CN109665338A - A kind of liquid bag lift truck system - Google Patents
A kind of liquid bag lift truck system Download PDFInfo
- Publication number
- CN109665338A CN109665338A CN201810669673.4A CN201810669673A CN109665338A CN 109665338 A CN109665338 A CN 109665338A CN 201810669673 A CN201810669673 A CN 201810669673A CN 109665338 A CN109665338 A CN 109665338A
- Authority
- CN
- China
- Prior art keywords
- conveyer belt
- liquid bag
- vision
- material conveyer
- lift truck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
It further includes vision-based detection flush trimmer and transplanting handler that the present invention relates to loading-unloading vehicle fields more particularly, to a kind of liquid bag lift truck system, including sealing machine, transfer roller, differential separator and material conveyer belt；The vision-based detection flush trimmer is arranged on sealing machine, and the outlet end of sealing machine is arranged in material conveyer belt；The transfer roller is arranged on material conveyer belt, and the differential separator is evenly distributed in the junction between transfer roller；The transplanting handler is arranged in material conveyer belt end, the material exported on material conveyer belt is transplanted in real time or material is placed on material conveyer belt, liquid bag lift truck system disclosed by the invention can be substituted artificial vision and be identified by vision-based detection flush trimmer, stability is high, in addition, the setting of transplanting handler, can alleviate the carrying intensity of people, object is carried by way of vacuum suction, moreover it is possible to cargo surfaces be avoided to damage.
Description
Technical field
The present invention relates to loading-unloading vehicle fields, more particularly, to a kind of liquid bag lift truck system.
Background technique
Currently, mainly being carried by manpower to article when article needs loading-unloading vehicle, since object is typically all
Than heavier, therefore, people large labor intensity low using the carrying effect of manpower, and handling efficiency is relatively low.
With the development of technology, some factories begin to use Ku Ka robot to carry article, but library card machine device
People's space occupied is big, and can not achieve full-automatic management, and can only fill object using the gray value that camera identifies to differentiate
On the pallet of material whether more bags or few bag, be easy to happen identification mistake, effect is poor.
It is therefore proposed that a kind of liquid bag lift truck system to solve the above problems is actually necessary.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above (deficiency), provides a kind of liquid bag automatic loading and unloading
Vehicle system.
In order to solve the above technical problems, technical scheme is as follows: a kind of liquid bag lift truck system, including envelope
Mouth machine, transfer roller, differential separator and material conveyer belt further include vision-based detection flush trimmer and transplanting handler；
The vision-based detection flush trimmer is arranged on sealing machine, and the outlet end of sealing machine is arranged in material conveyer belt；
The transfer roller is arranged on material conveyer belt, and the differential separator is evenly distributed in the handover between transfer roller
Place；
Transplanting handler setting transplants the material exported on material conveyer belt or to object in material conveyer belt end in real time
Material to be placed on material conveyer belt, by vision-based detection flush trimmer, artificial vision can be substituted and identified, stability is high, in addition,
The setting for transplanting handler, can alleviate the carrying intensity of people, be carried by way of vacuum suction to object,
Also it is avoided that cargo surfaces damage.
Further, the vision-based detection flush trimmer include light source color difference polishing device, the vision-based detection display screen with camera,
It rejects jacking block, waste material bucket and the vision-based detection being horizontally set on material conveyer belt and rejects frame；
The light source color difference polishing device and vision-based detection display screen are separately positioned on vision-based detection and reject on frame；
Described rejecting jacking block one end is connected with vision-based detection display screen, and the other end is telescopic to be crossed on material conveyer belt
Side；
The waste material bucket is set on the direction for rejecting jacking block stretching, extension, by the vision-based detection display screen with camera to the positive and negative of liquid bag
The position on two sides is detected, and when the liquid bag that direction is put back passes through, is rejected jacking block and is stretched out, which is rejected into waste material bucket
Output, can play the role of detection, liberate the productivity of people, realize mechanical full-automatic production model.
Further, the light source color difference polishing device is at least one, and in practical applications, light source color difference polishing device can
With the color difference of the article and material conveyer belt transplanted as needed, to determine to need to install the quantity of light source color difference polishing device, with
The effect of significant difference is played, it is within the scope of the present invention.
