to evacuate from the carriages through the lifting mechanism 4, and the loading is finished.
The conveying mechanism 3 comprises an input conveying section 31 and a variable speed conveying section 32 which are sequentially arranged from the input end to the output end of the conveying mechanism and are respectively driven by two groups of motors, a photoelectric sensor 33 is arranged on the inner side surface of the input conveying frame 311, and the motors and the photoelectric sensors 33 are both connected with a data center circuit;
the step E specifically comprises the following steps: in the conveying process, the photoelectric sensor 33 detects the position relation of the bagged material bag on the conveying mechanism 3 in real time, transmits the detection data to the data center in real time, and the data center analyzes the detected data and identifies whether the bagged material bag meets the requirement of the placing direction; when the bagged material bag meets the space requirement, the bagged material bag directly passes through the input conveying section 31 and the variable speed conveying section 32 and reaches the machine head assembly of the machine;
when the spacing between the bagged material bags is inconsistent, the data center controls the motor of the variable-speed conveying section to work, and adjusts the conveying speed of the bagged material bags on the variable-speed conveying section so as to adjust the position relation of the bagged material bags.
The material poking mechanism comprises a first material supporting platform 22 and two material placing mechanisms 21, wherein the first material supporting platform 22 is symmetrically arranged in the installation cavity along the center line of the conveying direction of the conveying mechanism 3, and the two material placing mechanisms 21 are arranged on the main frame 10 and are symmetrically arranged along the center line of the conveying direction of the conveying mechanism 3;
one side of the conveying mechanism 3 close to the material placing mechanism 21 and one side of the first material supporting platform 22 close to the material placing mechanism 21 are on the same plane; the movement material box mechanism comprises a discharging platform 23 arranged on one side, far away from the material placing mechanism 21, of the first material supporting platform 22 and a guiding movement mechanism which is arranged on one side, far away from the material placing mechanism 21, of the main frame 10 and used for controlling the discharging platform 23 to receive bagged material bags, and one side of the discharging platform 23 is connected with one side, far away from the conveying mechanism 3, of the guiding movement mechanism in a sliding mode; the material placing mechanism 21 further comprises a second material supporting platform 24 which is arranged between the first material supporting platforms 22 and is installed in the installation cavity; one sides of the first material supporting platform 22 and the second material supporting platform 24 close to the material placing mechanism 21 are on the same plane; the central line of the second material supporting platform 24 along the conveying direction of the conveying mechanism 3 and the central line of the conveying direction of the conveying mechanism 3 are on the same straight line; the two material placing mechanisms 21 are close to one side and used for placing a channel through which bagged material bags in opposite directions pass; the first material supporting platform 22, the second material supporting platform 24 and the discharging platform 23 have the same structure.
The step F specifically comprises the following steps: if the placing direction is the same as the required placing direction, the data center controls the two material placing mechanisms 21 to move towards one side close to each other to push the bagged material package to the first material supporting platform 22, and the numerical control center controls a cylinder connected with the first material supporting platform 22 and the data center to drive the material supporting plate to move downwards so as to convey the bagged material package to the material moving box mechanism;
if when opposite with the required direction of placing, data center will control two pendulum material mechanisms 21 and separately open the passageway, realize directly carrying on second holds in the palm material platform 24 bagged materials package, thereby data center will control on second holds in the palm material platform 24 and the cylinder drive that is connected with data center holds in the palm the flitch downstream with bagged materials package and fall into the motion box structural.
