CN112520636A - Steel bottle intelligence handling device - Google Patents
Steel bottle intelligence handling device Download PDFInfo
- Publication number
- CN112520636A CN112520636A CN202011372585.1A CN202011372585A CN112520636A CN 112520636 A CN112520636 A CN 112520636A CN 202011372585 A CN202011372585 A CN 202011372585A CN 112520636 A CN112520636 A CN 112520636A
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- Prior art keywords
- intelligent
- handling device
- static electricity
- steel
- steel cylinder
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 81
- 239000010959 steel Substances 0.000 title claims abstract description 81
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000005611 electricity Effects 0.000 claims description 31
- 230000003068 static effect Effects 0.000 claims description 31
- 229920001971 elastomer Polymers 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 10
- 238000005303 weighing Methods 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 2
- 239000007789 gas Substances 0.000 description 26
- 230000035939 shock Effects 0.000 description 8
- 238000003860 storage Methods 0.000 description 8
- 230000032258 transport Effects 0.000 description 4
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- 238000000034 method Methods 0.000 description 3
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- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 229910001873 dinitrogen Inorganic materials 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- 230000006855 networking Effects 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/125—Platforms; Forks; Other load supporting or gripping members rotatable about a longitudinal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C13/00—Details of vessels or of the filling or discharging of vessels
- F17C13/08—Mounting arrangements for vessels
- F17C13/084—Mounting arrangements for vessels for small-sized storage vessels, e.g. compressed gas cylinders or bottles, disposable gas vessels, vessels adapted for automotive use
- F17C13/085—Mounting arrangements for vessels for small-sized storage vessels, e.g. compressed gas cylinders or bottles, disposable gas vessels, vessels adapted for automotive use on wheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/005—Protection or supervision of installations of gas pipelines, e.g. alarm
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2205/00—Vessel construction, in particular mounting arrangements, attachments or identifications means
- F17C2205/01—Mounting arrangements
- F17C2205/0123—Mounting arrangements characterised by number of vessels
- F17C2205/013—Two or more vessels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2205/00—Vessel construction, in particular mounting arrangements, attachments or identifications means
- F17C2205/01—Mounting arrangements
- F17C2205/0153—Details of mounting arrangements
- F17C2205/0157—Details of mounting arrangements for transport
- F17C2205/0161—Details of mounting arrangements for transport with wheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17C—VESSELS FOR CONTAINING OR STORING COMPRESSED, LIQUEFIED OR SOLIDIFIED GASES; FIXED-CAPACITY GAS-HOLDERS; FILLING VESSELS WITH, OR DISCHARGING FROM VESSELS, COMPRESSED, LIQUEFIED, OR SOLIDIFIED GASES
- F17C2205/00—Vessel construction, in particular mounting arrangements, attachments or identifications means
- F17C2205/01—Mounting arrangements
- F17C2205/0153—Details of mounting arrangements
- F17C2205/0196—Details of mounting arrangements with shock absorbing means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Engineering & Computer Science (AREA)
- Handcart (AREA)
Abstract
The invention discloses an intelligent steel bottle carrying device which comprises an AGV trolley, a grabbing and lifting device, an intelligent control module, an automatic steel bottle detection device and an anti-static device. The intelligent control module controls the AGV trolley and the gripping device to automatically work; the automatic steel cylinder detection device consists of a color sensor, a gas leakage sensor, a weight sensor and an alarm; the antistatic device is composed of an electrostatic ball and a conductive wire. The automatic gas cylinder transfer device can realize automatic transfer of a plurality of gas cylinders, automatically identify gas, automatically detect whether the gas leaks or not, improve the carrying efficiency, realize less-man or unmanned operation and improve the safety factor of steel cylinder transfer.
Description
Technical Field
The invention relates to a carrying device, in particular to an intelligent steel cylinder carrying device.