Further, the transplanting handler includes gantry machinery transplantation frame, pallet chassis, pallet grippers, stack position, cross
To motion guide rail and vertical promotion chain；
The end of material conveyer belt is arranged in the tray bottom frame, and stack position is successively set on rear side of pallet chassis；
The vertical promotion chain is arranged on the machinery transplantation frame of gantry by the way that transverse movement guide rail is transversely movable；
Described pallet grippers one end, which is supported, closes on pallet chassis, and the other end is connected with vertical promotion chain, the transplanting of gantry machinery
The use of frame can save the space of total layout 1/8, and the setting of pallet chassis and pallet grippers compared with the existing technology
Mode, can by effectively instead of manual handling in a manner of or 5 axis robots carry in the way of, save place while,
The carrying intensity for alleviating employee, so that productivity is liberated.
Further, the pallet chassis is equipped with weighing apparatus and can accurately be identified by the setting of weighing apparatus
The quantity of liquid bag, the case where avoiding the occurrence of more bags or few bag generation.
Further, the weighing apparatus includes weighing sensor, I/O module, amplifier and terminal box；
The weighing sensor is respectively placed on four corners of pallet chassis；
The weighing sensor is connected after passing sequentially through amplifier and I/O module with terminal box, and weighing sensor is set to pallet
On four corners of chassis, by this Embedded mounting means, the movement of carrying is not interfered with, when liquid bag is placed in support
It tries to get to the heart of a matter on frame, since liquid bag has weight, weighing sensor deformation, output signal is converted into weight registration by voltage, this shows
Number ideal weight corresponding with front tray upper liquid bag is worked as compares, and difference has been more than given numerical value, then alarms, so that people can
Clearly to recognize the quantity of liquid bag.
Further, the pallet grippers include jig main body, pneumatic clamper and sponge laminate；
The sponge laminate is set to the bottom of jig main body；
The pneumatic clamper is set on the corner of jig main body and is clamped in the outside of sponge laminate, passes through the setting of pneumatic clamper, Ke Yiyong
In picking up pallet chassis, and the effect of sponge laminate, pressure suffered by pallet grippers when picking up tray bottom frame can be buffered, it can
To extend the service life of pallet grippers.
Further, safety door is equipped on the outside of the stack position, the setting of safety door can protect peace when fork truck disengaging
Entirely, in the present invention, safety door is made of 3 fan automatically-controlled doors, for cooperating the cargo transport of 3 stack positions.
Further, the safety door is equipped with safe grating, by the setting of safe grating, when quilt occurs in safe grating
When blocking, liquid bag lift truck system issues signal, controls potentially dangerous mechanical equipment and stops working, and is made with reducing
A possibility that industry personnel come to harm in the work environment, the personal safety of effective protection operating personnel.
Further, the differential separator includes accelerating separation belt, accelerating motor, slow down separation belt and deceleration
Motor；
The acceleration separation belt, which is wound around, to be accelerated on motor；
The deceleration separation belt is wound around on decelerating motor；
The acceleration separation belt, which is separated with deceleration between belt, to be arranged successively, by accelerating separation belt and the separation belt that slows down
Mutual cooperation, the spacing of the liquid bag of conveying can be pulled open by speed difference, convenient for checking for liquid bag quantity.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
(1) liquid bag lift truck system disclosed by the invention can substitute artificial vision's progress by vision-based detection flush trimmer
Identification, stability is high, in addition, the setting of transplanting handler, can alleviate the carrying intensity of people, pass through vacuum suction
Mode carries object, moreover it is possible to cargo surfaces be avoided to damage.
(2) liquid bag lift truck system disclosed by the invention, by the vision-based detection display screen with camera to liquid bag
The position of tow sides is detected, and when the liquid bag that direction is put back passes through, is rejected jacking block and is stretched out, which is rejected to waste material
It is exported in bucket, detection can be played the role of, liberated the productivity of people, realize mechanical full-automatic production model.
(3) liquid bag lift truck system disclosed by the invention, by the phase for accelerating separation belt and the separation belt that slows down
Mutually cooperation, can be pulled open the spacing of the liquid bag of conveying by speed difference, convenient for checking for liquid bag quantity.
Detailed description of the invention
Fig. 1 is the general construction schematic diagram of liquid bag lift truck system in the present invention.