The movement material box mechanism comprises a discharging platform 23 arranged on one side, far away from the material placing mechanism 21, of the first material supporting platform 22 and a guiding movement mechanism which is arranged on one side, far away from the material placing mechanism 21, of the main frame 10 and used for controlling the discharging platform 23 to receive bagged material bags, and one side of the discharging platform 23 is connected with one side, far away from the conveying mechanism 3, of the guiding movement mechanism in a sliding mode;
when the placing direction meets the requirement, when the bagged material bag falls into the discharging table 23 from the first material supporting table 22, the data center controls the discharging table 23 to move towards the position under the first material supporting table 22 through the guide movement mechanism, and when the bagged material bag reaches the position under the first material supporting table 22, the numerical control center controls the first material supporting table 22 to control the cylinder connected with the data center to drive the material supporting plate to move downwards, so that the bagged material bag falls onto the discharging table 23;
when the placing direction does not meet the requirement, when the bagged material package falls into the discharging table 23 from the second material supporting table 24, the data center controls the discharging table 23 to move towards the position under the second material supporting table 24 through the guide movement mechanism, and when the bagged material package reaches the position under the second material supporting table 24, the numerical control center controls the cylinder connected with the data center of the second material supporting table 24 to drive the material supporting plate to move downwards, so that the bagged material package falls onto the discharging table 23;
step H is realized specifically including the stack to bagged material package through motion workbin mechanism:
step H1: the data center controls the discharge platform 23 with the bagged material package to move to the position where the bagged material package needs to be stacked through the guide motion mechanism according to the position where the materials are stacked in the compartment;
step H2: after reaching the position; the data control center controls the air cylinder on the discharging platform 23 to drive the material supporting plate on the discharging platform 23 to move downwards, so that the bagged material bags are stacked in the carriage.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 3:
the present embodiment is further optimized based on the above embodiments, and as shown in fig. 1, the arm-shifting type automatic loading robot includes: the device comprises two guide rails 1 arranged in parallel, a loading mechanism assembly 2, a conveying mechanism 3 with one end slidably mounted on the two guide rails 1 and sliding along the length direction of the two guide rails 1, a lifting mechanism 4 used for lifting or descending the loading mechanism assembly 2 and the loading mechanism assembly 2; the other end of the conveying mechanism 3 is connected with the loading mechanism assembly;
the car loading mechanism assembly 2 comprises a material stirring mechanism respectively connected with the conveying mechanism 3 and the guide post 43 and a motion material box mechanism arranged on one side of the material stirring mechanism far away from the guide post 43;
the material shifting mechanism comprises a main frame 10 which is provided with a mounting cavity and is connected with one end of the guide pillar, which is far away from the guide sleeve, a first material supporting platform 22 which is symmetrically arranged in the mounting cavity along the center line of the conveying direction of the conveying mechanism 3, and two material placing mechanisms 21 which are arranged on the main frame 10 and are symmetrically arranged along the center line of the conveying direction of the conveying mechanism 3;
one side of the conveying mechanism 3 close to the material placing mechanism 21 and one side of the first material supporting platform 22 close to the material placing mechanism 21 are on the same plane; motion workbin mechanism keeps away from the discharge table 23 of pendulum material mechanism 21 one side, installs and keeps away from pendulum material mechanism 21 one side and is used for controlling discharge table 23 to receive the guiding movement mechanism of bagged materials package at main frame 10 including setting up at first support material platform 22, conveying mechanism 3 one side sliding connection is kept away from with guiding movement mechanism to one side of discharge table 23.
The guide column 43 comprises a plurality of sliding rods 431 for connecting the tipping mechanism assembly 2 and a connecting plate arranged between the sliding rods 431; a pulley block 421 matched with the sliding rod 431 is arranged on one side of the guide sleeve 42 close to the sliding rod 431.
The material placing mechanism 21 further comprises a second material supporting platform 24 which is arranged between the first material supporting platforms 22 and is installed in the installation cavity; one sides of the first material supporting platform 22 and the second material supporting platform 24 close to the material placing mechanism 21 are on the same plane; the central line of the second material supporting platform 24 along the conveying direction of the conveying mechanism 3 and the central line of the conveying direction of the conveying mechanism 3 are on the same straight line.