Background
The steel cylinder is a common container in special gas production enterprises and other industrial application fields, and is characterized by high pressure, high strength, large mass, high danger and difficult transportation. The existing steel cylinder transportation device mainly has the following problems: at present, the labor power or the simple steel bottle carrying device is relied on, the workload of workers is large, and the carrying efficiency is low; the existing carrying device has low intelligent level, can not automatically operate to convey the steel cylinder to a steel cylinder storage or steel cylinder use area, and is inconvenient for large-scale special gas production enterprises to use; the gas in the steel cylinder may contain explosive gases such as methane, carbon monoxide and the like, and if the leakage of the gas cylinder cannot be found, certain potential safety hazard exists; the existing steel cylinder carrying devices are mostly in rigid contact, and lack of shock absorption measures, so that the steel cylinder and the carrying devices are in rigid collision possibly to cause danger; the existing steel cylinder carrying device does not protect the static electricity on the surface of the steel cylinder.
Automated Guided Vehicle, i.e., an unmanned transport Vehicle, abbreviated AGV, also commonly referred to as an AGV cart. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. At present, no AGV trolley specially designed for steel bottle handling exists.
Disclosure of Invention
In order to overcome the technical defects in the prior art, the invention provides an intelligent steel cylinder carrying device.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a steel bottle intelligence handling device, includes the AGV dolly, AGV dolly one end is provided with snatchs elevating gear, and the other end is provided with intelligent control module snatch elevating gear with be provided with steel bottle automatic checkout device between the intelligent control module, AGV dolly upper portion is provided with the transport guide rail, AGV dolly afterbody is provided with antistatic device.
Preferably, the intelligent control module comprises a GPS navigation module, an ANDON system module, a central processing unit, and a remote control signal receiver, wherein the GPS navigation module, the ANDON system module, and the remote control signal receiver are respectively connected to the central processing unit.
In any of the above schemes, preferably, the conveying guide rail is connected with a fixing device, the fixing device is moved by the movement of the conveying guide rail, the position of the fixing device is switched, and the grabbing and lifting device can place and take out the steel cylinder at a fixed position.
In any of the above schemes, preferably, the fixing device comprises a damping air bag, a clamping air bag and an air duct, and the damping air bag and the clamping air bag are communicated with each other through the air duct.
In any one of the above schemes, preferably, the grabbing lifting device comprises a rotating motor, a rotating arm gear, a lifting upright post and a grabbing arm, wherein the rotating motor is connected with the rotating arm gear, the rotating arm gear is connected with the lifting upright post, and the lifting upright post is connected with the grabbing arm.
In any of the above schemes, preferably, four L-shaped rubber blocks are bonded to the grabbing arm, and the rubber blocks play a role in buffering and prevent the steel cylinder from being damaged.
In any of the above schemes, preferably, the anti-static device 4 comprises a static electricity releasing chain and a static electricity releasing ball, the top end of the static electricity releasing chain is installed at the rear part of the AGV, the bottom end of the static electricity releasing chain is in contact with the ground, the static electricity releasing ball is installed on a rubber block inside the grabbing arm, and the static electricity releasing ball is connected with the top end of the static electricity releasing chain through a metal wire harness.
In any one of the above aspects, preferably, the automatic steel cylinder detection device includes a weighing pan, a leak detection sensor, and a color recognition sensor.
In any of the above schemes, preferably, the ANDON system is docked with a production site, and steel bottle catering and replacement are performed on the production site in real time.
In any of the above solutions, it is preferable that the remote control signal receiver and the remote control ensure a correct moving route of the AGV under specific situations and working conditions.
The invention has the beneficial effects that: the automatic gas cylinder transfer device can realize automatic transfer of a plurality of gas cylinders, automatically identify gas, automatically detect whether the gas leaks or not, improve the transfer efficiency, realize less-man or unmanned operation, improve the safety factor of steel cylinder transfer, and realize multifunctional integration by adjusting the moving route of the device through a remote controller during movement under a non-specific route.
Drawings
The drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.