Fig. 2 is the structural schematic diagram of vision-based detection flush trimmer in the present invention.
Fig. 3 is the structural schematic diagram in the present invention at camera.
Fig. 4 is the general construction schematic diagram that handler is transplanted in the present invention.
Fig. 5 is the structural schematic diagram in the present invention at transverse movement guide rail and vertical promotion chain.
Fig. 6 is the structural schematic diagram of pallet chassis in the present invention.
Fig. 7 is the structural schematic diagram of pallet grippers in the present invention.
Fig. 8 is the structural schematic diagram of safety door in the present invention.
Fig. 9 is the structural schematic diagram of differential separator in the present invention.
In figure, 1 it is transfer roller, 2 is differential separator, 3 is material conveyer belt, 4 is vision-based detection flush trimmer, 5 is transplanting
Handler, 6 be light source color difference polishing device, 7 be vision-based detection display screen, 8 be reject jacking block, 9 be waste material bucket, 10 be vision inspection
Survey reject frame, 11 be gantry machinery transplantation frame, 12 be pallet chassis, 13 be pallet grippers, 14 be stack position, 15 be that transverse movement is led
Rail, 16 be vertical promotion chain, 17 be weighing apparatus, 18 be jig main body, 19 be pneumatic clamper, 20 be sponge laminate, 21 be safety door,
22 be accelerate separation belt, 23 be accelerate motor, 24 be slow down separation belt, 25 be decelerating motor, 26 be camera.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, be also possible to be indirectly connected with by intermediary, it may be said that two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of liquid bag lift truck system, including sealing machine, transfer roller 1, differential separator 2 and material
Conveyer belt 3 further includes vision-based detection flush trimmer 4 and transplanting handler 5；Vision-based detection flush trimmer 4 is arranged on sealing machine, object
The outlet end of sealing machine is arranged in material conveyer belt 3；Transfer roller 1 is arranged on material conveyer belt 3, and differential separator 2 uniformly divides
Junction of the cloth between transfer roller 1；It transplants handler 5 to be arranged in 3 end of material conveyer belt, transplants material conveyer belt in real time
The material that exports on 3 places material on material conveyer belt, by vision-based detection flush trimmer 4, can substitute artificial vision into
Row identification, stability is high, in addition, the setting of transplanting handler 5, can alleviate the carrying intensity of people, be inhaled by vacuum
Attached mode carries object, moreover it is possible to cargo surfaces be avoided to damage.
As Figure 2-3, vision-based detection flush trimmer 4 is shown including light source color difference polishing device 6, the vision-based detection with camera 26
Screen 7 rejects jacking block 8, waste material bucket 9 and the vision-based detection rejecting frame 10 being horizontally set on material conveyer belt；Light source color difference polishing device and
Vision-based detection display screen is separately positioned on vision-based detection and rejects on frame；Jacking block one end is rejected to be connected with vision-based detection display screen,
The other end is telescopic to be crossed above material conveyer belt；Waste material bucket is set on the direction for rejecting jacking block stretching, extension, passes through band camera
Vision-based detection display screen the position of the tow sides of liquid bag is detected, when the liquid bag that direction is put back passes through, reject top
Block stretches out, which is rejected into waste material bucket and is exported, can play the role of detection, liberate the productivity of people, realizes
Mechanical full-automatic production model, wherein light source color difference polishing device is at least one, and in practical applications, light source color difference is beaten
Light device can according to need the article of transplanting and the color difference of material conveyer belt, to determine to need to install the number of light source color difference polishing device
Amount, it is within the scope of the present invention to play the effect of significant difference.
As illustrated in figures 4-5, transplanting handler 5 include gantry machinery transplantation frame 11, pallet chassis 12, pallet grippers 13,
Stack position 14, transverse movement guide rail 15 and vertical promotion chain 16；The end of material conveyer belt is arranged in tray bottom frame, and stack position is successively
It is arranged on rear side of pallet chassis；Vertical promotion chain is transplanted by the transversely movable setting of transverse movement guide rail in gantry machinery
On frame；Pallet grippers one end, which is supported, closes on pallet chassis, and the other end is connected with vertical promotion chain, gantry machinery transplantation frame
It uses, compared with the existing technology, the space of total layout 1/8 can have been saved, and the set-up mode of pallet chassis and pallet grippers,
Can by effectively instead of manual handling in a manner of or 5 axis robots carry in the way of, save place while, also mitigate
The carrying intensity of employee, so that productivity is liberated.