The first material supporting platform 22 comprises two material supporting plates 256 which are symmetrically arranged and a driving mechanism for driving the material supporting plates 256 to move towards one side close to the discharging platform 23;
the driving mechanism comprises an air cylinder 255 externally connected with an air pressure system, a driving rod 251 connected with an output shaft of the air cylinder 255 and two rotating shafts 254 respectively connected with two ends of the driving rod 251, and the material supporting plate 256 is fixedly arranged on the side surface of the rotating shaft 254; a connecting rod 253 with one end fixedly connected with the rotating shaft 254 and a hinged rod 252 intersecting with the other end of the connecting rod 253 are arranged between the driving rod 251 and the rotating shaft 254, and one end of the hinged rod 252 far away from the connecting rod 253 is hinged with the free end of the driving rod 251; the air cylinder 255 is arranged on one side of the retainer plate 256 far away from the second retainer table 24;
the first material supporting platform 22, the second material supporting platform 24 and the discharging platform 23 have the same structure, and the driving mechanism of the second material supporting platform 24 is arranged on one side, far away from the material supporting plate 256, of the first conveying mechanism 3; the driving mechanism of the discharge table 23 is disposed on the side close to/far from the guide movement mechanism.
The material swinging mechanism 21 comprises a driving motor 213 mounted on the main frame 10, and a swinging arm connected with an output shaft of the driving motor 213 and reciprocating along the circumferential direction of the output shaft; the swing arm is disposed above the first material supporting table 22.
The main frame 10 is provided with a support plate for fixing the driving motor 213, and an output shaft of the driving motor 213 passes through the support plate to be rotatably connected with the swing arm.
The swing arm comprises a V-shaped bracket and a limiting plate 211, wherein one end of the V-shaped bracket is rotationally connected with an output shaft of the driving motor 213, and the limiting plate 211 is arranged on one side of the V-shaped bracket, which is far away from the conveying mechanism 3; a buffer block 212 is arranged on one side of the V-shaped brackets, which is close to each other; the smaller end of the V-shaped bracket is rotationally connected with an output shaft of a driving motor 213; the V-shaped support comprises a connecting rod rotatably connected with an output shaft of the driving motor 213 and a V-shaped support body connected with one side of the connecting rod, which is far away from the output shaft of the driving motor 213.
The size of the output shaft of the driving motor 213, which is away from the end of the V-shaped bracket, away from the output shaft of the driving motor 213 is smaller than the size of the output shaft of the driving motor 213, which is away from the side of the output shaft of the driving motor 213, away from the first material supporting table 22 on the same side as the V-shaped bracket, and is larger than the size of the output shaft of the driving motor 213, which is away from the side of the first material supporting table 22 on the same side as the V-shaped bracket, away from the side of the.
the main frame 10 is further provided with a guide block 214 axially arranged along the output shaft of the driving motor 213, and one side of the V-shaped bracket close to the driving motor 213 is provided with a guide rail 101 slidably mounted on the guide block 214.
The conveying mechanism 3 comprises an input conveying section 31 and a variable speed conveying section 32 which are sequentially arranged from the input end to the output end of the conveying mechanism and are respectively driven by two groups of motors, the input conveying section 31 comprises an input conveying frame 311 and a conveying hinge 312, the variable speed conveying section 32 comprises a variable speed conveying frame 323 and a variable speed conveying hinge 324, and the output section of the input conveying frame 311 is hinged with the input end of the variable speed conveying frame 323; the photoelectric sensor 33 is arranged on the inner side surface of the input transmission frame 311, the motor and the photoelectric sensor 33 are both connected with a control system circuit, and the motor for driving the variable speed transmission section 32 is a variable speed motor; the input end of the input conveying section 31 is erected on the two guide rails 1 and can move along the guide rails 1; the output section of output conveying end and carloader mechanism assembly 2 fixed connection, elevating system 4 sets up on two guide rails 1 and can follow guide rail 1 and remove.
The inner side surface of the input transmission frame 311 is provided with two photoelectric sensors 33 which are all connected with a control system circuit or is equidistantly provided with more than three photoelectric sensors 33 which are all connected with the control system circuit.