FIG. 1 is a schematic side view of the overall structure of the apparatus of the present invention;
FIG. 2 is a top view of the overall structure of the device of the present invention;
FIG. 3 is a schematic view of the shock absorbing and automatic fixing structure of the device of the present invention;
FIG. 4 is a top view of the structure of the gripping and lifting part of the device of the present invention;
FIG. 5 is a functional schematic diagram of an intelligent control module;
FIG. 6 is a side view of the gripping and lifting portion of the apparatus of the present invention;
wherein: steel bottle 1, snatch elevating gear 2, AGV dolly 3, prevent electrostatic device 4, carry guide rail 5, intelligent control module 6, weigh dish 7, leak detection sensor 8, color identification sensor 9, shock attenuation gasbag 10, press from both sides tight gasbag 11, air duct 12, rotating electrical machines 13, swinging boom gear 14, lift stand 15, snatch arm 16, rubber block 17, electrostatic discharge ball 18, GPS navigation module 19, ANDON networking module 20, central processing unit 21, remote control signal receiver 22, remote controller 23, steel bottle automatic checkout device 24, fixing device 25, electrostatic discharge chain 26
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
For better understanding of the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the drawings and the detailed description of the present invention.
Example (b):
as shown in fig. 1 and 2, a schematic diagram of a structural principle of an intelligent steel cylinder handling device provided by an embodiment of the present invention includes an AGV cart 3, one end of the AGV cart 3 is provided with a gripping and lifting device 2, the other end of the AGV cart is provided with an intelligent control module 6, an automatic steel cylinder detection device 24 is arranged between the gripping and lifting device 2 and the intelligent control module 6, the upper portion of the AGV cart 3 is provided with a conveying guide rail 5, and the tail portion of the AGV cart 3 is provided with an anti-static device 4.
As shown in fig. 2, 4 and 6, the grabbing lifting device 2 comprises a rotating motor 13, a rotating arm gear 14, a lifting column 15, a grabbing arm 16 and a rubber block 17; the output end of the rotating motor 13 passes through a gear and is fixedly connected with the left side of the rotating arm gear 14, the rotating arm gear 14 is fixedly connected with the chassis 28 through a shaft, the rotating arm gear 14 is located on the chassis 28, the lifting upright post 15 is located in the middle of the rotating arm gear 14, the lifting upright post 15 is connected with the rotating arm gear 14 through a shaft.
Intelligent control module 6 includes GPS navigation module 19, ANDON system module 20, central processing unit 21, remote control signal receiver 22, wherein, GPS navigation module 19 andandon system module 20 remote control signal receiver 22 respectively with central processing unit 21 is connected.
The central controller 21 controls external drive to enable the rotating motor 13 to rotate, the rotating motor 13 drives the rotating arm gear 14 to rotate so as to drive the shaft to adjust the rotating and lifting of the lifting upright post 15, one end of the grabbing arm 16 is fixedly connected with the lifting upright post 15, the grabbing arm 16 is controlled to lift up or fall down through the rotating and lifting of the lifting upright post 15, so that the angle and height adjustment of the grabbing arm 16 is completed, the steel cylinder 1 is grabbed and carried through the grabbing arm 16, and an openable grabbing structure which is adaptive to the special structure and shape of the steel cylinder 1 is arranged in the grabbing arm 16.
As shown in fig. 1 and 4, four L-shaped rubber blocks 17 are adhered to the grasping arm 16, the rubber blocks 17 play a role of buffering and preventing the steel cylinder 1 from being damaged, the static electricity preventing device 4 comprises a static electricity releasing ball 18 and a static electricity releasing chain 26, the static electricity releasing ball 18 contacts the steel cylinder 1 at this time, the static electricity charged in the steel cylinder 1 is released through the static electricity releasing ball 18, the static electricity releasing ball 18 is connected with the static electricity preventing device 4 through a wire, the static electricity releasing chain 26 is installed at the rear part of the AGV cart 3, the bottom end of the static electricity releasing chain 18 contacts the ground, the static electricity releasing ball 18 is installed on the rubber blocks 17 inside the grasping arm 16, and the static electricity releasing ball 18 is connected with the top end of the static electricity releasing chain 26 through a metal wire harness. In the carrying process of the steel cylinder 1, the static electricity generated in the steel cylinder 1 or the transferring process is led out along with the static electricity preventing device 4, so that safety accidents caused by the static electricity are prevented, and the safety of the steel cylinder 1 during moving is ensured.