As shown in fig. 6, being equipped with weighing apparatus 17 on pallet chassis 12 can accurately be identified by the setting of weighing apparatus
The quantity of liquid bag out, the case where avoiding the occurrence of more bags or few bag generation, and in the present invention, weighing apparatus include weighing sensor,
I/O module, amplifier and terminal box；Weighing sensor is respectively placed on four corners of pallet chassis；Weighing sensor successively leads to
It is connected after crossing amplifier and I/O module with terminal box, weighing sensor is set on four corners of pallet chassis, passes through this
The Embedded mounting means of kind, does not interfere with the movement of carrying, when liquid bag is placed on pallet chassis, since liquid bag has weight
Amount, weighing sensor deformation, output signal are converted into weight registration by voltage, and the registration is corresponding with front tray upper liquid bag is worked as
Ideal weight compare, difference has been more than given numerical value, then alarms, and people is allowed clearly to recognize the number of liquid bag
Amount.
As Figure 7-8, in the present invention, pallet grippers 13 include jig main body 18, pneumatic clamper 19 and sponge laminate 20；Sea
Continuous laminate is set to the bottom of jig main body；Pneumatic clamper is set on the corner of jig main body and is clamped in the outside of sponge laminate, passes through
The setting of pneumatic clamper, can be used for picking up pallet chassis, and the effect of sponge laminate, can buffer tray clamps when picking up tray bottom frame
The suffered pressure of tool, can extend the service life of pallet grippers, and safety door 21 is equipped on the outside of stack position, and safety door is set
It sets, can protect safety when fork truck disengaging, in the present invention, safety door is made of 3 fan automatically-controlled doors, for cooperating 3 stack positions
Cargo transport safe grating is in addition to this equipped on safety door, by the setting of safe grating, when safe grating appearance is hidden
When gear, liquid bag lift truck system issues signal, controls potentially dangerous mechanical equipment and stops working, to reduce operation
A possibility that personnel come to harm in the work environment, the personal safety of effective protection operating personnel.
As shown in figure 9, in the present invention, differential separator includes accelerating separation belt 22, accelerating motor 23, separation of slowing down
Belt 24 and decelerating motor 25；Accelerate separation belt to be wound around to accelerate on motor；The separation belt that slows down is wound around on decelerating motor；
Accelerate separation belt to separate with deceleration between belt to be arranged successively, by the phase interworking for accelerating separation belt and the separation belt that slows down
It closes, can be pulled open the spacing of the liquid bag of conveying by speed difference, convenient for checking for liquid bag quantity.
In use, vision-based detection flush trimmer 4 is carried out by direction of the polishing to liquid bag when liquid bag is exported at sealing machine
Identification, whether the placement direction that can quickly detect liquid bag is correct, and when there is the liquid bag of anisotropy, it is automatic to reject jacking block
The liquid bag is rejected, and is output in waste material bucket, and other liquid bags pass through material conveyer belt, reach in transplanting handler, pass through
Pallet grippers carry out heap poststack and carry out safety door, using full automatic handling system, can save a large amount of manpower and material resources,
The labor intensity for reducing workpeople, increases the efficiency of production.
In figure, description positional relationship only for illustration, should not be understood as the limitation to this patent；Obviously, this hair
Bright the above embodiment is merely an example for clearly illustrating the present invention, and is not to embodiments of the present invention
It limits.For those of ordinary skill in the art, other different forms can also be made on the basis of the above description
Variation or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the spirit and principles in the present invention it
Any modifications, equivalent replacements, and improvements made by interior etc., should all be included in the scope of protection of the claims of the present invention.
Claims (10)
1. a kind of liquid bag lift truck system, including sealing machine, transfer roller, differential separator and material conveyer belt, feature
It is, further includes vision-based detection flush trimmer and transplanting handler；
The vision-based detection flush trimmer is arranged on sealing machine, and the outlet end of sealing machine is arranged in material conveyer belt；
The transfer roller is arranged on material conveyer belt, and the differential separator is evenly distributed in the handover between transfer roller
Place；
Transplanting handler setting transplants the material exported on material conveyer belt or to object in material conveyer belt end in real time
Material is placed on material conveyer belt.