The inner side surface of the variable speed transmission frame 323 is provided with a photoelectric sensor 33 which is connected with a control system circuit.
The variable speed transmission section 32 comprises a variable speed transmission frame 323 and a variable speed transmission section 321 and an output section 322 which are respectively driven by two groups of motors; the speed change section 321 and the output section 322 correspond to one transmission hinge respectively; the motor driving the speed changing section 321 is a speed changing motor. The output section 322 is connected with the loading mechanism assembly 2.
The inner side surfaces of the speed change transmission frame 323 corresponding to the speed change stage 321 and the output stage 322 are provided with photoelectric sensors 33 which are connected with a control system circuit.
The lifting mechanism 4 comprises a guide post 43 connected with the loading mechanism assembly 2, a guide sleeve 42 sleeved outside the guide post in a sliding manner, and a hoisting device 41 which is arranged on one side of the guide sleeve far away from the loading mechanism assembly 2 and connected with the guide post 43;
the car loading mechanism assembly 2 comprises a material stirring mechanism respectively connected with the conveying mechanism 3 and the guide post 43 and a motion material box mechanism arranged on one side of the material stirring mechanism far away from the guide post 43;
the guide column 43 comprises a plurality of sliding rods 431 for connecting the tipping mechanism assembly 2 and a connecting plate arranged between the sliding rods 431; a pulley block 421 matched with the sliding rod 431 is arranged on one side of the guide sleeve 42 close to the sliding rod 431.
The dust removal device further comprises a closed dust removal system which is slidably mounted on the guide rail 1, and the closed dust removal system is connected with the lifting mechanism 4.
The closed dust removal system comprises a mounting platform 56, and a dust hood 51, a fan 52, a dust remover 53 and a return air tunnel 54 which are mounted on the mounting platform 56, wherein dust conveying pipelines of the dust hood 51, the dust remover 53 and the fan 52 are communicated through a dust exhaust air duct, and the return air tunnel 54 is communicated with an air outlet of the dust remover 53; a plurality of rollers arranged on the two guide rails 1 are arranged below the mounting table 56; a connecting rod connected with the lifting mechanism 4 is arranged on one side of the mounting table 56 close to the lifting mechanism 4.
The side surface of the guide sleeve 42 is provided with a dust suction hole, and the dust suction hole is connected with a dust suction pipeline 55 of which the far end is communicated with the dust suction cover 51.
The air containing a large amount of dust above the loading main machine 2 enters the dust remover 53 through the dust suction pipeline 55, so that the dust removal effect is improved.
The main machine lifting device 4 is located vertically above the loading main machine 2, and since the loading main machine 2 needs to load, distribute and stack bagged objects, a large amount of dust is easily generated, and therefore, the dust content above the loading main machine 2 is large. The dust suction pipeline 55 is arranged on the guide sleeve 42 vertically above the loading main machine 2, so that dust above the loading main machine 2 enters the dust remover 53 for dust removal, the dust is prevented from diffusing, and the dust removal difficulty is increased.
It should be noted that, through the above improvement, the two ends of the guide rail 101 are provided with the limiting blocks, and the limiting blocks enable the material placing mechanism 21 to rotate only 180 degrees; in order to ensure the working efficiency, the number of the discharging platforms 23 is two.
One side that main frame 10 is close to discharge table 23 is provided with the anticollision strip, and the effectual in the course of the work of avoiding, main frame 10 and bagging apparatus rigid contact for the device of this design damages.