As shown in fig. 2, the automatic cylinder detecting apparatus 24 includes a weighing table 7, a gas leakage detecting sensor 8 and a color recognition sensor 9, the grabbing lifting device 2 clamps the steel cylinder 1 and then rotationally and movably places the steel cylinder on the weighing platform 7, the steel cylinder 1 is weighed and the weight is recorded through a gravity sensing element in the weighing platform 7, the gas leak detection sensor 8 and the color recognition sensor 9 are located at an upper portion of the weighing station 7, the gas leakage detection sensor 8 and the color recognition sensor 9 perform gas leakage detection and gas type recognition on the steel cylinder 1 while the steel cylinder 1 is weighed, the color recognition sensor 9 determines the type of the gas contained in the steel cylinder 1 according to the color of the steel cylinder 1, and if gas leakage occurs, the gas leakage detection sensor gives an alarm. After steel bottle 1 detects qualified and weighs, snatch elevating gear 2 work once more will steel bottle 1 snatchs back rotary movement to conveying guide 5 on, fixing device 25 on the conveying guide 5 can be right steel bottle 1 is fixed, steel bottle 1 is fixed the back through conveying guide 5 work will steel bottle 1 transports to corresponding position, repeats above-mentioned operation, stops until whole equipment steel bottle storage capacity reaches the rated storage capacity of equipment.
The fixing device 25 comprises a damping air bag 10, a clamping air bag 11 and an air duct 12, the damping air bag 10 is adhered to the bottom of the conveying guide rail 5, the clamping air bag 11 is adhered to two side walls of the conveying guide rail 5, and the damping air bag 10 is communicated with the clamping air bag 11 through the air duct 12; when the steel cylinder 1 is placed on the shock absorbing airbag 10, the gas stored in the compressed shock absorbing airbag 10 enters the clamping airbag 11 through the gas guide tube 12, and the internal gas pressure of the clamping airbag 11 is increased and expanded, so that the clamping airbag 11 generates a clamping force on the steel cylinder; when the steel cylinder 1 is lifted slightly, the shock absorbing air bag 10 is compressed and reduced to automatically rebound, so that the internal pressure of the clamping air bag 11 is reduced, the gas in the clamping air bag 11 flows back to the shock absorbing air bag 10 through the air duct 12, and the clamping force of the clamping air bag 11 is released.
The damping air bag 10 and the clamping air bag 11 are made of rubber, the air guide tube 12 is a transparent tube made of polyurethane, and the gas stored in the damping air bag 10 and the clamping air bag 11 is nitrogen; the polyurethane material has the advantages of wide hardness range, high strength, large adjustable range of performance, excellent wear resistance, oil resistance and ozone resistance, good shock absorption, radiation resistance and air permeability resistance; the stored gas adopts nitrogen gas to ensure that the damping air bag 10 and the clamping air bag 11 are not easy to deform, and the utilization rate is improved.
In operation, according to the instruction of the intelligent control module 6, the central processing unit 21 controls the carrying device 2 to clamp the steel cylinder 1 and then rotationally move the steel cylinder 1 onto the weighing platform 7, the steel cylinder 1 is weighed and recorded with the gravity sensing element inside the weighing platform 7, the leakage detection sensor 8 and the color recognition sensor 9 perform gas leakage detection and gas type recognition on the steel cylinder 1 while the weighing platform 7 is weighing, the carrying device 2 clamps the steel cylinder 1 and then rotationally moves the steel cylinder 1 onto the conveying guide rail 5 after the steel cylinder 1 is detected to be qualified and weighed, the fixing device 25 on the conveying guide rail 5 fixes the steel cylinder 1, and the conveying guide rail 5 operates to move the steel cylinder 1 to the next storage area after the steel cylinder 1 is fixed, a storage area is reserved for placing the next steel cylinder; and repeating the operation until the whole transfer device reaches the rated storage capacity.
After the steel cylinders are fully stored, according to the instruction of the intelligent control module 6, the GPS navigation module 19 controls the carrying route of the AGV trolley 3, and various steel cylinders are respectively transferred to the appointed posts or the storage area. After the steel cylinders reach the designated storage area, the central processing unit 21 controls the grabbing lifting device 2 and the conveying guide rail 5 to work again to unload the steel cylinders to the designated positions one by one. After the steel cylinder is unloaded, the AGV trolley moves to the next workstation according to the control instruction of the intelligent control module 6, and the work is repeated.