2. liquid bag lift truck system according to claim 1, which is characterized in that the vision-based detection flush trimmer includes
Light source color difference polishing device, the vision-based detection display screen with camera reject jacking block, waste material bucket and are horizontally set with the view on material conveyer belt
Feel that frame is rejected in detection；
The light source color difference polishing device and vision-based detection display screen are separately positioned on vision-based detection and reject on frame；
Described rejecting jacking block one end is connected with vision-based detection display screen, and the other end is telescopic to be crossed on material conveyer belt
Side；
The waste material bucket is set on the direction for rejecting jacking block stretching, extension.
3. liquid bag lift truck system according to claim 2, which is characterized in that the light source color difference polishing device is at least
It is one.
4. liquid bag lift truck system according to claim 1, which is characterized in that the transplanting handler includes dragon
Door machine tool transplantation frame, pallet chassis, pallet grippers, stack position, transverse movement guide rail and vertical promotion chain；
The end of material conveyer belt is arranged in the tray bottom frame, and stack position is successively set on rear side of pallet chassis；
The vertical promotion chain is arranged on the machinery transplantation frame of gantry by the way that transverse movement guide rail is transversely movable；
Described pallet grippers one end, which is supported, closes on pallet chassis, and the other end is connected with vertical promotion chain.
5. liquid bag lift truck system according to claim 4, which is characterized in that the pallet chassis is equipped with weighing
Device.
6. liquid bag lift truck system according to claim 5, which is characterized in that the weighing apparatus includes weighing and sensing
Device, I/O module, amplifier and terminal box；
The weighing sensor is respectively placed on four corners of pallet chassis；
The weighing sensor is connected after passing sequentially through amplifier and I/O module with terminal box.
7. liquid bag lift truck system according to claim 1, which is characterized in that the pallet grippers include fixture master
Body, pneumatic clamper and sponge laminate；
The sponge laminate is set to the bottom of jig main body；
The pneumatic clamper is set on the corner of jig main body and is clamped in the outside of sponge laminate.
8. liquid bag lift truck system according to claim 4, which is characterized in that be equipped with safety on the outside of the stack position
Door.
9. liquid bag lift truck system according to claim 8, which is characterized in that the safety door is equipped with safety light
Grid.
10. -9 described in any item liquid bag lift truck systems according to claim 1, which is characterized in that the differential separation
Device includes accelerating separation belt, accelerating motor, deceleration separation belt and decelerating motor；
The acceleration separation belt, which is wound around, to be accelerated on motor；
The deceleration separation belt is wound around on decelerating motor；
The acceleration separation belt, which is separated with deceleration between belt, to be arranged successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810669673.4A CN109665338A (en) | 2018-06-26 | 2018-06-26 | A kind of liquid bag lift truck system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810669673.4A CN109665338A (en) | 2018-06-26 | 2018-06-26 | A kind of liquid bag lift truck system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109665338A true CN109665338A (en) | 2019-04-23 |
Family
ID=66141948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810669673.4A Pending CN109665338A (en) | 2018-06-26 | 2018-06-26 | A kind of liquid bag lift truck system |
Country Status (1)
| Country | Link |
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| CN (1) | CN109665338A (en) |
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| CN206665602U (en) * | 2017-03-20 | 2017-11-24 | 嵊州市安迪自动化设备有限公司 | A kind of full-automatic miniature axle recognizes face machine |
| CN206886125U (en) * | 2017-06-03 | 2018-01-16 | 佛山市康的智能机械设备有限公司 | A kind of surfing type multistage arranges band |
| CN208666576U (en) * | 2018-06-26 | 2019-03-29 | 广州寅源自动化科技有限公司 | A kind of liquid bag lift truck system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105151765A (en) * | 2015-09-09 | 2015-12-16 | 苏州艾隆科技股份有限公司 | Novel infusion bag sorting system |
| CN105173660A (en) * | 2015-10-16 | 2015-12-23 | 佛山市万世德机器人技术有限公司 | Bag arranging and sorting system |
| CN205327950U (en) * | 2016-01-27 | 2016-06-22 | 浙江亚普自动化设备有限公司 | Go out to put in storage transplanter of weighing |
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