The driving motor and the air cylinder in the design are both in the prior art, so that the internal structure of the air cylinder is not detailed. In order to ensure the stability of the lifting of the loading mechanism assembly 2, the hoisting device is a winch.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (6)
1. A control method of a shifting arm type automatic loading robot is characterized in that: after a vehicle to be loaded stops at a specified position, the loading robot starts to operate, and the method comprises the following steps:
step A: preparing a loading robot;
firstly, positioning the position of a carriage of a vehicle to be loaded, and sending the position to a data center for analysis and processing;
and B: according to the position and the length of a compartment of a vehicle to be loaded, a loading robot moves a follow-up rack provided with a guide rail (1), a conveying mechanism (3), a loading machine head assembly (2), a lifting mechanism (4) and a closed dust removal system (5) to a position in the compartment of the vehicle to be loaded;
and C: according to the width of the carriage, the loading robot adjusts the positions of the conveying mechanism (3), the loading machine head assembly (2), the lifting mechanism (4) and the closed dust removal system (5) to adapt to the width of the carriage, and enters loading preparation after the adjustment is finished; the data center controls the closed dust removal system (5) to work;
step D: the bagged material bags after bagged packaging are transported to a feeding device from a production line of a production workshop through the existing equipment, the feeding device places the bagged material bags on a conveying mechanism (3) according to requirements, and a data center controls the conveying mechanism (3) to work;
step E: a photoelectric sensor (33) arranged on the conveying mechanism (3) detects the distance between the bagged material bags and transmits data to a data center;
when the bagged material bags meet the spacing requirement, the conveying mechanism (3) conveys the bagged material bags to the loading machine head assembly (2);
when the spacing between the bagged material bags is not accordant, the conveying speed is adjusted;
step F: after the bagged material bags are conveyed to the loading machine head assembly (2), two optical sensors arranged on one side of a main frame of the loading machine head assembly (2) close to the conveying mechanism (3) detect the placing direction of the bagged material bags;
if the placing direction is the same as the required placing direction, the data center controls the material stirring mechanism to directly convey the bagged material packet to the moving material box mechanism;
if the placement direction is opposite to the required placement direction, the data center controls the material poking mechanism to change the bagged material package, so that the bagged material package falls onto the moving box body mechanism;
step H: the bagged material package falls into the moving box body mechanism, the data center detects the positions of the bagged material package under the car loader head assembly (2) and the car box body/car loader head assembly (2) through a distance sensor arranged on one side of the car loader head assembly (2) close to the car box body, the detected data are transmitted to the data center, and the data center performs data analysis and controls the distance of the lifting mechanism (4) close to one side of a carriage of the car;
when the stacking distance is met, the data center controls a material stirring mechanism arranged on the car loader head assembly (2) to drop the bagged material package onto the moving material box mechanism, and the bagged material package is stacked through the moving material box mechanism;
when the stacking requirement is not met, the data center controls the lifting mechanism (4) to adjust the distance to meet the stacking requirement, and stacking of the bagged material bags is achieved through the moving material box mechanism;
step I: after the bagged material bags are stacked at the designated positions in the carriage, the data center adjusts the position relation between the loading machine head assembly (2) and the bagged material bags placed in the carriage in a control follow-up manner;
if the same position in the carriage is not stacked to the designated height, the data center controls the lifting mechanism (4) to move to one side far away from the carriage;
if the same position in the carriage is stacked to the designated height, the numerical control center controls the lifting mechanism (4) and the closed dust removal system (5) to move to other positions of the carriage where the bagged material bags are not stacked, and the stacking work of the bagged material bags is repeated again;
step J: after the bagged material bags are all stacked at the designated positions in the carriages, the data center controls the car loader head assembly (2) to evacuate from the carriages through the lifting mechanism (4), and the car loading is completed.
2. The control method of the arm-shifting type automatic loading robot according to claim 1, characterized in that: the conveying mechanism (3) comprises an input conveying section (31) and a variable speed conveying section (32) which are sequentially arranged from the input end to the output end of the conveying mechanism and are respectively driven by two groups of motors, wherein a photoelectric sensor (33) is arranged on the inner side surface of the input conveying section (31), and the motors and the photoelectric sensors (33) are both connected with a data center circuit;
the step E specifically comprises the following steps: in the conveying process, the photoelectric sensor (33) detects the position relation of the bagged material package on the conveying mechanism (3) in real time, the detection data are transmitted to the data center in real time, and the data center analyzes the detected data and identifies whether the bagged material package meets the requirement of the placement direction;
when the bagged material bags meet the space requirement, the bagged material bags directly pass through the input conveying section (31) and the variable speed conveying section (32) and reach the machine head assembly of the machine;
when the spacing between the bagged material bags is inconsistent, the data center controls the motor of the variable-speed conveying section to work, and adjusts the conveying speed of the bagged material bags on the variable-speed conveying section so as to adjust the position relation of the bagged material bags.