In the whole process, the butt joint of ANDON system module 20 and on-the-spot production system, if discover unusual, like steel bottle gas leakage the AGV dolly 3 movement track skew abnormal conditions such as, ANDON system module 20 can be in the shortest time with information transfer to relevant work department, and then ANDON system module 20 tracks the whole flow of unusual situation to the problem solution, impels the implementation of solving the problem flow, ANDON system module 20 also can collect data, and the most place takes place for the identification problem, carries out steel bottle arrangement and change to the production site in real time.
The GPS navigation module 19 and the central processor 21 can control the traveling route of the AGV cart 3 in real time, and the remote control signal receiver 22 and the remote controller 23 can ensure the correct traveling route of the AGV cart 3 in specific situations and working conditions, such as when the GPS navigation module 19 fails or is not used in a specific traveling path; central processing unit 21 control is whole AGV dolly 3 realizes the work flow that AGV dolly 3 snatchs, weighs, detects, removes and place the steel bottle guarantees wholly AGV dolly 3's work efficiency and stability.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a steel bottle intelligence handling device which characterized in that: including AGV dolly (3), AGV dolly (3) one end is provided with snatchs elevating gear (2), and the other end is provided with intelligent control module (6) snatch elevating gear (2) with be provided with steel bottle automatic checkout device (24) between intelligent control module (6), AGV dolly (3) upper portion is provided with transport guide rail (5), AGV dolly (3) afterbody is provided with prevents electrostatic devices (4).
2. The intelligent handling device for steel cylinders of claim 1, wherein: the intelligent control module (6) comprises a GPS navigation module (19), an ANDON system module (20), a central processing unit (21) and a remote control signal receiver (22), wherein the GPS navigation module (19), the ANDON system module (20) and the remote control signal receiver (22) are respectively connected with the central processing unit (21).
3. The intelligent cylinder handling device of claim 2, wherein: the conveying guide rail (5) is connected with a fixing device (25), the fixing device (25) moves through the movement of the conveying guide rail (5), the position of the fixing device (25) is switched, and the grabbing lifting device (2) can place and take out a steel cylinder at a fixed position.
4. The intelligent cylinder handling device of claim 3, wherein: the fixing device (25) comprises a damping air bag (10), a clamping air bag (11) and an air duct (12), wherein the damping air bag (10) and the clamping air bag (11) are communicated with each other through the air duct (12).
5. The intelligent cylinder handling device of claim 4, wherein: snatch elevating gear (2) include rotating electrical machines (13), swinging boom gear (14), lift stand (15), snatch arm (16), rotating electrical machines (13) with swinging boom gear connection (14), swinging boom gear (14) are connected lift stand (15), lift stand (15) with snatch arm (16) and connect.
6. The intelligent cylinder handling device of claim 5, wherein: four L-shaped rubber blocks (17) are bonded on the grabbing arm (16), and the rubber blocks (17) play a role in buffering and prevent the steel cylinder from being damaged.
7. The intelligent cylinder handling device of claim 6, wherein: the anti-static device 4 comprises a static electricity release chain (26) and a static electricity release ball (18), the top end of the static electricity release chain (26) is installed at the rear part of the AGV trolley, the bottom end of the static electricity release chain is in contact with the ground, the static electricity release ball (18) is installed on a rubber block on the inner side of a grabbing arm, and the static electricity release ball (18) is connected with the top end of the static electricity release chain (26) through a metal wire harness.
8. The intelligent cylinder handling device of claim 7, wherein: the automatic steel cylinder detection device (24) comprises a weighing disc (7), a leakage detection sensor (8) and a color identification sensor (9).
9. The intelligent cylinder handling device of claim 8, wherein: the ANDON system (20) is in butt joint with a production site, and steel bottle catering and replacement are carried out on the production site in real time.
10. The intelligent cylinder handling device of claim 9, wherein: if the GPS navigation module (19) fails or the AGV car (3) moves in a non-specific path, a remote controller (23) sends an instruction to the remote control signal receiver (22).
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| WO2022211609A3 (en) * | 2021-03-23 | 2023-01-19 | Université Sidi Mohamed Ben Abdellah | Robot for changing and moving a gas cylinder |
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| CN112520636B (en) | 2022-06-07 |
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