3. The control method of the arm-shifting type automatic loading robot according to claim 2, characterized in that: the material poking mechanism comprises a first material supporting table (22) which is symmetrically arranged in the installation cavity along the center line of the conveying direction of the conveying mechanism (3) and two material placing mechanisms (21) which are arranged on the main frame (10) and symmetrically arranged along the center line of the conveying direction of the conveying mechanism (3);
one side of the conveying mechanism (3) close to the material placing mechanism (21) and one side of the first material supporting platform (22) close to the material placing mechanism (21) are on the same plane; the movement material box mechanism comprises a discharging platform (23) arranged on one side, far away from the material placing mechanism (21), of the first material supporting platform (22) and a guiding movement mechanism which is arranged on one side, far away from the material placing mechanism (21), of the main frame (10) and used for controlling the discharging platform (23) to receive the bagged material bag, wherein one side of the discharging platform (23) is connected with one side, far away from the conveying mechanism (3), of the guiding movement mechanism in a sliding mode; the material placing mechanism (21) further comprises a second material supporting platform (24) which is arranged between the first material supporting platforms (22) and is installed in the installation cavity; one sides of the first material supporting platform (22) and the second material supporting platform (24) close to the material placing mechanism (21) are on the same plane; the central line of the second material supporting platform (24) along the conveying direction of the conveying mechanism (3) and the central line of the conveying direction of the conveying mechanism (3) are on the same straight line; the two material placing mechanisms (21) are close to one side and used for placing a channel through which bagged material bags in opposite directions pass; the first material supporting platform (22), the second material supporting platform (24) and the discharging platform (23) have the same structure.
4. The control method of the arm-shifting type automatic loading robot according to claim 3, characterized in that: the step F specifically comprises the following steps: if the placing direction is the same as the required placing direction, the data center controls the two material placing mechanisms (21) to move towards one side close to each other to push the bagged material package onto the first material supporting platform (22), and the numerical control center controls the first material supporting platform (22) and an air cylinder connected with the data center to drive the material supporting plate to move downwards so as to convey the bagged material package onto the moving material box mechanism;
if with the opposite time of the required direction of placing, data center will control two pendulum material mechanisms (21) and separately open the passageway, realize directly carrying on second support material platform (24) bagged material package, thereby data center will control on second support material platform (24) with the cylinder drive that data center is connected ask the flitch downstream fall into the box structure that moves with bagged material package.
5. The control method of the arm-shifting type automatic loading robot according to claim 4, characterized in that: the movement material box mechanism comprises a discharging platform (23) arranged on one side, far away from the material placing mechanism (21), of the first material supporting platform (22) and a guiding movement mechanism which is arranged on one side, far away from the material placing mechanism (21), of the main frame (10) and used for controlling the discharging platform (23) to receive the bagged material bag, wherein one side of the discharging platform (23) is connected with one side, far away from the conveying mechanism (3), of the guiding movement mechanism in a sliding mode;
when the placing direction meets the requirement, when the bagged material bag falls into the discharging table (23) from the first material supporting table (22), the data center controls the discharging table (23) to move towards the position under the first material supporting table (22) through the guide movement mechanism, and when the bagged material bag reaches the position under the first material supporting table (22), the first material supporting table (22) is controlled by the numerical control center to drive the material supporting plate connected with the data center to move downwards through the cylinder, so that the bagged material bag falls into the discharging table (23);
when placing the direction and not meeting the requirements, when falling into discharge table (23) with bagged material package from second support material platform (24), data center will pass through guiding movement mechanism control discharge table (23) and hold in the palm the motion under material platform (24) to the second, when arriving under second support material platform (24), numerical control center will control the second and hold in the palm the cylinder drive that material platform (24) and data center are connected and hold in the palm flitch downstream, realize that bagged material package falls into on discharge table (23).
6. The control method of the arm-shifting type automatic loading robot according to claim 5, characterized in that: step H is realized specifically including the stack to bagged material package through motion workbin mechanism:
step H1: the data center controls a discharging platform (23) placed with the bagged material package to move to the position where the bagged material package is required to be stacked through a guiding movement mechanism according to the position of the material stacked in the compartment;
step H2: after reaching the position; the data control center controls the air cylinder on the discharging platform (23) to drive the material supporting plate on the discharging platform (23) to move downwards, so that the bagged material package is stacked in the carriage.
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| CN201810484606.5A CN108750721B (en) | 2018-05-20 | 2018-05-20 | Control method of arm-shifting type automatic loading robot |
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| CN201810484606.5A CN108750721B (en) | 2018-05-20 | 2018-05-20 | Control method of arm-shifting type automatic loading robot |
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| CN108750721B true CN108750721B (en) | 2020-01-03 |
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| CN116281256B (en) * | 2023-05-12 | 2023-07-28 | 山东蔚创智能科技有限公司 | Continuous automatic loading system for bagged articles |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3651963A (en) * | 1970-09-15 | 1972-03-28 | Joseph E Mcwilliams | Apparatus for loading bagged mail from a loading dock into a highway vehicle |
| US3827585A (en) * | 1971-06-14 | 1974-08-06 | Williams J Mc | Method and apparatus for loading bagged mail from a loading dock into a highway vehicle |
| US3779404A (en) * | 1972-07-27 | 1973-12-18 | J Mcwilliams | Apparatus for loading mail bags into a highway vehicle |
| US4460308A (en) * | 1982-02-08 | 1984-07-17 | Kerr-Mcgee Coal Corporation | Method for loading coal into railroad cars |
| JPS6382230A (en) * | 1986-09-26 | 1988-04-13 | Aisin Seiki Co Ltd | Collective transferring device of load carrying platform height detection type |
| US6431346B1 (en) * | 1996-04-24 | 2002-08-13 | Rapistan Systems Advertising Corp. | Extendable trailer loader/unloader with user interface section |
| JP2000211748A (en) * | 1999-01-26 | 2000-08-02 | Hitachi Ltd | Pallet loading device |
| DE102008036721A1 (en) * | 2008-08-07 | 2010-02-11 | Mijo Podnar Fördersysteme | Conveyer system for cargo, particularly for manual loading or unloading, has free conveying end, where conveyer system is designed in telescopic manner for driving out and bringing in free conveying ends |
| JP2018509359A (en) * | 2015-03-24 | 2018-04-05 | ハート、ジョン イー．ＨＡＲＴ，Ｊｏｈｎ Ｅ． | Loading system |
| CN105692249B (en) * | 2016-01-18 | 2018-06-29 | 长沙赫雷克勒智能装备有限公司 | A kind of bagged cement intelligence loading system and its loading method |
| CN206288726U (en) * | 2016-12-01 | 2017-06-30 | 天津欧思诺科技开发有限公司 | Automatic loading machine |
| CN106915636A (en) * | 2017-05-10 | 2017-07-04 | 天津君晟科技发展有限公司 | A kind of automatic loading stacking machine |
| CN107150911B (en) * | 2017-05-15 | 2020-08-18 | 烟台博特自动化设备有限公司 | Vehicle identification and control system of bagged material loading robot |
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Denomination of invention: A Control Method for an Arm Pulling Automatic Loading Robot Effective date of registration: 20231130 Granted publication date: 20200103 Pledgee: China Construction Bank Corporation Chengdu hi tech sub branch Pledgor: CHENGDU HONGYUAN JINCHENG ROBOT Co.,Ltd. Registration number: Y2023980068288 |
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